Wireless vehicle charger

Abstract

Techniques are described herein for converting power received from a power grid at a first voltage and outputting a signal at a second voltage. A power converter having a transformer with a 22.5 degree phase shift between current outputs output by a corresponding pair of secondary windings can be utilized to convert a first level of power to a second level of power. The transformer can output power from 30 secondary windings. The power converter can output power with 5% total harmonic distortion and 96% or greater efficiency. Additionally, power can be output by a transmitting coil and received by a receiving coil of a device such as a vehicle to wirelessly charge the vehicle.

Description

[Technical field]

[0001] The present application relates to a wireless charger for a vehicle. [Background technology]

[0002] This patent application claims priority to U.S. Utility Patent Application No. 17 / 491,046, filed September 30, 2021, and U.S. Utility Patent Application No. 17 / 491,066, filed September 30, 2021. Application Nos. 17 / 491,046 and 17 / 491,066 are incorporated by reference herein in their entireties.

[0003] Chargers for powering vehicles can be inefficient. For example, the rate at which power is delivered by the charger may be too low to fully fill the capacity of a rechargeable battery due to power lost from inefficiencies. Such inefficiencies may result from phase differences in voltage and current on the grid side of the charger and may lead to unsafe conditions (e.g., high heat levels, etc.). Additionally, reducing the time required to deliver power to charge an electric vehicle may be important in some applications of the charger. [Brief description of the drawings]

[0004] The detailed description will be set forth with reference to the accompanying drawings, in which the leftmost digit(s) of a reference number identifies the drawing in which that reference number first appears. Use of the same reference number in different drawings indicates similar or identical items or features.

[0005] [Figure 1] FIG. 1 illustrates an example of an environment in which a power converter converts power received from a power grid into power for charging one or more storage devices. [Diagram 2] FIG. 2 is a circuit diagram of an example power converter. [Diagram 3] FIG. 3 is a circuit diagram of a portion of an exemplary power charger. [Figure 4]FIG. 4 is a circuit diagram of an example charger controller. [Figure 5A] FIG. 5A illustrates an example environment including an example vehicle having a rechargeable battery and a wireless charging adapter coupled to a direct current (DC) fast charger. [Figure 5B] FIG. 5B is a schematic block diagram of an exemplary wireless charging adapter. [Figure 6] FIG. 6 is a block diagram of an example system for implementing the techniques described herein. [Figure 7] FIG. 7 illustrates an exemplary process for using a power charger. [Figure 8] FIG. 8 illustrates an example process for using the charger controller. DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS

[0006] The present disclosure describes systems, methods, and apparatus for supplying power to a vehicle. For example, the system for supplying power may include a delta-delta transformer having a primary winding and a set of multiple secondary windings. The transformer may receive alternating current (AC) power from a power grid. The AC power may be received by the transformer via a first AC protection circuit. The transformer may convert the AC power from a first voltage to a second voltage lower than the first voltage. The transformer may output AC power at the second voltage, which may be sent to a direct current (DC) rectifier component. The AC power at the second voltage may be sent to a DC rectifier component via a second AC protection circuit. The DC rectifier component may convert the AC power at the second voltage to DC power. The DC rectifier component may output DC power, which may be sent to an electrical load (also referred to herein as a "load"). The DC power may be sent to the electrical load via the DC protection circuit.

[0007] The attributes of the transformer may enable the power converter including the transformer to output power to a vehicle. The vehicle receiving the power may supply power to one or more energy storage devices (also referred to herein as "storage devices") of the vehicle. The transformer may receive power from the power grid at a voltage of 12.47 kV. The multiple sets of secondary windings may include 30 sets, each outputting power at a level of 100 kW. The phase shift between individual current pairs associated with corresponding winding pairs of corresponding sets of secondary windings of the transformer may be 22.5 degrees (e.g., the phase shift between a current output from a winding of a pair of windings and another current output from another winding of the pair of windings may be 22.5 degrees). The power converter at full load may have a total harmonic distortion level of 5%. Of course, the values ​​discussed herein are examples and may vary based on the particular implementation.

[0008] The power converter may include a power inverter that is controlled based on multiple modes, such as a bipolar mode and a unipolar mode. The power inverter may be controlled to output power based on multiple duty cycles. The mode and duty cycle for outputting power by the power inverter may be controlled based on a power level of one or more of the vehicle's storage devices. For example, in an example where the storage device is implemented as a rechargeable battery, the mode and duty cycle for outputting power by the power inverter may be controlled based on a state of charge (SOC) of the vehicle's rechargeable battery.

[0009] The power inverter may be controlled by a full-bridge controller. The full-bridge controller may be an H-bridge controller that controls the power inverter to output power in a bipolar or unipolar mode. The H-bridge controller may control the power inverter to output power at one of a plurality of duty cycles. The H-bridge controller may include a plurality of transistors that may be switched differently to control the transformer to output power in a bipolar or unipolar mode and at one of a plurality of duty cycles.

[0010] The techniques described herein can improve the functionality of the power converter in many more ways. The power converter can include chargers that are scalable for a fleet of vehicles to operate as high power chargers. For example, in an example where one or more of the vehicle chargers in the power charger are configured to transfer power as high power chargers, any one or more of the high power chargers can transfer power to a corresponding vehicle at a rate of 100 kilowatts (kW).

[0011] A 100 kW charging rate may be utilized by any number (e.g., some or all) of the vehicle chargers associated with a power converter as discussed in this disclosure, but is not limited thereto. Any charging rate (e.g., 50 kW, 100 kW, 200 kW, 400 kW, etc.) may be utilized by one or more vehicle chargers.

[0012] In some examples, all of the chargers for the power converters can be provided as high power chargers. The chargers can be utilized to quickly and efficiently charge the vehicle storage devices. In some examples, all of the vehicle storage devices can be fully charged overnight to enable the vehicle to be operational the next day. It is possible to fully charge the vehicle battery despite some or all of the storage devices being fully discharged from previous use during the day. For example, in examples where one or more vehicle storage devices are fully charged overnight, from power levels (e.g., SOC) of 0% (within a 10% tolerance level) to 100% (within a 10% tolerance level), one or more vehicle storage devices can be sized to be 40 kilowatt hours (kWh) or 120 kWh.

[0013] Any size of one or more of the vehicle storage devices may be 40 kWh or 120 kWh, as described and discussed in this disclosure, but is not limited thereto. Any size of one or more of the vehicle storage devices (e.g., 40 kWh, 60 kWh, 80 kWh, 100 kWh, 120 kWh, etc.) may be utilized in the corresponding vehicle. A 10% tolerance level for the pre-charge power level and a 10% tolerance level for the post-charge power level may be utilized to charge the vehicle storage devices, as discussed in this disclosure, but is not limited thereto. Any tolerance level (e.g., 1%, 5%, 15%, etc.) may be utilized for one or more of the pre-charge power level and the post-charge power level.

[0014] Furthermore, the power converter according to the present disclosure can provide power to a vehicle storage device more simply and at a lower cost than the power converter according to the prior art. The disclosed power converter can omit some stages that would otherwise be required. In some examples, the power converter can utilize a medium voltage transformer and a high frequency rectifier to supply power without a low voltage stage for power factor correction (PFC). The power converter does not require a stage between the medium voltage transformer and the high frequency rectifier that includes components such as a low voltage transformer, a rectifier and PFC circuit, a high frequency inverter, and a high frequency transformer. To achieve PFC, the currents output by a pair of windings in each set of windings of the medium voltage transformer may be electrically separated by 22.5 degrees (e.g., the phase shift between the currents output by a pair of windings in each set of windings may be 22.5 degrees). The power converter does not require a PFC circuit stage between the medium voltage transformer and the load.

[0015] Further, the power converter according to the present disclosure can provide power more safely, efficiently, and reliably than prior art power converters. In some examples, the power converter can provide power and achieve PFC while maintaining a total harmonic distortion (e.g., a level of harmonic distortion associated with the input of a charging circuit, including a transformer and a rectifier) ​​of 5% or less. The power can be provided by a power converter operating at an efficiency of at least 93%. In some examples, the power converter can operate at an efficiency level of 95% or more (e.g., 95%, 96%, 96.5%, etc.). The efficiency of the power converter can be significantly higher than prior art power converters, which generally operate at efficiencies of 91% or less. The higher level of efficiency of the power converter can be achieved due to the PFC capabilities of the medium voltage transformer, which allows for the omission of a low voltage stage. By providing a power converter with windings in each of a set of windings electrically spaced 22.5 degrees apart to achieve a high level of efficiency, the power converter can transfer a high level of power to any or all of the chargers for the vehicle storage device. In some examples, each of the chargers of the power converter is capable of providing 100 kilowatts (kW) of power to a corresponding vehicle storage device. The power converter can include at least 30 chargers with transmitting coils that are utilized to wirelessly transmit 100 kW of power by individual transmitting coils of the multiple transmitting coils and to corresponding receiving coils of the corresponding vehicles.

[0016] The techniques described herein can be implemented in many ways. Exemplary implementations are provided below with reference to the following drawings. Although applicable to vehicles, such as autonomous vehicles, the methods, apparatus, and systems described herein can be applied to a variety of systems and are not limited to autonomous vehicles. In another example, the techniques can be utilized in an aviation or nautical context, or in systems configured to wirelessly transfer power.

[0017] FIG. 1 is an example of an environment 100 in which a power converter converts power received from a power grid into power for charging one or more storage devices. The environment 100 can include a power charger 104 for providing power to one or more vehicle power systems via one or more vehicle chargers. In some examples, the power charger 104 can include a power converter component group 106 (also referred to herein as a “charging circuit”) for providing power to a vehicle system 110 of a vehicle system via a vehicle charger 108 of a vehicle charger. The power charger 104 can include an alternating current (AC) switchgear (also referred to herein as a “medium voltage switchgear”) (also referred to herein as an “AC protection circuit”) 112 for receiving power from a power grid. The power converter component group 106 can convert power received from the power grid and by the power charger 104 via the AC switchgear 112.

[0018] The AC switchgear 112 may receive an AC signal (also referred to herein as an “electrical signal” or “power”) at a voltage level (e.g., a “medium voltage level”) (e.g., 12.47 kilovolts (kV)) as power provided by a power grid. In some examples, the AC switchgear 112 may include one or more components (also referred to herein as “devices”) through which power is transferred to the power converter component group 106. Any of the components of the AC switchgear 112 may be protection components such as fuses, circuit breakers, switches, etc. The AC switchgear 112 may be utilized to protect, control, and / or isolate any component of the power charger 104 (e.g., one or more components of the power converter component group 106). In some examples, the AC switchgear 112 may include one or more protection components (e.g., one or more of a fuse, one or more circuit breakers, and / or one or more switches, etc.) electrically connected between the wires (also referred to herein as “conductors”) connected to the power grid and the primary winding 122 for each individual wire of the multiple wires connected between the power grid and the primary winding 122.

[0019] The voltage level (e.g., "medium voltage") associated with either the input power from the power grid, or one or more of the components (e.g., "medium voltage components") of the power converter, as described in this disclosure, may be 12.47 kV, but is not limited thereto. Any voltage level (e.g., 1 kV, 4.16 kV, 12.47 kV, 13.2 kV, 35 kV, etc.) may be utilized for the voltage (e.g., "medium voltage").

[0020] The power converter component group 106 may include a transformer 114, one or more rectifier components, one or more AC switchgear components, and one or more DC switchgear components. By way of example, the power converter component group 106 may include a rectifier component 116, an AC switchgear component (also referred to herein as “AC switchgear” or “AC protection circuit”) 118, and a DC switchgear component (also referred to herein as “DC switchgear” or “DC protection circuit”) 120. The transformer 114 may include a primary winding 122 and one or more sets of secondary windings. By way of example, the transformer 114 may include a set of secondary windings (also referred to herein as “secondary winding set”) 124.

[0021] Power may be transferred by a power grid through the AC switchgear 112 and received by the primary winding 122. The power grid may send power to the AC switchgear 112 through one or more wires. The AC switchgear 112 may transfer the power it receives from the power grid to the transformer 114 through one or more wires. The transformer 114 may be utilized to convert the power transferred by the primary winding 122 into individual ones of a set of multiple secondary windings (e.g., the set of secondary windings 124). Characteristics of the transformer may include electrical isolation between the primary winding 122 and the set of secondary windings. The electrical isolation may be implemented as a core between the primary winding 122 and the individual windings of the set of secondary windings (e.g., the set of secondary windings 124).

[0022] In some examples, the primary winding 122 may be a delta winding. However, the present disclosure is not so limited. The primary winding 122 may be any type of winding (e.g., a delta winding or a wye winding).

[0023] The phase difference between the currents output by the windings in each of the sets of secondary windings (e.g., the set of secondary windings 124) can be 22.5 degrees or less. In some examples, the phase difference between the currents output by a pair of windings in each of the secondary winding sets can be 22.5 degrees or less. As an example, the phase shift between a first current output by a first winding in a pair of windings (e.g., the set of secondary windings 124 that outputs AC power at a second voltage) and a second current output by a second winding in the set of secondary windings 124 can be 27.5 degrees or less. In these examples, the phase shift can be 27.5 degrees or less. However, the disclosure is not so limited and the currents output by any corresponding pair of windings in any of the sets of secondary windings can have any phase difference (e.g., 1, 5, 10, 15, 22.5, 25, 27, 27.4, 27.5, 27.6, 28, 29, 30, etc.).

[0024] In some examples, each individual winding (e.g., a secondary winding) within a corresponding set of sets of secondary windings (e.g., a set of secondary windings 124) can be a delta winding. However, the disclosure is not so limited. Any individual winding (e.g., a secondary winding) within any set of sets of secondary windings (e.g., a set of secondary windings 124) can be any type of winding (e.g., any set of secondary windings can include a delta-delta winding pair, a delta-Y winding pair, a Y-delta winding pair, or a YY winding pair).

[0025] The transformer 114 is capable of converting power of a first power type (e.g., AC power at a first voltage level (e.g., 12.47 kilovolts (kV)) (e.g., “medium voltage power”)) to power of a second power type (e.g., AC power at a second voltage level (e.g., 360 volts (V) ±10% V)) (e.g., “low voltage power”). Individual ones of the set of secondary windings (e.g., the set of secondary windings 124) are capable of outputting power of the second power type. In some examples, each of the set of secondary windings is capable of outputting power of the second power type.

[0026] The voltage (e.g., "low voltage") level associated with any of one or more components (e.g., "low voltage components") of the power converter may be a tolerance level of 360 volts (V) ±10%V, as discussed in this disclosure, but is not limited as such. Any voltage level (e.g., a tolerance level of 180V ±10%V, a tolerance level of 720 ±10%V, etc.) may be utilized for any of the components. A 10% tolerance level for the voltage level (e.g., the "low voltage" level) may be utilized as discussed in this disclosure, but is not limited as such. Any tolerance level (e.g., 1%, 5%, 15%, etc.) may be utilized for any level of voltage level (e.g., the "low voltage level").

[0027] In some examples, some of the secondary winding sets in the multiple secondary winding sets may be 30. However, the disclosure is not so limited and the multiple secondary winding sets can include any number of secondary winding sets (e.g., 10, 20, 30, 40, etc.).

[0028] The transformer 114 can provide power (e.g., “low voltage power”) from the set of secondary windings to the rectifier component. In some examples, the transformer 114 can provide power at a level (e.g., 3.2 million volt-amperes (MVa)) of power utilized by six groups of five vehicle chargers. The power provided by each one of the sets of secondary windings (e.g., the set of secondary windings 124) can be transferred to a corresponding rectifier component (e.g., the rectifier component (also referred to herein as “rectifier”) 116) via a corresponding AC switchgear component (e.g., AC switchgear 118). As an example, the rectifier 116 can convert power of a second power type (e.g., AC power at a second voltage level (e.g., 360 volts (V) ±10%V)) to power of a third power type (e.g., 100 kW DC power at a third voltage level (e.g., 240V to 410V)). The rectifier 116 may receive power from an individual set of secondary windings (e.g., set of secondary windings 124) in the transformer 114, which is converted by the rectifier 116 and provided to a corresponding vehicle charger of the vehicle charger (e.g., vehicle charger 108). In some examples, the individual rectifiers of the rectifiers (e.g., rectifier 116) may be corresponding diode bridge rectifiers. However, the disclosure is not so limited and any one or more of the rectifiers may be any type of rectifier for converting AC power to DC power, such as a half-wave rectifier, a full-wave rectifier, an uncontrolled rectifier, a controlled rectifier, etc. (e.g., a 6-pulse diode bridge rectifier, a 12-pulse diode bridge rectifier, an 18-pulse diode bridge rectifier, etc.).

[0029] An individual rectifier of the rectifier (e.g., rectifier 116) may receive power from a corresponding set of secondary windings (e.g., set of secondary windings 124) in the transformer 114. The power received from the transformer 114 may be converted by an individual rectifier of the rectifier (e.g., rectifier 116). In some examples, the rectifier 116 may be directly coupled to the transformer 114 (e.g., without any components in series between the rectifier 116 and the transformer 114).

[0030] In some examples, each one of the AC switchgear components (e.g., AC switchgear 118) can be implemented in a manner similar to AC switchgear 112. In those examples, each AC switchgear component can include, for each one of the wires connected to the transformer 114 (e.g., wires connected between the transformer 114 and AC switchgear 118) and the one or more wires connected to the rectifier (e.g., corresponding wires connected between the AC switchgear 118 and rectifier 116), one or more protection components (e.g., one or more of a fuse, one or more circuit breakers, and / or one or more switches, etc.) electrically connected between a wire connected to a corresponding secondary winding (e.g., a corresponding winding of secondary winding 124) of a corresponding set of secondary windings and a wire connected to a corresponding rectifier in the corresponding rectifier (e.g., rectifier 116).

[0031] The power converter component group 106 may include one or more thermal systems, one or more thermal system power sources, and one or more housekeeping power sources. By way of example, the power converter component group 106 may include a thermal system 126, a first power source 128, and a second power source 130. In some examples, the first power source 128 may be utilized as a thermal system power source. In some examples, the second power source 130 may be utilized as a housekeeping power source.

[0032] In some examples, the thermal system 126 can include fans and / or other cooling devices to maintain the temperature of the cabinet containing the power converter component group 106 at or below a threshold temperature. In these or other examples, the thermal system 126 can include warming devices (e.g., one or more heaters, one or more insulation materials) to maintain the temperature of the cabinet containing the power converter component group 106 at or above a threshold temperature (e.g., the warming devices can be utilized to prevent any components of the power converter component group 106 from freezing). The thermal system 126 can maintain the temperature of any of the one or more components of the power converter component group 106.

[0033] In some examples, the first power source 128 can be a secondary winding (e.g., a wye winding). In these examples, power can be transferred from the primary winding 122 to the first power source 128 and / or the second power source 130 in a manner similar to that described above for power transferred from the primary winding 122 to the set of second windings 124. Power of the first power type can be sent by the primary coil and converted to a type of power (e.g., 480V AC power) by the transformer 114 (e.g., the primary winding 122 and the first power source 128). Power of the first power type can be sent by the primary coil and converted to a type of power (e.g., 120V AC power) by the transformer 114 (e.g., the primary winding 122 and the second power source 130).

[0034] The first power source (e.g., first power source 128) may be a wye winding as described above in this disclosure, but is not limited thereto. Any type of winding (e.g., delta winding, single winding, etc.) may be utilized for the first power source.

[0035] In some examples, the second power source 130 may include a single winding. The second power source 130 may be utilized to provide power to one or more components of the power converter component group 106 (e.g., a power outlet) or one or more other external components (e.g., a power outlet). In some examples, the second power source 130 may include one or more batteries, one or more capacitors, and / or one or more other energy storage components (e.g., one or more storage components for maintaining power when a main power source (e.g., power from a power grid) is off).

[0036] The second power source (e.g., second power source 130) may be a single winding as described above in this disclosure, but is not limited thereto. Any type of winding (e.g., delta winding, wye winding, etc.) may be utilized for the first power source.

[0037] Each rectifier (e.g., rectifier 116) can convert and provide power (e.g., DC power) to a corresponding vehicle charger (e.g., vehicle charger 108) via a corresponding DC switchgear component (e.g., DC switchgear 120). In some examples, each of the rectifiers can convert and provide power received from the transformer 114 to a corresponding vehicle charger via a corresponding DC switchgear component.

[0038] Each one of the vehicle chargers (e.g., vehicle charger 108) may include a corresponding inverter of the one or more inverters and a corresponding transmitting coil of the one or more transmitting coils. By way of example, vehicle charger 108 may include an inverter (also referred to herein as a “power inverter”) 132 and a transmitting coil 134. Power transferred by each one of the rectifier components (e.g., rectifier component 116) of the power converter component group 106 via a corresponding DC switchgear component (e.g., switchgear component 120) may be received by a corresponding inverter (e.g., inverter 132). Each one of the inverters (e.g., inverter 132) may receive power from a corresponding DC switchgear via a positive DC wire (e.g., DC+ conductor), a negative DC wire (e.g., DC conductor), a protective earth (PE) wire (e.g., ground conductor), and another DC wire (e.g., “12V” conductor). Each one of the inverters (e.g., inverter 132) is capable of converting power of a third power type (e.g., 100 kW DC power at a third voltage level (e.g., 240V-410V DC)) received from a corresponding DC switchgear component (e.g., DC switchgear component 120). Each one of the inverters (e.g., inverter 132) is capable of converting power of the third power type to power of a fourth power type (e.g., 100 kW AC power at a third voltage level (e.g., 240V-410V)). In some examples, each of the inverters is capable of converting power of the third power type to power of the fourth power type.

[0039] One or more wires (e.g., control wires) may be coupled between the power converter component group 106 and the vehicle charger 108. In some examples, control wires may be coupled between individual ones of the DC switchgear components (e.g., DC switchgear 120) and a corresponding inverter (e.g., inverter 132). By way of example, the control wires may be utilized to communicate one or more control signals 136 between the DC switchgear 120 and the inverter 132. Any of the one or more control signals of the control signals 136 received by the inverter 132 may be utilized by the inverter 132 to control the power output to the transmitting coil 134.

[0040] The inverter 132 can send one or more control signals (e.g., any of one or more of the control signals 136 output by the inverter 132) to the DC switchgear 120, which can be utilized by the DC switchgear 120 to control the power sent to the inverter 132. In some examples, the control signals 136 can be associated with housekeeping utilized upon occurrence of one or more faults associated with the inverter 132. The control signals 136 can include one or more control signals sent by the inverter 132 to the power converter component group 106 (e.g., a cabinet including the power converter component group 106) upon occurrence of a fault. The power converter component group 106 can be controlled to turn off corresponding circuit breakers (e.g., corresponding circuit breakers in the power converter component group 106) associated with one or more circuits in the inverter 132 where the fault occurs.

[0041] In some examples, the control signals 136 sent by the inverter 132 to the DC switchgear 120 may include one or more control signals associated with one or more faults (e.g., one or more soft shorts) that may be included in the vehicle charger 108. The inverter 132 may measure one or more electrical characteristics of a circuit associated with the power transfer by the inverter 132 to sense the soft short. The electrical characteristics may include one or more measurements of temperature by a corresponding temperature sensor, one or more measurements of current by one or more current sensors, and / or one or more measurements of voltage by one or more corresponding voltage sensors. The electrical characteristics may be analyzed by the power charger 104 to determine a pattern associated with any one or more of the electrical characteristics. The pattern may be utilized to determine the soft fault.

[0042] The inverter 132 may control the power output based on any one or more input control signals (e.g., any one of the control signals 136 sent by the DC switchgear 120 and / or any one of the control signals input from the vehicle system 110). In some examples, a parameter associated with the power output by the DC switchgear 120 may be determined based on electrical characteristics measured utilizing one or more sensors (e.g., one or more current sensors and / or one or more voltage sensors) of the DC switchgear 120. The control signal 136 may include one or more control signals sent by the DC switchgear 120 that include the parameter.

[0043] In some examples, each one of the DC switchgear components (e.g., DC switchgear 120) can be implemented in a manner similar to AC switchgear 112. In those examples, each DC switchgear component can include, for each of the one or more wires connected to a corresponding rectifier (e.g., wires connected between rectifier 116 and DC switchgear 120) and vehicle charger (e.g., corresponding wires connected between DC switchgear 120 and inverter 132), one or more protection components (e.g., one or more of a fuse, one or more circuit breakers, and / or one or more switches, etc.) electrically connected between the wires connected to the corresponding rectifier component (e.g., rectifier 116) and the wires connected to the corresponding vehicle charger (e.g., vehicle charger 108).

[0044] In some examples, the number of AC switchgear components and / or the number of DC switchgear components can be the same as the number of sets of secondary windings. However, the disclosure is not so limited and the AC switchgear components can include any number (e.g., 10, 20, 30, 40, etc.) of AC switchgear components. The DC switchgear components can include any number (e.g., 10, 20, 30, 40, etc.) of DC switchgear components. In some examples, any number of AC switchgear components can be integrated together and / or combined into a corresponding integrated AC switchgear component. Any of the techniques discussed throughout this disclosure can be implemented utilizing integrated AC switching components in a manner similar to the AC switchgear component 118. Any number of DC switchgear components in a DC switchgear component can be integrated together and / or combined into a corresponding integrated DC switchgear component. Any of the techniques discussed throughout this disclosure can be implemented utilizing integrated DC switching components in a manner similar to the DC switchgear component 120.

[0045] In some examples, an active power filter 138 may be coupled in parallel to the transformer 114. The active power filter 138 may be controlled based on the power wirelessly transferred to the receive coil 140. By controlling the active power filter 138, the power output by the transmit coil 134 may be controlled. The active power filter 138 may control the power output by the transmit coil 134 by controlling the power output by the transformer 114.

[0046] In some examples, the active power filter 138 can be controlled to control the power at a first control level based on a number of vehicle chargers (e.g., a number of vehicle chargers including the vehicle charger 108). The active power filter 138 can be controlled to control the power output by the transformer 114 at a first control level based on a first number of vehicle chargers (e.g., a first number of vehicle chargers including the vehicle charger 108). The active power filter 138 can be controlled to control the power output by the transformer 114 at a second control level based on a second number of vehicle chargers (e.g., a second number of vehicle chargers including the vehicle charger 108). The first control level can be greater than or equal to the second control level based on the second number of vehicle chargers being greater than or equal to the first number of vehicle chargers. By controlling the power output by the transformer 114 at the first control level via the active power filter 138, individual phase shifts between corresponding currents output by corresponding secondary windings in corresponding sets of secondary windings can be controlled (e.g., the phase shifts can be controlled to 22.5 degrees, 27.5 degrees, etc.).

[0047] As an example, the active power filter 138 can be controlled to control a phase shift between the currents output by corresponding secondary windings in the set of secondary windings 124 (e.g., the phase shift can be controlled by the active power filter 138 to be any level regardless of the power output to any number of vehicle chargers). The phase shift of the currents in the secondary winding pairs can be controlled to be consistent as the number of vehicle chargers changes in real time. The active power filter 138 can be controlled (e.g., dynamically controlled) to adjust the power level (e.g., to be substantially constant) for corresponding currents output by corresponding secondary windings in any number of secondary winding pairs when one or more winding pairs not previously receiving power begin to receive power (e.g., at a first time) or when one or more secondary winding pairs previously receiving power cease to receive power (e.g., at a second time).

[0048] Each one of the inverters (e.g., inverter 132) can transfer power (e.g., power of the fourth power type) to a corresponding transmitting coil (e.g., transmitting coil 134). Each one of the transmitting coils (e.g., transmitting coil 134) can wirelessly transmit power received from a corresponding inverter (e.g., inverter 132) to a corresponding vehicle system (e.g., vehicle system 110).

[0049] Each of the vehicle systems (e.g., vehicle system 110) may include one or more corresponding receiving coils, one or more corresponding rectifiers (e.g., “high frequency (HF) rectifiers”), one or more corresponding storage devices (e.g., “HF battery packs”), and one or more corresponding propulsion systems. In some examples, a frequency (e.g., high frequency) level (e.g., a first level) may be between 20 Hertz (Hz) and 200 kHz, which may be higher than a frequency of another level (e.g., a second level) associated with one or more other components (e.g., transformer 114). By way of example, vehicle system 110 may include a receiving coil 140, a rectifier (e.g., “HF rectifier”) 142, one or more storage devices (e.g., battery packs) (e.g., “HF battery packs”) 144, and a propulsion system 146.

[0050] The first level of frequency (e.g., "high frequency level") in the power charger 104 can be between 20 Hz and 200 kHz, as described above in this disclosure, but is not limited as such. Any level of frequency (e.g., 20 Hz, 100 Hz, 1 kHz, 10 kHz, 100 kHz, 200 kHz, etc.) can be utilized as the first level of frequency.

[0051] Each one of the receiving coils (e.g., receiving coil 140) can receive wireless power transmitted by a corresponding transmitting coil (e.g., transmitting coil 134). In some examples, the power received by each of the receiving coils can receive power of a fourth power type (e.g., 100 kW AC power at a third voltage level (e.g., 240V to 410V)). In those examples, all of the sets of secondary windings (e.g., 30 sets of secondary windings) of the transformer 114 can each provide power of the fourth power type (e.g., 100 kW AC power at a third voltage level (e.g., 240V to 410V)) to all of the receiving coils (e.g., 30 receiving coils). The transformer 114 can operate to provide power of the fourth power type to all of the receiving coils, each with an efficiency of at least 95% and with a total harmonic distortion level of 5%. The number of receiver coils may be the same as the number of sets of secondary windings, however, the disclosure is not so limited and the receiver coils may include any number of receiver coils (e.g., 10, 20, 30, 40, etc.).

[0052] Each one of the receiving coils (e.g., receiving coil 140) may transfer received power (e.g., power of the fourth power type received from a corresponding inverter) to a corresponding rectifier (e.g., rectifier 142). In some examples, power may be transferred from each one of the receiving coils to the corresponding rectifier via one or more corresponding wires and one or more corresponding capacitors. As an example, power may be transferred from receiving coil 140 to rectifier 142 via one or more wires and one or more capacitors.

[0053] Each one of the rectifiers (e.g., rectifier 142) may convert the received power (e.g., power of the fourth power type received from a corresponding receiving coil) to power of a fifth power type (e.g., 100 kW DC power at a fifth voltage level (e.g., 240V-410V DC)). In some examples, the power of the fifth power type may be substantially similar to the power of the third power type (e.g., 100 kW DC power at a third voltage level (e.g., 240V-410V DC)). In these examples, the difference between the power level of the fifth power type and the power level of the third power type may be less than a threshold difference. Each one of the rectifiers (e.g., rectifier 142) may transmit the converted power (e.g., power of the fifth power type) to a corresponding storage device (e.g., one or more storage devices of storage devices 144) and / or a corresponding propulsion system (e.g., propulsion system 146).

[0054] In some examples, each one of the vehicle systems (e.g., vehicle system 110) may be associated with (e.g., included in) a corresponding vehicle, as described below with reference to Figure 5. In some examples, each one of the propulsion systems (e.g., propulsion system 146) may include two electric propulsion units, a motor / inverter, etc.

[0055] In some examples, the number of vehicle chargers can be the same as the number of sets of secondary windings, however, the disclosure is not so limited and the vehicle chargers can include any number of vehicle chargers (e.g., 10, 20, 30, 40, etc.).

[0056] As discussed above in this disclosure, power converter component group 106 includes only one transformer, but is not limited thereto. Any number of transformers may be included in power converter component group 106 and may be implemented in a manner similar to transformer 114.

[0057] As described above in this disclosure, only one thermal system, one thermal system power supply, and one housekeeping power supply are included in power converter component group 106, but this is not a limitation as such. Any number of thermal systems, thermal system power supplies, and housekeeping power supplies may be included in power converter component group 106 and implemented in a manner similar to thermal system 126, first power supply 128, and second power supply 130, respectively.

[0058] Various terms related to power management, such as "providing," "transmitting," or "transferring," are utilized throughout this disclosure, but are not limited thereto. Such terms are therefore provided for clarity and simplicity of description and may be construed as interchangeable. Various terms associated with parts of a power charger and / or vehicle system, such as components including "switchgear," "transformer," "rectifier," "inverter," and the like, are utilized throughout this disclosure, but are not limited thereto. Such terms are therefore provided for clarity and simplicity of description and may be construed as being interchangeable, such as being circuitry (e.g., electrical circuitry) configured to perform any function of the corresponding charger, system, and component.

[0059] FIG. 2 is a circuit diagram of an example power charger 200. The power charger 200 may be utilized to implement the power charger 104, as described above with reference to FIG. 1. In some examples, the power charger 200 may include components within the power charger 104, such as the AC switchgear 112, the transformer 114, the primary winding 122, and the set of secondary windings 124, as described above with reference to FIG. 1. In these examples, the power charger 200 may include the power distribution equipment and switchgear 204, and one or more charging power supply cabinets 206(1)-206(5) (collectively referred to herein as charging power supply cabinets 206). Although five charging power supply cabinets 206 are shown, the disclosure is not so limited and may include any number of charging power supply cabinets.

[0060] In some examples, power distribution equipment and switchgear (e.g., “low voltage (LV) power distribution equipment and switchgear”) 204 may be implemented to include a combination of AC switchgear 118 and DC switchgear 120. Power distribution equipment and switchgear 204 may include one or more protection components 208, which for simplicity are represented as switches. However, the disclosure is not so limited and one or more of the components 208 may be fuses, circuit breakers, switches, etc. Any of the protection components 208 may be utilized to implement any of the protection components of the AC switchgear 118 and / or DC switchgear 120.

[0061] The transformer 114 may include one or more groups 210(1)-210(4) (collectively referred to herein as groups of secondary winding sets 210). Each of the groups may include one or more of the sets of secondary windings. In some examples, the number of sets of secondary windings in each of the groups of secondary winding sets 210 (e.g., the group of secondary winding sets 210(1)) may be associated with the same number of power outputs of the corresponding charging cabinet (e.g., charging power supply cabinet 206(1)). As an example, the group of secondary winding sets 210(1) may include six sets of secondary windings, and the charging power supply cabinet 206(1) may include six corresponding power outputs DC1-DC6. Each of the charging power supply cabinets 206 (e.g., charging power supply cabinet 206(1)) may output 600 kW of power for a combined power output of 6100 kW.

[0062] In some examples, each of the power outputs (e.g., power outputs DC1-DC6) of each of the charging power cabinets 206 (e.g., charging power cabinet 206(1)) can be connected to a corresponding vehicle charger (e.g., vehicle charger 108) of the multiple vehicle chargers. As an example, power output DC1 of charging power cabinet 206(1) can be included in vehicle charger 108 (e.g., power output DC1 can be connected to inverter 132 within vehicle charger 108).

[0063] Although a single wire and a single switch are shown connected between a group of secondary winding sets (e.g., the group of secondary winding sets 210(a)) and a charging power supply cabinet (e.g., charging power supply cabinet 206(1)), the disclosure is not so limited. Any number of wires and any number of switches can be connected between each group of secondary winding sets 210 and a corresponding charging power supply cabinet (e.g., charging power supply cabinet 206(1)).

[0064] In some examples, the transformer 114 may include an active power filter (e.g., active power filter 138, as described above with reference to FIG. 1) coupled in parallel with the group of secondary winding sets 210. The active power filter 138 may be coupled to a wye winding (e.g., a wye secondary winding) of the transformer 114 via one or more of the protection components 208. The active power filter 138 may receive power sent by the primary winding 122 and received by the wye winding (e.g., a wye winding coupled to the active power filter 138). The active power filter 138 may be coupled to the wye winding as described above in this disclosure, but is not limited to such. Any type of winding (e.g., a delta winding, a single winding, etc.) may be utilized for the winding from which the active power filter 138 receives power.

[0065] FIG. 3 is a circuit diagram of an example portion 300 of a power charger. As described above with reference to FIG. 1, the example portion 300 of a power charger may be utilized to implement a portion of the power charger 104. In some examples, the example portion 300 of a power charger may include components within the power charger 104 (e.g., the power converter component group 106 within the power charger 104), as described above with reference to FIG. 1, such as the transformer 114, the rectifier 116, the primary winding 122, and the set of secondary windings 124. In these examples, the example portion 300 of a power charger may include components within the power charger 104, such as the power distribution device and switchgear 204, as described above with reference to FIG. 1. Although a single primary winding and a single set of secondary windings are shown, the disclosure is not so limited and may include any number of primary windings and any number of sets of secondary windings, with each one of the primary windings being implemented in a manner similar to the primary winding 122 and each one of the sets of secondary windings being implemented in a manner similar to the set of secondary windings 124.

[0066] In some examples, the rectifier 116 may include a rectifier circuit (e.g., a first rectifier circuit) 304 connected to a set of windings (e.g., a first winding) 306 of the secondary winding 124 and a rectifier circuit (e.g., a second rectifier circuit) 308 connected to a set of windings (e.g., a secondary winding) 310 of the secondary winding 124. In these examples, the set of outputs 302 may be connected in parallel to the rectifier circuit 304 and the rectifier circuit 308. Either one or more of the protection components of the AC switchgear 118 may be connected between the rectifier circuit 304 and the winding 306 (e.g., connected in series with the rectifier circuit 304 and the winding 306 via any corresponding wires between the rectifier circuit 304 and the winding 306) and / or between the rectifier circuit 308 and the winding 310 (e.g., connected in series with the rectifier circuit 308 and the winding 310 via any corresponding wires between the rectifier circuit 308 and the winding 310). Either one or more of the protection components of the DC switchgear 120 may be connected between the rectifier circuit 304 and the output 302 (e.g., connected in series with the rectifier circuit 304 and the output 302 via any corresponding wires between the rectifier circuit 304 and the output 302) and / or between the rectifier circuit 308 and the output 302 (e.g., connected in series with the rectifier circuit 308 and the output 302 via any corresponding wires between the rectifier circuit 308 and the output 302).

[0067] Rectifier 304 and rectifier 308 may receive power from windings 306 and 310, respectively, via corresponding inductors. Rectifier 304 and rectifier 308 may convert power of a second power type (e.g., AC power at a second voltage level (e.g., 360 volts (V) ±10% V)). Rectifier 304 and rectifier 308 may output a DC signal (also referred to herein as “DC power”) of a third power type (e.g., 100 kW DC power at a third voltage level (e.g., 240V-410V)) to a set of outputs 302.

[0068] FIG. 4 is a circuit diagram of an example power charger controller 400. The power charger controller 400 can be utilized to control and / or integrate with one or more of any portion of the power charger 104 (e.g., individual portions (e.g., the power converter component group 106 of the power converter component group, the individual portions of the vehicle charger (e.g., the vehicle charger 108), any portion of the power converter component group 106 (e.g., the transformer 114), any portion of the vehicle charger 108 (e.g., the inverter 132), etc.). As an example, the power charger controller 400 can be utilized to control and / or integrate with the inverter 132 that transfers power from the power converter component group 106 to the transmit coil 134 of the vehicle charger 108, as described above with reference to FIG. 1. In some examples, any number of individual chargers of the vehicle charger that receive power from the power converter component group 106 can include inverters controlled by or integrated with the power charger controller in a manner similar to the inverter 132 controlled by or integrated with the power charger controller 400.

[0069] The example power charger controller (also referred to herein as a “control circuit”) 400 may be utilized to control the inverter 132 based on one or more power parameters (e.g., one or more parameters associated with a power level (also referred to herein as a “power level” or “power amount”)) (one or more parameters associated with a charge level (also referred to herein as a “charge level” or “charge amount”) of a storage device (e.g., storage device 144) of a vehicle (e.g., a vehicle including vehicle system 110) as described above with reference to FIG. 1 ). In some examples, the parameters utilized to control the inverter 132 based on information associated with the parameters (e.g., information received from vehicle system 110) may include any type of parameter (e.g., a charge target voltage parameter, a charge target current parameter, a charge target power parameter, etc.). The example power charger controller 400 may include a control input (e.g., a first control input) 402, a control input (e.g., a second control input) 404, a control input (e.g., a third control input) 406, and a control input (e.g., a fourth control input) 408. The inverter 132 may include multiple transistors, including a switch (e.g., transistor) (e.g., a first transistor) 410, a switch (e.g., transistor) (e.g., a second transistor) 412, a switch (e.g., transistor) (e.g., a third transistor) 414, and a switch (e.g., transistor) (e.g., a fourth transistor) 416.

[0070] The example power charger controller 400 may receive a request (also referred to as a “message”) (e.g., a first current request) from the vehicle system 110 based on the power level of the storage device 144 being below a power threshold and further based on the receiving coil 140 of the vehicle system 110 being disposed to engage in wireless power transfer with the transmitting coil 134. The example power charger controller 400 may control a plurality of transistors in the example power charger controller 400 associated with a bipolar mode based on the first current request. As an example, the example power charger controller 400 may control the inverter 132 to output a first square wave signal 418 and a first duty signal based on respective first states of corresponding transistors in the plurality of transistors. In some examples, the first square wave signal 418 may oscillate between −500V and +500V. The example power charger controller 400 may receive a second current request from the vehicle system 110. The second current request may be received from vehicle system 110 based on vehicle system 110 determining that individual levels of one or more corresponding power parameters (e.g., one or more power levels, etc.) of storage device 144 indicate a power level stored in storage device 144 (e.g., one or more vehicle batteries, vehicle battery pack, etc.) that meets or exceeds a power threshold.

[0071] The example power charger controller 400 may control a plurality of transistors in the example power charger controller 400 associated with the unipolar mode based on the second current demand. As an example, the example power charger controller 400 may control the inverter 132 to output the second square wave signal 420 and the second duty signal based on the respective second states of corresponding transistors in the plurality of transistors. In some examples, the second square wave signal 420 may oscillate between 0V and +500V.

[0072] A first message can be utilized to control an inverter (e.g., inverter 132) in a bipolar mode, and a second message can be utilized to control an inverter in a unipolar mode, as described above in this disclosure, but is not limited thereto. Any number of messages can be utilized to control an inverter in a bipolar mode, any number of messages can be utilized to control an inverter in a unipolar mode, and any number of messages can be utilized to control the duty cycle of the inverter in a bipolar mode or a unipolar mode. The inverter can be controlled in a bipolar mode and then in a unipolar mode, as described above in this disclosure, but is not limited thereto. The inverter can be controlled in any combination of one or more modes (e.g., one or more bipolar modes and / or one or more unipolar modes) in any order that charges a vehicle storage device (e.g., storage device 144). Each one of the inverters can be controlled to charge a corresponding vehicle storage device in the same manner, either independently of or together with one or more remaining ones of the storage devices.

[0073] The inverters (e.g., inverter 132) are controlled in bipolar and unipolar modes, respectively, as described above in this disclosure, but are not limited thereto. Individual inverters of the inverters can be controlled in the same manner, either independently of one or more of the remaining inverters, or together.

[0074] The one or more square wave signals (e.g., the first square wave signal 418 and / or the second square wave signal 420) may be provided by an inverter (e.g., the inverter 132) as described above in this disclosure, but are not limited thereto. In some examples, the first square wave signal 418 output by the inverter 132 in a bipolar mode may be utilized to output power from the power charger 104 (also referred to herein as a "power converter") at a first level of power. In these examples, the second square wave signal 420 output by the inverter 132 in a unipolar mode may be utilized to output power from the power charger 104 at a second level of power. In these examples, the first level of power may be higher than the second level of power. Any of a variety of types of one or more waves may be provided by the inverter, including a sine wave, a triangle wave, a square approximation of a sine wave, and the like. Individual ones of the waves may be provided by a power charger controller (e.g., the power charger controller 400) and based on messages received from a vehicle system (e.g., the vehicle system 110).

[0075] Although a component (e.g., the example power charger controller 400) may receive one or more requests, the component receiving any of the requests described as the example power charger controller 400 of the present disclosure is for brevity and clarity of description and is not so limited. Any of the techniques described throughout this disclosure can be implemented in a similar manner for any request described and / or interpreted as received by a power charger (e.g., the power charger 104) and / or any component of the power charger 104 (e.g., the example power charger controller 400, the vehicle charger 108, and / or an adapter (e.g., the adapter 508, as described below with reference to FIG. 5B). Any of the components (e.g., the example power charger controller 400, the vehicle charger 108, and / or the adapter 508) can be implemented separately from or in combination with one or more of the others.

[0076] The one or more messages (e.g., the first message and / or the second message) may be utilized to control an inverter (e.g., inverter 132) in a power conversion mode (e.g., bipolar mode and / or unipolar mode, respectively) as described above in this disclosure, but are not limited thereto. Any of the one or more messages received by the power charger controller (e.g., power charger controller 400) may include a request for power, a level of current (e.g., a current level utilized by the power charger controller 400 to control one or more characteristics (e.g., a power transfer mode characteristic (e.g., a power transfer mode characteristic is bipolar mode or unipolar mode), a duty cycle characteristic (e.g., a duty cycle characteristic) of the inverter such that power at the level of current is received at the storage device 144), a message indicating the level of current at which power is currently being received by the storage device 144, a message indicating the temperature of the storage device 144 (e.g., the current temperature of the storage device 144), a message indicating the current at which the inverter is to receive power, etc. The messages may include requests indicating a duty cycle to provide, a message indicating the number of miles driven by the vehicle, the amount of time the vehicle may continue to charge before it must return to service (also referred to herein as "operation"), a message indicating the number of charge cycles and / or the number of discharge cycles previously undergone by the storage device 144, etc. The messages may include one or more messages to request information associated with the storage device 144 (e.g., state of charge (SoC), model number, voltage level, condition (e.g., age, usage history, etc.)). In some examples, any of the messages may include any one or more of the parameters utilized to control the inverter 132, as described above.

[0077] In some examples, the example power charger controller 400 can be utilized to control the inverter 132 based on a power level of the vehicle's storage device 144. The example power charger controller 400 can be utilized to control the inverter 132 as a full-bridge inverter (e.g., a full H-bridge inverter) in a bipolar mode based on a request (e.g., a first request) associated with a power level of the storage device 144 being below a power threshold (e.g., a first power threshold). The example power charger controller 400 can be utilized to control the inverter 132 as a half-bridge inverter in a unipolar mode based on a request (e.g., a second request) associated with a power level of the storage device 144 meeting or exceeding a power threshold (e.g., a second power threshold).

[0078] In some examples, the first power threshold may be implemented as a single power threshold that is the same as the second power threshold. In these examples, a duty cycle (e.g., a first duty cycle) associated with the power output by the inverter 132 in bipolar mode may be higher than another duty cycle (e.g., a second duty cycle), and the first duty cycle may be gradually reduced over time based on the charging profile to the second duty cycle. In some examples, the first duty cycle may be a 100% duty cycle (representing the relative time between on / off). However, the present disclosure is not so limited, and the first duty cycle may be a duty cycle associated with any amount of time "on" relative to time "off" (e.g., 70%, 80%, 90%, etc.). The first duty cycle is gradually reduced over time based on the charging profile to the second duty cycle based on the demand associated with the power level of the storage device 144 that is less than the single power threshold. In some examples, the fourth duty cycle may be a 0% duty cycle (e.g., no power transfer), however, the disclosure is not so limited and the first duty cycle can be a duty cycle associated with any amount (e.g., 10%, 20%, 30%, etc.).

[0079] The inverter 132 may switch from the bipolar mode to the unipolar mode at a time based on a request associated with the power level of the storage device 144 meeting or exceeding a single power threshold while the first duty cycle is being gradually reduced to the fourth duty cycle based on the charging profile. In these examples, the third duty cycle associated with the power output by the inverter 132 in the unipolar mode may be higher than the fourth duty cycle, and the third duty cycle may be gradually reduced over time based on the charging profile to the fourth duty cycle. In some examples, the third duty cycle can be a duty cycle associated with 100% power transfer. However, the present disclosure is not so limited and the third duty cycle can be a duty cycle associated with the transfer of any amount of power (e.g., 70%, 80%, 90%, etc.). The third duty cycle is gradually reduced over time based on the charging profile to a fourth duty cycle based on a demand (e.g., the third demand) associated with a power level of the storage device 144 meeting or exceeding a single power threshold. In some examples, the fourth duty cycle may be a duty cycle of 0% transfer of power. However, the disclosure is not so limited and the fourth duty cycle can be a duty cycle associated with the transfer of any amount of power (e.g., 10%, 20%, 30%, etc.).

[0080] The example power charger controller 400 is capable of controlling the inverter 132 in a bipolar mode according to any of the techniques discussed herein by controlling multiple transistors. An example power charger controller 400 that controls inverter 132 to output a first square wave signal 418 can include, for a positive portion of the AC output voltage (e.g., a bipolar AC voltage output from inverter 132) and at a first time, controlling control input 402 to output a signal to turn on transistor 410 (e.g., a signal having a high logical value, e.g., a value (also referred to herein as a “level”)), controlling control input 404 to output a signal to turn on transistor 412 (e.g., a signal having a high logical value, e.g., a value of +5V), controlling control input 406 to output a signal to turn off transistor 414 (e.g., a signal having a first logical value (e.g., a “low logical value”) (e.g., a value of −5V), and controlling control input 408 to output a signal to turn off transistor 416 (e.g., a signal having a first logical value (e.g., a “low logical value” (e.g., a value of −5V)). An example power charger controller 400 that controls the inverter 132 to output a first square wave signal 418 can include, for a negative portion of the AC output voltage (e.g., a bipolar AC voltage output from the inverter 132), at a second time, controlling the control input 406 to output a signal to turn on transistor 414 (e.g., a signal having a second logical value (e.g., a “high logical value”) (e.g., a value of +5V)), controlling the control input 408 to output a signal to turn on transistor 416 (e.g., a signal having a high logical value, e.g., a value of +5V), controlling the control input 402 to output a signal to turn off transistor 410 (e.g., a signal having a first logical value (e.g., a “low logical value”) (e.g., a value of −5V)), and controlling the control input 404 to output a signal to turn off transistor 412 (e.g., a signal having a first logical value (e.g., a “low logical value”) (e.g., a value of −5V)).Controlling the plurality of transistors at a first time and a second time can continue repetitively to output a first square wave signal 418 .

[0081] Controlling the plurality of transistors to output the first square wave signal 418 may include determining a time (e.g., a first time and a second time) to control a duty cycle. A positive portion of the AC output voltage (e.g., a bipolar AC voltage output from the inverter 132), which is a percentage amount of the period of the AC output voltage, may be controlled based on the time (e.g., a first time and a second time). The percentage amount may be a duty cycle (e.g., a first duty cycle or a second duty cycle). A percentage amount of a duty cycle (e.g., a first duty cycle) associated with the power output by the inverter 132 in the bipolar mode may be higher than a percentage amount of another duty cycle (e.g., a second duty cycle) based on the duty cycle (e.g., a first duty cycle) associated with the power output by the inverter 132 in the bipolar mode being higher than the other duty cycle (e.g., a second duty cycle). The amount of time between the first time and the second time for the first duty cycle may be greater than the amount of time between the first time and the second time for the second duty cycle.

[0082] The exemplary power charger controller 400 can control the inverter 132 in a unipolar mode according to any of the techniques discussed herein by controlling a plurality of transistors. The exemplary power charger controller 400 controlling the inverter 132 to output the second square wave signal 420 can include controlling the control input 402 to output a signal (e.g., a signal having a high logic value, e.g., a value of +5V) to turn on the transistor 410, controlling the control input 404 to output a signal (e.g., a signal having a high logic value, e.g., a value of +5V) to turn on the transistor 412, controlling the control input 408 to output a signal (e.g., a signal having a high logic value, e.g., a value of +5V) to turn on the transistor 416, and controlling the control input 406 to output a signal (e.g., a signal having a first logic value (e.g., a signal having a "low logic value") (e.g., a value of -5V) to turn off the transistor 414, for a positive portion of the AC output voltage (e.g., the unipolar AC voltage output from the inverter 132) and at a third time. An example power charger controller 400 controlling inverter 132 can include controlling control input 404 to output a signal for turning on transistor 412 (e.g., a signal having a second logical value (e.g., a “high logical value”) (e.g., a value of +5 V)), controlling control input 408 to output a signal for turning on transistor 416 (e.g., a signal having a second logical value (e.g., a “high logical value”) (e.g., a value of +5 V)), controlling control input 402 to output a signal for turning off transistor 410 (e.g., a signal having a first logical value (e.g., a “low logical value”) (e.g., a value of −5 V)), and controlling control input 406 to output a signal for turning off transistor 414 (e.g., a signal having a first logical value (e.g., a “low logical value”) (e.g., a value of −5 V)) for a zero portion of the unipolar AC output voltage (e.g., the AC voltage output from inverter 132) and at a fourth time.Controlling the plurality of transistors at a third time and a fourth time can continue repetitively to output a second square wave signal 420.

[0083] Controlling the plurality of transistors to output the second square wave signal 420 can include determining the times (e.g., the third time and the fourth time) to control the duty cycle in a manner similar to the first square wave signal 418. The percentage amount of the duty cycle associated with the power output by the inverter 132 in the unipolar mode may be higher than the percentage amount of another duty cycle based on the duty cycle associated with the power output by the inverter 132 in the bipolar mode being higher than the other duty cycle. In some examples, each transistor of the plurality of transistors can be a corresponding nmos transistor (e.g., n-type metal oxide semiconductor field effect transistor (MOSFET)).

[0084] FIG. 5A illustrates an example environment 500 including an example vehicle 502 having a rechargeable battery and a wireless charging adapter coupled to a direct current (DC) fast charger. The example vehicle 502 may maneuver into position during an example recharging event. The example vehicle 502 may be any configuration of vehicle, such as, for example, a van, a sport utility vehicle, a crossover vehicle, a truck, a bus, an agricultural vehicle, and a construction vehicle. The vehicle 502 may be powered by one or more electric motors, one or more internal combustion engines, any combination thereof (e.g., a hybrid powertrain), and / or any other suitable power source. For illustrative purposes, the example vehicle 502 is an at least partially electric vehicle having two electric propulsion units configured to provide the vehicle 502 with the ability to steer, each including a motor / inverter electrically coupled to one or more storage devices configured to be recharged, as described herein. For example, the vehicle 502 may be a bi-directional vehicle having a first drive module disposed at a front end and a second drive module disposed at a rear end. As used herein, a bidirectional vehicle is a vehicle that is configured to switch between traveling in a first direction of the vehicle and traveling in a second, opposite direction of the vehicle. In other words, there is no fixed "front" or "rear" of the vehicle 502. In other examples, the techniques described herein may be applied to vehicles other than bidirectional vehicles.

[0085] The vehicle 502 may also include sensors 534a-534c, which may include perception sensors including sensors (e.g., lidar, camera, time-of-flight, sonar, radar, etc.) that capture data of the environment around the vehicle 502. Additionally, the vehicle 502 may also include one or more communication units 536 that enable communication between the vehicle 502 and one or more other local or remote computing devices via one or more protocols. For example, the vehicle 502 may exchange communications with other devices in the environment 500 (e.g., DC fast charger 504 or adapter 508) and / or remote devices (e.g., remote teleoperated computing devices). The communications may be exchanged via physical and / or logical interfaces. For example, the communications unit 536 may be capable of enabling Wi-Fi based communications such as over frequencies defined by the IEEE 802.11 standard, short range radio frequencies (e.g., Bluetooth, Zigbee, etc.), cellular communications (e.g., 2G, 3G, 4G, 4G LTE, 5G, etc.), satellite communications, dedicated short range communications (DSRC), or any suitable wired or wireless communications protocol that enables each computing device to interface with other computing devices.

[0086] The environment 500 may also include a contact-based direct current (DC) fast charger 504 (e.g., a charging station) that includes a DC fast charger plug 506. The DC fast charger plug 506 may include one of a variety of connector types, including SAE J1772, IEC 61851-3, ChAdeMO, China GB / T, etc. According to examples of the present disclosure, a wireless charging adapter 508 may be coupled to the DC fast charger (e.g., mated with the plug 506 via a contact-based coupling) to facilitate wireless charging. The adapter 508 may be plugged into the DC fast charger and may remain connected between charging sessions. In other examples, the adapter 508 may or may not be plugged in between charging sessions. For example, in some examples, the adapter 508 may be unplugged and transported with the vehicle 502 between charging sessions. At a high level, the adapter 508 includes an electrical connector 510 for mating with the plug 506, a current regulator 512 including hardware and software for managing and facilitating operation of the adapter 508, a communications unit 513, and a first induction coil 514.

[0087] A wireless charging adapter (e.g., wireless charging adapter 508) may be coupled to a DC fast charger (e.g., DC fast charger 504) via a plug (e.g., plug 506), as described above in this disclosure, but is not limited thereto. In some examples, the wireless charging adapter may be integrated with the DC fast charger. In these examples, the plug may be omitted. In some examples, the DC fast charger 504 may be utilized to implement a portion of the power converter component group 106, as described above with reference to FIG. 1. However, the disclosure is not so limited and any number of components of any number of power converter component groups (e.g., component groups similar to power converter component group 106) may be utilized to provide power to any number of adapters (e.g., adapters similar to adapter 508).

[0088] In some examples, as described above with reference to FIG. 1, a first induction coil may be utilized to implement an individual one of the transmitting coils. In examples of the present disclosure, an example vehicle 502 may be configured to use an adapter 508 to provide power to one or more storage devices coupled to the vehicle 502 (e.g., to charge one or more batteries in the vehicle). For example, the vehicle 502 may include a second induction coil 516 (e.g., mounted under the vehicle) for wirelessly receiving charge from the first induction coil 514, a converter 518 (e.g., a power charger) for converting AC from the first induction coil to DC, and a power storage unit 520 for storing the DC from the converter 518. In some examples, transferring power further includes sending power by the first induction coil 514 via an AC signal at a height gap from the second induction coil 516 between 100 mm and 200 mm. However, the disclosure is not so limited and any height gap between the first induction coil 514 and the second induction coil 516 sufficient to transfer power (e.g., 50 mm, 150 mm, 250 mm, etc.) may be utilized.

[0089] In some examples, the second induction coil 516 and the power storage unit 520 may be utilized to implement an individual one of the receiving coils (e.g., the receiving coil 140) and an individual one (e.g., the storage device of the storage device 144), respectively, as described above with reference to FIG. 1. The converter 518 may include various components such as an inverter, a rectifier, and / or a bidirectional AC to DC converter. In some examples, the second induction coil 516, the converter 518, and the power storage unit 520 may be part of the center body of the vehicle 502. In other examples, the second induction coil 516, the converter 518, and the power storage unit 520 may be part of one or more removable drive assemblies. In an alternative example, each drive assembly may have a power storage unit, while the second induction coil 516 and the converter 518 are attached to the vehicle body and connectable to the power storage unit 520. In other examples, the second induction coil 516, the converter 518, and the power storage unit 520 may include modules that can be connected and disconnected to other vehicle components (e.g., the drive assembly) for retrofitting and / or modularization, etc.

[0090] 5B is a schematic block diagram of an example wireless charging adapter. The schematic block diagram shows the adapter 508 coupled to a DC fast charging plug 506 (via a connector 510), with additional components of the adapter 508 depicted. According to examples of the present disclosure, the adapter 508 includes a current regulator 512 with various hardware and software for controlling and executing the operation of the adapter 508. In some examples, the adapter 508 may include a disconnect device (not shown in FIG. 5B), such as a connector, that may establish and interrupt power from the DC fast charger 504 to the adapter 508 as needed.

[0091] In additional examples, the current regulator 512 may include a converter 522 (e.g., a full-bridge DC to AC high frequency inverter, a bi-directional converter, a power converter, etc.) for modifying the DC provided by the DC fast charger 504 to AC provided to the first induction coil 514. In some examples, the converter 522 may be utilized to implement an individual one of the inverters (e.g., inverter 132), as described above with reference to FIG. 1. Additionally, the current regulator 512 may include a gate driver 524 for controlling switches in the converter 522 and a controller 526, such as a microcontroller and / or a control board. Among other things, the controller 526 may control the operation of the current regulator 512 (e.g., gate driver operation, switch position, disconnect device, etc.) and may communicate with one or more other components to facilitate wireless charging.

[0092] Additionally, the controller 526 may include one or more processors and one or more computer-readable storage media that store instructions executable by the one or more processors, which when executed, cause the controller 526 to perform operations. By way of example and not limitation, the processor may include one or more central processing units (CPUs), graphics processing units (GPUs), field programmable gate arrays (FPGAs), complex programmable logic devices (CPLDs), integrated circuits, etc., or any other device or part of a device that processes electronic data and converts the electronic data into other electronic data that can be stored in registers and / or memory. Additionally, the computer-readable storage media may include both volatile and non-volatile media and / or removable and non-removable media implemented in any method or technology for storing information such as computer-readable instructions, data structures, program modules, and / or other data types. For example, a memory may store computer-readable instructions. The computer storage media may include, but is not limited to, non-transitory media such as RAM, ROM, EEPROM, flash memory or other memory technology, or any other medium that can be used to store the desired information and that can be accessed by the controller 526.

[0093] In some examples, some of the controller 526 may be utilized to implement any other of the one or more controllers utilized to control the example power charger controller 400 and / or the power charger 104. However, the present disclosure is not limited to such one or more other controllers may be utilized to implement the power charger controller 400 and / or one or more other controllers of the power charger 104 in a manner similar to the controller 526, alternatively or in addition to the controller 526. In some examples, one or more controllers (e.g., the controller 526, the power charger controller 400, and / or other controllers) may be utilized for any type of control of the power charger 104. In these examples, any of the controllers may be utilized, individually or in combination, to control any components (e.g., the active power filter 138, the inverter 132, etc.) and / or functions of the power charger 104.

[0094] Further, the current regulator 512 can include a power supply 528 (e.g., a power supply unit) for providing power to components of the current regulator 512, such as the gate driver 524 and the controller 526. The power supply 528 can include various types of power supply units (e.g., isolated power supply units), and in some examples, the power supply 528 can convert the power received from the DC fast charger 504 to power (e.g., “low voltage DC power”) (e.g., 120V DC power) utilized by one or more storage devices. The power supply 528 can also (or alternatively) include one or more other DC power sources, such as storage devices (batteries, solar power sources, etc.). In some examples of the present disclosure, the power supply 528 can include a housekeeping power source. That is, in some examples, the adapter 508 can be in a power state (e.g., a “low power state”) (e.g., unpowered), such as when the second induction coil is not present, and thus the housekeeping power source can provide or receive a power level (e.g., a “low power level”) to maintain basic or startup functionality. Current regulator 512 may include other components. For example, current regulator 512 may include an input filter cap to filter high frequency voltage ripple (e.g., from the DC provided by a DC fast charger). Additionally, current regulator 512 may include a compensation capacitor or primary capacitor (e.g., to facilitate series-series compensation), which may help align component resonances.

[0095] In some examples, the power supply 528 may be utilized to implement individual ones of the rectifiers (e.g., rectifier 116), as described above with reference to Figure 1. However, the disclosure is not so limited and individual ones of the rectifiers (e.g., rectifier 116) can alternatively or additionally be implemented by other corresponding rectifiers of other components (e.g., other corresponding rectifiers of a power converter component group).

[0096] In additional examples, the wireless charging adapter 508 may include one or more communication units 513 that enable communication between the adapter 508 and one or more other local or remote computing devices over wireless communication links or channels via one or more protocols. In some examples, the communication unit 513 may be utilized to transmit and / or receive any messages (e.g., requests, current requests, etc.) between the example power charger controller 400 and the vehicle system 110, as described above with reference to FIG. 1. For example, the adapter 508 may exchange communications with other devices in the environment 500 (e.g., the DC fast charger 504 or the vehicle 502, or the vehicle system 110, as described above with reference to FIG. 1) and / or remote devices (e.g., remote teleoperated computing devices). The communications may be exchanged via physical and / or logical interfaces. For example, the communication unit 513 may enable Wi-Fi based communications, such as via frequencies defined by the IEEE 802.11 standard, short range radio frequencies (e.g., Bluetooth, Zigbee, etc.), cellular communications (e.g., 2G, 3G, 4G, 4G LTE, 5G, etc.), millimeter wave communications, satellite communications, dedicated short range communications (DSRC), or any suitable wired or wireless communications protocol that enables each computing device to interface with other computing devices. Thus, in some examples, the adapter 508 (e.g., using the communication unit 513) may communicate directly with the vehicle (e.g., using the communication unit 536) or indirectly with the vehicle via a back-end server (e.g., both the adapter 508 and the vehicle 502 may communicate via cellular communications with a back-end server that facilitates message exchange).

[0097] In one or more examples of the present disclosure, the adapter 508 is connected to the DC fast charger 504 by mating the electrical connector 510 to the plug 506. The DC provided by the DC fast charger 504 is received by the adapter 508. In some examples, the DC from the DC fast charger can be high voltage DC ranging from about 200V to about 1000V. The converter 522 converts the DC to AC based on an input (e.g., a control signal) from the gate driver 524, and the AC is provided to the first induction coil 514 (and possibly also to the power source 528). The first induction coil 514 can provide wireless charging (e.g., contactless power) to the second induction coil (e.g., via a series resonant inductive power transfer (SS-RIPT) link) as a result of the AC flow from the converter 522. In additional examples, the adapter 508 can monitor the supply of power to the second induction coil and terminate the DC signal from the DC fast charger 504 based on various events. For example, the adapter 508 may detect a change in impedance (e.g., when the vehicle 502 with the second inductive coil moves away from the adapter 508) and terminate the DC (e.g., via a disconnect device or via signaling) based on the change. In other examples, the adapter 508 may receive a signal from the vehicle 502 to reduce the contactless power (e.g., reduce additional power, such as when the power storage unit is charged sufficiently above a threshold).

[0098] As described above, before the vehicle is in proximity to the adapter 508, the adapter 508 may include a power state (e.g., a "low power state") (e.g., "low power" or no power). That is, even though the adapter 508 may be connected to the DC fast charger 504 (via a connection between the plug 506 and the connector 510) before the vehicle is in position to wirelessly charge, the DC fast charger 504 may not provide DC to the adapter 508 such that the first induction coil 514 does not receive any AC (e.g., from the current regulator 512). Accordingly, aspects of the present disclosure describe subject matter for determining that a vehicle is in proximity to the DC fast charger 504 and / or the adapter 508, and / or for determining that the second induction coil 516 is in proximity to the first induction coil. Additionally, some aspects may request DC from the DC fast charger 504 or otherwise trigger a transfer of DC from the DC fast charger to the adapter 508 based on the determination.

[0099] 6 illustrates a block diagram of an example system 600 for implementing the techniques described herein. In at least one example, the system 600 may include a vehicle 602. In the illustrated example system 600, the vehicle 602 is an autonomous vehicle, although the vehicle 602 may be any other type of vehicle. The vehicle 602 may be a vehicle that includes the vehicle system 110 shown in FIG. 1 and may be configured to recharge a battery (e.g., a power storage unit 660) using a wireless charging adapter (e.g., adapter 508, as described above with reference to FIG. 5).

[0100] The vehicle 602 may be a driverless vehicle, such as an autonomous vehicle configured to operate according to a Level 5 classification issued by the National Highway Traffic Safety Administration, which describes a vehicle capable of performing all safety-critical functions for an entire journey without the expectation of a driver (or passenger) controlling the vehicle at all times. In such an example, the vehicle 602 may not include a driver and / or controls for driving the vehicle 602, such as a steering wheel, accelerator pedal, and / or brake pedal, as the vehicle may be configured to control all functions from the beginning to the completion of the journey, including all parking functions. This is merely an example, and the systems and methods described herein may be incorporated into any land, air, or water vehicle, ranging from vehicles that must be manually controlled by a driver at all times to vehicles that are partially or fully autonomously controlled.

[0101] Vehicle 602 may include one or more computing devices 604, one or more sensor systems 606, one or more emitters 608, one or more communication connections 610 (also referred to as communication devices and / or modems), at least one direct connection 612 (e.g., for physically coupling with vehicle 602 to exchange data and / or provide power), and one or more drive systems 614. The one or more sensor systems 606 may be configured to capture sensor data associated with an environment.

[0102] The one or more sensor systems 606 may include time-of-flight sensors, position sensors (e.g., GPS, compass, etc.), inertial sensors (e.g., inertial measurement units (IMUs), accelerometers, magnetometers, gyroscopes, etc.), lidar sensors, radar sensors, sonar sensors, infrared sensors, cameras (e.g., RGB, IR, intensity, depth, etc.), microphone sensors, environmental sensors (e.g., temperature sensors, humidity sensors, light sensors, pressure sensors, etc.), ultrasonic transducers, wheel encoders, ball joint sensors, chassis position sensors, etc. The one or more sensor systems 606 may include multiple instances of each of these or other types of sensors. For example, the time-of-flight sensors may include individual time-of-flight sensors located at corners, front, rear, sides, and / or top of the vehicle 602. As another example, the camera sensors may include multiple cameras positioned at various positions about the exterior and / or interior of the vehicle 602. The one or more sensor systems 606 may provide input to the computing device 604.

[0103] The vehicle 602 may also include one or more emitters 608 that emit light and / or sound. The one or more emitters 608 in this example include interior audio and visual emitters to communicate with occupants of the vehicle 602. By way of illustration, and not by way of limitation, the interior emitters may include speakers, lights, signs, display screens, touch screens, haptic emitters (e.g., vibration and / or force feedback), mechanical actuators (e.g., seat belt tensioners, seat positioners, head rest positioners, etc.), and the like. The one or more emitters 608 in this example also include exterior emitters. By way of non-limiting example, the exterior emitters in this example include lights for signaling direction of travel or other indicators of vehicle operation (e.g., indicator lights, signs, lighting arrays, etc.), and one or more audio emitters (e.g., speakers, speaker arrays, horns, etc.) for audibly communicating with pedestrians or other nearby vehicles, one or more of which may include acoustic beam steering technology.

[0104] The vehicle 602 may also include one or more communication connections 610 that enable communication between the vehicle 602 and one or more other local or remote computing devices (e.g., wireless charging adapters, DC fast chargers, remote teleoperated computing devices, etc.) or remote services. For example, the one or more communication connections 610 may facilitate communication with other local computing devices on the vehicle 602 and / or one or more drive systems 614. The one or more communication connections 610 may also enable the vehicle 602 to communicate with other nearby computing devices (e.g., other nearby vehicles, traffic signals, etc.).

[0105] The one or more communications connections 610 may include physical and / or logical interfaces for connecting the computing device 604 to another computing device or to one or more external networks 642 (e.g., the Internet). For example, the one or more communications connections 610 may enable Wi-Fi-based communications, such as over frequencies defined by the IEEE 802.11 standard, short-range radio frequencies such as Bluetooth, cellular communications (e.g., 2G, 3G, 4G, 4G LTE, 5G, etc.), satellite communications, dedicated short-range communications (DSRC), or any suitable wired or wireless communications protocol that enables each computing device to interface with other computing devices.

[0106] In at least one example, the vehicle 602 may include one or more drive systems 614. In some examples, the vehicle 602 may have a single drive system 614. In at least one example, when the vehicle 602 has multiple drive systems 614, the individual drive systems 614 may be located at opposite ends of the vehicle 602 (e.g., the front and the rear, etc.). In at least one example, the drive system 614 may include one or more sensor systems 606 for detecting conditions surrounding the drive system 614 and / or the vehicle 602. By way of example and not by way of limitation, the sensor systems 606 may include one or more wheel encoders (e.g., rotary encoders) for sensing the rotation of the wheels of the drive system, inertial sensors (e.g., inertial measurement units, accelerometers, gyroscopes, magnetometers, etc.) for measuring the orientation and acceleration of the drive system, cameras or other image sensors, ultrasonic sensors for acoustically detecting objects in the vicinity of the drive system, lidar sensors, radar sensors, etc. Some sensors, such as wheel encoders, may be unique to the drive system 614. In some cases, the sensor system 606 on the drive system 614 may overlap or complement a corresponding system (e.g., the sensor system 606) of the vehicle 602.

[0107] The drive system 614 can include many vehicle systems, including a high voltage battery (e.g., power storage unit 660), a second induction coil 662 for wirelessly charging the high voltage battery, a motor for propelling the vehicle, a converter 664 for bidirectionally converting between direct and alternating current, a steering system including a steering motor and a steering rack (which may be electric), a braking system including hydraulic or electric actuators, a suspension system including hydraulic and / or pneumatic components, a stability control system for distributing braking force to mitigate loss of traction and maintain control, an HVAC system, lighting (e.g., lighting such as head / tail lights for illuminating the exterior surroundings of the vehicle), and one or more other systems (e.g., cooling systems, safety systems, on-board charging systems, other electrical components such as DC / DC converters, high voltage junctions, high voltage cables, charging systems, charging ports, etc.). Additionally, the drive system 614 can include a drive system controller for receiving and preprocessing data from the sensor system 606 and for controlling the operation of various vehicle systems. In some examples, the drive system controller can include one or more processors and a memory communicatively coupled to the one or more processors. The memory may store one or more components for performing various functions of drive system 614. In addition, drive system 614 also includes one or more communication connections that enable each drive system to communicate with one or more other local or remote computing devices.

[0108] The computing device 604 may include one or more processors 616 and a memory 618 communicatively coupled to the one or more processors 616. In the depicted example, the memory 618 of the computing device 604 stores a perception component 620, a localization component 624, a prediction component 634, a planning component 636, a map component 638, and one or more system controllers 640. While depicted as residing in the memory 618 for illustrative purposes, it is contemplated that the perception component 620, the localization component 624, the prediction component 634, the planning component 636, the map component 638, and the one or more system controllers 640 may additionally or alternatively be accessible to the computing device 604 (e.g., stored in a different component of the vehicle 602) and / or accessible to the vehicle 602 (e.g., stored remotely).

[0109] The perception component 620 may include functionality for performing object detection, segmentation, and / or classification. In some examples, the perception component 620 and / or the object detector 622 may provide processed sensor data indicative of the presence of an entity proximate to the vehicle 602 and / or the classification of the entity as an entity type (e.g., automobile, pedestrian, cyclist, building, tree, road surface, curb, sidewalk, unknown, etc.). In additional and / or alternative examples, the perception component 620 may provide processed sensor data indicative of one or more characteristics associated with the detected entity and / or the environment in which the entity is located. In some examples, the characteristics associated with the entity may include, but are not limited to, x-position (global location), y-position (global location), z-position (global location), direction, entity type (e.g., classification, etc.), velocity of the entity, range (size) of the entity, etc. The characteristics associated with the environment may include, but are not limited to, the presence of another entity in the environment, the state of another entity in the environment, time of day, day of the week, season, weather conditions, darkness / light indication, etc.

[0110] Additionally, the perception component 620 may include functionality for storing sensory data generated by the perception component 620. In some examples, the perception component 620 may determine tracks corresponding to objects classified as an object type. By way of example only, the perception component 620 may use the sensor system 606 to capture one or more images of the environment that may be used to determine information regarding the environment.

[0111] The stored sensory data may include fused sensory data captured by the vehicle in some examples. The fused sensory data may include fusion or other combinations of sensor data from sensor systems 606, such as image sensors, lidar sensors, radar sensors, time-of-flight sensors, sonar sensors, global positioning system sensors, interior sensors, and / or any combination thereof. The stored sensory data may additionally or alternatively include classification data including a semantic classification of the objects represented in the sensor data (e.g., pedestrians, vehicles, buildings, road surfaces, etc.). The stored sensory data may additionally or alternatively include track data (position, orientation, sensor features, etc.) corresponding to the movement of objects classified as dynamic objects through the environment. The track data may include multiple tracks of multiple different objects over time. This track data may be mined to identify images of certain types of objects (e.g., pedestrians, animals, etc.) when the objects are stationary (e.g., stationary) or moving (e.g., walking, running, etc.). In this example, the computing device determines a track corresponding to a pedestrian.

[0112] In general, the object detector 622 can detect semantic objects (e.g., charging systems within a charging system that includes the DC fast charger 504 (e.g., a wireless charging adapter (e.g., wireless charging adapter 508 as described above with respect to FIGS. 5A and 5B)) represented by the sensor data (among other things). In some examples, the object detector 622 can identify the charging system as such a semantic object and can determine a two-dimensional or three-dimensional bounding box associated with the charging system. The object detector 622 can determine additional information, such as a position, orientation, attitude, and / or size (e.g., length, width, height, etc.) associated with the charging system. The object detector 622 can transmit the data to other components of the system 600 for determining localization and / or calibration information, as described herein. The localization and / or calibration information can be utilized by the vehicle 602 to position the vehicle 602 with respect to the charging system for optimal charging.

[0113] The localization component 624 can include functionality for receiving data from the sensor system 606 and / or other components to determine the location of the vehicle 602. For example, the localization component 624 can include and / or request / receive a three-dimensional map of the environment and can continually determine the location of the autonomous vehicle within the map. In some examples, the localization component 624 can use simultaneous localization and mapping (SLAM) or calibration, localization and mapping, simultaneously (CLAMS), receive time-of-flight data, image data, lidar data, radar data, sonar data, IMU data, GPS data, wheel encoder data, or any combination thereof, etc. to precisely determine the location of the autonomous vehicle. In some examples, the localization component 624 can provide data to various components of the vehicle 602 to determine an initial location of the autonomous vehicle for generating a trajectory or for initial calibration.

[0114] The prediction component 634 can generate one or more probability maps that represent predicted probabilities of possible locations of one or more objects in the environment. For example, the prediction component 634 can generate one or more probability maps for vehicles, pedestrians, animals, etc. within a threshold distance from the vehicle 602. In some examples, the prediction component 634 can measure the tracks of the objects and generate discretized predicted probability maps, heat maps, probability distributions, discretized probability distributions, and / or trajectories for the objects based on the observed and predicted behavior. In some examples, the one or more probability maps can represent the intent of one or more objects in the environment.

[0115] The planning component 636 can determine a path for the vehicle 602 to follow to traverse an environment. For example, the planning component 636 can determine various routes and paths and various levels of detail. In some examples, the planning component 636 can determine a route to travel from a first location (e.g., a current location) to a second location (e.g., a target location). For purposes of this description, the route can be a series of waypoints for travel between the two locations. As non-limiting examples, the waypoints include roads, intersections, Global Positioning System (GPS) coordinates, and the like. Additionally, the planning component 636 can generate instructions to guide the autonomous vehicle along at least a portion of the route from the first location to the second location. In at least one example, the planning component 636 can determine how to guide the autonomous vehicle from a first waypoint in the series of waypoints to a second waypoint in the series of waypoints. In some examples, the multiple paths can be generated substantially simultaneously (e.g., within technical tolerances) according to a receding horizon technique. A single path among multiple paths in the receding data horizon that has the highest confidence level may be selected for maneuvering the vehicle.

[0116] In other examples, the planning component 636 may alternatively or additionally use data from the perception component 620 and / or the prediction component 634 to determine a path for the vehicle 602 to take to traverse the environment. For example, the planning component 636 may receive data from the perception component 620 and / or the prediction component 634 regarding objects associated with the environment. Using this data, the planning component 636 may determine a path to travel from a first location (e.g., a current location) to a second location (e.g., a target location) to avoid objects in the environment. In at least some examples, such a planning component 636 may determine that there is no such collision-free path and then provide a path that leads the vehicle 602 to a safe stop that avoids all collisions and / or otherwise mitigates damage.

[0117] The memory 618 may further include one or more maps 638 that may be used by the vehicle 602 to navigate within the environment. For purposes of this description, a map may be any number of data structures modeled in two, three, or N dimensions that may provide information about the environment, such as, but not limited to, topology (such as intersections), streets, mountain ranges, roads, terrain, and the environment in general. The map may further include object identifiers, object classifications, three-dimensional locations, covariance data (e.g., represented in image data or multi-resolution voxel space), and the like. In some examples, the map may include, but is not limited to, texture information (e.g., color information (e.g., RGB color information, Lab color information, HSV / HSL color information), etc.), intensity information (e.g., lidar information, radar information, etc.), spatial information (e.g., image data projected onto a mesh, individual "surfels" (e.g., polygons associated with individual colors and / or intensities), reflectivity information (e.g., specularity information, retroreflectivity information, BRDF information, BSSRDF information, etc.). In one example, the map may include a three-dimensional mesh of the environment. In some examples, the map may be stored in a tiled format, such that individual tiles of the map represent separate portions of the environment, and may be loaded into the working memory as needed, as described herein. In at least one example, the one or more maps of the map component 638 may include at least one map (e.g., an image and / or a mesh). In some examples, the vehicle 602 may be controlled based at least in part on the map component 638. That is, the map component 638 may be used in conjunction with the perception component 620 (and sub-components), the localization component 624 (and sub-components), the prediction component 634, and / or the planning component 636 to determine a position of the vehicle 602, identify objects in the environment, generate predicted probabilities associated with the objects and / or the vehicle 602, and / or generate routes and / or trajectories for navigating the environment.

[0118] In at least one example, computing device 604 can include one or more system controllers 640, which can be configured to control steering, propulsion, braking, safety, emitter, communication, and other systems of vehicle 602. These system controllers 640 can communicate with and / or control corresponding systems of drive system 614 and / or other components of vehicle 602, which can be configured to operate according to a path provided from planning component 636.

[0119] The vehicle 602 can be connected to a computing device 644 via a network 642 and can include one or more processors 646 and a memory 648 communicatively coupled to the one or more processors 646. In at least one example, the one or more processors 646 can be similar to the processor 616 and the memory 648 can be similar to the memory 618. In at least one example, the computing device 644 can include a wireless charging adapter. In the illustrated example, the memory 648 of the computing device 644 stores a current routing component 650, a messaging component 652, and / or a charging component 654. In the illustrated example, the charging component 654 can include a first inductive coil 656. In at least one example, the current routing component 650 can be utilized to control power transfer between respective ones of the corresponding vehicle chargers (e.g., the vehicle charger 108) and the power charger 104, as described above with reference to FIG. 1. In some examples, the current routing component 650, along with the example power charger controller 400, may be utilized to control the functionality of the power storage unit 660, the second inductive coil 662, and the converter 664 to transfer power in a manner similar to that described above for the drive system 614 and / or the communication connection 610. The current routing component 650 and the example power charger controller 400 may exchange communications to control the transfer of power. In some examples, the power storage unit 660, the converter 664, and the second inductive coil 662 may be utilized to implement the storage device 144, the rectifier 142, and the receiving coil 140, respectively, as described above with respect to FIG.

[0120] In at least some other examples, the messaging component 652 may perform operations to send messages to and / or receive messages from internal adapter components (e.g., coils, controllers, etc.) and / or external components (e.g., DC fast charger, vehicle, electricity usage billing system, etc.). For example, the messaging component 652 may perform operations to exchange messages between adapter components (e.g., verifying a connection to a DC fast charger plug, verifying a wireless connection to an on-board coil for charging a vehicle and / or vehicle battery, etc.). In other examples, the messaging component 652 may exchange messages with a DC fast charger, messages with a vehicle (e.g., determining vehicle proximity, determining battery charge level, etc.), and / or messages with an on-board induction coil of a vehicle (e.g., determining proximity, alignment, etc.).

[0121] In at least one example, the charging component 654 may be utilized to control charging of an individual one of the corresponding vehicle systems (e.g., vehicle system 110), as described above with reference to FIG. 1. The charging component 654 may control a first induction coil 656, which may be utilized to implement the transmitting coil 134. In some examples, the charging component 654 may be utilized to implement the adapter 508. In other examples, the charging component 654 may alternatively or additionally utilize the adapter 508 to charge an individual one of the corresponding vehicle systems (e.g., vehicle system 110).

[0122] The processor 616 of the computing device 604 and the processor 646 of the computing device 644 may be any suitable processor capable of executing instructions to process data and perform operations as described herein. By way of example and not limitation, the processors 616 and 646 may include one or more central processing units (CPUs), graphics processing units (GPUs), or any other device or part of a device that processes electronic data and converts it into registers or other electronic data that can be stored in memory. In some examples, integrated circuits (e.g., ASICs, etc.), gate arrays (e.g., FPGAs, etc.), and other hardware devices may also be considered processors so long as they are configured to implement encoded instructions.

[0123] The memory 618 of the computing device 604 and the memory 648 of the computing device 644 are examples of non-transitory computer-readable media. The memory 618 and 648 can store an operating system and one or more software applications, instructions, programs, and / or data that implement the methods and functions attributed to the various systems described herein. In various implementations, the memory can be implemented using any suitable memory technology, such as, for example, static random access memory (SRAM), synchronous dynamic RAM (SDRAM), non-volatile / flash type memory, or any other type of memory capable of storing information. The architectures, systems, and individual elements described herein can include many other logical, programmatic, and physical components, and those shown in the accompanying drawings are merely examples relevant to the description herein.

[0124] In some examples, some or all aspects of the components discussed herein may include any model, algorithm, and / or machine learning algorithm. For example, in some examples, the components in the memories 618 and 648 may be implemented as neural networks. In some examples, machine learning (ML) models may be trained for object detection (e.g., image data used to detect a vehicle, a DC fast charger, or a wireless charging adapter), or trajectory planning for parking in a predetermined position to align the coil. In some examples, ML models may be utilized to determine whether to operate the inverter 132 in a bipolar or unipolar mode, as described above in FIG. 1, and duty cycle control of the duty cycle of the power output by the inverter 132 for optimal control (e.g., control of wireless power transfer by the transmitting coil 134) / life of the storage device (e.g., life of the storage device 144), etc.

[0125] As described herein, an exemplary neural network is a biologically inspired algorithm in which input data is passed through successively connected layers to produce an output. Each layer in a neural network may include another neural network, or may include any number of layers (convolutional or not). As can be understood in the context of the present disclosure, a neural network may utilize machine learning, which may refer to such a broad class of algorithms in which an output is generated based on learned parameters.

[0126] Although described in the context of neural networks, any type of machine learning may be used consistent with this disclosure. For example, machine learning or machine learning algorithms include regression algorithms (e.g., ordinary least squares regression (OLSR), linear regression, logistic regression, stepwise regression, multivariate adaptive regression splines (MARS), locally estimated scatterplot smoothing (LOESS), instance-based algorithms (e.g., ridge regression, least absolute value shrinkage and selection operator (LASSO), elastic net, least angle regression (LARS), decision tree algorithms (e.g., classification and regression trees (CART), iterative dichotomy 3 (ID3), chi-squared automated interaction detection (CHAID), decision stump, conditional decision tree), Bayesian algorithms (e.g., naive Bayes, Gaussian naive Bayes, polynomial naive Bayes, average-one dependence estimator (AODE), Bayesian confidence network (BNN), Bayesian network), clustering algorithms (e.g., k-means, k-medians, expectation maximization (EM), hierarchical clustering), association rule learning algorithms (e.g., perceptron, , backpropagation, Hopfield networks, radial basis function networks (RBFN)), deep learning algorithms (e.g., deep Boltzmann machines (DBM), deep confidence networks (DBN), convolutional neural networks (CNN), stacked autoencoders), dimensionality reduction algorithms (e.g., principal component analysis (PCA), principal component regression (PCR), partial least squares regression (PLSR), Sammon mapping, multidimensional scaling (MDS), projection pursuit, linear discriminant analysis (LDA), mixed discriminant analysis (MDA), quadratic discriminant analysis (QDA), flexible discriminant analysis (FDA)), ensemble algorithms (e.g., boosting, bootstrap aggregation (bagging), adaboost, hierarchical generalization (blending), gradient boosting machines (GBM), gradient boosted regression trees (GBRT), random forests), support vector machines (SVM), supervised learning, unsupervised learning, semi-supervised learning, etc.

[0127] Further examples of architectures include neural networks such as ResNet50, ResNet101, VGG, DenseNet, and PointNet.

[0128] 7 shows an example process 700 for using a power charger. For example, some or all of the process 700 may be performed by the system 600, as described herein.

[0129] At operation 702, the example process 700 may include receiving power from a power grid by a transformer (e.g., transformer 114). The transformer 114 may transform the power received from the power grid via a primary winding 122 and a set of secondary windings 124.

[0130] At operation 704, the example process 700 may include outputting alternating current (AC) power at a second voltage by the transformer 114. The transformer 114 may output the AC power at the second voltage to the AC switchgear 118.

[0131] At operation 706, the example process 700 may include receiving AC power at the second voltage by a rectifier circuit (e.g., rectifier circuit 116) coupled to the transformer 114. The rectifier circuit 116 may be coupled to the transformer 114 via AC switchgear 118. The rectifier circuit 116 may receive the AC power at the second voltage from the transformer 114 via the AC switchgear 118.

[0132] At operation 708, the example process 700 may include outputting direct circuit (DC) power via the rectifier circuit 116. The rectifier circuit 116 may output the DC power to the DC switchgear 120.

[0133] At operation 710, the example process 700 may include determining whether DC power is received by a power inverter (e.g., power inverter 132) that includes a transmitting coil (e.g., transmitting coil 134). The example process 700 may proceed to operation 702 based on determining that DC power is not received by the power inverter 132. The example process 700 may proceed to operation 712 based on determining that DC power is received by the power inverter 132.

[0134] At operation 712, the example process 700 may include wirelessly transferring power to a receiving coil (e.g., receiving coil 140) in the vehicle by the power inverter 132. The power inverter 132 may wirelessly transfer power to the receiving coil 140 based on the power received by the power inverter 132 via the DC switchgear 120.

[0135] 8 shows an example process 800 for using a power charger controller. For example, some or all of the process 800 may be performed by the system 600, as described herein.

[0136] At operation 802, the example process 800 may include receiving a signal that the vehicle is in position relative to the wireless charging coil (e.g., the transmitting coil 134). In some examples, the signal (e.g., a control input (e.g., a control signal)) may be received by the example power charger controller 400 as a message from the vehicle system 110, as described above with reference to FIG.

[0137] At operation 804, the example process 800 may include receiving a first current request. The first current request may be received by the power charger 104 (e.g., the example power charger controller 400) and from the vehicle system 110.

[0138] At operation 806, the example process 800 may include determining whether a signal that the vehicle is in position and a first current request have been received. The example process 800 may proceed to operation 802 based on determining that a signal that the vehicle is in position and / or a first current request have not been received. The example process 800 may proceed to operation 808 based on determining that a signal that the vehicle is in position and a first current request have been received.

[0139] In operation 808, the example process 800 may include controlling the inverter 132 to output a first square wave signal (e.g., the first square wave signal 418) associated with the bipolar mode based on the first current demand. The output first square wave signal 418 may be associated with a duty signal. The duty cycle is gradually reduced over time based on the charging profile.

[0140] At operation 810, the example process 800 may include receiving a second current request. The second current request may be received by the power charger 104 (e.g., the example power charger controller 400) and from the vehicle system 110.

[0141] At operation 812, the example process 800 may include determining whether a signal that the vehicle is in position and a second current request have been received. The example process 800 may proceed to operation 802 based on determining that a signal that the vehicle is in position and / or a second current request have not been received. The example process 800 may proceed to operation 808 based on determining that a signal that the vehicle is in position and a second current request have been received.

[0142] In operation 810, the example process 800 may include controlling the inverter to output a second square wave signal (e.g., the second square wave signal 420) associated with the unipolar mode based on the second current demand. The outputted second square wave signal 420 may be associated with a duty signal. The duty cycle is gradually reduced over time based on the charging profile. The charging profile utilized to control the duty cycle of the second square wave signal 420 may be the same or different from the charging profile utilized to control the duty cycle of any other signal (e.g., the second square wave signal 420).

[0143] Example clauses A. A system comprising: a transformer configured to receive power from a power grid at a first voltage and output alternating current (AC) power at a second voltage; a rectifier circuit directly coupled to the transformer, the rectifier circuit configured to receive the AC power and output direct circuit (DC) power; and a power inverter including a transmit coil configured to receive the DC power and wirelessly transfer power to a receive coil of a vehicle, wherein a phase shift between a first current output output by a first winding of a pair of windings outputting the AC power at a second voltage and a second current output output by a second winding of the pair of windings is less than or equal to 27.5 degrees.

[0144] B. The system of any of paragraphs AA, further including an active power filter in parallel with the transformer, the active power filter being controlled based at least in part on the amount of power transferred wirelessly by the transmitting coil.

[0145] C. The system of paragraph A, wherein the phase shift is 22.5 degrees.

[0146] D. The system of any of paragraphs A-C, wherein a level of harmonic distortion associated with an input of a charging circuit including the transformer and the rectifier circuit is less than 5%.

[0147] E. The system of any of paragraphs A-D, wherein AC power is received by the transformer as power at a first voltage through a first AC protection circuit, the transformer is configured to output the AC power at a second voltage to the rectifier circuit through a second AC protection circuit, and the DC power is output to the power inverter through a DC protection circuit.

[0148] F. A method comprising receiving power from a power grid at a first voltage by a transformer, outputting alternating current (AC) power at a second voltage by the transformer, receiving the AC power by a rectifier circuit directly coupled to the transformer, outputting direct circuit (DC) power by the rectifier circuit, receiving the DC power by a power inverter, and transferring power to a receiving coil of a vehicle by a transmitting coil associated with the power inverter.

[0149] G. The method of paragraph F, wherein transferring power further includes sending AC power at a third voltage with the sending coil having a height gap from the receiving coil between 100 mm and 200 mm.

[0150] H. The method of paragraph F or G, wherein a phase shift between a first current output output by a first winding of a pair of windings that outputs the AC power at the second voltage and a second current output output by a second winding of the pair of windings is less than or equal to 22.5 degrees.

[0151] I. The method of any of paragraphs FH, wherein a level of harmonic distortion associated with an input of a charging circuit including the transformer and the rectifier circuit is less than 5%.

[0152] J. The method of any of paragraphs FI, wherein receiving the power further includes receiving AC power at a first voltage by the transformer through a first AC protection circuit, outputting the AC power further includes outputting the AC power at a second voltage by the transformer through a second AC protection circuit to the rectifier circuit, and outputting the DC power further includes outputting the DC power to the power inverter through a DC protection circuit.

[0153] K. The method of any of paragraphs FJ, wherein a level of harmonic distortion associated with a charging circuit including the transformer and the rectifier circuit is less than 5%.

[0154] L. The method of any of paragraphs FK, wherein the first voltage is 12.47 kilovolts (kV) and the second voltage is between 350 volts (V) and 370V.

[0155] M. The method of any of paragraphs FL, wherein the transformer is a delta-delta transformer having one primary winding and at least 30 secondary winding pairs.

[0156] N. The method of any of paragraphs FM, wherein the AC power at the second voltage is output from a pair of delta windings of the transformer.

[0157] O. The method of any of paragraphs FN, wherein receiving the power further includes performing power factor correction (PFC) associated with converting the power to the AC power at the second voltage.

[0158] P. A system comprising: a transformer configured to receive power from a power grid at a first voltage and output alternating current (AC) power at a second voltage, a rectifier circuit coupled to the transformer, the rectifier circuit configured to receive the AC power and output direct circuit (DC) power, and a power inverter including a transmit coil configured to receive the DC power and wirelessly transfer power to a receive coil of a vehicle.

[0159] Q. The system of paragraph P, wherein a phase shift between a first current output output by a first winding of a pair of windings that outputs the AC power at the second voltage and a second current output output by a second winding of the pair of windings is less than or equal to 22.5 degrees.

[0160] R. The system of paragraphs P or Q, wherein the charging circuit including the transformer and the rectifier circuit does not include an active power factor correction stage between the transformer and a vehicle charger.

[0161] S. The system of any of paragraphs PR, wherein the transformer is further configured to output the AC power for charging a plurality of loads, the number of the plurality of loads being at least 30.

[0162] T. The system of any of paragraphs P.S., wherein AC power is output by the power inverter, and wherein the AC power output by the power inverter in a first mode is a bipolar AC electrical signal output at -500 volts (V) or +500V and the AC power output by the power inverter in a second mode is a unipolar AC electrical signal at 0V or +500V.

[0163] U. A system comprising one or more processors and one or more computer readable media storing instructions executable by the one or more processors that, when executed, cause the system to perform operations including receiving a signal that a vehicle is in position relative to a wireless charging coil, receiving a first current request, controlling a plurality of transistors of a control circuit associated with a bipolar mode based on the first current request, controlling an inverter to output a first square wave signal and a first duty signal based on respective first states of corresponding transistors of the plurality of transistors, the first square wave being utilized to deliver power from a power converter at a first power level, receiving a second current request, controlling a plurality of transistors of the control circuit associated with a unipolar mode based on the second current request, and controlling the inverter to output a second square wave signal and a second duty signal based on respective second states of corresponding transistors of the plurality of transistors.

[0164] V. The system of paragraph U, wherein controlling the inverter in a bipolar mode includes controlling the inverter to output a first square wave signal between −500 volts (V) and +500 V to a transmitting coil utilized to charge the vehicle, and controlling the inverter in a unipolar mode includes controlling the inverter to output a second square wave signal between 0 and +500 V to the transmitting coil.

[0165] W. The system of paragraphs U or V, wherein a second square wave signal is utilized to deliver power from the power converter at a second power level, the first power level being greater than the second power level.

[0166] X. The system of any of paragraphs UW, wherein the plurality of transistors includes a first transistor, a second transistor, a third transistor, and a fourth transistor, and controlling the inverter to output the first square wave signal further includes controlling the first transistor to be on, the second transistor to be on, the third transistor to be off, and the fourth transistor to be off at a first time, and controlling the third transistor to be on, the fourth transistor to be on, the first transistor to be off, and the second transistor to be off at a second time, and controlling the inverter to output the second square wave signal further includes controlling the first transistor to be on, the second transistor to be on, the third transistor to be off, and the fourth transistor to be on at a third time, and controlling the first transistor to be off, the second transistor to be on, the third transistor to be off, and the fourth transistor to be on at a fourth time.

[0167] Y. The system of any of paragraphs UX, wherein the power converter including the transformer is controlled with an efficiency of at least 93%.

[0168] Z. A method comprising: receiving a signal that a vehicle is in position relative to a wireless charging coil, receiving a first current request, and controlling an inverter to output a first square wave signal and a first duty signal associated with a bipolar mode based on the first current request, receiving a second current request, and controlling the inverter to output a second square wave signal and a second duty signal associated with a unipolar mode based on the second current request.

[0169] AA. The method of paragraph Z, wherein controlling the inverter in a bipolar mode includes controlling the inverter to output a first square wave signal between −500 volts (V) and +500 V to a transmitting coil utilized to charge the vehicle, and controlling the inverter in a unipolar mode includes controlling the inverter to output a second square wave signal between 0 and +500 V to the transmitting coil.

[0170] AB. The method of paragraph Z or AA, wherein the first square wave signal output by the inverter in a bipolar mode is utilized to output power from a power converter at a level of a first power and the second square wave signal output by the inverter in a unipolar mode is utilized to output power from the power converter at a level of a second power, the level of the first power being higher than the level of the second power output.

[0171] The method of any of paragraphs Z-AB, further comprising utilizing a control circuit for controlling the inverter, the control circuit including a first transistor, a second transistor, a third transistor, and a fourth transistor, wherein controlling the inverter in the bipolar mode further comprises controlling the first transistor on, the second transistor on, the third transistor off, and the fourth transistor off at a first time, and controlling the third transistor on, the fourth transistor on, the first transistor off, and the second transistor off at a second time, and controlling the inverter in the unipolar mode further comprises controlling the first transistor on, the second transistor on, the third transistor off, and the fourth transistor on at a third time, and controlling the first transistor off, the second transistor on, the third transistor off, and the fourth transistor on at a fourth time.

[0172] AD. The method of any of paragraphs Z-AC, wherein the power converter including the transformer is controlled with an efficiency of at least 93%.

[0173] The method of any of paragraphs Z-AD, wherein a signal is received from an autonomous vehicle that the vehicle is in position.

[0174] The method of any of paragraphs Z-AE, wherein the second current request is associated with a respective level of one or more corresponding power parameters indicative of a level of power stored in the vehicle that exceeds or meets a power threshold.

[0175] AG. The method of any of paragraphs Z-AF, wherein a first duty cycle associated with power output by the inverter in the unipolar mode is higher than a second duty cycle, and the second duty cycle is gradually reduced over time based on a charging profile to the first duty cycle.

[0176] AH. The method of any of paragraphs Z-AG, wherein a first duty cycle associated with power output by the inverter in the bipolar mode is higher than a second duty cycle, and the first duty cycle is gradually reduced over time based on a charging profile to the second duty cycle.

[0177] The method of any of paragraphs Z-AH, wherein a level of harmonic distortion associated with the inverter is less than 5%.

[0178] One or more non-transitory computer-readable media that, when executed, cause one or more processors to perform operations including receiving a signal that an autonomous vehicle is in position relative to a wireless charging coil, receiving a first current request, controlling a plurality of transistors of a control circuit associated with a bipolar mode based on the first current request, controlling an inverter to output a first square wave signal and a first duty signal based on respective first states of corresponding transistors of the plurality of transistors, receiving a second current request, controlling a plurality of transistors of the control circuit associated with a unipolar mode based on the second current request, and controlling the inverter to output a second square wave signal and a second duty signal based on respective second states of corresponding transistors of the plurality of transistors.

[0179] The one or more non-transitory computer-readable media of paragraph AJ, wherein controlling the inverter in a bipolar mode includes controlling the inverter to output a first square wave signal between −500 volts (V) and +500 V to a transmitting coil utilized to charge the autonomous vehicle, and controlling the inverter in a unipolar mode includes controlling the inverter to output a second square wave signal between 0 and +500 V to the transmitting coil.

[0180] The one or more non-transitory computer-readable media of paragraphs AJ or AK, wherein the first square wave signal output by the inverter in a bipolar mode is utilized to output power from the power converter at a first power level and the second square wave signal output by the inverter in a unipolar mode is utilized to output power from the power converter at a second power level, the first power level being higher than the second power level.

[0181] The one or more non-transitory computer-readable media of any of paragraphs AJ-AL, wherein the plurality of transistors includes a first transistor, a second transistor, a third transistor, and a fourth transistor, and controlling the inverter to output the first square wave signal further includes controlling the first transistor to be on, the second transistor to be on, the third transistor to be off, and the fourth transistor to be off at a first time, and controlling the third transistor to be on, the fourth transistor to be on, the first transistor to be off, and the second transistor to be off at a second time, and controlling the inverter to output the second square wave signal further includes controlling the first transistor to be on, the second transistor to be on, the third transistor to be off, and the fourth transistor to be on at a third time, and controlling the first transistor to be off, the second transistor to be on, the third transistor to be off, and the fourth transistor to be on at a fourth time.

[0182] AN. The one or more non-transitory computer-readable media of any of paragraphs AJ-AM, wherein the power converter including the transformer is controlled with an efficiency of at least 93%.

[0183] Although the exemplary sections described above are described with respect to one particular implementation, it should be understood that in the context of this specification, the contents of the exemplary sections can also be implemented via a method, a device, a system, a computer-readable medium, and / or another implementation. Furthermore, any of Examples A-AN can be implemented alone or in combination with any other one or more of Examples A-AN.

[0184] conclusion Having described one or more examples of the technology described herein, various modifications, additions, permutations, and equivalents thereof fall within the scope of the technology described herein.

[0185] In describing the examples, reference is made to the accompanying drawings, which form a part hereof, showing by way of illustration specific examples of the claimed subject matter. It is to be understood that other examples can be used and modifications or substitutions, such as structural changes, can be made. Such examples, modifications or substitutions do not necessarily depart from the scope of the intended claimed subject matter. Although steps herein may be presented in a particular order, in some cases the order can be changed to provide certain inputs at different times or in a different order without changing the functionality of the systems and methods described. Also, the disclosed procedures can be performed in different orders. Furthermore, the various calculations herein need not be performed in the order disclosed, and other examples using alternative orders of calculations can be readily implemented. In addition to reordering, calculations can also be decomposed into sub-calculations that produce the same results.

Claims

1. Receiving power from a power grid at a first voltage by means of a transformer, Outputting alternating current (AC) power at a second voltage by means of the transformer, Receiving the AC power by means of a rectifier circuit directly coupled to the transformer, Outputting direct current (DC) power by means of the rectifier circuit, Receiving the DC power by means of a power inverter, Transmitting power to a power receiving coil of a vehicle by means of a power transmitting coil associated with the power inverter, A method comprising.

2. Receiving the DC power further includes receiving the DC power by means of a power transmitting coil of the power inverter, Transmitting the power to the power receiving coil further includes wirelessly transmitting the power to the power receiving coil by means of the power transmitting coil, The phase shift between a first current output output by a first winding of a pair of windings that outputs the AC power at the second voltage and a second current output output by a second winding of the pair of windings is 27.5 degrees or less, The method according to claim 1.

3. Transmitting power further includes transmitting AC power at a third voltage by means of the power transmitting coil having a height gap from the power receiving coil between 100 mm and 200 mm, The method according to claim 1 or 2.

4. The phase shift between a first current output output by a first winding of a pair of windings that outputs the AC power at the second voltage and a second current output output by a second winding of the pair of windings is 22.5 degrees or less, The method according to claim 1.

5. Receiving the power further includes receiving AC power at a first voltage by means of the transformer via a first AC protection circuit, Outputting the AC power further includes outputting the AC power at the second voltage to the rectifier circuit by means of the transformer via a second AC protection circuit, Outputting the DC power further includes outputting the DC power to the power inverter via a DC protection circuit, The method according to claim 1.

6. The transformer is a delta-delta transformer having one primary winding and at least 30 secondary winding pairs, The AC power at the second voltage is output from a pair of delta windings of the secondary winding pair, The method according to claim 1.

7. Receiving the power further includes performing a power factor correction (PFC) associated with converting the power into the AC power at the second voltage. The method according to claim 1.

8. A transformer configured to receive power from a power grid at a first voltage and output AC power at a second voltage, A rectifier circuit coupled to the transformer, the rectifier circuit being configured to receive the AC power and output DC power, A power inverter including a power transmission coil configured to receive the DC power and wirelessly transmit the power to a power receiving coil of a vehicle, A system comprising the above.

9. The phase shift between a first current output output by a first winding of a pair of windings that outputs the AC power at the second voltage and a second current output output by a second winding of the pair of windings is 22.5 degrees or less. The system according to claim 8.

10. The charging circuit including the transformer and the rectifier circuit does not include an active power factor correction stage between the transformer and the vehicle charger. The system according to claim 8 or 9.

11. An active power filter parallel to the transformer, the active power filter being controlled based at least in part on the amount of power wirelessly transmitted by the power transmission coil. The system according to claim 8.

12. The transformer is further configured to output the AC power for charging a plurality of loads, The number of the plurality of loads is at least 30. The system according to claim 8.

13. AC power is output by the power inverter, The AC power output by the power inverter in the first mode is a bipolar AC electrical signal output at -500 volts (V) or +500 V, The AC power output by the power inverter in the second mode is a unipolar AC electrical signal output at 0 V or +500 V. The system according to claim 8.

14. The level of harmonic distortion associated with the input of the charging circuit including the transformer and the rectifier circuit is less than 5%. The system according to claim 8.

15. The first voltage is 12.47 kilovolts (kV), and the second voltage is between 350 volts (V) and 370 V. The system according to claim 8.

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