Vehicle control device

Abstract

The invention provides a vehicle control device which can control a vehicle when an automatic charging device is used for external charging in a parking lot or the like. A vehicle control device is mounted on a vehicle capable of external charging, and when an instruction signal is received from an automatic charging device that automatically connects a charging connector to a charging port of the vehicle, the vehicle control device controls the vehicle to a first state in which movement of the vehicle is prohibited, and when the instruction signal is received from the automatic charging device, the vehicle control device controls the vehicle to a second state in which the automatic charging device automatically connects the charging connector to the charging port of the vehicle. In a case where there is a request for releasing the first state issued by a user of the vehicle while the vehicle is being controlled to the first state, the first state is released when the charging connector is not connected to the charging port and there is no obstacle in the direction of travel of the vehicle.

Description

Technical Field

[0001] The invention relates to a vehicle control device. Background Art

[0002] Patent Document 1 discloses external charging with a charging connector of a charging device connected to a charging port of a vehicle. In order to prevent an erroneous start during charging, the ignition operation of the user is controlled to be invalid when the cover of the charging port is open.

[0003] [Prior art literature]

[0004] [Patent Document]

[0005] [Patent Document 1] Japanese Patent Application Publication No. 2010-234925 Summary of the invention

[0006] [Problems to be Solved by the Invention]

[0007] However, a system is considered in which an automatic charging device such as a mobile robot arm is used to automatically connect the charging connector to the charging port. The automatic charging device can plug and unplug the charging connector before autonomously driving to the charging port. However, the structure described in Patent Document 1 does not envision the use of an automatic charging device such as a mobile robot arm.

[0008] The present invention has been made in view of the above circumstances, and an object of the present invention is to provide a vehicle control device capable of controlling a vehicle in anticipation of external charging using an automatic charging device in a parking lot or the like.

[0009] [Methods for solving the problem]

[0010] The present invention is a vehicle control device, which is mounted on a vehicle capable of external charging, and is characterized in that, when an instruction signal is received from an automatic charging device, the vehicle is controlled to a first state, and the automatic charging device automatically connects a charging connector to a charging port of the vehicle. The first state is a state in which movement of the vehicle is prohibited. During the process of controlling the vehicle to the first state, when there is a request to release the first state issued by a user of the vehicle, the first state is released when the charging connector is not connected to the charging port and there are no obstacles in the direction of travel of the vehicle.

[0011] [Effects of the invention]

[0012] In the present invention, when the movement of the vehicle is prohibited by an instruction from an automatic charging device such as a mobile robot, even if some kind of failure occurs in the automatic charging device, the vehicle side can cancel the prohibition of the movement of the vehicle. BRIEF DESCRIPTION OF THE DRAWINGS

[0013] Figure 1 It is a schematic diagram for explaining the vehicle in the embodiment.

[0014] Figure 2 This is a timing chart showing the control of the automatic charging device and the vehicle.

[0015] [Explanation of Reference Numerals]

[0016] 1 Vehicle

[0017] 2 Automatic charging device

[0018] 3 Charging connector

[0019] 4 Charging cable

[0020] 11 Charging port

[0021] 11a Cover

[0022] 12 Connection detection unit

[0023] 13 Obstacle Detection Unit

[0024] 14 HIM

[0025] 15 Ministry of Communications

[0026] 16 Control Devices

[0027] 21 Robotic Arm

[0028] 22 Wheels

[0029] 23 Ministry of Communications DETAILED DESCRIPTION

[0030] Hereinafter, a vehicle control device in an embodiment of the present invention will be described in detail. In addition, the present invention is not limited to the embodiment described below.

[0031] Figure 1 It is a schematic diagram for explaining the vehicle in the embodiment. Vehicle 1 is an electric vehicle that can be charged externally and can store the power supplied from the external power source in a battery. Vehicle 1 is composed of an electric vehicle (BEV) and a plug-in hybrid vehicle (PHEV). The vehicle 1 can accept a charging operation performed by an automatic charging device 2. The automatic charging device 2 is configured to automatically connect the charging connector 3 to the charging port 11 of the vehicle 1. The charging connector 3 is electrically connected to the external power source via a charging cable 4. The charging connector 3 and the charging cable 4 are provided in a charging device. The charging device is provided in a parking lot, etc. The automatic charging system including the automatic charging device 2 is a system that automates the charging of the vehicle 1.

[0032] The vehicle 1 includes a charging port 11 , a connection detection unit 12 , an obstacle detection unit 13 , a HIM 14 , a communication unit 15 , and a control device 16 .

[0033] The charging port 11 is a connection port to which the charging connector 3 is connected. The charging port 11 is configured to include a charging terminal. The vehicle 1 has a cover 11a of the charging port 11. The cover 11a is configured to be openable and closable from the outside of the vehicle 1. The charging port 11 and the cover 11a are provided, for example, at the front of the vehicle 1. When the cover 11a is open, a user of the vehicle 1 or the automatic charging device 2 can connect the charging connector 3 to the charging port 11. When the cover 11a is closed, the charging connector 3 is detached from the charging port 11.

[0034] The connection detection unit 12 detects that the charging connector 3 is connected to the charging port 11. When the charging connector 3 is connected to the charging port 11, communication is performed between the vehicle 1 and the charging device. For example, CAN communication, power line communication, etc. are performed. The connection detection unit 12 can detect the connection of the charging connector 3 by detecting that CAN communication, etc., is performed with the charging device. When the connection of the charging connector 3 is detected, the connection detection unit 12 outputs the detection signal to the control device 16.

[0035] The obstacle detection unit 13 detects obstacles existing around the vehicle 1. When there is an obstacle such as the automatic charging device 2 around the vehicle 1, the obstacle detection unit 13 can detect the obstacle. The obstacle detection unit 13 is an obstacle detection sensor, for example, a laser radar (Lidar), a millimeter wave radar, an ultrasonic sensor, etc. The obstacle detection unit 13 can detect obstacles located in the direction of travel of the vehicle 1, that is, in front of and behind the vehicle 1. If the obstacle detection unit 13 detects an obstacle around the vehicle 1, it outputs the detection signal to the control device 16.

[0036] The HIM 14 is disposed in the vehicle interior of the vehicle 1 and is constituted by, for example, a car navigation device. When the HIM 14 is a car navigation device, when the user operates the screen of the car navigation device, the screen operation performed by the user is detected. When receiving the operation from the user of the vehicle 1, the HIM 14 outputs a signal of detecting the operation to the control device 16.

[0037] The communication unit 15 performs wireless communication with an external device. The communication unit 15 is configured to be able to perform wireless communication with the automatic charging device 2. The wireless communication may be a communication method such as Wi-Fi (registered trademark). The communication unit 15 outputs information obtained by wireless communication to the control device 16. The communication unit 15 is controlled by the control device 16.

[0038] The control device 16 is an electronic control device that controls the vehicle 1. The control device 16 performs various controls based on signals from various sensors. For example, the control device 16 performs automatic charging control for external charging using the automatic charging device 2 in a state where wireless communication between the vehicle 1 and the automatic charging device 2 is established.

[0039] The automatic charging device 2 is a device that can travel autonomously, and is installed in a parking lot, for example. The automatic charging device 2 is installed near the charging equipment in a state independent of the charging connector 3. When the vehicle 1 is parked in the parking space, the automatic charging device 2 autonomously travels to the charging port 11 of the vehicle 1, opens the cover 11a, and connects the charging connector 3 to the charging port 11 to perform the charging operation.

[0040] The automatic charging device 2 includes a robot arm 21 , wheels 22 , and a communication unit 23 .

[0041] The robot arm 21 is an arm that is movable during charging. The automatic charging device 2 is configured to enable the robot arm 21 to move freely. The robot arm 21 is controlled by a control device mounted on the automatic charging device 2. The robot arm 21 includes a holding portion that can hold the charging connector 3 and an operating portion that can open and close the cover 11a.

[0042] The wheels 22 function as driving wheels of the automatic charging device 2. The control device of the automatic charging device 2 can control the driving of the wheels 22, and can steer the wheels 22, and can change the traveling direction of the automatic charging device 2 to a desired direction. For example, the automatic charging device 2 is equipped with an electric motor, and the power output from the electric motor is transmitted to the wheels 22.

[0043] The communication unit 23 performs wireless communication with the vehicle 1. The communication unit 23 can perform wireless communication with the communication unit 15 of the vehicle 1. The communication unit 23 is controlled by the control device of the automatic charging device 2. For example, when the charging operation of the vehicle 1 parked in the parking space is started, the communication unit 23 sends an instruction signal for prohibiting the movement of the vehicle 1 to the vehicle 1. Then, when the charging operation performed by the automatic charging device 2 is completed, the communication unit 23 sends a release signal for canceling the state in which the movement of the vehicle 1 is prohibited.

[0044] In the automatic charging system including the automatic charging device 2 configured in this way, in order to prevent the vehicle 1 from starting by mistake when the charging connector 3 is connected to the charging port 11, an instruction signal is sent from the automatic charging device 2 to the vehicle 1 before the charging operation starts, and the vehicle 1 receives the instruction signal, whereby the control device 16 controls the vehicle 1 to a state (locked state) in which the movement of the vehicle 1 is prohibited. After the charging operation is completed, a release signal is sent from the automatic charging device 2 to the vehicle 1, and the vehicle 1 receives the release signal, whereby the control device 16 releases the locked state. However, if the release signal is not sent due to a failure of the automatic charging device 2 when the vehicle 1 is controlled to be in the locked state, there is a concern that the vehicle 1 cannot be restored from the locked state. Therefore, in the vehicle 1, it is configured so that the locked state can be released on the vehicle 1 side even if some kind of failure occurs in the automatic charging device 2 during the charging operation.

[0045] Figure 2 This is a timing diagram showing automatic charging control. Figure 2 The control shown is performed by vehicle 1 and automatic charging device 2 in a state where vehicle 1 is stopped in a parking space.

[0046] The automatic charging device 2 transmits a command signal to the vehicle 1 parked in the parking space to shift to a state (locked state) prohibiting movement of the vehicle 1 (step S11 ). In step S11 , the communication unit 23 transmits a command signal to instruct the vehicle 1 to be locked.

[0047] When the vehicle 1 receives the instruction signal from the automatic charging device 2, the control device 16 controls the vehicle 1 to be in a locked state (step S12). In step S12, the vehicle 1 is controlled to be in a state where the movement of the vehicle 1 is prohibited. The state in which the movement of the vehicle 1 is prohibited (locked state) refers to a control state in which the driving of the drive wheels is prohibited although the accessories of the vehicle 1 can be started. For example, the processing of step S2 is performed before the charging operation performed by the automatic charging device 2 starts.

[0048] The control device 16 determines whether there is a request to release the locked state from an occupant (user) of the vehicle 1 (step S13). In step S13, the presence or absence of the occupant's request to release the locked state is determined by detecting an operation on the HIM 14. For example, the presence or absence of the request to release the locked state is determined by determining whether a screen operation of the car navigation device is accepted.

[0049] When it is determined that there is a request to release the locked state from the occupant of the vehicle 1 (step S13: Yes), the control device 16 determines whether the charging connector 3 is not connected to the charging port 11 (step S14). In step S14, it is determined whether the charging connector 3 is connected to the charging port 11 based on the detection signal from the connection detection unit 12.

[0050] When it is determined that the charging connector 3 is not connected to the charging port 11 (step S14: Yes), the control device 16 determines whether there are no obstacles around the vehicle 1 (step S15). In step S15, based on the detection signal from the obstacle detection unit 13, it is determined whether there are obstacles such as the automatic charging device 2 in the direction of travel of the vehicle 1. Alternatively, it is also possible that the occupant of the vehicle 1 confirms the surroundings and the occupant operates the screen of the car navigation device to determine whether there are obstacles around the vehicle 1. In other words, it is also possible to perform a manual permission operation by the user.

[0051] When it is determined that there is no obstacle around the vehicle 1 (step S15: Yes), the control device 16 releases the locked state (step S16). In step S16, the state in which the movement of the vehicle 1 is prohibited is released. By performing the processing of step S16, the vehicle 1 is transferred to a state in which the movement is allowed.

[0052] like Figure 2 As shown, even when the vehicle 1 receives a lock instruction signal from the automatic charging device 2, the vehicle 1 can be released from the locked state if a predetermined release condition is satisfied. The release condition includes a lock release request from the user, the charging connector 3 is not connected to the charging terminal of the vehicle 1, and no obstacles such as the automatic charging device 2 are detected around the vehicle 1.

[0053] As described above, according to the embodiment, even when some kind of failure occurs in the automatic charging device 2 during the charging operation, the locked state can be released on the vehicle 1 side.

[0054] In addition, the charging port 11 and the cover 11 a are not limited to being provided at the front portion of the vehicle 1 , and may be provided at the side portion of the vehicle 1 or the rear portion of the vehicle 1 .

Claims

1. A vehicle control device, mounted on a vehicle capable of external charging, characterized in that: When receiving an instruction signal from an automatic charging device, the vehicle is controlled to be in a first state, wherein the automatic charging device automatically connects a charging connector to a charging port of the vehicle, wherein the first state is a state in which movement of the vehicle is prohibited, When there is a request to release the first state from a user of the vehicle while the vehicle is being controlled in the first state, the first state is released when the charging connector is not connected to the charging port and when there is no obstacle in the direction of travel of the vehicle.

2. The vehicle control device according to claim 1, characterized in that: While the vehicle is controlled in the first state, the presence or absence of a request to release the first state from the user is determined by detecting a screen operation of a car navigation device of the vehicle performed by the user.

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