Vehicle charging system and vehicle

Abstract

Provided is a vehicle charging system and a vehicle that can efficiently charge a vehicle. A vehicle charging system according to an embodiment of the present disclosure includes a sensor that detects an obstacle around a vehicle; a travel control unit that performs travel control of the vehicle based on a detection result of the sensor; a travel drive unit that performs travel drive of the vehicle and has a power receiving unit that receives power supplied from a travel road, a storage battery that stores power, a motor, and an inverter that drives the motor based on power; a transmission unit that transmits a power supply control signal that is a signal that instructs limiting power supplied from the travel road to the power receiving unit, in a case where the sensor detects an obstacle; and a power supply device that has a reception unit that receives the control signal transmitted from the vehicle, a power supply unit that performs a power supply operation of supplying power to the power receiving unit, and a power supply control unit that controls the power supply operation of the power supply unit based on the power supply control signal.

Description

Technical Field

[0001] This disclosure relates to a vehicle charging system for controlling the charging of a vehicle in motion, and to vehicles included in such a vehicle charging system. Background Technology

[0002] Electric vehicles, for example, charge their batteries using electricity supplied from power supply equipment located on the road, which in turn powers the motor to move the vehicle (e.g., Patent Document 1).

[0003] Patent Document 1: Japanese Patent Application Publication No. 2020-188649 Summary of the Invention

[0004] However, vehicles equipped with so-called pre-collision systems avoid collisions with detected obstacles, for example, by braking the vehicle, if such an obstacle is detected by sensors such as cameras. In such vehicles, efficient charging is desired.

[0005] We hope to provide a vehicle charging system and vehicle that can effectively charge vehicles.

[0006] One embodiment of the vehicle charging system disclosed herein includes a sensor, a driving control unit, a driving drive unit, a transmitting unit, and a power supply device. The sensor is configured to be installed on the vehicle traveling on a roadway and to detect obstacles around the vehicle. The driving control unit is configured to be installed on the vehicle and to control the vehicle's movement based on the sensor's detection results. The driving drive unit is configured to be installed on the vehicle and to drive the vehicle, and includes a power receiver that receives power supplied from the roadway, a battery that stores power, a motor, and an inverter that drives the motor. The transmitting unit is configured to be installed on the vehicle and, when the sensor detects an obstacle, to send a power supply control signal, which is a signal instructing the limitation of power supplied from the roadway to the power receiver. The power supply device is installed on the roadway and includes a receiving unit that receives the power supply control signal sent from the vehicle, a power supply unit that supplies power to the power receiver, and a power supply control unit that controls the power supply operation of the power supply unit based on the power supply control signal.

[0007] One embodiment of the vehicle disclosed herein includes a sensor, a driving control unit, a driving unit, and a transmitting unit. The sensor is configured to detect surrounding obstacles. The driving control unit is configured to perform driving control based on the sensor's detection results. The driving unit is configured to perform driving and includes a power receiver for receiving power supplied from the driving path, a battery for storing power, a motor, and an inverter for driving the motor. The transmitting unit is configured to transmit a power supply control signal when the sensor detects an obstacle; this power supply control signal is a signal instructing the limiting of power supplied from the driving path to the power receiver.

[0008] According to one embodiment of the present disclosure, a vehicle charging system and vehicle are capable of effectively charging the vehicle. Attached Figure Description

[0009] Figure 1 This is an explanatory diagram showing a structural example of a vehicle charging system according to an embodiment of the present disclosure.

[0010] Figure 2 It is shown Figure 1 The diagram illustrates an example of the configuration of power supply equipment in a driving path.

[0011] Figure 3 It is shown Figure 1 The diagram shows a structural example of a vehicle charging system.

[0012] Figure 4A It is shown Figure 1 The flowchart shown is a working example of a vehicle charging system.

[0013] Figure 4B It is shown Figure 1 The flowchart shown is a working example of a vehicle charging system.

[0014] Figure 5 It is shown Figure 1 The diagram illustrates a working example of a vehicle charging system.

[0015] Figure 6 It is shown Figure 1 The diagram illustrates another example of a vehicle charging system in operation.

[0016] (Explanation of reference numerals in the attached diagram)

[0017] 1…Vehicle charging system, 10…Vehicle, 11…Stereo camera, 12…Radar device, 13…Control unit, 14…Brake unit, 15…Steering unit, 16…Communication unit, 17…Notification unit, 20…Driving drive unit, 21…Battery, 22…Inverter, 23…Motor, 24…Power control unit, 30…Power receiving unit, 31…Power receiving coil, 32…Rectifier circuit, 80…Power supply equipment, 81…Vehicle detection unit, 82…Communication unit, 83…Power supply control unit, 90…Power supply unit, 91…Power source unit, 92…Power supply coil, 100…System power supply, CTL…Power supply control signal, P…Electricity. Detailed Implementation

[0018] Hereinafter, embodiments of the present disclosure will be described in detail with reference to the accompanying drawings.

[0019] <Implementation Method>

[0020] [Structure Example]

[0021] Figures 1-3 This is a diagram illustrating a structural example of a vehicle charging system (vehicle charging system 1) according to one embodiment. The vehicle charging system 1 includes a vehicle 10 and multiple power supply devices 80. The vehicle 10 is an electric vehicle that travels on a road or other travel path 9. The power supply devices 80 are installed on the travel path 9 and supply power to the vehicle 10 in a contactless manner. Figure 2 As shown, multiple power supply devices 80 are arranged separately from each other along the travel path 9. In the vehicle charging system 1, the vehicle 10 is charged sequentially by the multiple power supply devices 80.

[0022] Vehicle 10 ( Figure 1 , Figure 3 It has a stereo camera 11, a radar device 12, a control unit 13, a driving unit 20, a braking unit 14, a steering unit 15, and a communication unit 16.

[0023] 3D camera 11 ( Figure 1 The system is configured to generate a stereoscopic image by capturing images of the front of the vehicle 10, comprising a set of images (left and right images) with parallax between them. In this example, the stereoscopic camera 11 is disposed inside the vehicle 10 near the upper part of the windshield. The stereoscopic camera 11 has a left camera and a right camera. The left and right cameras are disposed at a predetermined distance apart in the width direction of the vehicle 10. The stereoscopic camera 11 operates at a predetermined frame rate (e.g., 60 fps) to generate a series of stereoscopic images, and the generated stereoscopic images are supplied to the control unit 13.

[0024] The radar device 12 is configured to detect vehicles and other objects around the vehicle 10 by irradiating the area around the vehicle 10 with radio waves such as millimeter waves and detecting reflected radio waves from objects. Furthermore, the radar device 12 supplies position data, indicating the relative position of the objects with respect to the vehicle 10, to the control unit 13.

[0025] Control Unit 13 ( Figure 1 , Figure 3The system is configured to control vehicle 10. The control unit 13 includes, for example, one or more processors executing programs, RAM (Random Access Memory) temporarily storing processed data, and ROM (Read Only Memory) storing programs. The control unit 13 detects obstacles that may collide with vehicle 10 based on stereo images supplied from stereo camera 11 and object position data supplied from radar device 12, and controls the movement of vehicle 10 to avoid collisions with these obstacles. Specifically, to avoid collisions with obstacles, the control unit 13 may brake vehicle 10 by controlling the operation of braking unit 14, or change the direction of travel of vehicle 10 by controlling the operation of steering unit 15. Thus, a system that detects obstacles and controls the movement of vehicle 10 to avoid collisions with detected obstacles is also called a pre-collision system.

[0026] Driving drive unit 20 ( Figure 1 , Figure 3 This is configured to drive the vehicle 10. For example... Figure 1 As shown, the driving unit 20 includes a power receiving unit 30, a battery 21, an inverter 22, a motor 23, and a power control unit 24.

[0027] The power receiving unit 30 is configured to receive power P supplied from the power supply device 80 in a non-contact manner. The power receiving unit 30 includes a power receiving coil 31 and a rectifier circuit 32. The power receiving coil 31 is configured to generate an AC power signal based on the electromagnetic field generated by the power supply coil 92 (described later) of the power supply device 80 embedded in the driving path 9 through electromagnetic induction. The rectifier circuit 32 is configured to perform rectification based on the AC power signal generated by the power receiving coil 31. Furthermore, the rectifier circuit 32 supplies the power generated through rectification to the battery 21 based on instructions from the power control unit 24. Thus, in the vehicle charging system 1, power P is supplied to the vehicle 10 from the power supply device 80, and the battery 21 is charged based on this power P.

[0028] The battery 21 is configured to store power supplied from the power receiving unit 30 based on instructions from the power control unit 24, and to supply power to the inverter 22.

[0029] Inverter 22 is configured to generate AC power based on DC power supplied from battery 21, and supply the generated AC power to motor 23. Inverter 22 operates based on instructions from power control unit 24.

[0030] Motor 23 is a power source that generates mechanical force, i.e., driving force, based on the alternating current supplied from inverter 22. Vehicle 10 moves by rotating the drive wheels based on this driving force.

[0031] The power control unit 24 is configured to control the driving of the vehicle 10 driven by the motor 23 by controlling the operation of the rectifier circuit 32, the battery 21 and the inverter 22.

[0032] Braking unit 14 ( Figure 3 The vehicle 10 is configured to brake, for example, based on the driver's braking operation or an instruction from the control unit 13, so that the vehicle 1 decelerates or stops.

[0033] The steering unit 15 is configured to change the direction of travel of the vehicle 10, for example, based on the driver's steering operation or instructions from the control unit 13.

[0034] Communications Department 16( Figure 3 The communication unit 16 is configured to communicate with the power supply device 80 via wireless communication. As described later, for example, when the power supply device 80 is supplying power to the vehicle 10, and the vehicle 10 detects an obstacle, the communication unit 16 sends a power supply control signal CTL to the power supply device 80, for example, instructing the power supply to stop. Furthermore, in this example, the power supply is stopped, but it is not limited to this; the power supply may be reduced without stopping the power supply.

[0035] Notification Department 17 ( Figure 3 The notification unit 17 is configured to notify the driver of information. It may include a display unit such as a liquid crystal display (LCD). In this case, the notification unit 17 can notify the driver of the information by displaying it. Alternatively, the notification unit 17 may include a speaker, for example. In this case, the notification unit 17 can notify the driver of the information by emitting sound.

[0036] Power supply equipment 801, Figure 3 It has a vehicle inspection department 81, a communication department 82, a power supply department 90, and a power supply control department 83.

[0037] The vehicle detection unit 81 is configured to detect whether the vehicle (vehicle 10) is within the power supply range (power supply range) of the power supply equipment 80. For example, the vehicle detection unit 81 can be embedded in the roadway 9 and detect the vehicle 10 by measuring its weight. Alternatively, the vehicle detection unit 81 can be installed on the roadway 9 and detect the vehicle 10 by taking pictures of the vicinity of the power supply equipment 80.

[0038] Department of Communications 82( Figure 3 The system is configured to communicate with the communication unit 16 of the vehicle 10 via wireless communication. The communication unit 82 receives the power supply control signal CTL sent from the communication unit 16 of the vehicle 10.

[0039] Power Supply Department 90 ( Figure 1 , Figure 3The system is configured to supply power to the vehicle 10 in a non-contact manner based on instructions from the power supply control unit 83. Figure 1 As shown, the power supply unit 90 includes a power supply section 91 and a power supply coil 92. The power supply section 91 is configured to operate based on instructions from the power supply control section 83, and drives the power supply coil 92 based on AC power supplied from the system power supply 100. The power supply coil 92 is embedded in the driving path 9 and is driven by the power supply section 91 to generate an electromagnetic field. In the vehicle 10, the receiving coil 31 generates an AC power signal based on this electromagnetic field through electromagnetic induction. Thus, power is supplied to the vehicle 10 from the power supply equipment 80.

[0040] Power supply control unit 83 ( Figure 1 , Figure 3 This is configured to control the operation of the power supply equipment 80. Specifically, the power supply control unit 83 controls the operation of the power supply unit 90 based, for example, on the detection results of the vehicle detection unit 81, so that the power supply unit 90 performs power supply operation when the vehicle 10 is within the range where the power supply equipment 80 can provide power. In addition, when the communication unit 82 receives a power supply control signal CTL indicating that the power supply operation should be stopped, the power supply control unit 83 stops the power supply operation of the power supply unit 90 based on the power supply control signal CTL.

[0041] Here, vehicle 10 corresponds to a specific example of "vehicle" in this disclosure. Stereo camera 11 and radar device 12 correspond to a specific example of "sensor" in this disclosure. Control unit 13 corresponds to a specific example of "driving control unit" in this disclosure. Driving drive unit 20 corresponds to a specific example of "driving drive unit" in this disclosure. Power receiving unit 30 corresponds to a specific example of "power receiving unit" in this disclosure. Storage battery 21 corresponds to a specific example of "storage battery" in this disclosure. Inverter 22 corresponds to a specific example of "inverter" in this disclosure. Motor 23 corresponds to a specific example of "motor" in this disclosure. Communication unit 16 corresponds to a specific example of "transmitting unit" in this disclosure. Power supply equipment 80 corresponds to a specific example of "power supply equipment" in this disclosure. Communication unit 82 corresponds to a specific example of "receiving unit" in this disclosure. Power supply control signal CTL corresponds to a specific example of "power supply control signal" in this disclosure. Power supply unit 90 corresponds to a specific example of "power supply unit" in this disclosure. The power supply control unit 83 corresponds to a specific example of "power supply control unit" in this disclosure.

[0042] [Job and Role]

[0043] Next, the operation and function of the vehicle charging system 1 in this embodiment will be explained.

[0044] (Overview of all tasks)

[0045] First, refer to Figure 1This section provides a general overview of the operation of the vehicle charging system 1. In the power supply device 80, the vehicle detection unit 81 detects whether the vehicle (vehicle 10) is within the range where the power supply device 80 can provide power. The power supply control unit 83 controls the operation of the power supply unit 90 based, for example, on the detection result of the vehicle detection unit 81, so that the power supply unit 90 provides power when the vehicle 10 is within the range where the power supply device 80 can provide power. Power supply unit 90 ( Figure 1 , Figure 3 Power is supplied to the vehicle 10 in a non-contact manner by means of instructions from the power supply control unit 83.

[0046] In vehicle 10, the power receiving unit 30 of the drive unit 20 receives power P supplied from the power supply equipment 80 in a non-contact manner. The battery 21 stores the power supplied from the power receiving unit 30 based on instructions from the power control unit 24 and supplies power to the inverter 22. The inverter 22 generates AC power based on the DC power supplied from the battery 21 and supplies the generated AC power to the motor 23. The motor 23 generates mechanical force, i.e., driving force, based on the AC power supplied from the inverter 22. The power control unit 24 controls the driving of vehicle 10 by the motor 23 by controlling the operation of the rectifier circuit 32, the battery 21, and the inverter 22.

[0047] In vehicle 10, stereo camera 11 generates a stereo image by capturing images of the front of vehicle 10, including a set of images (left and right images) with parallax between them. Radar device 12 irradiates radio waves, such as millimeter waves, around vehicle 10 and detects reflected radio waves from objects, thereby detecting objects such as vehicles around vehicle 10. Control unit 13 detects obstacles that may collide with vehicle 10, for example, based on the stereo image supplied from stereo camera 11 and the position data of objects supplied from radar device 12, and controls the movement of vehicle 10 to avoid collisions with obstacles. Braking unit 14 brakes vehicle 10, for example, based on the driver's braking operation or instructions from control unit 13, to decelerate or stop vehicle 10. Steering unit 15 changes the direction of travel of vehicle 10, for example, based on the driver's steering operation or instructions from control unit 13. Communication unit 16, for example, when power supply device 80 supplies power to vehicle 10, sends a power supply control signal CTL, for example, indicating that power supply operation should stop, to power supply device 80 when vehicle 10 detects an obstacle. The notification department 17 will inform the driver of the information.

[0048] In the power supply equipment 80, the communication unit 82 receives, for example, a power supply control signal CTL sent from the communication unit 16 of the vehicle 10. When the communication unit 82 receives the power supply control signal CTL indicating that power supply operation has stopped, the power supply control unit 83 stops the power supply operation of the power supply unit 90 based on the power supply control signal CTL.

[0049] (Detailed work)

[0050] Figure 4A , Figure 4B This diagram illustrates an example of the operation of the vehicle charging system 1. The vehicle charging system 1 supplies power to the vehicle 10 whenever the vehicle 10 enters the power supply range of the power supply device 80. Furthermore, the vehicle charging system 1 may, depending on the situation, stop supplying power to activate the pre-collision system or deactivate the pre-collision system while supplying power. This operation will be explained in detail below.

[0051] First, the vehicle detection unit 81 of the power supply device 80 confirms whether the vehicle is within the power supply range of the power supply device 80 (step S101). If the vehicle is not within the power supply range ("No" in step S101), step S101 is repeated until the vehicle enters the power supply range of the power supply device 80.

[0052] In step S101, when the vehicle (vehicle 10) is within the power supply range of the power supply device 80 ("Yes" in step S101), the power supply device 80 begins to supply power (step S102). Specifically, the power supply unit 91 of the power supply device 80 operates based on instructions from the power supply control unit 83, driving the power supply coil 92 based on AC power supplied from the system power supply 100. The power supply coil 92 is driven by the power supply unit 91, thereby generating an electromagnetic field. As a result, in the vehicle 10, the receiving coil 31 generates an AC power signal based on this electromagnetic field through electromagnetic induction, and the rectifier circuit 32 performs rectification based on the AC power signal generated by the receiving coil 31, supplying the power generated through rectification to the battery 21. Thus, in the vehicle charging system 1, power P is supplied to the vehicle 10 from the power supply device 80, and the battery 21 is charged based on this power P.

[0053] Next, the control unit 13 of the vehicle 10 performs a self-diagnosis (step S103). In this self-diagnosis, the control unit 13 checks, for example, whether the inability to detect obstacles is due to electromagnetic noise generated when power is supplied to the vehicle 10 from the power supply device 80 (step S104). That is, the control unit 13 detects obstacles that may collide with the vehicle 10 based on the stereo image supplied from the stereo camera 11 and the position data of the object supplied from the radar device 12. For example, electromagnetic noise is generated in the power supply device 80 due to the operation of the power supply unit 90, and electromagnetic noise is generated in the vehicle 10 due to the operation of the power receiving unit 30 and the power control unit 24. In particular, in such contactless power supply, high-voltage signals are used, resulting in significant electromagnetic noise. The radar device 12 may be unable to detect obstacles due to interference from the electromagnetic noise and the electromagnetic waves it uses for detection. Furthermore, the stereo camera 11 may be affected by this electromagnetic noise when the digital circuit performs predetermined image processing based on the acquired stereo image. In the presence of such electromagnetic noise, the control unit 13 may be unable to detect obstacles based on the stereo image supplied by the stereo camera 11 and the position data of the object supplied by the radar device 12. Therefore, the control unit 13 confirms whether it is unable to detect obstacles through self-diagnosis.

[0054] In step S104, even if an obstacle can be detected during power supply (No in step S104), the power supply device 80 continues to supply power P to the vehicle 10 in the vehicle charging system 1. Furthermore, the pre-collision system operates as shown below.

[0055] The control unit 13 of vehicle 10 checks whether an obstacle has been detected (step S105). If no obstacle has been detected ("No" in step S105), the process proceeds to step S110.

[0056] In step S105, if an obstacle is detected (Yes in step S105), the control unit 13 confirms whether the power supply device 80 is supplying power (step S106). Specifically, the control unit 13 confirms whether the power supply device 80 is supplying power by checking whether the power receiving unit 30 is receiving power P. If the power supply device 80 is not supplying power (No in step S106), the process proceeds to step S109.

[0057] In step S106, when the power supply device 80 is operating ("Yes" in step S106), the vehicle 10 sends a power supply control signal CTL indicating that the power supply operation should be stopped to the power supply device 80 (step S107). Specifically, when the power supply device 80 is operating, the control unit 13 may falsely detect obstacles due to electromagnetic noise, so the control unit 13 decides to stop the power supply operation. Furthermore, the communication unit 16 sends the power supply control signal CTL indicating that the power supply operation should be stopped to the power supply device 80 based on the instruction from the control unit 13.

[0058] Furthermore, the power supply device 80 stops supplying power based on the power supply control signal CTL (step S108). Specifically, the communication unit 82 of the power supply device 80 receives the power supply control signal CTL sent from the vehicle 10. The power supply control unit 83 controls the operation of the power supply unit 90 based on the power supply control signal CTL, and the power supply unit 90 stops supplying power based on the instruction from the power supply control unit 83. As a result, the vehicle charging system 1 stops supplying power and the pre-collision system activates.

[0059] Furthermore, the control unit 13 brakes or steers the vehicle 10 (step S109). That is, an obstacle is detected in step S105, so the control unit 13 brakes or steers the vehicle 10 to avoid collision with the obstacle through the operation of the pre-collision system.

[0060] The vehicle detection unit 81 of the power supply equipment 80 confirms whether the vehicle 10 has passed the power supply range of the power supply equipment 80 (step S110). If the vehicle 10 is still within the power supply range ("No" in step S110), the process returns to step S105, and the vehicle charging system 1 repeats the process of steps S105 to S110 until the vehicle 10 leaves the power supply range.

[0061] In step S110, if the vehicle 10 leaves the power supply range of the power supply equipment 80 (Yes in step S110), the power supply control unit 83 of the power supply equipment 80 checks whether the power supply unit 90 is performing power supply operation (step S111). If the power supply unit 90 has stopped performing power supply operation (No in step S111), the process ends. Alternatively, if the power supply unit 90 is still performing power supply operation (Yes in step S111), the power supply control unit 83 controls the operation of the power supply unit 90, and the power supply unit 90 stops performing power supply operation based on the instruction from the power supply control unit 83 (step S112). The process then ends.

[0062] In step S104, if the control unit 13 is unable to detect an obstacle due to electromagnetic noise ("Yes" in step S104), the control unit 13 checks whether the charging rate of the battery 21 is low (step S113). For example, the control unit 13 checks whether the charging rate of the battery 21 is low by comparing it with a predetermined value. This predetermined value is, for example, a charging rate value that requires continued charging.

[0063] In step S113, if the charging rate of the battery 21 is not low (No in step S113), the control unit 13 checks whether the obstacle detection result based on the stereo image supplied from the stereo camera 11 is different from the obstacle detection result based on the object position data supplied from the radar device 12 (step S114). That is, because the stereo camera 11 captures images of the front of the vehicle 10, the control unit 13 can detect obstacles in front of the vehicle 10. Furthermore, the radar device 12 can detect vehicles and the like around the vehicle 10 by irradiating radio waves around the vehicle 10, so the control unit 13 can detect obstacles in front of, to the side of, and behind the vehicle 10, for example. Therefore, the control unit 13 can compare the obstacle detection result in front of the vehicle 10 based on the stereo image supplied from the stereo camera 11 with the obstacle detection result in front of the vehicle 10 based on the object position data supplied from the radar device 12. It is desirable that these obstacle detection results are the same, but these obstacle detection results may differ due to electromagnetic noise.

[0064] In step S114, if the obstacle detection result based on the stereo image supplied from the stereo camera 11 differs from the obstacle detection result based on the object position data supplied from the radar device 12 ("Yes" in step S114), the vehicle 10 notifies the driver of a malfunction of the sensors (stereo camera 11 and radar device 12) (step S115). Specifically, the control unit 13 determines that one of the obstacle detection results based on the stereo image supplied from the stereo camera 11 or the obstacle detection results based on the object position data supplied from the radar device 12 is affected by electromagnetic noise, resulting in a result different from the desired result. That is, the control unit 13 determines that one of the stereo camera 11 and the radar device 12 is malfunctioning due to electromagnetic noise. Furthermore, the notification unit 17 notifies the driver of the sensor malfunction based on the instruction from the control unit 13.

[0065] Furthermore, the vehicle 10 sends a power supply control signal CTL indicating that power supply operation should be stopped to the power supply equipment 80 (step S116). Specifically, the sensor malfunctions due to electromagnetic noise, so in order to avoid generating electromagnetic noise, the control unit 13 decides to stop the power supply operation. Based on the instruction from the control unit 13, the communication unit 16 sends a power supply control signal CTL indicating that power supply operation should be stopped to the power supply equipment 80.

[0066] Furthermore, the power supply device 80 stops supplying power based on the power supply control signal CTL (step S117). Specifically, the communication unit 82 of the power supply device 80 receives the power supply control signal CTL sent from the vehicle 10. The power supply control unit 83 controls the operation of the power supply unit 90 based on the power supply control signal CTL, and the power supply unit 90 stops supplying power based on the instruction from the power supply control unit 83. Then, the process proceeds to step S105. That is, when the process proceeds from step S104 to step S105, the power supply device 80 supplies power P to the vehicle 10, but when the process proceeds from step S117 to step S105, the power supply device 80 does not supply power P to the vehicle 10. Furthermore, the vehicle charging system 1 performs the processes of steps S105 to S112.

[0067] In step S114, if the obstacle detection result based on the stereo image supplied from the stereo camera 11 is consistent with the obstacle detection result based on the object position data supplied from the radar device 12 (No in step S114), the control unit 13 confirms, for example, whether the sensors (stereo camera 11 and radar device 12) are malfunctioning through the self-diagnosis in step S103 (step S118). If the sensors are not malfunctioning (No in step S118), the process proceeds to step S115. That is, in this case, the control unit 13 is unable to detect obstacles due to electromagnetic noise (Yes in step S104), but the sensors are not malfunctioning (No in step S118). Therefore, regardless of whether there are actually obstacles, the control unit 13 determines that both the obstacle detection result based on the stereo image supplied from the stereo camera 11 and the obstacle detection result based on the object position data supplied from the radar device 12 are affected by electromagnetic noise, indicating that there are no obstacles. That is, in this case, the control unit 13 determines that both the stereo camera 11 and the radar device 12 are malfunctioning due to electromagnetic noise. In this case, the process proceeds from step S118 to step S115. Therefore, the vehicle 10 notifies the driver of the sensor malfunction (step S115) and sends a power supply control signal CTL indicating that power supply operation should be stopped to the power supply device 80 (step S116). The power supply device 80 stops power supply operation based on the power supply control signal CTL (step S117).

[0068] In step S118, if the sensors (stereo camera 11 and radar device 12) malfunction ("Yes" in step S118), the vehicle 10 notifies the driver of a sensor malfunction and the termination of the pre-collision system (step S119). Specifically, due to the sensor malfunction, the control unit 13 cannot properly detect obstacles even if the pre-collision system is activated, and therefore decides to terminate the pre-collision system. Furthermore, the notification unit 17 notifies the driver of a sensor malfunction and the termination of the pre-collision system. The process then proceeds to step S121.

[0069] In step S113, if the charging rate of the battery 21 is low ("Yes" in step S113), the vehicle 10 notifies the driver of information indicating that the pre-collision system should be stopped (step S120). Specifically, because the charging rate of the battery 21 is low, the control unit 13 determines that charging the battery 21 should be prioritized over the pre-collision system and decides to stop the pre-collision system. Furthermore, the notification unit 17 notifies the driver of information indicating that the pre-collision system should be stopped. Then, the process proceeds to step S121.

[0070] Then, the control unit 13 stops the pre-collision system (step S121). As a result, the vehicle charging system 1 stops the pre-collision system and supplies power.

[0071] The vehicle detection unit 81 of the power supply equipment 80 confirms whether the vehicle 10 has passed the power supply range of the power supply equipment 80 (step S122). If the vehicle 10 is still within the power supply range ("No" in step S122), the process returns to step S122, and the vehicle charging system 1 repeats the process of step S122 until the vehicle 10 leaves the power supply range.

[0072] In step S122, if the vehicle 10 leaves the power supply range of the power supply equipment 80 (yes in step S122), the power supply control unit 83 controls the operation of the power supply unit 90, and the power supply unit 90 stops power supply based on the instruction from the power supply control unit 83 (step S123).

[0073] Furthermore, vehicle 10 restarts the operation of the pre-collision system, which had stopped in step S121 (step S124). This concludes the process.

[0074] In this example, vehicle 10 sends a power supply control signal (CTL) to power supply device 80 when it is within the power supply range of power supply device 80. However, this is not a limitation; for example, vehicle 10 can send the power supply control signal CTL to power supply device 80 even when it is outside the power supply range of power supply device 80. For instance, vehicle 10 can send the power supply control signal CTL to power supply devices 80 before passing through the power supply range of one power supply device 80 and before reaching the power supply range of another. Therefore, even if vehicle 10 cannot send the power supply control signal CTL within the power supply range of power supply device 80, for example due to electromagnetic noise, it can still send the power supply control signal CTL between two power supply devices 80 without generating electromagnetic noise.

[0075] Additionally, multiple power supply devices 80 can communicate with each other to exchange various information. In this case, for example, the power supply control signal CTL sent by vehicle 10 may include information about the vehicle 10's movement (driving information). Specifically, the power supply control signal CTL may include, for example, information about the vehicle 10's speed and information about the lane in which the vehicle 10 is traveling.

[0076] Figure 5 This is a diagram illustrating an example of the operation of a vehicle charging system 1 in which information about the speed of vehicle 10 and information about the lane in which vehicle 10 is traveling are transmitted.

[0077] In this example, two vehicles 10 (vehicles 10A and 10B) are traveling on road 9, which has two lanes. Figure 5 In the diagram, the power supply coil 92 of the power supply equipment 80 that is supplying power is depicted with a solid line, and the power supply coil 92 of the power supply equipment 80 that is not supplying power is depicted with a dashed line.

[0078] In this example, vehicle 10A is traveling in the right-hand lane of travel route 9. Electromagnetic noise during power supply to vehicle 10A does not affect obstacle detection. Therefore, multiple power supply devices 80 estimate the position of vehicle 10A based on information about its speed and the lane it is traveling in, and sequentially supply power to vehicle 10A according to its position.

[0079] On the other hand, vehicle 10B is traveling in the left lane of travel route 9. Electromagnetic noise during power supply in vehicle 10B affects obstacle detection. Therefore, multiple power supply devices 80 estimate the position of vehicle 10B based on information about its speed and the lane it is traveling in, and operate in a manner that does not supply power to vehicle 10B.

[0080] Figure 6 This is a diagram illustrating another example of the operation of the vehicle charging system 1 when transmitting information about the speed of vehicle 10 and the lane in which vehicle 10 is traveling. In this example, three vehicles 10 (vehicles 10C to 10E) are traveling in the right lane of travel road 9.

[0081] In this example, the electromagnetic noise during power supply to vehicles 10C and 10D does not affect obstacle detection. Therefore, multiple power supply devices 80 estimate the positions of vehicles 10C and 10D based on information about their speed and the lanes they travel in, and sequentially supply power to vehicles 10C and 10D according to their positions.

[0082] On the other hand, in vehicle 10E, electromagnetic noise during power supply affects obstacle detection. Therefore, multiple power supply devices 80 estimate the position of vehicle 10E based on information about the vehicle's speed and the lane it is traveling in, and sequentially stop supplying power to vehicle 10E according to its position, so that no power is supplied to vehicle 10E.

[0083] Thus, the vehicle charging system 1 includes: sensors (e.g., stereo camera 11 and radar device 12) for detecting obstacles around the vehicle 10; a control unit 13 for controlling the vehicle 10's movement based on sensor detection results; a driving unit 20 for driving the vehicle 10, and includes a power receiver 30 for receiving power P supplied from the driving path 9, a battery 21 for storing power P, a motor 23, and an inverter 22 for driving the motor 23 based on power P; and a communication unit 16 for sending a power supply control signal CTL when an obstacle is detected by the sensors. This power supply control signal CTL is a signal indicating that the power P supplied from the driving path 9 to the power receiver 30 should be limited. Therefore, for example, when an obstacle is detected by the sensors, the power P supplied to the power receiver 30 can be limited. Specifically, for example, power supply can be stopped, or the power supply can be maintained but the supplied power P can be reduced. Thus, electromagnetic noise can be suppressed in the vehicle charging system 1, thereby reducing the possibility of the pre-collision system malfunctioning. On the other hand, power can be supplied even when the sensors do not detect an obstacle. Thus, in the vehicle charging system 1, the reliability of the pre-collision system can be maintained, and power can be supplied to the vehicle 10, so the vehicle 10 can be charged effectively.

[0084] Furthermore, in the vehicle charging system 1, the communication unit 16, when receiving power P from the driving path 9 at the power receiving unit 30, sends a power supply control signal CTL when the sensor cannot detect an obstacle. This limits the power P supplied to the power receiving unit 30 when the sensor cannot detect an obstacle, thus suppressing electromagnetic noise. On the other hand, power supply is performed, for example, when the sensor can detect an obstacle. Therefore, in the vehicle charging system 1, the reliability of the pre-collision system can be maintained, and power can be supplied to the vehicle 10, thus effectively charging the vehicle 10.

[0085] Furthermore, in the vehicle charging system 1, when the charging rate of the battery 21 is low, the control unit 13 does not perform driving control of the vehicle 10 based on the sensor detection results, and the communication unit 16 does not send the power supply control signal CTL. Therefore, when the charging rate is low, for example when the pre-collision system stops, power supply operation takes priority, thus enabling efficient charging of the vehicle 10.

[0086] Furthermore, in the vehicle charging system 1, the power supply control signal CTL also includes driving information of the vehicle 10. Specifically, the power supply control signal CTL also includes, for example, information about the driving speed of the vehicle 10 and information about the driving lane in which the vehicle 10 is traveling. Thus, the power supply device 80 can, for example, start or stop power supply based on the position of the vehicle 10, thereby effectively charging the vehicle 10.

[0087] [Effect]

[0088] As described above, this embodiment includes: a sensor for detecting obstacles around the vehicle; a control unit for controlling the vehicle's movement based on the sensor's detection results; a driving unit for driving the vehicle and having a power receiver for receiving power supplied from the driving path, a battery for storing power, a motor, and an inverter for driving the motor; and a communication unit that sends a power supply control signal when the sensor detects an obstacle. This power supply control signal is an instruction to limit the power supplied from the driving path to the power receiver, thus enabling efficient charging of the vehicle.

[0089] In this embodiment, the communication unit also sends a power supply control signal when the sensor cannot detect an obstacle, even when the power receiving unit receives power from the driving road, thus enabling effective charging of the vehicle.

[0090] In this embodiment, when the battery charging rate is low, the control unit does not perform vehicle driving control based on the sensor detection results, and the communication unit does not send power supply control signals, so the vehicle can be effectively charged.

[0091] In this embodiment, the power supply control signal also includes vehicle driving information, so the vehicle can be charged effectively.

[0092] The above examples illustrate the present technology, but the present technology is not limited to these examples and can be modified in various ways.

[0093] For example, in the above embodiment, a stereo camera 11 and a radar device 12 are used as sensors, but the method is not limited to these. For example, a monocular camera can be used instead of the stereo camera 11. In addition, other devices can be used as sensors.

[0094] Furthermore, the effects described in this specification are merely illustrative and not limiting, and may have other effects as well.

Claims

1. A vehicle charging system, comprising: Sensors are installed on vehicles traveling on a road and detect obstacles around the vehicles; A driving control unit is installed in the vehicle and performs driving control of the vehicle based on the detection results of the sensors; A driving unit is provided in the vehicle and drives the vehicle, and has a power receiving unit that receives power supplied from the driving road, a battery that stores the power, a motor, and an inverter that drives the motor based on the power. A transmitting unit is provided in the vehicle, and when the sensor detects the obstacle, it sends a power supply control signal, which is a signal indicating that the power supplied from the travel path to the receiving unit is limited; as well as The power supply equipment is installed on the roadway and includes a receiving unit for receiving the power supply control signal sent from the vehicle, a power supply unit for supplying power to the receiving unit, and a power supply control unit for controlling the power supply operation of the power supply unit based on the power supply control signal. The transmitting unit also sends the power supply control signal when the sensor is unable to detect the obstacle due to electromagnetic noise, provided that the receiving unit receives the power supplied from the driving road.

2. The vehicle charging system according to claim 1, wherein, When the charge rate of the battery is low, The driving control unit does not perform the driving control of the vehicle based on the detection results of the sensors. The transmitting unit does not transmit the power supply control signal.

3. The vehicle charging system according to claim 1, wherein, The power supply control signal also includes the vehicle's driving information.

4. The vehicle charging system according to claim 2, wherein, The power supply control signal also includes the vehicle's driving information.

5. A vehicle, comprising: Sensors detect surrounding obstacles; The driving control unit performs driving control based on the detection results of the sensors; The driving unit performs driving and includes a power receiving unit that receives power supplied from the driving road, a battery that stores the power, a motor, and an inverter that drives the motor based on the power. as well as The transmitting unit, upon the detection of the obstacle by the sensor, sends a power supply control signal, which instructs to limit the power supplied from the travel path to the receiving unit. The transmitting unit also sends the power supply control signal when the sensor is unable to detect the obstacle due to electromagnetic noise, provided that the receiving unit receives the power supplied from the driving road.

Images