Charging system based on unmanned electric drive-by-wire chassis

Abstract

The utility model provides a charging system based on an unmanned electric drive-by-wire chassis, which relates to the field of electric automobiles and comprises a vehicle-mounted charging control panel, a domain controller, a vehicle control unit, a power battery module and a charging module which are sequentially connected. The power battery module comprises a battery module, a battery management unit, a battery BDU and a liquid crystal display screen; the charging module comprises a vehicle-mounted charger, an autonomous charging pile, a range extender and an international direct current charging pile; the vehicle-mounted charger is connected with the battery management unit; the vehicle control unit is connected with the battery management unit, and the vehicle control unit is used for carrying out CAN communication information exchange with the battery management unit; the liquid crystal display screen and the battery management unit are in communication connection with the power battery module; and the battery management unit is connected with the battery BDU. According to the utility model, a plurality of modules are integrated, so that the charging efficiency is improved during unmanned driving.

Description

TECHNICAL FIELD

[0001] The utility model relates to electric automobile field especially relates to a charging system based on unmanned electric drive-by-wire chassis. BACKGROUND

[0002] The charging system based on unmanned electric drive-by-wire chassis is a charging solution combining unmanned technology, electric automobile and drive-by-wire chassis, and the unmanned electric automobile can complete driving and parking operations and the like by automatic driving technology, and the electric drive-by-wire chassis refers to a vehicle chassis using an electronic control system to replace traditional mechanical connection, which can realize more accurate and flexible vehicle control, and the system can make the vehicle automatically dock with a charging pile or charging equipment by intelligent battery management and automatic charging technology and complete the charging process in an unmanned mode.

[0003] In the process of realizing high-level automatic driving control, the chassis as the main execution mechanism has higher requirements for response time and control accuracy of the system, and the redundant technology design and horizontal and vertical coordinated control of the drive-by-wire chassis can better meet the requirements, and the drive, steering and braking systems of the electric drive-by-wire chassis are all drive-by-wire, and the power source of each drive-by-wire system is a power battery, and due to the size, weight and structure of the drive-by-wire chassis, the size of specific capacity needs to be considered when the power battery is selected, and in order to meet the power source requirements of each drive-by-wire system, the power battery needs to be charged under a certain state of charge.

[0004] However, the existing charging method of the drive-by-wire chassis is too single, the drive-by-wire chassis is difficult to charge and slow to supplement power when working in special environments and specific working conditions, causing the chassis to be stranded and unable to work normally, the existing charging pile lacks intelligent docking function, and the electric automobile still needs manual docking of the vehicle and the charging pile when charging, and the charging pile can usually only be compatible with specific electric automobiles, lacking universality. UTILITY MODEL CONTENTS

[0005] In order to solve the technical problems that the existing charging method of the drive-by-wire chassis is too single, the drive-by-wire chassis is difficult to charge and slow to supplement power when working in special environments and specific working conditions, causing the chassis to be stranded and unable to work normally, the existing charging pile lacks intelligent docking function, and the electric automobile still needs manual docking of the vehicle and the charging pile when charging, and the charging pile can usually only be compatible with specific electric automobiles, lacking universality, the utility model provides a charging system based on unmanned electric drive-by-wire chassis.

[0006] The technical scheme provided by the utility model embodiment is as follows:

[0007] The charging system based on unmanned electric drive-by-wire chassis provided by the utility model embodiment comprises a vehicle-mounted charging control panel, a domain controller, a vehicle controller, a power battery module and a charging module connected in sequence.

[0008] The power battery module comprises a battery module, a battery management unit, a battery BDU, and a liquid crystal display screen;

[0009] The charging module comprises a vehicle-mounted charger, an autonomous charging pile, a range extender, and an international direct-current charging pile;

[0010] The vehicle-mounted charger is connected with the battery management unit, and is used for information interaction with the battery management unit to obtain the state of the power battery module in real time;

[0011] The vehicle-mounted charger is connected with the battery management unit, and is used for information interaction with the battery management unit to obtain the state of the power battery module in real time;

[0012] The domain controller and the vehicle-mounted controller are connected, and the domain controller and the vehicle-mounted controller are used as relay sites for CAN communication information exchange during the charging process of the power battery module;

[0013] The liquid crystal display screen and the battery management unit are in communication connection with the power battery module, and are used to display the real-time state of the power battery module in the form of text, numbers and graphics through RS485 communication;

[0014] The battery management unit is connected with the battery BDU, and is used to control the on and off of the charging contactor in the battery BDU.

[0015] Optionally, it further comprises an autonomous charging laser radar;

[0016] The autonomous charging laser radar, the vehicle-mounted charging control board, and the autonomous charging pile constitute an autonomous charging system;

[0017] The autonomous charging pile has a CAN communication function;

[0018] The autonomous charging system is used for autonomous charging in the case of unmanned mode.

[0019] Optionally, the national standard direct-current charging pile is connected with the power battery module, and is used for charging docking handshake and parameter configuration.

[0020] Optionally, it further comprises a charging junction box;

[0021] The charging junction box comprises a plurality of contactors;

[0022] The charging junction box is used to output voltage and current to charge the power battery module.

[0023] Optionally, the power battery module comprises a charging circuit and a discharging circuit.

[0024] Optionally, the domain controller, the battery management unit, the on-board charging control board and the vehicle control unit are in communication connection;

[0025] The domain controller, the battery management unit and the on-board charging control board exchange CAN communication information through the vehicle control unit as a relay site, and the on-board charging control board sends a charging instruction to the self-service charging pile.

[0026] The technical scheme provided by the embodiment of the utility model has at least the following beneficial effects:

[0027] In the utility model, the battery management unit is connected with the on-board charger, the vehicle control unit and the liquid crystal display respectively, the real-time monitoring and information interaction of the power battery module state are realized, the voltage, current, temperature and other parameters of the battery are obtained, the accuracy and safety of the battery charging process are ensured, the start and stop of the range extender are intelligently controlled according to the state of charge of the battery, the range extender can intelligently charge the power battery according to the actual demand when the vehicle is running or parking, the battery is always maintained in the ideal charging state, at the same time, the user is provided with intuitive battery information, the user can conveniently master the health state and charging progress of the battery in real time, the visualization and transparency of the charging process are increased, the on-board charging control board, the domain controller, the vehicle control unit, the power battery module and the charging module are connected in turn, the seamless cooperation between the various subsystems can be realized, the charging operation can be autonomously completed through multiple methods when automatic driving, and the charging efficiency is improved. BRIEF DESCRIPTION OF DRAWINGS

[0028] In order to more clearly illustrate the technical scheme in the embodiment of the utility model, the drawings needed in the embodiment description will be briefly introduced, and obviously, the drawings in the following description are only some embodiments of the utility model, and other drawings can be obtained by those skilled in the art without creative labor.

[0029] Figure 1 A charging system structure schematic diagram based on an unmanned electric drive-by-wire chassis is provided for the embodiment of the utility model.

[0030] Figure 2 A chassis layout top view diagram is provided for the embodiment of the utility model.

[0031] Figure 3 A chassis layout side view diagram is provided for the embodiment of the utility model.

[0032] Figure 4 A rear view of a chassis arrangement provided by the embodiment of the present application;

[0033] Figure 5 A self-service charging pile schematic diagram provided by the embodiment of the present application;

[0034] Figure 6 A front view of a national standard direct current charging pile provided by the embodiment of the present application.

[0035] [Reference signs]

[0036] 1, power battery module; 2, liquid crystal display screen; 3, vehicle controller; 4, domain controller; 5, vehicle-mounted charger; 6, autonomous charging laser radar; 7, vehicle-mounted charging control panel; 8, self-service charging pile; 9, autonomous charging interface; 10, range extender; 11, national standard direct current charging pile; 12, direct current fast charging socket; 13, alternating current slow charging socket; 14, charging junction box; 15, alternating current slow charging contactor; 16, autonomous charging contactor; 17, range extender charging contactor; 18, direct current fast charging contactor; 19, drive-by-wire chassis vehicle body.

[0037] As shown in the drawings, in order to clearly realize the structure of the embodiment of the present application, specific structures and devices are marked in the drawings, but this is only for the need of illustration, and is not intended to limit the present application in this specific structure, device and environment. According to specific needs, those skilled in the art can adjust or modify these devices and environments. DETAILED DESCRIPTION

[0038] The technical solutions in the present application will be described below with reference to the drawings. It should be noted that in order to make the embodiments more detailed, the following embodiments are the best, preferred embodiments, and other alternative ways can also be used by those skilled in the art to implement them; and the drawings are only used to describe the embodiments in more detail, and are not intended to limit the present application specifically.

[0039] It should be noted that in the specification, "one embodiment", "embodiment", "example embodiment", "some embodiments" and the like indicate that the described embodiments can include specific features, structures or characteristics, but not necessarily every embodiment includes this specific feature, structure or characteristic. In addition, when a specific feature, structure or characteristic is described in combination with an embodiment, it should be within the knowledge of those skilled in the art to realize this feature, structure or characteristic in combination with other embodiments (whether or not explicitly described).

[0040] Generally, terms can be understood at least partly from their use in context. For example, depending at least partly on the context, the term "one or more" as used herein can be used to describe any feature, structure, or characteristic in a singular sense, or a combination of features, structures, or characteristics in a plural sense. Additionally, the term "based on" can be understood not necessarily to convey an exclusive set of factors, but rather, alternatively, depending at least partly on the context, to allow for the presence of other factors that are not necessarily explicitly described.

[0041] It is understood that the meanings of “on”, “above”, and “above” in this utility model should be interpreted in the broadest manner, such that “on” not only means “directly on” something, but also includes the meaning of being “on” something with an intervening feature or layer, and that “above” or “above” not only means “on” something, but also includes the meaning of being “on” something without an intervening feature or layer.

[0042] Furthermore, spatially related terms such as “below,” “under,” “lower,” “above,” and “upper” are used herein for convenience to describe the relationship of one element or feature to one or more other elements or features, as illustrated in the accompanying drawings. Spatially related terms are intended to cover different orientations in the use or operation of the device other than those depicted in the accompanying drawings. The device may be oriented in other ways, and the spatially related descriptive terms used herein can be interpreted similarly.

[0043] like Figures 1 to 6 As shown, the present invention provides a charging system based on an unmanned electric drive-by-wire chassis, comprising: an on-board charging control board, a domain controller, a vehicle controller, a power battery module, and a charging module connected in sequence.

[0044] It should be noted that by sequentially connecting the on-board charging control board, domain controller, vehicle controller, power battery module, and charging module, close collaboration and smooth information transmission among the various parts of the system are ensured. This optimizes the intelligent management and safety of the charging process, improves charging efficiency, compatibility, and the level of system automation, reduces manual intervention, and achieves more efficient and safer charging operations.

[0045] The power battery module includes a battery module, a battery management unit, a battery BDU, and an LCD display.

[0046] The battery module is the basic unit in the battery system, composed of multiple battery units, responsible for storing and supplying electrical energy. The battery module is an important component of the battery pack, usually composed of multiple battery cores in series or parallel combination. The battery management unit is responsible for monitoring the health status of the battery module, including voltage, current, temperature and other parameters, to ensure that the battery operates within a safe range. It is also responsible for coordination and management during charging and discharging processes. The battery BDU is responsible for disconnecting the battery from other systems when needed to ensure protection of the battery in emergency situations or failures. The liquid crystal display is used to display real-time status information of the battery module, such as voltage, current, temperature, etc., to facilitate real-time monitoring of battery health status by users.

[0047] The charging module includes an on-board charger, an autonomous charging pile, a range extender, and an international direct current charging pile.

[0048] The on-board charger is a charging device installed on an electric vehicle, responsible for converting alternating current (AC) to direct current (DC) to charge the power battery. The on-board charger adjusts the charging process according to the charging requirements of the battery and the output power of the charging pile. The autonomous charging pile is an intelligent charging pile that can communicate with the charging control system of the electric vehicle, automatically complete the charging connection, and combine with the unmanned driving technology. The electric vehicle can automatically connect to the charging pile and start charging in unmanned mode, reducing manual operation. The range extender is an auxiliary power system, usually a small internal combustion engine or electric motor, installed in an electric vehicle to increase the driving range. The range extender can charge the battery when the battery is low, or directly provide power to the vehicle, extending the range. The international direct current charging pile is a charging device that supports direct current fast charging, which can quickly charge the electric vehicle through direct current. The international direct current charging pile conforms to global or international charging protocols, providing efficient and safe fast charging solutions, and can provide a large amount of electrical energy to the electric vehicle in a short time.

[0049] The on-board charger is connected to the battery management unit, and the on-board charger is used for information exchange with the battery management unit to obtain the status of the power battery module in real time.

[0050] The vehicle controller is connected to the battery management unit, and the vehicle controller is used for CAN communication information exchange with the battery management unit, and controls the range extender start-stop switch according to the state of charge of the power battery module.

[0051] The domain controller and the vehicle controller are connected, and the domain controller and the vehicle controller are used as relay sites for CAN communication information exchange during the charging process of the power battery module.

[0052] The liquid crystal display screen and the battery management unit are in communication connection with the power battery module, and are used for displaying the real-time state of the power battery module in the form of text, numbers and graphics through RS485 communication.

[0053] The battery management unit is connected with the battery BDU, and is used for controlling the on and off of the charging contactor in the battery BDU.

[0054] In a possible implementation, the autonomous charging laser radar is further included.

[0055] The autonomous charging laser radar, the vehicle-mounted charging control board and the autonomous charging pile form an autonomous charging system.

[0056] The autonomous charging laser radar is a sensor based on laser radar technology, which is used for accurately measuring and identifying the distance, position and surrounding environment between the electric vehicle and the charging pile. The laser radar generates a high-precision three-dimensional image by emitting a laser beam and receiving a reflected signal, which is used to help the vehicle to autonomously complete the docking of the charging pile. The vehicle-mounted charging control board is a hardware system installed on the electric vehicle, which is used for managing the work of the vehicle-mounted charger, controlling the charging process, and ensuring the safety and efficiency of the charging process.

[0057] It should be noted that by integrating the autonomous charging laser radar, the vehicle-mounted charging control board and the autonomous charging pile, the full-automatic charging of the electric vehicle can be realized. The laser radar is used for accurately identifying and positioning the charging pile, and the vehicle-mounted charging control board and the autonomous charging pile ensure the automatic docking and efficient and safe completion of the charging process. This technology reduces manual operation, improves charging efficiency, enhances the intelligent level of unmanned electric vehicles, and promotes the automation and convenience of the charging process.

[0058] The autonomous charging pile has a CAN communication function.

[0059] It should be noted that by adding the CAN communication function to the autonomous charging pile, the charging pile can communicate with the control system of the electric vehicle in real time, ensuring smooth and accurate information exchange during the charging process, so that the charging pile can intelligently identify the charging needs of the electric vehicle and automatically adjust the charging parameters, avoiding charging problems caused by protocol incompatibility or poor communication, and improving charging efficiency and safety.

[0060] The autonomous charging system is used for autonomous charging in the case of unmanned mode.

[0061] In a possible implementation, the national standard direct current charging pile is connected with the power battery module, and is used for charging docking handshake and parameter configuration.

[0062] The international direct current charging pile conforms to the national standard charging protocol.

[0063] It should be noted that by connecting the national standard DC charging pile with the power battery module and performing charging docking handshake and parameter configuration, the compatibility and stability between devices during charging can be ensured. The international DC charging pile conforming to the national standard charging protocol can be compatible with various electric vehicles, improves charging standardization and interoperability, and ensures that the charging operation is completed quickly and safely.

[0064] In a possible implementation, the charging junction box is further included.

[0065] The charging junction box includes a plurality of contactors.

[0066] The charging junction box is configured to output voltage and current to charge the power battery module.

[0067] The charging junction box is an important component in the electric vehicle charging system, which is used to connect the power supply with the battery module and includes a plurality of contactors, responsible for transmitting voltage and current from the charging pile to the power battery module to ensure the smooth progress of the charging process. The contactor is an electrical switch used to control the connection and disconnection of the circuit. In the charging junction box, the contactor is responsible for connecting or disconnecting the transmission of charging current to ensure the safety and stability of the charging process.

[0068] It should be noted that using the charging junction box and equipping it with a plurality of contactors can efficiently and safely transmit voltage and current to the power battery module, ensure stable current flow and accurate charging of the battery during charging, and the design of the contactor can adjust the current and voltage according to the needs of the battery, avoiding overcurrent and overvoltage problems, and improving charging safety.

[0069] In the utility model, the controllers are interconnected through CAN physical link layer, and CAN communication information is interacted, the battery management unit controls the connection or disconnection of the charging contactor in the battery BDU, and the vehicle controller controls the connection or disconnection of a certain contactor in the charging junction box to realize the control of the power battery charging and stopping charging.

[0070] In a possible implementation, the power battery module includes a charging circuit and a discharging circuit.

[0071] It should be noted that by adding a charging circuit and a discharging circuit to the power battery module, intelligent management of the battery during charging and discharging can be achieved. The charging circuit ensures that the battery can efficiently and safely receive current during charging, while the discharging circuit effectively controls the battery discharging process to ensure stable and safe output of the battery power.

[0072] In a possible implementation, the domain controller, the battery management unit, the on-board charging control board and the vehicle control unit are in communication connection.

[0073] The domain controller, the battery management unit and the on-board charging control board exchange CAN communication information through the vehicle control unit as a relay site, and the on-board charging control board sends a charging instruction to the self-service charging pile.

[0074] The self-service charging pile is used to start the brush block propulsion motor to advance after receiving the charging instruction, stop advancing after triggering the stop switch or the limit switch, start the docking handshake, and start charging after the handshake is successful.

[0075] It should be noted that by connecting the domain controller, the battery management unit, the on-board charging control board and the vehicle control unit in CAN communication, and taking the vehicle control unit as a relay site, efficient flow and collaborative operation of information in the system are ensured, the on-board charging control board sends a charging instruction to the self-service charging pile, automatic docking of the vehicle and the charging pile is started, the self-service charging pile receives the instruction, starts the brush block propulsion motor, and automatically completes the docking and performs the charging handshake. This automatic charging process reduces manual intervention, improves charging efficiency and accuracy, enhances user experience, and ensures the safety and reliability of the charging process.

[0076] In actual operation, when four charging modes of AC slow charging, autonomous charging, range extending charging and DC fast charging are integrated on a drive-by-wire chassis, to prevent the damage of the power battery caused by excessive charging current, the vehicle control unit (VCU) controls the on and off of the contactor in the charging terminal box according to the priority set in advance, and only allows one charging mode to charge the power battery at the same time and in the highest priority mode. The charging priority is set as: DC fast charging > AC slow charging > autonomous charging > range extending charging. Among the four charging modes, DC fast charging, AC slow charging and autonomous charging need to be performed under the static working condition of the chassis, and the vehicle control unit (VCU) performs the charging interlocking function. When the chassis is in these three charging modes, the vehicle control unit (VCU) automatically sends the Ready signal to ensure that the chassis is in a static state during the charging process of these three charging modes, so as to protect the chassis and the charging equipment. In addition, range extending charging is not restricted by the static and dynamic state of the chassis, that is, the power battery can be charged under the action of the moving chassis or in the static state, which has greater flexibility.

[0077] In the utility model, the AC slow charging mode is:

[0078] When the chassis is in a 12VDC low-voltage power-on state, the low-voltage power-on mainly provides a constant power supply for the vehicle controller, when the 220VAC charging gun is physically connected with the AC slow charging socket, the vehicle-mounted charger is powered on and simultaneously outputs 12VDC power to wake up the vehicle controller and the battery management unit, after the three complete CAN communication information interaction, the vehicle controller controls the AC slow charging contactor in the charging connection box to be attracted, the battery management unit controls the charging contactor in the battery BDU to be attracted, and the vehicle-mounted charger outputs appropriate voltage and current to charge the power battery.

[0079] The autonomous charging mode is specifically as follows:

[0080] When the power battery SOC is less than 40% (the value can be determined according to actual use, and the utility model is not specifically limited), the chassis is in a high-low voltage power-on state, after the vehicle controller, the domain controller and the battery management unit complete CAN communication information interaction, the domain controller starts the autonomous driving mode, the chassis adjusts the autonomous charging posture, the vehicle-mounted charging control board of the autonomous charging system sends a charging instruction to the self-service charging pile, the self-service charging pile starts the brush block advancing motor after receiving the instruction, stops advancing after triggering the stop switch or the limit switch, starts the docking handshake, and starts charging after the handshake is successful. At the same time, the vehicle controller controls the autonomous charging contactor in the charging connection box to be attracted, the battery management unit controls the charging contactor in the battery BDU to be attracted, and the self-service charging pile outputs appropriate voltage and current to charge the power battery.

[0081] The range extending charging mode is specifically as follows:

[0082] When the power battery SOC is less than 40% (the value can be determined according to actual use, and the utility model is not specifically limited), the chassis is in a high-low voltage power-on state, the vehicle controller controls the range extender start switch to be closed, controls the range extending charging contactor in the charging connection box to be attracted, the battery management unit controls the charging contactor in the battery BDU to be attracted, and the range extender outputs appropriate voltage and current to charge the power battery 1.

[0083] The direct current fast charging mode is specifically as follows:

[0084] The chassis is in a 12VDC low-voltage power-on state, the low-voltage power-on mainly provides a constant power supply for the vehicle controller, after the national standard direct current charging pile is physically connected with the direct current fast charging socket, the national standard direct current charging pile outputs 12VDC power to wake up the vehicle controller and the battery management unit, the national standard direct current charging pile and the battery management unit perform charging docking handshake, parameter configuration and the like, at the same time, the vehicle controller controls the direct current fast charging contactor in the charging connection box to be attracted, the battery management unit controls the charging contactor in the battery BDU to be attracted, and the national standard direct current charging pile outputs appropriate voltage and current to charge the power battery.

[0085] The technical scheme provided by the embodiment of the utility model has at least the following beneficial effects:

[0086] In the utility model, the battery management unit is connected with the vehicle-mounted charger, the vehicle controller and the liquid crystal display respectively, real-time monitoring and information interaction of the power battery module state are realized, voltage, current, temperature and other parameters of the battery are acquired, the precision and safety of the battery charging process are ensured, the start and stop of the range extender are intelligently controlled according to the state of charge of the battery, the range extender can intelligently charge the power battery when the vehicle is running or parking according to actual demand, the battery is always maintained in the ideal charging state, meanwhile, the user is provided with intuitive battery information, the health state and charging progress of the battery are convenient for the user to master in real time, the visualization and transparency of the charging process are increased, the vehicle-mounted charging control panel, the domain controller, the vehicle controller, the power battery module and the charging module are connected in turn, seamless cooperation between various subsystems can be realized, the charging operation can be autonomously completed through multiple methods when automatic driving, and the charging efficiency is improved.

[0087] The utility model covers any alternative, modification, equivalent method and scheme made on the essence and range of the utility model. In order to make the public have a thorough understanding of the utility model, the specific details are explained in detail in the preferred embodiment of the utility model, and the utility model can be completely understood without the description of these details for the person skilled in the art. In addition, in order to avoid unnecessary confusion to the essence of the utility model, the well-known method, process, flow, element and circuit are not explained in detail.

[0088] The above only is the preferred implementation mode of the utility model, should point out, for the ordinary skilled person in the prior art, on the premise of not departing from the principle of the utility model, can make a number of improvements and refinements, these improvements and refinements also should be regarded as the protection range of the utility model.

Claims

1. A charging system based on an unmanned electric drive-by-wire chassis, characterized in that Comprise: In turn connected vehicle charging control panel, domain controller, vehicle controller, power battery module and charging module; The power battery module comprises a battery module, a battery management unit, a battery BDU and a liquid crystal display screen; The charging module comprises a vehicle charger, an autonomous charging pile, an extended range device and an international direct current charging pile; The vehicle charger is connected with the battery management unit, and the vehicle charger is used for information interaction with the battery management unit to obtain the state of the power battery module in real time; The vehicle controller is connected with the battery management unit, and the vehicle controller is used for CAN communication information exchange with the battery management unit, and controls the start-stop switch of the extended range device according to the state of charge of the power battery module; The domain controller and the vehicle controller are connected, and the domain controller and the vehicle controller are used as relay sites for CAN communication information exchange during the charging process of the power battery module; The liquid crystal display screen and the battery management unit are connected with the power battery module, and are used to display the real-time state of the power battery module in the form of text, numbers and graphics through RS485 communication; The battery management unit is connected with the battery BDU, and is used to control the on and off of the charging contactor in the battery BDU.

2. The driverless electric skateboard-based charging system of claim 1, wherein, Also include: Autonomous charging laser radar; The autonomous charging laser radar, the vehicle charging control panel and the autonomous charging pile form an autonomous charging system; The autonomous charging pile has CAN communication function; The autonomous charging system is used for autonomous charging in the case of unmanned mode.

3. The driverless electric skateboard-based charging system of claim 1, wherein, The national standard direct current charging pile is connected with the power battery module, and is used for charging docking handshake and parameter configuration.

4. The driverless electric skateboard-based charging system of claim 1, wherein, Also include: Charging terminal box; The charging terminal box comprises a plurality of contactors; The charging terminal box is used to output voltage and current to charge the power battery module.

5. The driverless electric skateboard-based charging system of claim 1, wherein, The power battery module comprises a charging circuit and a discharging circuit.

6. The driverless electric skateboard-based charging system of claim 1, wherein, The domain controller, the battery management unit, the vehicle charging control panel and the vehicle controller are connected in communication; The domain controller, the battery management unit and the vehicle charging control panel exchange CAN communication information among each other through the vehicle controller as a relay site, and the vehicle charging control panel sends charging instructions to the self-service charging pile.

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