Vehicle charging system and vehicle

Abstract

To provide a vehicle charging system that can effectively charge a vehicle.SOLUTION: A vehicle charging system 1 includes: sensors 11 and 12 that are provided in a vehicle 10 traveling on a track 9 and detect an obstacle around the vehicle; a travel control unit 13 that is provided in the vehicle and controls the travel of the vehicle on the basis of detection results of the sensors; a travel driving unit 20 that includes a power reception unit 30 for receiving power supplied from the track, a battery 21 for accumulating power, a motor 23, and an inverter 22 for driving the motor on the basis of the power, and performs traveling drive of the vehicle; a transmission unit that is provided in the vehicle and, upon detection of the obstacle by the sensor, transmits a power supply control signal for instructing to limit the power to be supplied; and a power supply facility 80 that is provided in the track and includes a reception unit for receiving a control signal transmitted from the vehicle, a power supply unit 90 for performing a power supply operation for supplying power to the power reception unit, and a power supply control unit 83 for controlling the power supply operation of the power supply unit on the basis of the power supply control signal.SELECTED DRAWING: Figure 1

Description

[Technical field]

[0001] The present disclosure relates to a vehicle charging system that controls charging of a vehicle while it is in motion, and to a vehicle included in such a vehicle charging system. [Background technology]

[0002] 2. Description of the Related Art Some electric vehicles run by charging a battery with power supplied from a power supply facility installed on a road and operating a motor based on this power (for example, Patent Document 1). [Prior art documents] [Patent documents]

[0003] [Patent Document 1] JP 2020-188649 A Summary of the Invention [Problem to be solved by the invention]

[0004] Incidentally, some vehicles have a so-called pre-crash system that, when an obstacle is detected by a sensor such as a camera, applies the brakes to the vehicle to avoid a collision with the detected obstacle. Even in such vehicles, it is desirable to perform charging effectively.

[0005] It is desirable to provide a vehicle charging system and a vehicle that can efficiently charge the vehicle. [Means for solving the problem]

[0006] A vehicle charging system according to an embodiment of the present disclosure includes a sensor, a travel control unit, a travel drive unit, a transmission unit, and a power supply facility. The sensor is provided in a vehicle traveling on a travel path, and is configured to detect obstacles around the vehicle. The travel control unit is provided in the vehicle, and is configured to control the travel of the vehicle based on a detection result of the sensor. The travel drive unit is provided in the vehicle, and has a power receiving unit that receives power supplied from the travel path, a battery that stores the power, a motor, and an inverter that drives the motor based on the power, and is configured to drive the vehicle. The transmission unit is provided in the vehicle, and is configured to transmit a power supply control signal that instructs the power receiving unit to limit the power supplied from the travel path when the sensor detects an obstacle. The power supply facility is provided on the travel path, and has a receiving unit that receives the power supply control signal transmitted from the vehicle, a power supply unit that performs a power supply operation to supply power to the power receiving unit, and a power supply control unit that controls the power supply operation of the power supply unit based on the power supply control signal.

[0007] A vehicle according to an embodiment of the present disclosure includes a sensor, a travel control unit, a travel drive unit, and a transmission unit. The sensor is configured to detect surrounding obstacles. The travel control unit is configured to perform travel control based on a detection result of the sensor. The travel drive unit has a power receiving unit that receives power supplied from a travel path, a battery that stores the power, a motor, and an inverter that drives the motor based on the power, and is configured to perform travel drive. The transmission unit is configured to transmit a power supply control signal that instructs the power supplied to the power receiving unit from the travel path to be limited when the sensor detects an obstacle. The transmitter further transmits a power supply control signal when the power receiver receives power supplied from the road and the sensor cannot detect an obstacle. Effect of the Invention

[0008] According to a vehicle charging system and a vehicle according to an embodiment of the present disclosure, charging of the vehicle can be performed effectively. [Brief description of the drawings]

[0009] [Figure 1] 1 is an explanatory diagram illustrating an example configuration of a vehicle charging system according to an embodiment of the present disclosure. [Diagram 2] 2 is an explanatory diagram illustrating an example of the arrangement of the power supply equipment shown in FIG. 1 on a travel path. [Diagram 3] 2 is a block diagram illustrating a configuration example of the vehicle charging system shown in FIG. 1. [Figure 4A] 2 is a flowchart illustrating an example of an operation of the vehicle charging system shown in FIG. 1. [Figure 4B] 2 is a flowchart illustrating an example of an operation of the vehicle charging system shown in FIG. 1. [Diagram 5] 2 is an explanatory diagram illustrating an operation example of the vehicle charging system shown in FIG. 1. [Figure 6] 1. FIG. 4 is an explanatory diagram illustrating another operation example of the vehicle charging system shown in FIG. DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS

[0010] Hereinafter, embodiments of the present disclosure will be described in detail with reference to the drawings.

[0011] <Embodiment Mode> [Configuration example] 1 to 3 show an example of a configuration of a vehicle charging system (vehicle charging system 1) according to an embodiment. Vehicle charging system 1 includes vehicle 10 and multiple power supply equipment 80. Vehicle 10 is an electric vehicle that travels on a travel path 9 such as a road. Power supply equipment 80 is provided on the travel path 9 and supplies power to vehicle 10 in a contactless manner. As shown in FIG. 2, the multiple power supply equipment 80 are arranged spaced apart from each other along the travel path 9. In vehicle charging system 1, vehicle 10 is configured to be charged sequentially by the multiple power supply equipment 80.

[0012] The vehicle 10 (FIGS. 1 and 3) has a stereo camera 11, a radar device 12, a control unit 13, a driving unit 20, a braking unit 14, a steering unit 15, and a communication unit 16.

[0013] The stereo camera 11 (FIG. 1) is configured to capture an image of the area in front of the vehicle 10, thereby generating a stereo image including a pair of images (left and right images) having a parallax between them. In this example, the stereo camera 11 is disposed inside the vehicle 10, near an upper portion of the windshield of the vehicle 10. The stereo camera 11 has a left camera and a right camera. The left camera and the right camera are disposed at a predetermined distance apart in the width direction of the vehicle 10. The stereo camera 11 generates a series of stereo images by performing an imaging operation at a predetermined frame rate (e.g., 60 [fps]), and supplies the generated stereo images to the control unit 13.

[0014] The radar device 12 is configured to detect objects such as vehicles around the vehicle 10 by irradiating radio waves such as millimeter waves around the vehicle 10 and detecting radio waves reflected from the objects. The radar device 12 then supplies the control unit 13 with position data indicating the relative position of the object with respect to the vehicle 10.

[0015] The control unit 13 (FIGS. 1 and 3) is configured to control the vehicle 10. The control unit 13 is configured, for example, by one or more processors that execute a program, a RAM (Random Access Memory) that temporarily stores processing data, and a ROM (Read Only Memory) that stores the program. The control unit 13 detects an obstacle that may collide with the vehicle 10 based on, for example, a stereo image provided by the stereo camera 11 and position data of an object provided by the radar device 12, and controls the traveling of the vehicle 10 to avoid the collision with the obstacle. Specifically, the control unit 13, for example, controls the operation of the braking unit 14 to brake the vehicle 10, or controls the operation of the steering unit 15 to change the traveling direction of the vehicle 10, in order to avoid the collision with the obstacle. A system that detects an obstacle and controls the traveling of the vehicle 10 to avoid the collision with the detected obstacle in this way is also called a pre-crash system.

[0016] The traveling drive unit 20 (FIGS. 1 and 3) is configured to drive the vehicle 10. As shown in FIG. 1, the traveling drive unit 20 has a power receiving unit 30, a battery 21, an inverter 22, a motor 23, and a power control unit 24.

[0017] The power receiving unit 30 is configured to receive power P supplied from the power supply equipment 80 in a non-contact manner. The power receiving unit 30 has a power receiving coil 31 and a rectifier circuit 32. The power receiving coil 31 is configured to generate an AC power signal by electromagnetic induction based on an electromagnetic field generated by a power supply coil 92 (described later) of the power supply equipment 80 embedded in the travel path 9. The rectifier circuit 32 is configured to perform a rectification operation based on the AC power signal generated by the power receiving coil 31. The rectifier circuit 32 then supplies the power generated by the rectification operation to the battery 21 based on an instruction from the power control unit 24. In this way, in the vehicle charging system 1, the power P is supplied from the power supply equipment 80 to the vehicle 10, and the battery 21 is charged based on this power P.

[0018] The battery 21 is configured to store the power supplied from the power receiving unit 30 and to supply the power to the inverter 22 based on an instruction from the power control unit 24.

[0019] The inverter 22 is configured to generate AC power based on the DC power supplied from the battery 21, and to supply the generated AC power to the motor 23. The inverter 22 is configured to operate based on instructions from a power control unit 24.

[0020] The motor 23 is a power source that generates driving force, which is mechanical energy, based on the AC power supplied from the inverter 22. The vehicle 10 runs by rotating the drive wheels based on this driving force.

[0021] The power control unit 24 is configured to control the operation of the rectifier circuit 32, the battery 21, and the inverter 22, thereby controlling the driving of the vehicle 10 by the motor 23.

[0022] The braking unit 14 (FIG. 3) is configured to brake the vehicle 10 so as to slow down or stop the vehicle 10 based on, for example, a braking operation by the driver or an instruction from the control unit 13.

[0023] The steering unit 15 is configured to change the traveling direction of the vehicle 10 based on, for example, a steering operation by the driver or an instruction from the control unit 13.

[0024] The communication unit 16 (FIG. 3) is configured to communicate with the power supply equipment 80 by wireless communication. As described below, for example, when the power supply equipment 80 is supplying power to the vehicle 10, if the vehicle 10 detects an obstacle, the communication unit 16 transmits to the power supply equipment 80 a power supply control signal CTL that instructs the power supply equipment 80 to stop the power supply operation. Note that in this example, the power supply operation is stopped, but the present invention is not limited to this, and the power supply may be reduced without stopping the power supply operation.

[0025] The notification unit 17 (FIG. 3) is configured to notify the driver of information. The notification unit 17 may include a display unit such as a liquid crystal display. In this case, the notification unit 17 can notify the driver of information by displaying the information. The notification unit 17 may also include a speaker, for example. In this case, the notification unit 17 can notify the driver of information by emitting a sound.

[0026] The power supply facility 80 (FIGS. 1 and 3) includes a vehicle detection unit 81, a communication unit 82, a power supply unit 90, and a power supply control unit 83.

[0027] The vehicle detection unit 81 is configured to detect whether or not a vehicle (vehicle 10) is present within a range (power supply range) to which the power supply equipment 80 can supply power. The vehicle detection unit 81 may be buried in the roadway 9, for example, and detect the vehicle 10 by measuring its weight. Alternatively, the vehicle detection unit 81 may be provided above the roadway 9, and detect the vehicle 10 by capturing an image of the vicinity of the power supply equipment 80.

[0028] The communication unit 82 (FIG. 3) is configured to communicate with the communication unit 16 of the vehicle 10 by wireless communication. The communication unit 82 is configured to receive the power supply control signal CTL transmitted from the communication unit 16 of the vehicle 10.

[0029] The power supply unit 90 (FIGS. 1 and 3) is configured to supply power to the vehicle 10 in a non-contact manner by performing a power supply operation based on an instruction from the power supply control unit 83. As shown in FIG. 1, the power supply unit 90 has a power supply unit 91 and a power supply coil 92. The power supply unit 91 is configured to operate based on an instruction from the power supply control unit 83 and to drive the power supply coil 92 based on AC power supplied from the system power supply 100. The power supply coil 92 is buried in the running path 9 and is configured to generate an electromagnetic field by being driven by the power supply unit 91. In the vehicle 10, the power receiving coil 31 generates an AC power signal by electromagnetic induction based on this electromagnetic field. In this manner, power is supplied from the power supply facility 80 to the vehicle 10.

[0030] The power supply control unit 83 (FIGS. 1 and 3) is configured to control the operation of the power supply equipment 80. Specifically, for example, based on a detection result of the vehicle detection unit 81, when a vehicle 10 is present within a range to which the power supply equipment 80 can supply power, the power supply control unit 83 controls the operation of the power supply unit 90 so that the power supply unit 90 performs a power supply operation. Furthermore, when the communication unit 82 receives a power supply control signal CTL instructing the stop of the power supply operation, the power supply control unit 83 is configured to stop the power supply operation in the power supply unit 90 based on the power supply control signal CTL.

[0031] Here, the vehicle 10 corresponds to a specific example of a "vehicle" in the present disclosure. The stereo camera 11 and the radar device 12 correspond to a specific example of a "sensor" in the present disclosure. The control unit 13 corresponds to a specific example of a "travel control unit" in the present disclosure. The travel drive unit 20 corresponds to a specific example of a "travel drive unit" in the present disclosure. The power receiving unit 30 corresponds to a specific example of a "power receiving unit" in the present disclosure. The battery 21 corresponds to a specific example of a "battery" in the present disclosure. The inverter 22 corresponds to a specific example of an "inverter" in the present disclosure. The motor 23 corresponds to a specific example of a "motor" in the present disclosure. The communication unit 16 corresponds to a specific example of a "transmitting unit" in the present disclosure. The power supply facility 80 corresponds to a specific example of a "power supply facility" in the present disclosure. The communication unit 82 corresponds to a specific example of a "receiving unit" in the present disclosure. The power supply control signal CTL corresponds to a specific example of a "power supply control signal" in the present disclosure. The power supply unit 90 corresponds to a specific example of a "power supply unit" in the present disclosure. The power supply control unit 83 corresponds to a specific but not limitative example of a "power supply control unit" in this disclosure.

[0032] [Actions and Actions] Next, the operation and function of the vehicle charging system 1 of the present embodiment will be described.

[0033] (Overview of overall operation) First, an overview of the overall operation of the vehicle charging system 1 will be described with reference to Fig. 1. In the power supply equipment 80, the vehicle detection unit 81 detects whether or not a vehicle (vehicle 10) is present within a range to which the power supply equipment 80 can supply power. For example, based on the detection result of the vehicle detection unit 81, when the vehicle 10 is present within a range to which the power supply equipment 80 can supply power, the power supply control unit 83 controls the operation of the power supply unit 90 so that the power supply unit 90 performs a power supply operation. The power supply unit 90 (Figs. 1 and 3) performs a power supply operation based on an instruction from the power supply control unit 83 to supply power to the vehicle 10 in a non-contact manner.

[0034] In the vehicle 10, the power receiving unit 30 of the traveling drive unit 20 receives power P supplied from the power supply equipment 80 in a non-contact manner. The battery 21 stores the power supplied from the power receiving unit 30 and supplies the power to the inverter 22 based on instructions from the power control unit 24. The inverter 22 generates AC power based on the DC power supplied from the battery 21 and supplies the generated AC power to the motor 23. The motor 23 generates driving force, which is mechanical energy, based on the AC power supplied from the inverter 22. The power control unit 24 controls the operation of the rectifier circuit 32, the battery 21, and the inverter 22 to control the traveling drive of the vehicle 10 by the motor 23.

[0035] In the vehicle 10, the stereo camera 11 captures an image of the area in front of the vehicle 10 to generate a stereo image including a pair of images (left and right images) having a parallax between them. The radar device 12 detects objects such as vehicles around the vehicle 10 by irradiating radio waves such as millimeter waves around the vehicle 10 and detecting radio waves reflected from the objects. The control unit 13 detects an obstacle that may collide with the vehicle 10 based on, for example, the stereo image provided by the stereo camera 11 and the position data of the object provided by the radar device 12, and controls the running of the vehicle 10 to avoid the collision with the obstacle. The braking unit 14 brakes the vehicle 10 so as to slow down or stop the vehicle 10 based on, for example, a braking operation by the driver or an instruction from the control unit 13. The steering unit 15 changes the traveling direction of the vehicle 10 based on, for example, a steering operation by the driver or an instruction from the control unit 13. For example, when the power supply equipment 80 is supplying power to the vehicle 10 and the vehicle 10 detects an obstacle, the communication unit 16 transmits, to the power supply equipment 80, a power supply control signal CTL that instructs the power supply equipment 80 to stop the power supply operation. The notification unit 17 notifies the driver of the information.

[0036] In the power feeding equipment 80, the communication unit 82 receives, for example, a power feeding control signal CTL transmitted from the communication unit 16 of the vehicle 10. When the communication unit 82 receives the power feeding control signal CTL instructing to stop the power feeding operation, the power feeding control unit 83 stops the power feeding operation in the power feeding unit 90 based on the power feeding control signal CTL.

[0037] (Details of operation) 4A and 4B show an example of the operation of the vehicle charging system 1. In the vehicle charging system 1, the power feeding equipment 80 feeds power to the vehicle 10 every time the vehicle 10 enters a power feeding range of the power feeding equipment 80. Depending on the situation, the vehicle charging system 1 stops the power feeding and operates the pre-crash system, or stops the pre-crash system and feeds power. This operation will be described in detail below.

[0038] First, the vehicle detection unit 81 of the power supply equipment 80 checks whether the vehicle is within the power supply range of the power supply equipment 80 (step S101). If the vehicle is not within the power supply range ("N" in step S101), this step S101 is repeated until the vehicle enters the power supply range of the power supply equipment 80.

[0039] In step S101, if the vehicle (vehicle 10) is within the power supply range of the power supply equipment 80 ("Y" in step S101), the power supply equipment 80 starts a power supply operation (step S102). Specifically, the power supply unit 91 of the power supply equipment 80 operates based on an instruction from the power supply control unit 83, and drives the power supply coil 92 based on the AC power supplied from the system power supply 100. The power supply coil 92 generates an electromagnetic field by being driven by the power supply unit 91. As a result, in the vehicle 10, the power receiving coil 31 generates an AC power signal by electromagnetic induction based on this electromagnetic field, and the rectifier circuit 32 performs a rectification operation based on the AC power signal generated by the power receiving coil 31, and supplies the power generated by the rectification operation to the battery 21. In this way, in the vehicle charging system 1, power P is supplied from the power supply equipment 80 to the vehicle 10, and the battery 21 is charged based on this power P.

[0040] Next, the control unit 13 of the vehicle 10 performs a self-diagnosis (step S103). In this self-diagnosis, the control unit 13 checks whether an obstacle cannot be detected due to electromagnetic noise generated when the power P is supplied from the power supply facility 80 to the vehicle 10 (step S104). That is, the control unit 13 detects an obstacle that may collide with the vehicle 10 based on the stereo image supplied from the stereo camera 11 and the position data of the object supplied from the radar device 12. For example, in the power supply facility 80, electromagnetic noise is generated by the operation of the power supply unit 90, and in the vehicle 10, electromagnetic noise is generated by the operation of the power receiving unit 30 and the power control unit 24. In particular, such non-contact power supply uses a high-voltage signal, so the electromagnetic noise is large. The radar device 12 may not be able to detect an obstacle due to interference between the radio waves used for detection and the electromagnetic noise. In addition, the stereo camera 11 may be affected by the electromagnetic noise when a digital circuit performs a predetermined image processing based on the obtained stereo image. When such electromagnetic noise is present, the control unit 13 may not be able to detect an obstacle based on the stereo images supplied from the stereo camera 11 and the object position data supplied from the radar device 12. Therefore, the control unit 13 performs a self-diagnosis to check whether or not an obstacle can be detected.

[0041] In step S104, if an obstacle can be detected even during power supply ("N" in step S104), in vehicle charging system 1, power supply equipment 80 continues to supply electric power P to vehicle 10. Then, as described below, a pre-crash system may operate.

[0042] The control unit 13 of the vehicle 10 checks whether an obstacle has been detected (step S105). If an obstacle has not been detected ("N" in step S105), the process proceeds to step S110.

[0043] In step S105, when an obstacle is detected ("Y" in step S105), the control unit 13 checks whether the power supply equipment 80 is performing a power supply operation (step S106). Specifically, the control unit 13 checks whether the power supply equipment 80 is performing a power supply operation by checking whether the power receiving unit 30 is receiving power P. If the power supply equipment 80 is not performing a power supply operation ("N" in step S106), the process proceeds to step S109.

[0044] In step S106, if the power supply equipment 80 is performing a power supply operation ("Y" in step S106), the vehicle 10 transmits a power supply control signal CTL to the power supply equipment 80 to instruct it to stop the power supply operation (step S107). Specifically, when the power supply equipment 80 is performing a power supply operation, the control unit 13 determines that the power supply operation should be stopped because there is a possibility that the control unit 13 will erroneously detect an obstacle due to electromagnetic noise. Then, the communication unit 16 transmits a power supply control signal CTL to the power supply equipment 80 to instruct it to stop the power supply operation based on the instruction from the control unit 13.

[0045] Then, the power feeding equipment 80 stops the power feeding operation based on this power feeding control signal CTL (step S108). Specifically, the communication unit 82 of the power feeding equipment 80 receives the power feeding control signal CTL transmitted from the vehicle 10. The power feeding control unit 83 controls the operation of the power feeding unit 90 based on this power feeding control signal CTL, and the power feeding unit 90 stops the power feeding operation based on an instruction from the power feeding control unit 83. As a result, the vehicle charging system 1 stops power feeding and operates the pre-crash system.

[0046] Then, the control unit 13 brakes or steers the vehicle 10 (step S109). That is, since the control unit 13 has detected an obstacle in step S105, the control unit 13 brakes or steers the vehicle 10 to avoid a collision with the obstacle by operating the pre-crash system.

[0047] Vehicle detection unit 81 of power supply equipment 80 checks whether vehicle 10 has passed through the power supply range of power supply equipment 80 (step S110). If vehicle 10 is still within the power supply range ("N" in step S110), the process returns to step S105, and vehicle charging system 1 repeats the processes of steps S105 to S110 until vehicle 10 leaves the power supply range.

[0048] In step S110, if vehicle 10 has left the power supply range of power supply equipment 80 ("Y" in step S110), power supply control unit 83 of power supply equipment 80 checks whether power supply unit 90 is supplying power (step S111). If power supply unit 90 has already finished supplying power ("N" in step S111), this process ends. If power supply unit 90 is still supplying power ("Y" in step S111), power supply control unit 83 controls the operation of power supply unit 90, and power supply unit 90 stops the power supply operation based on an instruction from power supply control unit 83 (step S112). This ends the process.

[0049] In step S104, if the control unit 13 cannot detect an obstacle due to electromagnetic noise ("Y" in step S104), the control unit 13 checks whether the charging rate of the battery 21 is low (step S113). For example, the control unit 13 checks whether the charging rate of the battery 21 is low by comparing the charging rate of the battery 21 with a predetermined value. This predetermined value is set, for example, to a charging rate value at which charging must be continued.

[0050] In step S113, if the charging rate of the battery 21 is not low ("N" in step S113), the control unit 13 checks whether the detection result of the obstacle based on the stereo image supplied from the stereo camera 11 is different from the detection result of the obstacle based on the position data of the object supplied from the radar device 12 (step S114). That is, since the stereo camera 11 captures an image in front of the vehicle 10, the control unit 13 can detect an obstacle in front of the vehicle 10. Furthermore, since the radar device 12 detects vehicles around the vehicle 10 by irradiating radio waves around the vehicle 10, the control unit 13 can detect, for example, obstacles in front, on the sides, and behind the vehicle 10. Therefore, the control unit 13 can compare the detection result of the obstacle in front of the vehicle 10 based on the stereo image supplied from the stereo camera 11 with the detection result of the obstacle in front of the vehicle 10 based on the position data of the object supplied from the radar device 12. The detection results of these obstacles are expected to be equal to each other, but due to electromagnetic noise, the detection results of these obstacles may differ from each other.

[0051] In step S114, if the obstacle detection result based on the stereo image supplied from the stereo camera 11 is different from the obstacle detection result based on the object position data supplied from the radar device 12 ("Y" in step S114), the vehicle 10 notifies the driver of the malfunction of the sensor (stereo camera 11 and radar device 12) (step S115). Specifically, the control unit 13 determines that one of the obstacle detection result based on the stereo image supplied from the stereo camera 11 and the obstacle detection result based on the object position data supplied from the radar device 12 is affected by electromagnetic noise and is different from the desired result. That is, the control unit 13 determines that one of the stereo camera 11 and the radar device 12 is malfunctioning due to electromagnetic noise. Then, the notification unit 17 notifies the driver of the sensor malfunction based on the instruction from the control unit 13.

[0052] Then, vehicle 10 transmits a power supply control signal CTL to power supply equipment 80 to instruct the power supply equipment 80 to stop the power supply operation (step S116). Specifically, control unit 13 determines that the sensor is malfunctioning due to electromagnetic noise, and therefore the power supply operation should be stopped to prevent the occurrence of electromagnetic noise. Then, based on the instruction from control unit 13, communication unit 16 transmits a power supply control signal CTL to power supply equipment 80 to instruct the power supply equipment 80 to stop the power supply operation.

[0053] Then, the power supply equipment 80 stops the power supply operation based on this power supply control signal CTL (step S117). Specifically, the communication unit 82 of the power supply equipment 80 receives the power supply control signal CTL transmitted from the vehicle 10. The power supply control unit 83 controls the operation of the power supply unit 90 based on this power supply control signal CTL, and the power supply unit 90 stops the power supply operation based on an instruction from the power supply control unit 83. Then, the process proceeds to step S105. That is, when the process proceeds from step S104 to step S105, the power supply equipment 80 supplies power P to the vehicle 10, but when the process proceeds from step S117 to step S105, the power supply equipment 80 does not supply power P to the vehicle 10. Then, the vehicle charging system 1 performs the processes of steps S105 to S112.

[0054] In step S114, if the obstacle detection result based on the stereo image supplied from the stereo camera 11 and the obstacle detection result based on the object position data supplied from the radar device 12 match ("Y" in step S114), the control unit 13 checks, for example, whether the sensor (stereo camera 11 and radar device 12) is broken by the self-diagnosis in step S103 (step S118). If the sensor is not broken ("N" in step S118), the process proceeds to step S115. That is, in this case, the control unit 13 cannot detect the obstacle due to electromagnetic noise ("Y" in step S104), but the sensor is not broken ("N" in step S118). Therefore, the control unit 13 determines that both the obstacle detection result based on the stereo image supplied from the stereo camera 11 and the obstacle detection result based on the object position data supplied from the radar device 12 are affected by electromagnetic noise and indicate that there is no obstacle, even though there is actually an obstacle. That is, in this case, the control unit 13 determines that both the stereo camera 11 and the radar device 12 are malfunctioning due to electromagnetic noise. In this case, the process proceeds from step S118 to step S115. Therefore, the vehicle 10 notifies the driver of the sensor malfunction (step S115) and transmits a power supply control signal CTL to the power supply equipment 80 to instruct it to stop the power supply operation (step S116), and the power supply equipment 80 stops the power supply operation based on this power supply control signal CTL (step S117).

[0055] In step S118, if the sensors (stereo camera 11 and radar device 12) have failed ("Y" in step S118), the vehicle 10 notifies the driver of the sensor failure and that the pre-crash system will be stopped (step S119). Specifically, the control unit 13 determines to stop the pre-crash system because the sensor has failed and the pre-crash system cannot properly detect an obstacle even if it is operated. Then, the notification unit 17 notifies the driver of the sensor failure and that the pre-crash system will be stopped. Then, the process proceeds to step S121.

[0056] In step S113, if the charging rate of the battery 21 is low ("Y" in step S113), the vehicle 10 notifies the driver that the pre-crash system will be stopped (step S120). Specifically, the control unit 13 determines that since the charging rate of the battery 21 is low, charging of the battery 21 should be prioritized over the processing of the pre-crash system, and decides to stop the pre-crash system. Then, the notification unit 17 notifies the driver that the pre-crash system will be stopped. Then, the process proceeds to step S121.

[0057] Then, the control unit 13 stops the pre-crash system (step S121), which causes the vehicle charging system 1 to stop the pre-crash system and start power supply.

[0058] Vehicle detection unit 81 of power supply equipment 80 checks whether vehicle 10 has passed through the power supply range of power supply equipment 80 (step S122). If vehicle 10 is still within the power supply range ("N" in step S122), the process returns to step S122, and vehicle charging system 1 repeats the process of step S122 until vehicle 10 leaves the power supply range.

[0059] In step S122, if vehicle 10 has left the power supply range of power supply equipment 80 ("Y" in step S122), power supply control unit 83 controls the operation of power supply unit 90, and power supply unit 90 stops the power supply operation based on an instruction from power supply control unit 83 (step S123).

[0060] Then, the vehicle 10 restarts the operation of the pre-crash system that was stopped in step S121 (step S124). This ends the process.

[0061] In this example, when the vehicle 10 is within the power supply range of the power supply equipment 80, the vehicle 10 transmits the power supply control signal CTL to the power supply equipment 80. The present invention is not limited to this example. For example, the vehicle 10 may transmit the power supply control signal CTL to the power supply equipment 80 even when the vehicle 10 is outside the power supply range of the power supply equipment 80. For example, the vehicle 10 can transmit the power supply control signal CTL to the power supply equipment 80 after passing through the power supply range of a certain power supply equipment 80 and before reaching the power supply range of the next power supply equipment 80. In this way, even if the vehicle 10 cannot transmit the power supply control signal CTL due to electromagnetic noise, for example, in the power supply range of the power supply equipment 80, the vehicle 10 can transmit the power supply control signal CTL in a state where no electromagnetic noise is generated between the two power supply equipment 80.

[0062] Furthermore, for example, the power supply devices 80 may be configured to be able to exchange various information by communicating with each other. In this case, for example, the power supply control signal CTL transmitted by the vehicle 10 may include information (travel information) regarding the travel of the vehicle 10. Specifically, the power supply control signal CTL may include, for example, information regarding the travel speed of the vehicle 10 and information regarding the travel lane in which the vehicle 10 is traveling.

[0063] Fig. 5 shows an example of an operation of the vehicle charging system 1 in a case where information on the traveling speed of the vehicle 10 and information on the traveling lane in which the vehicle 10 is traveling is transmitted. In this example, two vehicles 10 (vehicles 10A and 10B) are traveling on a traveling road 9 having two traveling lanes. In Fig. 5, the power feeding coil 92 of the power feeding equipment 80 that is performing a power feeding operation is drawn by a solid line, and the power feeding coil 92 of the power feeding equipment 80 that is not performing a power feeding operation is drawn by a dashed line.

[0064] In this example, vehicle 10A is traveling in the right driving lane of road 9. In vehicle 10A, electromagnetic noise during power supply does not affect obstacle detection. Therefore, the multiple power supply devices 80 estimate the position of vehicle 10A based on information about the traveling speed of vehicle 10A and information about the driving lane in which vehicle 10A is traveling, and sequentially perform power supply operations according to the position in which vehicle 10A is traveling so as to supply power to vehicle 10A.

[0065] On the other hand, vehicle 10B is traveling in the left driving lane of road 9. In vehicle 10B, electromagnetic noise during power supply affects obstacle detection. Therefore, the multiple power supply devices 80 estimate the position of vehicle 10B based on information about the traveling speed of vehicle 10B and information about the driving lane in which vehicle 10B is traveling, and operate not to supply power to vehicle 10B.

[0066] 6 shows another operation example of the vehicle charging system 1 when transmitting information about the traveling speed of the vehicle 10 and information about the traveling lane in which the vehicle 10 is traveling. In this example, three vehicles 10 (vehicles 10C to 10E) are traveling in the right traveling lane of the traveling road 9.

[0067] In this example, in the vehicles 10C and 10D, electromagnetic noise during power supply does not affect the detection of obstacles. Therefore, the power supply devices 80 estimate the positions of the vehicles 10C and 10D based on information about the traveling speed of the vehicles 10C and 10D and information about the traveling lane in which the vehicles 10C and 10D are traveling, and sequentially perform power supply operations according to the positions in which the vehicles 10C and 10D are traveling so as to supply power to the vehicles 10C and 10D.

[0068] On the other hand, in the vehicle 10E, electromagnetic noise during power supply affects the detection of obstacles. Therefore, the power supply devices 80 estimate the position of the vehicle 10E based on information on the traveling speed of the vehicle 10E and information on the traveling lane in which the vehicle 10E is traveling, and sequentially stop the power supply operation according to the position in which the vehicle 10E is traveling so as not to supply power to the vehicle 10E.

[0069] In this way, the vehicle charging system 1 includes a sensor (for example, a stereo camera 11 and a radar device 12) that detects obstacles around the vehicle 10, a control unit 13 that controls the traveling of the vehicle 10 based on the detection result of the sensor, a power receiving unit 30 that receives the power P supplied from the traveling road 9, a battery 21 that stores the power P, a motor 23, and an inverter 22 that drives the motor 23 based on the power P. The vehicle charging system 1 is provided with a traveling drive unit 20 that drives the traveling of the vehicle 10, and a communication unit 16 that transmits a power supply control signal CTL that instructs the power receiving unit 30 to limit the power P supplied from the traveling road 9 when the sensor detects an obstacle. As a result, for example, when the sensor detects an obstacle, the power P supplied to the power receiving unit 30 can be limited. Specifically, for example, the power supply operation may be stopped, or the power supply operation may be reduced without stopping the power supply operation. As a result, the vehicle charging system 1 can suppress electromagnetic noise, thereby reducing the possibility of the pre-crash system malfunctioning. On the other hand, for example, when the sensor does not detect an obstacle, the power supply operation is performed. As a result, the vehicle charging system 1 can supply power to the vehicle 10 while maintaining the reliability of the pre-crash system, so that the vehicle 10 can be charged effectively.

[0070] Furthermore, in the vehicle charging system 1, the communication unit 16 is further configured to transmit a power supply control signal CTL when the power receiving unit 30 is receiving power P supplied from the travel path 9 and the sensor cannot detect an obstacle. This makes it possible to limit the power P supplied to the power receiving unit 30 when the sensor cannot detect an obstacle, thereby suppressing electromagnetic noise. On the other hand, for example, when the sensor can detect an obstacle, a power supply operation is performed. This makes it possible for the vehicle charging system 1 to supply power to the vehicle 10 while maintaining the reliability of the pre-crash system, thereby enabling the vehicle 10 to be charged effectively.

[0071] In addition, in the vehicle charging system 1, when the charging rate of the battery 21 is low, the control unit 13 does not control the running of the vehicle 10 based on the detection result of the sensor, and the communication unit 16 does not transmit the power supply control signal CTL. As a result, when the charging rate is low, for example, the pre-crash system is stopped and the power supply operation is given priority, so that the vehicle 10 can be charged effectively.

[0072] Furthermore, in the vehicle charging system 1, the power supply control signal CTL further includes driving information of the vehicle 10. Specifically, the power supply control signal CTL includes, for example, information on the driving speed of the vehicle 10 and information on the driving lane in which the vehicle 10 is driving. This allows the power supply equipment 80 to perform or stop a power supply operation according to, for example, the position of the vehicle 10, thereby enabling the vehicle 10 to be charged effectively.

[0073] [effect] As described above, in this embodiment, the vehicle can be charged effectively by providing a driving drive unit that has a sensor that detects obstacles around the vehicle, a control unit that controls the driving of the vehicle based on the detection results of the sensor, a power receiving unit that receives power supplied from the driving path, a battery that stores power, a motor, and an inverter that drives the motor based on the power and drives the vehicle to travel, and a communication unit that transmits a power supply control signal that instructs the power receiving unit to limit the power supplied from the driving path when the sensor detects an obstacle.

[0074] In this embodiment, the communication unit is further configured to transmit a power supply control signal when the power receiving unit is receiving power supplied from the road and the sensor cannot detect an obstacle, thereby enabling the vehicle to be charged effectively.

[0075] In this embodiment, when the charging rate of the battery is low, the control unit does not control the vehicle's driving based on the detection results of the sensor, and the communication unit does not transmit a power supply control signal, so that the vehicle can be charged effectively.

[0076] In this embodiment, the power supply control signal further includes vehicle driving information, so that charging of the vehicle can be performed effectively.

[0077] Although the present technology has been described above with reference to the embodiments, the present technology is not limited to these embodiments and various modifications are possible.

[0078] For example, in the above embodiment, the stereo camera 11 and the radar device 12 are used as sensors, but the present invention is not limited to this. For example, a monocular camera may be used instead of the stereo camera 11. In addition to these, other devices may also be used as sensors.

[0079] It should be noted that the effects described in this specification are merely examples and are not limiting, and other effects may also be obtained. [Explanation of symbols]

[0080] 1...vehicle charging system, 10...vehicle, 11...stereo camera, 12...radar device, 13...control unit, 14...braking unit, 15...steering unit, 16...communication unit, 17...notification unit, 20...driving unit, 21...battery, 22...inverter, 23...motor, 24...power control unit, 30...power receiving unit, 31...power receiving coil, 32...rectifier circuit, 80...power supply equipment, 81...vehicle detection unit, 82...communication unit, 83...power supply control unit, 90...power supply unit, 91...power supply unit, 92...power supply coil, 100...system power supply, CTL...power supply control signal, P...power.

Claims

1. A sensor provided in a vehicle traveling on a roadway for detecting obstacles around the vehicle; A driving control unit provided in the vehicle and performing driving control of the vehicle based on the detection result of the sensor; a driving unit that is provided in the vehicle and has a power receiving unit that receives power supplied from the road, a battery that stores the power, a motor, and an inverter that drives the motor based on the power, and drives the vehicle to travel; a transmission unit provided in the vehicle, the transmission unit transmitting a power supply control signal instructing the power receiving unit to limit the power supplied from the road when the sensor detects the obstacle; a power supply facility provided on the travel path, the power supply facility including a receiving unit that receives the power supply control signal transmitted from the vehicle, a power supply unit that performs a power supply operation to supply the power to the power receiving unit, and a power supply control unit that controls the power supply operation of the power supply unit based on the power supply control signal; A vehicle charging system comprising:

2. The transmitter further transmits the power supply control signal when the sensor cannot detect the obstacle while the power receiver is receiving the power supplied from the travel path. The vehicle charging system of claim 1 .

3. If the charging rate of the battery is lower than a predetermined value, The driving control unit does not perform the driving control of the vehicle based on the detection result of the sensor, The transmitting unit does not transmit the power supply control signal.

3. The vehicle charging system according to claim 1 or 2.

4. The power supply control signal further includes driving information of the vehicle. The vehicle charging system according to any one of claims 1 to 3.

5. A sensor for detecting surrounding obstacles; A driving control unit that performs driving control based on the detection results of the sensor; a travel drive unit that has a power receiving unit that receives power supplied from a travel path, a battery that stores the power, a motor, and an inverter that drives the motor based on the power, and that drives the vehicle to travel; a transmission unit that transmits a power supply control signal that instructs the power receiving unit to limit the power supplied from the travel path when the sensor detects the obstacle; Equipped with The transmitter further transmits the power supply control signal when the sensor cannot detect the obstacle while the power receiver is receiving the power supplied from the travel path. vehicle.

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