Vehicle control device

Abstract

To provide a vehicle control device which can control a vehicle on the assumption that external charging is performed by using an automatic charging device in a parking lot or the like.SOLUTION: A vehicle control device mounted on a vehicle capable of external charging controls the vehicle into a first state in which movement of the vehicle is inhibited when an instruction signal is received from an automatic charging device which automatically connects a charging connector to a charging port of the vehicle. If a release request of the first state by a user of the vehicle is issued while the vehicle is controlled into the first state, it releases the first state in the case that the charging connector is not connected to the charging port and no obstacles are present in the travel direction of the vehicle.SELECTED DRAWING: Figure 1

Description

[Technical field]

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

[0002] Patent Document 1 discloses that external charging is performed with the charging connector of the charging equipment connected to the charging port of the vehicle. In order to prevent the vehicle from accidentally starting while charging, the vehicle is controlled to disable the ignition operation by the user when the lid of the charging port is open. [Prior art documents] [Patent documents]

[0003] [Patent Document 1] JP 2010-234925 A Summary of the Invention [Problem to be solved by the invention]

[0004] Incidentally, a system is conceivable in which an automatic charging device such as a mobile robot arm is used to automatically connect a charging connector to a charging port. The automatic charging device autonomously travels to the front of the charging port and is capable of plugging and unplugging the charging connector. However, the configuration described in Patent Document 1 does not assume the use of an automatic charging device such as a mobile robot arm.

[0005] The present invention has been made in consideration of the above-mentioned circumstances, and aims to provide a vehicle control device that can control a vehicle in the event that external charging is performed using an automatic charging device in a parking lot, etc. [Means for solving the problem]

[0006] The present invention is a vehicle control device mounted on a vehicle capable of external charging, which, when an instruction signal is received from an automatic charging device that automatically connects a charging connector to a charging port of the vehicle, controls the vehicle to a first state in which movement of the vehicle is prohibited, and, when a user of the vehicle requests to cancel the first state while the vehicle is being controlled in the first state, cancels the first state if the charging connector is not connected to the charging port and if no obstacle is present in the direction of travel of the vehicle. Effect of the Invention

[0007] In the present invention, when the vehicle's movement is prohibited by instructions from an automatic charging device such as a mobile robot arm, even if some kind of trouble occurs with the automatic charging device, the state in which the vehicle's movement is prohibited can be released from the vehicle side. [Brief description of the drawings]

[0008] [Figure 1] FIG. 1 is a schematic diagram for explaining a vehicle in an embodiment. [Diagram 2] FIG. 4 is a sequence diagram showing control between the automatic charging device and the vehicle. DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS

[0009] DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS A vehicle control device according to an embodiment of the present invention will be specifically described below. Note that the present invention is not limited to the embodiment described below.

[0010] FIG. 1 is a schematic diagram for explaining a vehicle in an embodiment. Vehicle 1 is an electric vehicle capable of external charging, and can store power supplied from an external power source in a battery. Vehicle 1 is configured as an electric vehicle (BEV) or a plug-in hybrid vehicle (PHEV). This vehicle 1 can be charged by an automatic charging device 2. The automatic charging device 2 is configured to automatically connect a charging connector 3 to a charging port 11 of the vehicle 1. The charging connector 3 is electrically connected to an external power source via a charging cable 4. The charging connector 3 and the charging cable 4 are provided in a charging facility. This charging facility is installed in a parking lot or the like. An automatic charging system including the automatic charging device 2 is a system that automates the charging of vehicle 1.

[0011] The vehicle 1 includes a charging port 11, a connection detection unit 12, an obstacle detection unit 13, an HIM 14, a communication unit 15, and a control device 16.

[0012] The charging port 11 is a connection port to which the charging connector 3 is connected. The charging port 11 includes a charging terminal. The vehicle 1 has a lid 11a for the charging port 11. The lid 11a is configured so that it can be opened and closed from outside the vehicle 1. The charging port 11 and the lid 11a are provided, for example, at the front of the vehicle 1. When the lid 11a is open, a user of the vehicle 1 or the automatic charging device 2 can connect the charging connector 3 to the charging port 11. When the lid 11a is closed, the charging connector 3 is removed from the charging port 11.

[0013] The connection detection unit 12 detects that the charging connector 3 is connected to the charging port 11. When the charging connector 3 is connected to the charging port 11, communication is performed between the vehicle 1 and the charging equipment. For example, CAN communication or power line communication is performed. The connection detection unit 12 can detect the connection of the charging connector 3 by detecting that CAN communication or the like with the charging equipment is being performed. When the connection detection unit 12 detects the connection of the charging connector 3, it outputs a detection signal to the control device 16.

[0014] The obstacle detection unit 13 detects obstacles present around the vehicle 1. When an obstacle such as an automatic charging device 2 is present around the vehicle 1, the obstacle detection unit 13 can detect the obstacle. The obstacle detection unit 13 is an obstacle detection sensor, and is composed of, for example, Lidar, a millimeter wave radar, an ultrasonic sensor, etc. This obstacle detection unit 13 can detect obstacles located in the traveling direction of the vehicle 1, that is, in front and behind the vehicle 1. When the obstacle detection unit 13 detects an obstacle around the vehicle 1, it outputs a detection signal to the control device 16.

[0015] The HIM 14 is disposed in the cabin of the vehicle 1, and is configured, for example, by a car navigation device. When the HIM 14 is a car navigation device, it detects a screen operation by a user when the user operates the screen of the car navigation device. When the HIM 14 receives an operation from the user of the vehicle 1, it outputs a signal indicating the detection of the operation to the control device 16.

[0016] The communication unit 15 performs wireless communication with an external device. The communication unit 15 is configured to be capable of wireless communication with the automatic charging device 2. The wireless communication can be performed using a communication method such as Wi-Fi (registered trademark). The communication unit 15 outputs information acquired through wireless communication to the control device 16. The communication unit 15 is controlled by the control device 16.

[0017] The control device 16 is an electronic control device that controls the vehicle 1. The control device 16 executes various controls based on signals from various sensors. For example, the control device 16 executes automatic charging control for performing external charging using the automatic charging device 2 in a state where wireless communication between the vehicle 1 and the automatic charging device 2 is established.

[0018] The automatic charging device 2 is a device capable of autonomous travel, and is installed in, for example, a parking lot. The automatic charging device 2 is installed near the charging equipment, independent of the charging connector 3. When the vehicle 1 is parked in a parking space, the automatic charging device 2 autonomously travels to the front of the charging port 11 of the vehicle 1, opens the lid 11a, and performs a charging operation by connecting the charging connector 3 to the charging port 11.

[0019] The automatic charging device 2 includes a robot arm 21, wheels 22, and a communication unit 23.

[0020] The robot arm 21 is an arm that moves when performing a charging operation. The automatic charging device 2 is configured to freely operate the robot arm 21. The robot arm 21 is controlled by a control device mounted on the automatic charging device 2. The robot arm 21 includes a holding portion capable of holding the charging connector 3 and an operating portion capable of opening and closing the lid 11a.

[0021] The wheels 22 function as drive wheels of the automatic charging device 2. A control device of the automatic charging device 2 controls the drive of the wheels 22 and can steer the wheels 22, thereby changing the traveling direction of the automatic charging device 2 to a desired direction. For example, the automatic charging device 2 is equipped with a motor, and the power output from the motor is transmitted to the wheels 22.

[0022] The communication unit 23 performs wireless communication with the vehicle 1. The communication unit 23 is capable of performing wireless communication with the communication unit 15 of the vehicle 1. This communication unit 23 is controlled by the control device of the automatic charging device 2. For example, when starting a charging operation for the vehicle 1 parked in a parking space, the communication unit 23 transmits an instruction signal to the vehicle 1 to prohibit the movement of the vehicle 1. Then, when the charging operation by the automatic charging device 2 is completed, the communication unit 23 transmits a release signal to release the state in which the movement of the vehicle 1 is prohibited.

[0023] In the automatic charging system including the automatic charging device 2 configured as above, in order to prevent the vehicle 1 from erroneously starting with the charging connector 3 connected to the charging port 11, an instruction signal is transmitted from the automatic charging device 2 to the vehicle 1 before the start of the charging operation, and when the vehicle 1 receives the instruction signal, the control device 16 controls the vehicle 1 to a state in which movement is prohibited (immobilized state). After the charging operation is completed, the automatic charging device 2 transmits a release signal to the vehicle 1, and when the vehicle 1 receives the release signal, the control device 16 releases the immobilized state. However, if the release signal is not transmitted due to a trouble with the automatic charging device 2 while the vehicle 1 is controlled in the immobilized state, there is a concern that the vehicle 1 will not be able to return from the immobilized state. Therefore, the vehicle 1 is configured to be able to release the immobilized state on the vehicle 1 side even if some trouble occurs with the automatic charging device 2 during the charging operation.

[0024] Fig. 2 is a sequence diagram showing the automatic charging control. The control shown in Fig. 2 is performed by the vehicle 1 and the automatic charging device 2 when the vehicle 1 is parked in a parking space.

[0025] The automatic charging device 2 transmits an instruction signal to the vehicle 1 parked in the parking space to instruct the vehicle 1 to transition to a state in which the movement of the vehicle 1 is prohibited (immobilized state) (step S11). In step S11, an instruction signal to instruct the vehicle 1 to be immobilized is transmitted from the communication unit 23.

[0026] When the vehicle 1 receives the instruction signal from the automatic charging device 2, the control device 16 controls the vehicle 1 to an immobilized state (step S12). In step S12, the vehicle 1 is controlled to a state in which the movement of the vehicle 1 is prohibited. The state in which the movement of the vehicle 1 is prohibited (immobilized state) refers to a control state in which the accessories of the vehicle 1 can be activated but the driving of the drive wheels is prohibited. For example, the process of step S2 is performed before the start of charging operation by the automatic charging device 2.

[0027] The control device 16 determines whether or not there is a request to release the immobilized state by an occupant (user) of the vehicle 1 (step S13). In step S13, the presence or absence of a release request by an occupant is determined by detecting an operation on the HIM 14. For example, the presence or absence of a release request by an occupant is determined by determining whether or not an operation on the screen of the car navigation device is accepted.

[0028] If it is determined that an occupant of the vehicle 1 has requested to cancel the immobilized state (step S13: Yes), the control device 16 determines whether the charging connector 3 is not connected to the charging port 11 (step S14). In step S14, it is determined whether the charging connector 3 is connected to the charging port 11 based on a detection signal from the connection detection unit 12.

[0029] If it is determined that the charging connector 3 is not connected to the charging port 11 (step S14: Yes), the control device 16 determines whether or not there is an obstacle around the vehicle 1 (step S15). In step S15, it is determined whether or not there is an obstacle such as the automatic charging device 2 in the traveling direction of the vehicle 1 based on a detection signal from the obstacle detection unit 13. Alternatively, the presence or absence of an obstacle around the vehicle 1 may be determined by an occupant of the vehicle 1 checking the surroundings and operating the screen of the car navigation device by the occupant. In other words, the user may manually perform a permission operation.

[0030] If it is determined that there is no obstacle around the vehicle 1 (step S15: Yes), the control device 16 releases the immobilized state (step S16). In step S16, the state in which the movement of the vehicle 1 is prohibited is released. By carrying out the process of step S16, the vehicle 1 transitions to a state in which movement is permitted.

[0031] 2, when certain release conditions are met, the vehicle 1 can release the immobilized state even when the vehicle 1 receives an immobilization instruction signal from the automatic charging device 2. The release conditions include a user requesting release of immobilization, the charging connector 3 not being connected to the charging terminal of the vehicle 1, and no obstacles such as the automatic charging device 2 being detected around the vehicle 1.

[0032] As described above, according to the embodiment, even if some kind of trouble occurs in the automatic charging device 2 during charging, the immobilized state can be released on the vehicle 1 side.

[0033] It should be noted that charging port 11 and lid 11a are not limited to being provided at the front of vehicle 1, but may be provided at the side or rear of vehicle 1. [Explanation of symbols]

[0034] 1 vehicle 2 Automatic charging device 3 Charging connector 4 Charging cable 11 Charging port 11a Lid 12 Connection detection unit 13 Obstacle detection section 14 HIM 15 Communications Department 16 Control device 21 Robot Arm 22 wheels 23 Communications Department

Claims

1. A vehicle control device mounted on a vehicle capable of external charging, When an instruction signal is received from an automatic charging device that automatically connects a charging connector to a charging port of the vehicle, the vehicle is controlled to a first state in which movement of the vehicle is prohibited; When a user of the vehicle requests release of the first state while the vehicle is being controlled to the first state, the first state is released if the charging connector is not connected to the charging port and if no obstacle is present in the traveling direction of the vehicle. A vehicle control device comprising:

2. While the vehicle is being controlled to the first state, a screen operation of a car navigation device of the vehicle by the user is detected to determine whether or not there is a request to cancel the first state by the user. The vehicle control device according to claim 1 .

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