A charging method of an electric vehicle and a van charging vehicle

Abstract

Embodiments of the present application provide a charging method of an electric vehicle and a van-type charging vehicle. The van-type charging vehicle comprises a compartment body, and the compartment body comprises a compartment bottom plate and a compartment rear door plate. The method comprises: in the case of receiving a charging request of an electric vehicle, establishing a communication connection with the electric vehicle; obtaining first road information of a first future road section, the first road information comprising: flatness of the road and length of the flat road section; in the case of detecting that the van-type charging vehicle travels at a first speed in front of the electric vehicle, and the distance between the van-type charging vehicle and the electric vehicle is less than a preset distance, and the first road information meets a first preset condition, controlling the compartment rear door plate to open; in the case of the compartment rear door plate being opened, controlling the electric vehicle to travel at a second speed through the compartment rear door plate to stop at a preset position of the compartment bottom plate, and charging; wherein the second speed is greater than the first speed. The above scheme can improve the safety of mobile charging.

Description

TECHNICAL FIELD

[0001] The present application relates to the technical field of new energy, in particular to a charging method of an electric vehicle and a van-type charging vehicle. BACKGROUND

[0002] At present, electric vehicles have become more and more popular, but the battery capacity of electric vehicles is limited, and in the case of low or no power, it is necessary to find a charging pile to stop and charge. If the distance to the charging pile is relatively far, the electric vehicle may run out of power before reaching the charging pile. In addition, the parking and charging time is relatively long, which affects the user experience when the user urgently needs to use the electric vehicle. SUMMARY

[0003] The present application provides a charging method of an electric vehicle and a van-type charging vehicle to solve the problem of inconvenience in finding a charging pile and the problem of affecting user use in parking and charging of the existing electric vehicle.

[0004] In order to solve the above problems, in the first aspect of the present application, a charging method of an electric vehicle is provided, applied to a van-type charging vehicle, the van-type charging vehicle comprising a compartment, the compartment comprising a compartment bottom plate and a compartment rear door plate, the method comprising:

[0005] In the case of receiving a charging request of an electric vehicle, a communication connection is established with the electric vehicle;

[0006] Obtain first road information of a first future road section, the first road information comprising: the flatness of the road and the length of the flat road section;

[0007] In the case that the van-type charging vehicle is detected to travel at a first speed in front of the electric vehicle, and the distance between the van-type charging vehicle and the electric vehicle is less than a preset distance, and the first road information meets a first preset condition, the compartment rear door plate is controlled to be opened;

[0008] In the case that the compartment rear door plate is opened, the electric vehicle is controlled to travel through the compartment rear door plate to a preset position of the compartment bottom plate at a second speed and stop for charging; wherein the second speed is greater than the first speed.

[0009] In the second aspect of the present application, a van-type charging vehicle is provided, comprising a compartment, the compartment comprising a compartment bottom plate and a compartment rear door plate, further comprising a memory, a transceiver and a processor:

[0010] The memory is used for storing computer programs; the transceiver is used for transceiving data under the control of the processor; the processor is used for reading the computer programs in the memory and performing the following operations:

[0011] In the case of receiving a charging request of the electric vehicle, a communication connection is established with the electric vehicle;

[0012] Obtaining first road information of a first future road section, the first road information including: flatness of the road and length of the flat road section;

[0013] In the case of detecting that the van-type charging vehicle travels at a first speed in front of the electric vehicle, and the distance from the electric vehicle is less than a preset distance, and the first road information meets a first preset condition, the rear door panel of the van body is controlled to open;

[0014] In the case of the rear door panel of the van body being opened, the electric vehicle is controlled to travel through the rear door panel of the van body to a preset position of the van body bottom plate at a second speed and stop for charging; wherein the second speed is greater than the first speed.

[0015] Compared with the prior art, the present application has the following advantages:

[0016] In the case of receiving a charging request of the electric vehicle, a communication connection is established with the electric vehicle, thereby obtaining first road information of a first future road section, which includes: flatness of the road and length of the flat road section; thereby it can be known that the road section suitable for mobile charging. And in the case of detecting that the van-type charging vehicle travels at a first speed in front of the electric vehicle, and the distance from the electric vehicle is less than a preset distance, and the first road information meets a first preset condition, the rear door panel of the van body is controlled to open, and in the case of the rear door panel of the van body being opened, the electric vehicle is controlled to travel through the rear door panel of the van body to a preset position of the van body bottom plate at a second speed and stop for charging; thereby charging can be realized inside the moving van-type charging vehicle, not only avoiding the problem of long waiting time for parking charging, but also avoiding the driving safety problem of mobile charging by binding with charging cable, improving the safety of mobile charging. BRIEF DESCRIPTION OF DRAWINGS

[0017] Figure 1 is a flowchart of a charging method of an electric vehicle according to an embodiment of the present application;

[0018] Figure 2 is a communication schematic diagram of a van-type charging vehicle and an electric vehicle according to an embodiment of the present application;

[0019] Figure 3 is a relative position schematic diagram of a van-type charging vehicle and an electric vehicle according to an embodiment of the present application;

[0020] Figure 4 is a schematic diagram of a center line according to an embodiment of the present application;

[0021] Figure 5 FIG. 1 is a structural schematic diagram of a positioning device on a body floor according to an embodiment of the present application;

[0022] Figure 6 FIG. 2 is a structural schematic diagram of a positioning device and a tire according to an embodiment of the present application;

[0023] Figure 7 FIG. 3 is a flowchart of a charging method of an electric vehicle according to an embodiment of the present application;

[0024] Figure 8 FIG. 4 is a structural block diagram of a van charging vehicle according to an embodiment of the present application. DETAILED DESCRIPTION

[0025] The term "and / or" in the embodiments of the present application describes the association relationship of the associated objects, which means that there can be three relationships, for example, A and / or B can represent the three cases of A alone, A and B together, and B alone. The character " / " generally represents an "or" relationship between the front and rear associated objects.

[0026] The term "multiple" in the embodiments of the present application means two or more, and other quantifiers are similar.

[0027] The technical solutions in the embodiments of the present application will be described clearly and completely below with reference to the drawings in the embodiments of the present application. Obviously, the described embodiments are only part of the embodiments of the present application, not all. Based on the embodiments in the present application, all other embodiments obtained by those skilled in the art without creative labor are within the scope of protection of the present application.

[0028] At present, with the emergence of automatic driving technology, a charging vehicle provides charging service to an electric vehicle through a charging line during the driving of the electric vehicle, that is, charging in driving, which can effectively solve the range anxiety of the electric vehicle and eliminate the trouble of long waiting time for parking and charging. In addition, the charging vehicle and the electric vehicle can realize driving cooperation through the signal transmission line bound together with the charging line.

[0029] Charging in driving: refers to a business scenario in which the electric vehicle and the charging vehicle drive in the same direction and at the same speed, and the charging service is completed in driving. Generally, the electric vehicle drives in front and the charging vehicle drives behind, and the electric vehicle is responsible for cooperating with the driving of the charging vehicle during the charging process.

[0030] However, the above-mentioned charging in driving has high requirements for the road surface, and there may be safety hazards when encountering uneven road sections during the charging process.

[0031] Therefore, the embodiment of the present application provides a charging method of an electric vehicle and a van-type charging vehicle, which can know a section suitable for mobile charging, and the electric vehicle is moved into the vehicle compartment in the section, so that charging can be performed inside the mobile van-type charging vehicle, which not only avoids the problem of long waiting time for parking charging, but also avoids the driving safety problem of mobile charging through the binding of charging lines, and improves the safety of mobile charging.

[0032] Specifically, as shown in Figure 1 The embodiment of the present application provides a charging method of an electric vehicle, which is applied to a van-type charging vehicle. The van-type charging vehicle includes a compartment body, the compartment body includes a compartment body bottom plate and a compartment body rear door plate, and further includes a compartment body left door plate and a compartment body rear door plate. The compartment body bottom plate, the compartment body left door plate, the compartment body right door plate and the compartment body rear door plate form a complete compartment body. The compartment body bottom plate is fixedly connected with the compartment body left door plate and the compartment body right door plate. The compartment body rear door plate can be connected with the compartment body bottom plate through a rotating shaft or the like. The compartment body rear door plate can be connected with the compartment body left door plate and the compartment body right door plate through clamping or the like, so that the compartment body rear door plate can be switched between an open state and a closed state. The compartment body can further include a compartment body top plate. The charging method of the electric vehicle specifically includes the following steps.

[0033] Step 101: In the case that a charging request of an electric vehicle is received, a communication connection is established with the electric vehicle.

[0034] Specifically, as shown in Figure 2 The van-type charging vehicle 21 and the electric vehicle 23 are in communication connection with a vehicle-to-X (V2X) base station 22 during driving, as shown in Figure 2 The double-headed dashed line in the figure indicates a communication connection. The van-type charging vehicle 21 broadcasts a charging service during driving, that is, the van-type charging vehicle 21 sends a broadcast service of providing charging to the V2X base station 22. If the electric vehicle 23 receives the broadcast through the V2X base station 22, it determines whether to send a charging request according to its own power. If the electric vehicle 23 determines to charge, the electric vehicle 23 sends a charging request to the van-type charging vehicle 21 through the V2X base station. In the case that the charging request of the electric vehicle is received, the van-type charging vehicle 21 establishes a wireless communication connection with the electric vehicle 23.

[0035] Step 102: Obtain first road information of a first future section, the first road information including a flatness of a road and a length of a flat section.

[0036] Specifically, when the van-type charging vehicle establishes a communication connection with the electric vehicle, the van-type charging vehicle obtains the first road information of the first future road segment through navigation routes, on-board cameras, etc., that is, it needs to obtain the straightness of the road and the length of the straight road segment in the first future road segment in the navigation route, so as to determine the road segment suitable for driving the electric vehicle into the van.

[0037] Step 103: When it is detected that the van is traveling in front of the electric vehicle at a first speed and the distance between them is less than a preset distance, and the first road information meets the first preset condition, the rear door of the van is controlled to open.

[0038] Specifically, if the van-type charging vehicle detects that it is driving in front of the electric vehicle, and the distance between the van-type charging vehicle and the electric vehicle is less than a preset distance, and the first road information meets the first preset condition, it controls its own rear door panel to open, and the van-type charging vehicle obtains the current first speed and sends the first speed to the electric vehicle.

[0039] Furthermore, the first speed can be the minimum speed limit for the first future road segment.

[0040] Specifically, the van-type charging vehicle obtains the minimum speed limit of the first future road segment and controls the van-type charging vehicle to travel at the first speed. By adopting the minimum speed limit, the safety of mobile charging can be improved.

[0041] Step 104: With the rear door panel of the cargo box open, control the electric vehicle to travel through the rear door panel at a second speed to a preset position on the cargo box floor and stop, and start charging; wherein, the second speed is greater than the first speed.

[0042] Specifically, such as Figure 3 As shown, when the rear door panel 212 of the van is opened, the van charging vehicle 21 controls the electric vehicle 23 to travel at a second speed greater than the first speed through the rear door panel 212 into the van floor 211. Figure 3 The one-way dashed arrow in the diagram indicates the direction of travel for the electric vehicle, and the vehicle stops when it reaches the preset position on the floor 211 of the compartment, thus allowing the charging operation to begin.

[0043] In the above embodiment of the present application, in the case that a charging request of an electric vehicle is received, a communication connection is established with the electric vehicle, thereby obtaining first road information of a first future road section, the first road information including: flatness of the road and length of the flat road section; thereby knowing a road section suitable for mobile charging. And in the case that the van-type charging vehicle is detected to travel at a first speed in front of the electric vehicle, and the distance from the electric vehicle is less than a preset distance, and the first road information meets a first preset condition, the rear door panel of the van body is controlled to open, and in the case that the rear door panel of the van body is opened, the electric vehicle is controlled to travel through the rear door panel of the van body to a preset position of the van body bottom plate at a second speed greater than the first speed and stop, and charging is performed, thereby realizing charging inside the moving van-type charging vehicle, not only avoiding the problem of long waiting time for parking charging, but also avoiding the driving safety problem of mobile charging by binding with a charging cable, improving the safety of mobile charging.

[0044] As an optional embodiment, after the communication connection with the electric vehicle is established in step 101, the method further includes:

[0045] Obtaining the cooperative driving permission of the electric vehicle.

[0046] Specifically, after the van-type charging vehicle establishes a communication connection with the electric vehicle, the van-type charging vehicle sends request information to the electric vehicle requesting to obtain the cooperative driving permission, and after receiving the request information, the electric vehicle sends response information to the van-type charging vehicle, thereby the van-type charging vehicle obtains the cooperative driving permission of the electric vehicle, and the van-type charging vehicle can cooperatively drive the electric vehicle, that is, the van-type charging vehicle can control the driving speed, driving lane, and distance between the van-type charging vehicle and the tail of the electric vehicle.

[0047] As an optional embodiment, the charging mode of the van-type charging vehicle to the electric vehicle includes: wired charging and wireless charging;

[0048] In the case that the charging mode is wireless charging, the preset position is a position where the wireless charging coil position of the electric vehicle and the wireless charging coil position of the van-type charging vehicle meet the charging condition;

[0049] In the case that the charging mode is wired charging, the preset position is a position where the distance between the charging port of the electric vehicle and the charging port of the van-type charging vehicle is less than or equal to the length of the charging cable.

[0050] Specifically, if the van charging vehicle is provided with a charging port and the electric vehicle is also provided with a charging port, the van charging vehicle and the electric vehicle can be charged in a wired charging manner. The position of the electric vehicle when it stops (i.e., the preset position) needs to meet the condition that the charging port of the electric vehicle can be connected to the charging port of the van charging vehicle. If the charging cable is arranged on the van charging vehicle, one end of the charging cable is connected to the van charging vehicle, and the other end needs to be inserted into the charging port of the electric vehicle. Or, if the charging cable is arranged on the electric vehicle, one end of the charging cable is connected to the electric vehicle, and the other end needs to be inserted into the charging port of the van charging vehicle. That is, the distance between the charging port of the electric vehicle and the charging port of the van charging vehicle needs to be less than or equal to the length of the charging cable, so as to ensure that the charging cable can be connected to the two charging ports for charging.

[0051] If the van charging vehicle is provided with a wireless charging coil and an Ultra Wide Band (UWB) positioning device at the bottom, and the electric vehicle is also provided with a wireless charging coil and an UWB positioning device at the bottom, the van charging vehicle and the electric vehicle can be charged in a wireless charging manner. The position of the electric vehicle when it stops (i.e., the preset position) needs to meet the condition that the position of the wireless charging coil of the electric vehicle and the position of the wireless charging coil of the van charging vehicle satisfy the charging condition, i.e., the position of the wireless charging coil of the electric vehicle and the position of the wireless charging coil of the van charging vehicle need to be wirelessly connected, so as to ensure that the van charging vehicle can provide power to the electric vehicle.

[0052] As an optional embodiment, the step 104 controls the electric vehicle to travel through the rear door panel of the compartment body at a second speed to stop at the preset position of the bottom plate of the compartment body and perform charging when the rear door panel of the compartment body is opened, and the step 104 includes:

[0053] The electric vehicle is controlled to travel through the rear door panel of the compartment body at a second speed until it stops at the preset position of the bottom plate of the compartment body when the rear door panel of the compartment body is opened.

[0054] The electric vehicle is fixed by the positioning device and is charged.

[0055] Specifically, when the van charging vehicle opens the rear door panel of the compartment body, the van charging vehicle controls the travel speed of the electric vehicle, so that the electric vehicle travels at a second speed to the rear door panel of the compartment body, and then travels through the rear door panel to the preset position of the bottom plate of the compartment body. At this time, the van charging vehicle controls the electric vehicle to stop traveling. When the electric vehicle reaches the preset position, the van charging vehicle fixes the electric vehicle at the preset position by the positioning device and performs charging operation on the electric vehicle, so as to avoid charging during traveling. If the electric vehicle is not fixed, it is easy to cause charging safety problems.

[0056] As an optional embodiment, the step of controlling the electric vehicle to pass through the rear door panel of the cargo box at a second speed until it stops at a preset position on the cargo box floor when the rear door panel is open may specifically include:

[0057] When the rear door of the van is open, a vehicle speed indication message is sent to the electric vehicle. The vehicle speed indication message is used to indicate that when the center line of the electric vehicle overlaps with the center line of the van-type charging vehicle, the electric vehicle enters the van-type charging vehicle at the second speed.

[0058] When the electric vehicle is detected to have traveled to a preset position on the floor of the cargo box, a parking instruction message is sent to the electric vehicle, and the rear door of the cargo box is controlled to close. The parking instruction message is used to instruct the electric vehicle to stop driving.

[0059] Specifically, such as Figure 4 to Figure 6 As shown, when the rear door of the van is open, the van-type charging vehicle sends a speed indication message to the electric vehicle 23. When the center line 232 of the electric vehicle overlaps with the center line 215 of the van-type charging vehicle, the electric vehicle 23 enters the van-type charging vehicle at a second speed. During the process of the electric vehicle 23 entering the van-type charging vehicle at a second speed, the center line 232 of the electric vehicle is kept overlapping with the center line 215 of the van-type charging vehicle. This ensures that the electric vehicle 23 can drive to the charging position according to the preset driving route (e.g., if the van-type charging vehicle has a parking slot 214 on the floor 211, then the electric vehicle 23 can drive into the parking slot 214). This also avoids the situation where the electric vehicle 23 deviates from the preset driving route during driving, causing the electric vehicle to collide with the left and right door panels of the van.

[0060] Furthermore, if the van-type charging vehicle detects that the electric vehicle 23 has traveled to a preset position on the floor 211 of the van, the van-type charging vehicle sends a stop instruction message to the electric vehicle 23 to control the electric vehicle 23 to stop traveling when it reaches the preset position. When the electric vehicle 23 travels to the preset position on the floor 211 of the van, the van-type charging vehicle controls the rear door panel of the van to close, so as to prevent the electric vehicle 23 from falling out of the van and causing danger during the driving process.

[0061] As an optional embodiment, the above-mentioned fixing of the electric vehicle by the positioning device includes:

[0062] Detect the tire position of the electric vehicle;

[0063] According to the tire position, the positioning device is controlled to move to the tire position, and the positioning device is controlled to change from the retracted state to the expanded state and expand to abut the positions before and after the tire.

[0064] Specifically, as shown in Figure 3 、 Figure 5 and Figure 6 , in the case that the van charging vehicle 21 controls the compartment rear door panel 212 to open and controls the electric vehicle 23 to travel to the preset position of the compartment bottom plate 211, the van charging vehicle detects the tire 231 position of the electric vehicle at this time, and controls the positioning device 217 in the retracted state to move to the tire position, and expands the positioning device 217 in the retracted state to obtain the positioning device 218 in the expanded state to abut the positions before and after the tire, i.e., to fix the tire 231 from moving forward and backward, thereby improving the safety during travel. The positioning device 217 in the retracted state can be moved to the tire position by being slidably connected with the slide rail 216 provided on the compartment bottom plate 211, and by being controlled to slide in the slide rail 216.

[0065] As an optional embodiment, the step 103 can further include the following steps in the case that the van charging vehicle is detected to travel in front of the electric vehicle at a first speed, the distance between the van charging vehicle and the electric vehicle is less than a preset distance, and the first road information meets a first preset condition:

[0066] In the case that the van charging vehicle is detected to travel in front of the electric vehicle, the distance between the van charging vehicle and the electric vehicle is less than a preset distance, and the first road information meets a first preset condition, the compartment rear door panel is controlled to open, a slope with a preset angle is formed between the compartment rear door panel and the ground, and the van charging vehicle is controlled to travel in a straight line at the first speed.

[0067] Specifically, if the van charging vehicle detects that it travels in front of the electric vehicle, the distance between the van charging vehicle and the electric vehicle is less than a preset distance, and the first road information meets a first preset condition, the van charging vehicle controls the compartment rear door panel to open, a slope with a preset angle is formed between the opened compartment rear door panel and the ground, and the van charging vehicle can control its speed to travel in a straight line at the speed, so that the electric vehicle can travel in a straight line into the compartment.

[0068] Further, as shown in Figure 3As shown, before the rear door panel 212 is opened, the top of the rear door panel 212 can be provided with a roller 213, and after the rear door panel 212 is opened, the top of the rear door panel 212 is in contact with the ground, and the roller 213 of the rear door panel 212 slides on the road surface as the electric vehicle 21 travels.

[0069] As an optional embodiment, the first preset condition includes but is not limited to: the flatness of the road is greater than a first preset flatness, and the length of the flat road section greater than the first preset flatness is greater than a first preset length.

[0070] Specifically, if the first road information satisfies the first preset condition, that is, the flatness of the first future road section is greater than the first preset flatness, the flat road section can improve the safety of the electric vehicle during the driving into the compartment; and the length of the flat road section in the first future road section that satisfies the first preset flatness is greater than the first preset length, so as to ensure that the electric vehicle has sufficient time to drive into the compartment, further improving the safety during driving.

[0071] It should be noted that the first preset flatness is used to determine whether the flatness of the road section meets the flatness condition for the electric vehicle to drive into the compartment, and can be set as needed. Moreover, the first preset length is used to determine whether the length of the flat road section meets the road length for the electric vehicle to drive into the compartment, and can be set as needed.

[0072] As an optional embodiment, the method can further include:

[0073] In the case of completing charging, the positioning device is controlled to change from the expanded state to the contracted state.

[0074] Specifically, if the charging is completed, the electric vehicle needs to control the positioning device to change from the expanded state to the contracted state, that is, from the state of fixing the tire to the state of not fixing the tire, so that the tire can drive backward and the electric vehicle can drive out of the compartment.

[0075] As an optional embodiment, before the positioning device is controlled to change from the expanded state to the contracted state in the case of completing charging, the method can further include:

[0076] During charging, second road information of a second future road section is obtained, and the second road information includes: flatness of the road and length of the flat road section;

[0077] The method can further include:

[0078] in a case that the charging is completed and the second road information meets a second preset condition, controlling the compartment rear door panel to open and controlling the positioning device to change from the unfolded state to the folded state;

[0079] sending a reverse indication information to the electric vehicle, the reverse indication information being used to instruct the electric vehicle to drive away from the compartment;

[0080] in a case that the electric vehicle drives away from the compartment rear door panel, controlling the compartment rear door panel to close.

[0081] Specifically, during the charging of the electric vehicle by the compartment charging vehicle, the compartment charging vehicle acquires second road information of a future road section, i.e., flatness of a road of the second future road section and length of a flat road section. After the charging is completed, the compartment charging vehicle controls the positioning device to change from an unfolded state to a folded state, i.e., from a state of fixing the tire to a state of not fixing the tire, so that the tire can drive backward. The compartment charging vehicle sends a reverse indication information to the electric vehicle, which is used to control the electric vehicle to drive backward until the electric vehicle drives away from the compartment. If the compartment charging vehicle detects that the electric vehicle drives away from the compartment rear door panel, the compartment charging vehicle controls the compartment rear door panel to close. At this time, the compartment charging vehicle and the electric vehicle are separated and do not perform cooperative driving any more, and each performs corresponding operation according to its own needs.

[0082] As an optional embodiment, after the second road information of the second future road section is acquired, the method can further include:

[0083] acquiring a charging state of the electric vehicle;

[0084] determining a parking location of the compartment charging vehicle according to the charging state and the second road information;

[0085] In a case that the charging is completed and the second road information meets a second preset condition, controlling the compartment rear door panel to open and controlling the positioning device to change from the unfolded state to the folded state, including:

[0086] in a case that the charging is completed and the second road information meets a second preset condition, driving to the parking location;

[0087] at the parking location, controlling the compartment rear door panel to open and controlling the positioning device to change from the unfolded state to the folded state.

[0088] Specifically, after the van-type charging vehicle obtains the second road information of the second future road section, the charging state of the electric vehicle is detected, and according to the charging state of the electric vehicle at present and the second road information of the second future road section, the parking position of the van-type charging vehicle can be planned in advance, which is the position where the electric vehicle drives away from the compartment under the condition that the van-type charging vehicle is in a parking state. The charging state refers to the amount of electricity currently available to the electric vehicle or the amount of electricity remaining before the battery is fully charged.

[0089] After the charging is completed, if the second road information meets the second preset condition, the van-type charging vehicle drives to the planned parking position, stops driving at the parking position, controls the rear door panel of the compartment to open, and controls the positioning device to change from the expanded state to the retracted state, that is, at this time the tire of the electric vehicle is not fixed, so that the electric vehicle can drive out of the compartment.

[0090] As an optional embodiment, the second preset condition includes that the flatness of the road is greater than a second preset flatness, and the length of the flat road section greater than the second preset flatness is greater than a second preset length.

[0091] Specifically, if the second road information meets the second preset condition, that is, the flatness of the road of the second future road section is greater than the second preset flatness, the flat road section can improve the safety of the electric vehicle driving out of the compartment; and the length of the flat road section in the second future road section that meets the second preset flatness is greater than the second preset length, to ensure that the electric vehicle has sufficient time to drive out of the compartment, further improving the safety during driving. The first preset flatness can be the same as or different from the first preset flatness, and the second preset length can be the same as or different from the first preset length.

[0092] It should be noted that the second preset flatness is used to determine whether the flatness of the road section meets the flatness condition for the electric vehicle to drive out of the compartment, and can be set as needed. In addition, the second preset length is used to determine whether the length of the flat road section meets the road length for the electric vehicle to drive out of the compartment, and can be set as needed.

[0093] As an optional embodiment, the reversing indication information is used to indicate that the center line of the electric vehicle drives away from the compartment along the center line of the van-type charging vehicle.

[0094] Specifically, after the charging is completed, the compartment charging vehicle control positioning device changes from the unfolded state to the retracted state, and the compartment charging vehicle sends a reverse indication information to the electric vehicle to indicate the electric vehicle to drive away from the compartment along the center line of the compartment charging vehicle. During the process of driving the electric vehicle out of the compartment of the compartment charging vehicle, the center line of the electric vehicle is kept overlapping with the center line of the compartment charging vehicle to ensure that the electric vehicle can follow the preset driving route (for example, a parking groove is arranged on the floor of the compartment of the compartment charging vehicle, so as to ensure that the electric vehicle can drive out along the parking groove), and the electric vehicle is driven out of the compartment, which can also avoid the situation that the electric vehicle deviates from the preset driving route during the reverse driving process, resulting in the collision between the electric vehicle and the left door panel and the right door panel of the compartment.

[0095] As an optional embodiment, the above-mentioned control of the compartment rear door panel to close after detecting that the electric vehicle drives away from the compartment rear door panel can specifically include:

[0096] In the case of detecting that the electric vehicle drives away from the compartment rear door panel, the driving indication information is sent to the electric vehicle, and the driving indication information is used to instruct the electric vehicle to drive at a third speed.

[0097] Specifically, if the compartment charging vehicle controls the electric vehicle to drive away from the compartment during driving, in the case of detecting that the electric vehicle completely drives away from the compartment rear door panel, the compartment charging vehicle sends the driving indication information to the electric vehicle, which is used to instruct the electric vehicle to continue driving at a third speed, and at this time, the compartment charging vehicle no longer cooperates with the electric vehicle. If the compartment charging vehicle controls the electric vehicle to drive away from the compartment at a parking site, in the case of detecting that the electric vehicle completely drives away from the compartment rear door panel, the compartment charging vehicle sends the driving indication information to the electric vehicle, which is used to instruct the electric vehicle to continue driving at a third speed, and at this time, the compartment charging vehicle no longer cooperates with the electric vehicle.

[0098] As shown in Figure 4 The above-mentioned detection method of whether the electric vehicle drives away from the compartment rear door panel can be that the vehicle-mounted camera on the compartment charging vehicle detects whether the front of the electric vehicle completely drives away from the compartment rear door panel, or a disengagement identification line 220 can be arranged on the compartment rear door panel, and if the vehicle-mounted camera on the electric vehicle detects the disengagement identification line 220, it is determined that the electric vehicle completely drives away from the compartment rear door panel.

[0099] The above-mentioned scheme will be described in detail through a specific embodiment as follows:

[0100] As shown in Figure 7As shown, step a1: the van charging vehicle establishes a communication connection with the electric vehicle. Specifically, the van charging vehicle broadcasts a charging service during driving, and the electric vehicle can initiate a charging request to the electric vehicle through the V2X base station according to its own needs, thereby establishing a communication connection between the van charging vehicle and the electric vehicle.

[0101] Step a2: the van charging vehicle determines whether the conditions for starting mobile charging are met. Specifically, the van charging vehicle obtains first road information of a first future road section, detects whether the van charging vehicle is driving in front of the electric vehicle, detects whether the distance between the van charging vehicle and the electric vehicle is less than a preset distance, and detects whether the first road information meets a first preset condition. If the above conditions for starting mobile charging are met, step a3 is entered; otherwise, mobile charging is not allowed.

[0102] Step a3: the van charging vehicle controls the opening of the rear door panel of the compartment. Specifically, if it is detected that the van charging vehicle is driving in front of the electric vehicle, the distance between the van charging vehicle and the electric vehicle is less than a preset distance, and the first road information meets the first preset condition, the van charging vehicle controls the opening of the rear door panel of the compartment.

[0103] Step a4: the van charging vehicle controls the electric vehicle to drive to a preset position on the compartment floor. Specifically, in the case where the rear door panel of the compartment is opened, the electric vehicle is controlled to drive through the rear door panel of the compartment at a second speed to stop at a preset position on the compartment floor.

[0104] Step a5: the van charging vehicle fixes the electric vehicle, closes the rear door panel of the compartment, and performs charging operation. Specifically, the positioning device of the van charging vehicle fixes the tire of the electric vehicle, controls the closing of the rear door panel of the compartment, and performs charging operation on the electric vehicle.

[0105] Step a6: the van charging vehicle determines whether the conditions for ending mobile charging are met. Specifically, during charging, the van charging vehicle obtains second road information of a second future road section, and determines whether the second road information meets a second preset condition. If the charging is completed and the second road information meets the second preset condition, the conditions for ending mobile charging are met, and step a7 is entered, otherwise, the van charging vehicle continues to drive with the electric vehicle.

[0106] Step a7: the van charging vehicle controls the opening of the rear door panel of the compartment, and controls the positioning device to change from an expanded state to a retracted state.

[0107] Step a8: the van charging vehicle detects whether the electric vehicle drives away from the rear door panel of the compartment. Specifically, the van charging vehicle sends a reverse indication information to the electric vehicle, and detects whether the electric vehicle drives away from the rear door panel of the compartment. If it is detected that the electric vehicle drives away from the rear door panel of the compartment, step a9 is entered.

[0108] Step a9: the van charging vehicle controls the rear door panel of the compartment to be closed.

[0109] Step a10: the van charging vehicle sends driving instruction information to the electric vehicle. Specifically, in the case of detecting that the electric vehicle drives away from the rear door panel of the compartment, the driving instruction information is sent to the electric vehicle, and the driving instruction information is used to instruct the electric vehicle to drive at a third speed.

[0110] In summary, in the above embodiment of the present application, in the case of receiving the charging request of the electric vehicle, the van charging vehicle and the electric vehicle establish a communication connection, so that the section suitable for mobile charging can be known. And in the case of detecting that the van charging vehicle drives at a first speed in front of the electric vehicle, and the distance between the van charging vehicle and the electric vehicle is less than a preset distance, and the first road information meets the first preset condition, the rear door panel of the compartment is controlled to be opened, the electric vehicle is controlled to drive through the rear door panel of the compartment to a preset position of the bottom plate of the compartment at a second speed greater than the first speed and stop, and charging is performed. Thus, charging can be realized inside the moving van charging vehicle, which not only avoids the problem of long waiting time for parking charging, but also avoids the driving safety problem of mobile charging by binding with a charging cable, thereby improving the safety of mobile charging. And the electric vehicle is fixed by the positioning device, which avoids charging during driving, and the electric vehicle is not fixed, which is easy to cause charging safety problems. And through the setting of the center line of the electric vehicle and the center line of the van charging vehicle, the situation that the electric vehicle deviates from the preset driving route during driving, causing the electric vehicle to collide with the left door panel of the compartment and the right door panel of the compartment, can be avoided.

[0111] As shown in Figure 8 The embodiment of the present application also provides a van charging vehicle, which comprises a compartment, the compartment comprising a compartment bottom plate and a rear door panel of the compartment, and further comprising a memory 820, a transceiver 810 and a processor 800.

[0112] The memory 820 is used to store a computer program; the transceiver 810 is used to transceive data under the control of the processor 800; and the processor 800 is used to read the computer program in the memory and perform the following operations:

[0113] In the case of receiving the charging request of the electric vehicle, a communication connection is established with the electric vehicle;

[0114] Obtain first road information of a first future section, the first road information comprising: flatness of the road and length of the flat section;

[0115] In a case where it is detected that the van charging vehicle travels at a first speed in front of the electric vehicle, a distance between the electric vehicle and the van charging vehicle is less than a preset distance, and the first road information meets a first preset condition, the rear door panel of the van body is controlled to be opened.

[0116] In a case where the rear door panel of the van body is opened, the electric vehicle is controlled to travel through the rear door panel of the van body to a preset position of the van body bottom plate at a second speed and stop, and charging is performed, where the second speed is greater than the first speed.

[0117] Optionally, the processor 800 is further configured to, after establishing a communication connection with the electric vehicle:

[0118] Obtain a cooperative driving permission of the electric vehicle.

[0119] Optionally, the charging mode of the van charging vehicle for the electric vehicle includes wired charging and wireless charging.

[0120] In a case where the charging mode is wireless charging, the preset position is a position where a wireless charging coil position of the electric vehicle and a wireless charging coil position of the van charging vehicle meet a charging condition.

[0121] In a case where the charging mode is wired charging, the preset position is a position where a charging port of the electric vehicle and a charging port of the van charging vehicle are less than or equal to a charging wire length.

[0122] Optionally, the processor 800 controls the electric vehicle to travel through the rear door panel of the van body to a preset position of the van body bottom plate at a second speed and stop, and charging is performed in a case where the rear door panel of the van body is opened, and is specifically configured to:

[0123] In a case where the rear door panel of the van body is opened, the electric vehicle is controlled to travel through the rear door panel of the van body at a second speed until it stops at a preset position of the van body bottom plate.

[0124] The electric vehicle is fixed by a positioning device, and charging is performed on the electric vehicle.

[0125] Optionally, the processor 800 controls the electric vehicle to travel through the rear door panel of the van body at a second speed until it stops at a preset position of the van body bottom plate in a case where the rear door panel of the van body is opened, and is specifically configured to:

[0126] In a case where the rear door panel of the van body is opened, vehicle speed indication information is sent to the electric vehicle, and the vehicle speed indication information is used to instruct the electric vehicle to enter the van body of the van charging vehicle at the second speed when a center line of the electric vehicle and a center line of the van charging vehicle overlap.

[0127] When it is detected that the electric vehicle drives to the preset position of the compartment bottom plate, sending a parking instruction information to the electric vehicle, and controlling the compartment rear door plate to close, the parking instruction information is used to instruct the electric vehicle to stop driving.

[0128] Optionally, the processor 800 fixes the electric vehicle through the positioning device, and is specifically used for:

[0129] Detecting the tire position of the electric vehicle;

[0130] According to the tire position, controlling the positioning device to move to the tire position, and controlling the positioning device to change from the retracted state to the expanded state and expand to abut the positions before and after the tire.

[0131] Optionally, the processor 800 is further used for:

[0132] In the case of completing charging, controlling the positioning device to change from the expanded state to the retracted state.

[0133] Optionally, the processor 800 controls the compartment rear door plate to open when it is detected that the compartment charging vehicle drives at a first speed in front of the electric vehicle, the distance between the compartment charging vehicle and the electric vehicle is less than a preset distance, and the first road information meets a first preset condition, and is specifically used for:

[0134] In the case of detecting that the compartment charging vehicle drives in front of the electric vehicle, the distance between the compartment charging vehicle and the electric vehicle is less than a preset distance, and the first road information meets a first preset condition, controlling the compartment rear door plate to open, forming a slope with a preset angle with the ground, and controlling the compartment charging vehicle to drive in a straight line at the first speed.

[0135] Optionally, the first preset condition includes that the flatness of the road is greater than a first preset flatness, and the length of the flat road section greater than the first preset flatness is greater than a first preset length.

[0136] Optionally, before the processor 800 controls the positioning device to change from the expanded state to the retracted state in the case of completing charging, it is further used for:

[0137] During charging, acquiring second road information of a second future road section, the second road information including the flatness of the road and the length of the flat road section;

[0138] The processor 800 controls the positioning device to change from the expanded state to the retracted state in the case of completing charging, and is specifically used for:

[0139] in a case that the charging is completed and the second road information meets a second preset condition, controlling the compartment rear door panel to open and controlling the positioning device to change from the unfolded state to the folded state;

[0140] sending reverse indication information to the electric vehicle, the reverse indication information being used to instruct the electric vehicle to drive away from the compartment;

[0141] in a case that the electric vehicle drives away from the compartment rear door panel, controlling the compartment rear door panel to close.

[0142] Optionally, after the processor 800 acquires the second road information of the second future road section, the processor 800 is further used for:

[0143] acquiring a charging state of the electric vehicle;

[0144] determining a parking location of the compartment charging vehicle according to the charging state and the second road information;

[0145] In a case that the charging is completed and the second road information meets a second preset condition, the processor 800 controls the compartment rear door panel to open and controls the positioning device to change from the unfolded state to the folded state, and is specifically used for:

[0146] in a case that the charging is completed and the second road information meets a second preset condition, driving to the parking location;

[0147] at the parking location, controlling the compartment rear door panel to open and controlling the positioning device to change from the unfolded state to the folded state.

[0148] Optionally, the second preset condition includes that a flatness degree of a road is greater than a second preset flatness degree, and a length of a flat road section greater than the second preset flatness degree is greater than a second preset length.

[0149] Optionally, the reverse indication information is used to instruct a center line of the electric vehicle to drive away from the compartment along a center line of the compartment charging vehicle.

[0150] Optionally, in a case that the electric vehicle drives away from the compartment rear door panel, the processor 800 controls the compartment rear door panel to close, and is specifically used for:

[0151] in a case that the electric vehicle drives away from the compartment rear door panel, sending driving indication information to the electric vehicle, the driving indication information being used to instruct the electric vehicle to drive at a third speed.

[0152] Optionally, the first speed is a minimum speed limit of the first future road section.

[0153] In a case that the charging is completed and the second road information meets a second preset condition, the processor 800 controls the compartment rear door panel to open and controls the positioning device to change from the unfolded state to the folded state, and is specifically used for:Figure 8 In one embodiment, the bus architecture can include any number of interconnected buses and bridges, specifically, various circuitry of the one or more processors represented by the processor 800 and the memory represented by the memory 820 linked together. The bus architecture can also link various other circuitry such as peripheral devices, voltage regulators, and power management circuitry, which are well known in the art, and thus, are not further described herein. The bus interface provides an interface. The transceiver 810 can be a plurality of elements, i.e., including a transmitter and a receiver, providing a means for communicating with various other apparatuses over transmission media, including wireless channels, wired channels, optical cables, and the like. The processor 800 is responsible for managing the bus architecture and general processing, and the memory 820 can store data used by the processor 800 in executing operations.

[0154] The processor 800 can be a central processing unit (CPU), an application specific integrated circuit (ASIC), a field-programmable gate array (FPGA), or a complex programmable logic device (CPLD), and the processor can also adopt a multi-core architecture.

[0155] The processor is configured to execute any of the charging methods of the electric vehicle provided by the embodiments of the present application by invoking the computer program stored in the memory according to the executable instructions obtained. The processor and the memory can also be physically arranged separately.

[0156] It should be noted that the above van charging vehicle provided by the embodiments of the present application can realize all the method steps realized by the above charging method of the electric vehicle, and can achieve the same technical effects, and thus, the same parts and beneficial effects of the method embodiments in the embodiments will not be described in detail.

[0157] The embodiments of the present application also provide a processor readable storage medium, which stores a computer program, and the computer program is used to make the processor execute the charging method of the electric vehicle.

[0158] The processor readable storage medium can be any available medium or data storage device that the processor can access, including but not limited to a magnetic storage (such as a floppy disk, a hard disk, a magnetic tape, a magneto-optical disk (MO), etc.), an optical storage (such as a CD, a DVD, a BD, a HVD, etc.), and a semiconductor memory (such as a ROM, an EPROM, an EEPROM, a non-volatile memory (NAND FLASH), a solid state disk (SSD)), etc.

[0159] Those skilled in the art will appreciate that embodiments of the present application can be readily used as software, hardware, or a combination of software and hardware. In one embodiment, the present application can be implemented in software and can be stored on a computer readable medium, which can include random access memory (RAM), read only memory (ROM), magnetic disk or optical disk, or the like. The software implementation can comprise one or more computer program components embodied on one or more computer readable media. The computer readable medium can be resident within a computing device, such as an external storage device (e.g., compact disk [CD], digital versatile disk [DVD], etc.) or an internal storage device, including but not limited to a magnetic or optical recording device. One or more computer program components can be downloaded to a computing device from a computer readable medium or to a computing device from a remote computer (e.g., through the Internet). In short, a computer program product can comprise one or more computer program components embodied on one or more computer readable mediums and can be employed to implement the present application.

[0160] The present application is described in relation to flow diagrams and / or block diagrams of methods, apparatus (systems) and computer program products according to embodiments of the application. It is understood that each block of the flow diagrams and / or block diagrams, and combinations of blocks in the flow diagrams and / or block diagrams, can be implemented by computer executable instructions. The computer executable instructions can be provided to a processor of a general purpose computer, special purpose computer, embedded processor, or other programmable data processing apparatus to produce a machine, such that the instructions, which execute via the processor of the computer or other programmable data processing apparatus, create means for implementing the functions specified in the flow diagrams and / or block diagrams block or blocks. Figure 1 one or more functions specified in the flow diagram and / or block diagram block or blocks. Figure 1 one or more functions specified in the flow diagram and / or block diagram block or blocks.

[0161] These processor executable instructions can also be loaded onto a computer or other programmable data processing apparatus to cause a series of operations to be performed on the computer or other programmable apparatus to produce a computer implemented process such that the instructions which execute on the computer or other programmable apparatus provide steps for implementing the functions specified in the flow diagram and / or block diagram block or blocks. Figure 1 one or more functions specified in the flow diagram and / or block diagram block or blocks. Figure 1 one or more functions specified in the flow diagram and / or block diagram block or blocks.

[0162] These processor executable instructions can also be loaded onto a computer or other programmable data processing apparatus to cause a series of operations to be performed on the computer or other programmable apparatus to produce a computer implemented process such that the instructions which execute on the computer or other programmable apparatus provide steps for implementing the functions specified in the flow diagram and / or block diagram block or blocks. Figure 1 one or more functions specified in the flow diagram and / or block diagram block or blocks. Figure 1 one or more functions specified in the flow diagram and / or block diagram block or blocks.

[0163] Obviously, numerous modifications and variations of the present application are possible in light of the above teachings. It is therefore to be understood that within the scope of the claims and their equivalents, the application can be practiced otherwise than as specifically described.

Claims

1. A charging method for electric vehicles, applied to van-type charging vehicles, characterized in that, The van-type charging vehicle includes a van body, the van body including a floor panel and a rear door panel, and the method includes: Upon receiving a charging request from an electric vehicle, a communication connection is established with the electric vehicle; Obtain first road information for the first future road segment, the first road information including: the straightness of the road and the length of the straight road segment, the first road information is used to determine the road segment suitable for the electric vehicle to drive into the box; When it is detected that the van is traveling in front of the electric vehicle at a first speed and the distance between them is less than a preset distance, and the first road information meets the first preset condition, the rear door of the van is controlled to open. With the rear door panel of the cargo box open, the electric vehicle is controlled to travel at a second speed through the rear door panel to a preset position on the cargo box floor and stop, where it begins charging; wherein the second speed is greater than the first speed; When the rear door panel of the cargo box is open, controlling the electric vehicle to travel at a second speed through the rear door panel to a preset position on the cargo box floor and stop, and then charging, includes: With the rear door panel of the cargo box open, the electric vehicle is controlled to pass through the rear door panel of the cargo box at a second speed until it stops at a preset position on the bottom of the cargo box. The electric vehicle is secured using a positioning device, and then charged. The method of fixing the electric vehicle using a positioning device includes: Detect the tire position of the electric vehicle; Based on the tire position, the positioning device is controlled to move to the tire position, and the positioning device is controlled to change from a retracted state to an extended state, extending to a position abutting the front and rear of the tire; Before controlling the positioning device to change from the deployed state to the retracted state after charging is complete, the method further includes: During the charging process, second road information of the second future road segment is acquired, including: the straightness of the road and the length of the straight road segment; Wherein, controlling the positioning device to change from an extended state to a retracted state when charging is complete includes: When charging is complete and the second road information meets the second preset conditions, the rear door of the compartment is opened, and the positioning device is changed from the unfolded state to the retracted state. Send a reversing instruction to the electric vehicle, the reversing instruction being used to instruct the electric vehicle to move away from the cargo box; If the electric vehicle is detected to have moved away from the rear door panel of the cargo box, the rear door panel of the cargo box is controlled to close.

2. The method according to claim 1, characterized in that, After establishing a communication connection with the electric vehicle, the method further includes: Obtain cooperative driving permissions for the electric vehicle.

3. The method according to claim 1, characterized in that, The charging methods for the electric vehicle by the van-type charging vehicle include wired charging and wireless charging. When the charging method is wireless charging, the preset position is the position where the wireless charging coil position of the electric vehicle and the wireless charging coil position of the van meet the charging conditions. When the charging method is wired charging, the preset position is a position where the distance between the charging port of the electric vehicle and the charging port of the van is less than or equal to the length of the charging cable.

4. The method according to claim 1, characterized in that, When the rear door panel of the cargo box is open, controlling the electric vehicle to pass through the rear door panel of the cargo box at a second speed until it stops at a preset position on the floor of the cargo box includes: When the rear door of the van is open, a vehicle speed indication message is sent to the electric vehicle. The vehicle speed indication message is used to indicate that when the center line of the electric vehicle overlaps with the center line of the van-type charging vehicle, the electric vehicle enters the van-type charging vehicle at the second speed. When the electric vehicle is detected to have traveled to a preset position on the floor of the cargo box, a parking instruction message is sent to the electric vehicle, and the rear door of the cargo box is controlled to close. The parking instruction message is used to instruct the electric vehicle to stop driving.

5. The method according to claim 1, characterized in that, The method further includes: Once charging is complete, the positioning device is controlled to change from an extended state to a retracted state.

6. The method according to claim 1, characterized in that, The step of controlling the rear door panel of the van to open when it is detected that the van is traveling in front of the electric vehicle at a first speed, the distance between them is less than a preset distance, and the first road information meets the first preset condition includes: When it is detected that the van-type charging vehicle is traveling in front of the electric vehicle and the distance between them is less than a preset distance, and the first road information meets the first preset condition, the rear door of the van is controlled to open, forming a slope at a preset angle with the ground, and the van-type charging vehicle is controlled to travel in a straight line at the first speed.

7. The method according to claim 1 or 6, characterized in that, The first preset condition includes: the straightness of the road is greater than the first preset straightness, and the length of the straight road segment that is greater than the first preset straightness is greater than the first preset length.

8. The method according to claim 1, characterized in that, After obtaining the second road information of the second future road segment, the method further includes: Obtain the charging status of the electric vehicle; Based on the charging status and the second road information, the parking location of the van-type charging vehicle is determined; The step of controlling the rear door panel of the vehicle to open and the positioning device to change from an extended state to a retracted state when charging is complete and the second road information meets the second preset condition includes: Once charging is complete and the second road information meets the second preset conditions, proceed to the parking location. At the parking location, control the rear door panel of the compartment to open, and control the positioning device to change from the unfolded state to the retracted state.

9. The method according to claim 1 or 8, characterized in that, The second preset condition includes: the straightness of the road is greater than the second preset straightness, and the length of the straight road segment that is greater than the second preset straightness is greater than the second preset length.

10. The method according to claim 1 or 8, characterized in that, The reversing indicator information is used to indicate that the center line of the electric vehicle moves away from the van along the center line of the van-type charging vehicle.

11. The method according to claim 1 or 8, characterized in that, The step of controlling the rear door panel to close when the electric vehicle is detected to have moved away from the rear door panel of the cargo box includes: Upon detecting that the electric vehicle has moved away from the rear door panel of the cargo box, a driving instruction message is sent to the electric vehicle, which instructs the electric vehicle to travel at a third speed.

12. The method according to claim 1, characterized in that, The first speed is the minimum speed limit for the first future road segment.

13. A van-type charging vehicle, characterized in that, The van-type charging vehicle includes a van body, which includes a floor panel and a rear door panel, and also includes a memory, a transceiver, and a processor. The memory is used to store computer programs; the transceiver is used to send and receive data under the control of the processor. Processor, configured to read the computer program in the memory and perform the following operations: Upon receiving a charging request from an electric vehicle, a communication connection is established with the electric vehicle; Obtain first road information for the first future road segment, the first road information including: the straightness of the road and the length of the straight road segment, the first road information is used to determine the road segment suitable for the electric vehicle to drive into the box; When it is detected that the van is traveling in front of the electric vehicle at a first speed and the distance between them is less than a preset distance, and the first road information meets the first preset condition, the rear door of the van is controlled to open. With the rear door panel of the cargo box open, the electric vehicle is controlled to travel at a second speed through the rear door panel to a preset position on the cargo box floor and stop, where it begins charging; wherein the second speed is greater than the first speed; When the rear door panel of the cargo box is open, controlling the electric vehicle to travel at a second speed through the rear door panel to a preset position on the cargo box floor and stop, and then charging, includes: With the rear door panel of the cargo box open, the electric vehicle is controlled to pass through the rear door panel of the cargo box at a second speed until it stops at a preset position on the bottom of the cargo box. The electric vehicle is secured using a positioning device, and then charged. The method of fixing the electric vehicle using a positioning device includes: Detect the tire position of the electric vehicle; Based on the tire position, the positioning device is controlled to move to the tire position, and the positioning device is controlled to change from a retracted state to an extended state, extending to a position abutting the front and rear of the tire; Before controlling the positioning device to change from the extended state to the retracted state after charging is complete, the following steps are also included: During the charging process, second road information of the second future road segment is acquired, including: the straightness of the road and the length of the straight road segment; Wherein, controlling the positioning device to change from an extended state to a retracted state when charging is complete includes: When charging is complete and the second road information meets the second preset conditions, the rear door of the compartment is opened, and the positioning device is changed from the unfolded state to the retracted state. Send a reversing instruction to the electric vehicle, the reversing instruction being used to instruct the electric vehicle to move away from the cargo box; If the electric vehicle is detected to have moved away from the rear door panel of the cargo box, the rear door panel of the cargo box is controlled to close.

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