Battery pack mounting structure and electric vehicle

Abstract

To improve transfer efficiency of a battery pack between vehicles in an electric vehicle of a type that the battery pack is attached / detached from a side of the vehicle.SOLUTION: A battery storage space 85 is formed by an L shaped bracket 71, a front plate 72, and a rear plate 79. A battery pack 80 is stored in the battery storage space 85. In the battery storage space 85, an outer side as seen in a vehicle width direction is exposed to the outside. A side door 74 may open or close an outer opening as seen in the vehicle width direction of the battery storage space 85. Further, the side door 74 has a downward-opening structure. Furthermore, when the side door 74 is in an open position, an inner surface 74B of the side door 74 and an upper surface 71C of a lateral piece 71B of the L shaped bracket 71 are on the same level.SELECTED DRAWING: Figure 4

Description

[Technical Field]

[0001] This specification discloses a mounting structure for a battery pack and an electric vehicle including the same. [Background technology]

[0002] Patent Documents 1 and 2 disclose an electric vehicle. This electric vehicle uses a motor as a drive source. A battery pack is mounted on the electric vehicle. This battery pack is detachable from the vehicle.

[0003] In Patent Document 1, an electric vehicle is placed on a lift, and a battery pack is attached and detached from underneath the vehicle. In Patent Document 2, a battery pack is attached and detached from the side of the electric vehicle. [Prior art documents] [Patent documents]

[0004] [Patent Document 1] Japanese Patent Application Laid-Open No. 2011-98644 [Patent Document 2] Japanese Patent Application Laid-Open No. 2012-151916 Summary of the Invention [Problem to be solved by the invention]

[0005] This specification discloses a battery pack mounting structure that can improve the efficiency of transporting battery packs between vehicles in electric vehicles in which the battery pack is attached and detached from the side of the vehicle, and an electric vehicle equipped with this structure. [Means for solving the problem]

[0006] The battery pack mounting structure disclosed in this specification is provided in an electric vehicle. The battery pack mounting structure is capable of detachably mounting a battery pack. The mounting structure includes an L-shaped bracket, a front plate, and a rear plate. The L-shaped bracket is supported by a frame of the electric vehicle. The L-shaped bracket includes vertical and horizontal pieces. The vertical pieces extend vertically. The horizontal pieces extend outward in the vehicle width direction from the lower ends of the vertical pieces. The front plate is disposed in front of the L-shaped bracket. The front plate also extends outward in the vehicle width direction from the frame. The rear plate faces the front plate across the L-shaped bracket. The L-shaped bracket, front plate, and rear plate form a battery storage space. A battery pack is stored in the battery storage space. The outer side of the battery storage space in the vehicle width direction is exposed to the outside. Side doors are connected to the outer ends of the front plate and rear plate in the vehicle width direction. The side doors can open and close outer openings of the battery storage space in the vehicle width direction. The side doors have a downward-opening structure. Furthermore, when the side door is in the open position, the inner surface of the side door and the upper surface of the horizontal piece of the L-shaped bracket are flush with each other.

[0007] With the above configuration, the battery pack can be slid from the L-shaped bracket to the open side door. For example, when transferring a battery pack from one electric vehicle to another, the battery storage spaces of both electric vehicles face each other. Then, both side doors are opened. The open side doors can be used as a path for transferring the battery pack.

[0008] In the above configuration, the L-shaped bracket, the front plate, and the rear plate may be supported by the frame via a height adjustment mechanism.

[0009] When an electric vehicle is a cargo vehicle, the height of the battery housing space varies depending on the weight of the cargo carried. By using a height adjustment mechanism, the heights of the battery housing spaces of adjacent electric vehicles can be aligned.

[0010] In the above configuration, a first guide piece may be disposed on an upper surface of the horizontal piece of the L-shaped bracket. In this case, a second guide piece is disposed on the inner surface of the side door. Furthermore, the first guide piece and the second guide piece are positioned in the same position in the vehicle fore-and-aft direction.

[0011] According to the above configuration, the battery pack can be slid along the first guide piece and the second guide piece.

[0012] In the above configuration, the battery pack mounting structure may include a support bar that is extended outward in the vehicle width direction beyond the horizontal piece of the L-shaped bracket and supports the side door in an open state.

[0013] According to the above configuration, when the battery pack is placed on the side door, the support bar bears the load of the battery pack, thereby suppressing deformation of, for example, the hinges of the side door.

[0014] This specification also discloses an electric vehicle equipped with the above-described battery pack mounting structure. The electric vehicle includes a processor. The processor is capable of automatic driving control. The processor performs precise docking control to stop the electric vehicle next to an electric vehicle stopped in front. During precise docking control, the processor stops the electric vehicle with a gap in the vehicle width direction from the electric vehicle stopped in front. This gap is at least twice the height of the side door and is less than the distance obtained by adding twice the height of the side door to the width of the battery pack.

[0015] According to the above configuration, the battery accommodating spaces of two electric vehicles can be aligned with high precision regardless of the driver's skill. [Effects of the Invention]

[0016] The battery pack mounting structure and electric vehicle disclosed in this specification improve the efficiency of transporting battery packs between vehicles. [Brief explanation of the drawings]

[0017] [Figure 1] 1 is a perspective view illustrating an example of a chassis of an electric vehicle according to an embodiment of the present invention. [Figure 2] FIG. 2 is an enlarged perspective view illustrating a battery pack accommodating space. [Figure 3] FIG. 10 is a perspective view of the support bar when it is pulled out. [Figure 4] FIG. 2 is a perspective view of the side door when it is open. [Figure 5] FIG. 10 is a perspective view showing an example of transporting the battery pack. [Figure 6] FIG. 1 is a diagram illustrating an example of an electric circuit of an electric vehicle. [Figure 7] FIG. 2 is a diagram illustrating a hardware configuration of an ECU. [Figure 8] FIG. 1 is a diagram (1 / 2) for explaining correct docking control. [Figure 9] FIG. 2 is a diagram (2 / 2) illustrating correct docking control. DETAILED DESCRIPTION OF THE INVENTION

[0018] The battery pack mounting structure and electric vehicle according to this embodiment will be described below with reference to the drawings. The shapes, materials, quantities, and values ​​described below are examples for the purpose of explanation. These shapes, etc. can be changed as appropriate depending on the battery pack mounting structure and the specifications of the electric vehicle. Furthermore, the same reference numerals will be used to designate equivalent elements in all drawings below.

[0019] In Figures 1 to 5, the front-to-rear direction of the vehicle is indicated by the FR axis. The width direction of the vehicle is indicated by the RW axis. Furthermore, the height direction of the vehicle is indicated by the UP axis. The FR axis, RW axis, and UP axis are perpendicular to each other. The positive direction of the FR axis is the front. The positive direction of the RW axis is the right. The positive direction of the UP axis is up.

[0020] 1. Vehicle configuration An electric vehicle 20 according to this embodiment is shown in FIG. 1. The electric vehicle 20 (BEV, Battery Electric Vehicle) runs on power supplied from a battery. In this embodiment, a fixed battery 55 and a battery pack 80 can serve as the power source for the electric vehicle 20. The electric vehicle 20 uses a rotating electric machine 56 as its driving source. The rotating electric machine 56 is driven by power supplied from the fixed battery 55 and the battery pack 80. The electric vehicle 20 has a mounting structure for the battery pack 80. As will be described later, this mounting structure allows the battery pack 80 to be detachably mounted.

[0021] The electric vehicle 20 illustrated in Fig. 1 is, for example, a cargo vehicle. The electric vehicle 20 includes a chassis 50 (platform). A cab 30 and a luggage compartment 35 are mounted on the chassis 50. In the example of Fig. 1, the cab 30 and the luggage compartment 35 are shown as separate components, but the cab 30 and the luggage compartment 35 may be integrated. In other words, the electric vehicle 20 may be a so-called cab-over type vehicle or a van type vehicle.

[0022] 2. Chassis structure The chassis 50 is the basic structure of the electric vehicle 20. The chassis 50 has a pair of frames 51 and cross members 52A, 52B, and 52C as skeletal components. The frames 51 extend in the front-rear direction of the vehicle (the FR axis direction). The frames 51 are arranged at intervals in the vehicle width direction (the RW axis direction). For example, the frames 51 are channel steel. The groove openings of the frames 51 face the center in the vehicle width direction.

[0023] The cross members 52A, 52B, and 52C extend in the vehicle width direction and connect the frames 51, 51. For example, both ends of the cross members 52A, 52B, and 52C in the vehicle width direction are welded to the frames 51, 51.

[0024] Front wheels 53, 53 and rear wheels 54, 54 are arranged on the outer sides of the frames 51, 51 in the vehicle width direction. For example, the electric vehicle 20 is a front-wheel drive vehicle. For example, the rotating electric machine 56 is arranged alongside the front wheels 53, 53 along the vehicle width direction.

[0025] A plurality of electric devices are arranged on the chassis 50. For example, the chassis 50 includes a stationary battery 55, a step-up / step-down DC / DC converter 57, an inverter 58, a rotating electric machine 56, and battery mounting structures 70, 70.

[0026] A stationary battery 55, a step-up / step-down DC / DC converter 57, an inverter 58, and a rotating electric machine 56 are housed in the accommodation space between the frames 51. Battery mounting structures 70 are provided on the outer side of the frames 51 in the vehicle width direction. The battery mounting structures 70 will be described in detail later.

[0027] The fixed battery 55 is the main battery of the electric vehicle 20. For example, the fixed battery 55 cannot be removed from the vehicle. In other words, the fixed battery 55 is fixed to the vehicle body. For example, the fixed battery 55 is placed under the luggage compartment 35. Furthermore, the fixed battery 55 is bolted to the cross members 52B, 52C and the frames 51, 51. Therefore, the fixed battery 55 is structured so that it cannot be removed except under special circumstances such as a factory. For example, the fixed battery 55 cannot be removed from the vehicle unless the electric vehicle 20 is lifted up and a worker accesses the bottom of the electric vehicle 20 and removes the bolts.

[0028] The fixed battery 55 may also be referred to as a main battery. For example, the rated output [kW] of the fixed battery 55 is equal to or greater than the rated output [kW / rpm] of the rotating electric machine 56. In other words, even when the battery pack 80 is not connected to the electric vehicle 20, the electric vehicle can be driven by the fixed battery 55 alone.

[0029] Furthermore, the electric vehicle 20 can be connected to up to two battery packs 80 in addition to the fixed battery 55. By connecting the battery packs 80, the maximum output [kW / rpm] of the rotating electric machine 56 increases. Details of this connection process will be described later.

[0030] In the accommodation space between the frames 51, 51, a step-up / step-down DC / DC converter 57 and an inverter 58 are arranged between the stationary battery 55 and the rotating electrical machine 56.

[0031] 3. Battery pack Fig. 5 shows an example of a battery pack 80. The battery pack 80 includes a housing and a plurality of unit cells. The unit cells are stacked inside the rectangular parallelepiped housing. The battery pack 80 includes inlets 81A and 81B for connection to an electric circuit shown in Fig. 6.

[0032] As shown in the figure, the inlet 81A is provided on the left side surface of the battery pack 80. The inlet 81B is provided on the right side surface of the battery pack 80. As illustrated in FIG. 5, when the battery pack 80 is mounted in the battery mounting structure 70 on the left side of the chassis 50, the inlet 81B on the right side is connected to the connector 73 (see FIG. 5). Referring to FIG. 1, when the battery pack 80 is mounted in the battery mounting structure 70 on the right side of the chassis 50, the inlet 81A on the left side is connected to the connector 73 (see FIG. 5).

[0033] When the battery pack 80 is to be transferred between two electric vehicles 20, 20, the battery pack 80 is transferred by an operator such as a driver. To facilitate this transfer operation, the battery pack 80 is provided with a handle 82. For example, the handle 82 is provided on each of both ends of the battery pack 80 in the longitudinal direction. The handle 82 is provided on the top surface of the battery pack 80.

[0034] A guide groove 86 is formed on the bottom surface of the battery pack 80. A plurality of guide grooves 86 are formed on the bottom surface of the battery pack 80. The number of guide grooves 86 is the same as the number of first guide pieces 71D of the L-shaped bracket 71 (see FIG. 4) and the number of second guide pieces 74C of the side door 74. The pitch between adjacent guide grooves 86, 86 is the same as the pitch between adjacent first guide pieces 71D, 71D and the pitch between adjacent second guide pieces 74C, 74C. The groove width of the guide groove 86 is the same as the width of the first guide piece 71D and the second guide piece 74C.

[0035] 5, the guide groove 86 of the battery pack 80 is loosely fitted into the first guide piece 71D and the second guide piece 74C, allowing the battery pack 80 to slide in the vehicle width direction without being biased in the vehicle front-rear direction.

[0036] 4. Electrical Circuits The electric vehicle 20 includes an electric circuit as shown in Fig. 6. The electric circuit includes a fixed battery 55 and battery mounting structures 70, 70. A battery pack 80 is housed in the battery mounting structures 70, 70. Furthermore, inlets 81A, 81B of the battery pack 80 are connected to connectors 73, 73. The fixed battery 55 and the battery mounting structures 70, 70 are connected in parallel to an on-vehicle electrical device (load) such as a rotating electrical machine 56.

[0037] The electric circuit also includes a switch box 90. The switch box 90 includes a main switch 91, a first switch 92A, and a second switch 92B. The main switch 91 is connected to the fixed battery 55. The first switch 92A and the second switch 92B are connected to the battery mounting structures 70, 70. The main switch 91, the first switch 92A, and the second switch 92B can switch between conducting and cutting off the fixed battery 55 and the battery pack 80.

[0038] For example, the touch panel 65 is disposed on the instrument panel inside the vehicle. A transparent conductive film is laminated on the display portion of the touch panel 65. The transparent conductive film is the input portion. For example, the touch panel 65 displays whether or not the battery mounting structures 70, 70 house a battery pack 80. Furthermore, the inputter can select the use of the battery pack 80 housed in the battery mounting structure 70 from the touch panel 65. The uses of the battery pack 80 include two types: a power supply battery and transported goods. In other words, the inputter, such as the driver, can use the touch panel 65 (input portion) to specify whether the battery pack 80 is a power supply battery or transported goods.

[0039] The input contents from the touch panel 65 are transmitted to the battery ECU 100. The battery ECU 100 performs on / off operations on the main switch 91, the first switch 92A, and the second switch 92B. The battery ECU 100 sets the first switch 92A and the second switch 92B corresponding to the battery pack 80 designated for power supply to a conductive state. The battery ECU 100 also sets the first switch 92A and the second switch 92B corresponding to the battery pack 80 designated for the goods to a cut-off state. By setting the first switch 92A and the second switch 92B to a cut-off state, power consumption of the battery pack 80 designated for the goods is suppressed.

[0040] A step-up / step-down DC / DC converter 57 and an inverter 58 are provided between the switch box 90 and the rotating electric machine 56. The DC power output from the fixed battery 55 and the battery pack 80 designated as the power supply battery is stepped up by the step-up / step-down DC / DC converter 57. The stepped-up power is then subjected to DC-to-DC conversion by the inverter 58.

[0041] 5. Battery mounting structure 1, devices accessible from the sides of the vehicle are disposed on the outer sides of the frames 51 in the vehicle width direction. That is, battery mounting structures 70 are disposed on the outer sides of the frames 51 in the vehicle width direction. For example, the battery mounting structures 70 are disposed between the front wheels 53 and the rear wheels 54.

[0042] The battery mounting structures 70, 70 each detachably mount a battery pack 80. The battery mounting structures 70, 70 have the same shape and structure. More precisely, the pair of battery mounting structures 70, 70 have symmetrical shapes and structures.

[0043] Referring to FIG. 2, the battery mounting structure 70 includes an L-shaped bracket 71, a front plate 72, a side door 74, a hold bar 75, a support bar 76 (see FIG. 3), a height adjustment mechanism 78, and a rear plate 79.

[0044] Referring to Figure 4, the battery mounting structure 70 includes a plurality of L-shaped brackets 71. For example, the plurality of L-shaped brackets 71 are arranged at equal intervals along the longitudinal direction of the vehicle. Each L-shaped bracket 71 includes a vertical piece 71A and a horizontal piece 71B. The vertical piece 71A extends in the up-down direction. The vertical piece 71A is supported by the frame 51 via a height adjustment mechanism 78.

[0045] The horizontal piece 71B extends outward in the vehicle width direction. The inner end of the horizontal piece 71B in the vehicle width direction is connected to the lower end of the vertical piece 71A. A first guide piece 71D is provided on the upper surface 71C of the horizontal piece 71B. The first guide piece 71D is a protrusion that is narrower than the horizontal piece 71B. For example, the first guide piece 71D is provided over the entire length of the horizontal piece 71B.

[0046] A housing 77 is provided below the lateral piece 71B. A support bar 76 is housed in the housing 77. As illustrated in FIG. 3, the support bar 76 can be pulled out from the housing 77 to the outside in the vehicle width direction. In the pulled-out state, the support bar 76 protrudes outward in the vehicle width direction beyond the lateral piece 71B and the side door 74 in the closed state.

[0047] The front plate 72 is a plate-like component disposed in front of the L-shaped bracket 71. The front plate 72 extends outward in the vehicle width direction from the frame 51. More specifically, the front plate 72 is supported by the frame 51 via a height adjustment mechanism 78. A groove 72A is drilled in an upper portion of the front plate 72. The groove 72A is, for example, substantially T-shaped.

[0048] The rear plate 79 faces the front plate 72 with the L-shaped bracket 71 interposed therebetween. The rear plate 79 extends outward in the vehicle width direction from the frame 51. More specifically, the rear plate 79 is supported by the frame 51 via a height adjustment mechanism 78. A groove 79A is drilled in an upper portion of the rear plate 79. The groove 79A has, for example, a substantially T-shape. For example, the groove 72A of the front plate 72 and the groove 79A of the rear plate 79 are disposed opposite each other in the vehicle longitudinal direction.

[0049] The hold bar 75 is a substantially C-shaped bar member. The hold bar 75 can be moved between a locked state (see FIG. 3) and an unlocked state (see FIG. 4). By setting the hold bar to the unlocked state, the side door 74 can be opened from the closed position to the open position.

[0050] A slider 75A of the hold bar 75 is seated in a groove 72A of the front plate 72 and a groove 79A of the rear plate 79. The slider 75A moves within the groove 72A, allowing the hold bar 75 to move between a locked state and an unlocked state.

[0051] A battery accommodating space 85 is formed by the L-shaped bracket 71, the front plate 72, and the rear plate 79. The battery pack 80 is accommodated in the battery accommodating space 85. The outer side of the battery accommodating space 85 in the vehicle width direction is exposed to the outside.

[0052] A side door 74 is connected to the outer end portions of the front plate 72 and the rear plate 79 in the vehicle width direction. The side door 74 is capable of opening and closing an opening of the battery housing space 85 on the outer side in the vehicle width direction. With reference to FIG. 2 , pins 74A, 74A are provided on both ends of the side door 74 in the vehicle front-rear direction. The pins 74A, 74A are provided on the lower end of the side door 74. The pins 74A, 74A protrude in the vehicle front-rear direction. For example, the pins 74A, 74A are inserted into pin holes in the front plate 72 and the rear plate 79.

[0053] The side door 74 pivots about pins 74A, 74A. That is, the side door 74 has a downward-opening structure. Furthermore, when the side door 74 is in the open position (see FIG. 4), the inner surface 74B of the side door 74 is flush with the upper surface 71C of the horizontal piece 71B of the L-shaped bracket 71.

[0054] As described above, the support bar 76 (see FIG. 4) is pulled outward in the vehicle width direction from the housing 77. When the side door 74 is in the open position, the side door 74 is supported by the support bar 76.

[0055] A battery pack 80 is transferred between two electric vehicles 20. For example, the electric vehicles 20 are parked next to each other. For example, the battery pack 80 is transferred from the left battery mounting structure 70 of one electric vehicle 20 to the right battery mounting structure 70 of the other electric vehicle 20.

[0056] In such a case, the side doors 74 of each battery mounting structure 70 are deployed from the closed position to the open position, and the two side doors 74, 74 function as a connecting bridge, so to speak, to transfer the battery pack 80 from one battery accommodating space 85 to the other battery accommodating space 85.

[0057] Additionally, a second guide piece 74C is disposed on an inner surface 74B of the side door 74. The first guide piece 71D of the L-shaped bracket 71 and the second guide piece 74C of the side door 74 are positioned in the same position in the front-to-rear direction of the vehicle. Therefore, when the side door 74 is in the open state, the first guide piece 71D and the second guide piece 74C are aligned in a straight line.

[0058] 5, the guide grooves 86 of the battery pack 80 are loosely fitted into the first guide piece 71D and the second guide piece 74C. The battery pack 80 is transported while maintaining this loosely fitted state. Because the first guide piece 71D and the second guide piece 74C extend in the vehicle width direction, the battery pack 80 moves linearly in the vehicle width direction.

[0059] Furthermore, in the receiving electric vehicle 20, the battery pack 80 is guided by the first guide piece 71D and the second guide piece 74C. This allows the battery pack 80 to be seated in the correct position in the destination battery accommodating space 85. For example, when the battery pack 80 is transferred to the destination battery accommodating space 85, one of the inlets 81A, 81B is inserted into the connector 73.

[0060] Here, the battery mounting structure 70 is equipped with a height adjustment mechanism 78. The height adjustment mechanism 78 makes it possible to adjust the height positions of the L-shaped bracket 71, the front plate 72, the rear plate 79, and the side door 74. The height adjustment mechanism 78 is, for example, a feed screw type Z stage device.

[0061] When the electric vehicle 20 is a cargo vehicle, the height of the frame 51 varies depending on the total weight of luggage in the luggage compartment 35 (see FIG. 1). The height adjustment mechanism 78 is operated in response to this variation. For example, the height adjustment mechanism 78 is operated so that the heights of the side doors 74, 74 in the open position of two electric vehicles 20, 20 are equal.

[0062] 6. Control System As described above, when transporting the battery pack 80, the two electric vehicles 20 need to be aligned in the vehicle width direction. The side doors 74 are deployed during the transport operation, but the side doors 74 are closed before the transport operation. In other words, it is necessary to predict how far the side doors 74 will protrude when deployed and move one electric vehicle 20 closer to the other electric vehicle 20.

[0063] Such a stopping operation requires a high level of skill on the part of the driver. Therefore, in the electric vehicle 20 according to this embodiment, the own vehicle is guided to the side of the electric vehicle 20 stopped ahead by so-called precise docking control.

[0064] Fig. 6 illustrates an example of a control system capable of executing the precise docking control illustrated in Figs. 8 and 9. Referring to Fig. 6, devices in an electric circuit are controlled by an electronic control unit (ECU). As illustrated in Fig. 6, an electric vehicle 20 is provided with a plurality of ECUs for different functions. For example, the electric vehicle 20 includes a battery ECU 100, an autonomous driving ECU 102, and a powertrain / chassis ECU 103.

[0065] Furthermore, a BEV-ECU 101 is provided in the electric circuit as a host ECU that integrates the above-mentioned functional ECUs. The BEV-ECU 101 is also called a central gateway ECU. The above-mentioned functional ECUs and the BEV-ECU 101 are connected by signal lines that comply with the CAN (Controller Area Network) standard, for example.

[0066] The battery ECU 100, the BEV-ECU 101, the autonomous driving ECU 102, and the powertrain / chassis ECU 103 are all configured as a computer as shown in Fig. 7. The computer includes an input / output controller 15, a CPU 11, a RAM 12, a ROM 13, a storage 14, and a display control unit 16. These devices can communicate with each other via an internal bus.

[0067] The CPU 11 is a central processing unit, also called a processor. The RAM 12 is a volatile storage device that temporarily stores data during operation. The ROM 13 is a storage device that can read data. The storage 14 is a storage device that can write and read data. The storage 14 is configured, for example, from an HDD (Hard Disk Drive) or an SSD (Solid State Drive).

[0068] When the CPU 11 (processor) executes the programs stored in the ROM 13 or the storage 14, the processors of these ECUs can execute the following control processes.

[0069] The battery ECU 100 manages and controls the charge / discharge state, temperature, etc. of the fixed battery 55 and the battery pack 80. The battery ECU 100 also controls the on / off of the main switch 91, first switch 92A, and second switch 92B of the switch box 90.

[0070] The powertrain / chassis ECU 103 controls the rotating electric machine 56 , the steering mechanism 61 , and the brake mechanism 62 .

[0071] The automatic driving ECU 102 (CPU 11) performs automatic driving control of the electric vehicle 20. Furthermore, the automatic driving ECU 102 (CPU 11) executes precise arrival control based on the automatic driving control. The precise arrival control will be described in detail later.

[0072] The electric vehicle 20 is provided with devices for performing automatic driving control and precise docking control. Referring to FIG. 1, the electric vehicle 20 is equipped with a side camera 111, a lidar sensor 112, and a front camera 113.

[0073] The front camera 113 is provided in the cab 30. For example, the front camera 113 is disposed above a windshield glass (not shown). The side cameras 111 and the lidar sensor 112 are disposed on both side surfaces of the cab 30, for example.

[0074] The autonomous driving ECU 102 acquires captured images from the front camera 113 and the side camera 111. The autonomous driving ECU 102 performs image recognition on the acquired captured images using a known deep learning method. This image recognition allows for object detection within the captured images and recognition of their attributes. For example, the autonomous driving ECU 102 recognizes the electric vehicle 20 and its battery mounting structure 70 parked ahead.

[0075] The autonomous driving ECU 102 also acquires three-dimensional point cloud data from the LIDAR sensor 112, which is a distance measurement sensor. The autonomous driving ECU 102 then creates surrounding data by overlaying the coordinates of the captured image that has undergone image recognition and the three-dimensional point cloud data. The surrounding data makes it possible to detect what attributes of objects are located and how far away they are from the electric vehicle 20.

[0076] For example, in precise arrival control, the autonomous driving ECU 102 determines the course of the vehicle based on the distance and direction to the battery mounting structure 70 of the electric vehicle 20 parked ahead. Furthermore, the autonomous driving ECU 102 generates a steering command and a speed command based on the set course. The generated steering command and speed command are transmitted to the powertrain / chassis ECU 103. The powertrain / chassis ECU 103 controls the steering mechanism 61, the brake mechanism 62, the step-up / step-down DC / DC converter 57, and the inverter 58 based on the received steering command and speed command.

[0077] 8, in precise docking control, the autonomous driving ECU 102 stops the host vehicle 20-2 next to the electric vehicle 20-1 that is stopped ahead. Specifically, the autonomous driving ECU 102 determines a steering command and a speed command for the host vehicle 20-2 so that the battery mounting structure 70 of the electric vehicle 20-1 ahead and the battery mounting structure 70 of the host vehicle 20-2 are arranged in a straight line along the vehicle width direction.

[0078] In the precise docking control, the autonomous driving ECU 102 stops the host vehicle 20-2 so as to leave a gap between the host vehicle 20-2 and the electric vehicle 20-1 that is stopped ahead. Referring to Fig. 9, the inter-vehicle distance D1 between the electric vehicles 20-1 and 20-2 is set to a distance that allows the transfer of the battery pack 80. Fig. 9 also shows the height H1 of the side door 74 in an open state. Because both electric vehicles 20-1 and 20-2 open their side doors 74, the inter-vehicle distance D1 is set to at least twice the height of the side doors 74 (2 × H1) to avoid collision between the side doors 74 when they are opened.

[0079] A gap D2 may be provided between the pair of side doors 74, 74. In this case, the gap D2 is determined to be less than the width D0 (see FIG. 5) of the battery pack 80. In other words, the inter-vehicle distance D1 is determined to be less than 2×H1+D0.

[0080] For example, the CPU 11 of the autonomous driving ECU 102 recognizes the battery mounting structure 70 of the electric vehicle 20-1 based on an image captured by the side camera 111. Furthermore, the CPU 11 of the autonomous driving ECU 102 calculates the relative position (distance and direction) between the battery mounting structure 70 of the electric vehicle 20-1 and the battery mounting structure 70 of the host vehicle 20-2 based on distance measurement data from the lidar sensor 112. Based on the calculated relative position, the CPU 11 of the autonomous driving ECU 102 generates a steering command and a speed command.

[0081] The side doors 74 of the electric vehicles 20-1 and 20-2 are closed except when the battery pack 80 is being transported. Therefore, in the case of manual driving, in order to ensure an inter-vehicle distance D1 that is twice the height of the side doors 74, 74, the driver must drive the vehicle 20-2 while imagining the open position of the side door 74, which is actually closed. By using the precise docking control, the electric vehicle 20-2 can be parked next to the electric vehicle 20-1 at an inter-vehicle distance D1, regardless of the driver's skill level. [Explanation of symbols]

[0082] 20 electric vehicle, 51 frame, 56 rotating electric motor, 70 battery mounting structure, 71 L-shaped bracket, 71A vertical piece, 71B horizontal piece, 71C upper surface of horizontal piece, 71D first guide piece, 72 front plate, 74 side door, 74B inner surface of side door, 74C second guide piece, 76 support bar, 78 height adjustment mechanism, 79 rear plate, 80 battery pack, 85 battery storage space, 86 guide groove, 102 autonomous driving ECU.

Claims

1. A battery pack mounting structure that is provided in an electric vehicle and that can detachably mount a battery pack, an L-shaped bracket supported by a frame of the electric vehicle and including a vertical piece extending in a vertical direction and a horizontal piece extending outward in a vehicle width direction from a lower end of the vertical piece; a front plate disposed in front of the L-shaped bracket and extending outward in a vehicle width direction from the frame; a rear plate facing the front plate with the L-shaped bracket interposed therebetween; Equipped with the L-shaped bracket, the front plate, and the rear plate form a battery accommodating space in which the battery pack is accommodated and whose outer side in the vehicle width direction is exposed to the outside; a side door that can open and close an outer opening of the battery accommodating space in the vehicle width direction is connected to outer ends of the front plate and the rear plate; The side door has a downward opening structure, and when the side door is in an open position, the inner surface of the side door and the upper surface of the horizontal piece of the L-shaped bracket are at the same height. Battery pack mounting structure.

2. 2. The battery pack mounting structure according to claim 1, The L-shaped bracket, the front plate, and the rear plate are supported by the frame via a height adjustment mechanism.

3. 2. The battery pack mounting structure according to claim 1, a first guide piece is disposed on the upper surface of the horizontal piece of the L-shaped bracket; A second guide piece is disposed on the inner surface of the side door, The first guide piece and the second guide piece are positioned in the same position in the vehicle front-rear direction. Battery pack mounting structure.

4. 2. The battery pack mounting structure according to claim 1, a support bar that is pulled outward in the vehicle width direction from the horizontal piece of the L-shaped bracket and supports the side door in an open state; Battery pack mounting structure.

5. An electric vehicle equipped with the battery pack mounting structure according to any one of claims 1 to 4, Equipped with a processor capable of autonomous driving control, the processor, when performing a docking control to stop the vehicle next to an electric vehicle stopped in front, stops the vehicle with a gap in a vehicle width direction from the electric vehicle stopped in front, the distance is equal to or greater than twice the height of the side door and less than twice the height of the side door plus the width of the battery pack; Electric car.

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