Charging system and computer-readable medium

Abstract

The charging system includes a charging station having an input configured to receive a first type of power and a power converter connected to the input. The power converter is configured to convert the first type of power from the input to a second type of power different from the first type of power, the second type of power including DC power. The charging station has outputs connected to the power converter, the outputs configured such that DC power can be simultaneously provided to each of the outputs. Each of the outputs is configured to connect to a respective electric vehicle for charging the electric vehicle.

Description

background

[0001]

[0001] Electric vehicles may require periodic charging to maintain a sufficient battery level for a desired journey. In the case of autonomous electric vehicles, the autonomous electric vehicle may be able to monitor the state of charge of its own batteries and may drive to a charging station when the batteries need to be recharged. When an operator maintains a fleet of autonomous electric vehicles, a charging system including many charging stations may be provided. [Brief explanation of the drawings]

[0002]

[0002] The detailed description is set forth with reference to the accompanying drawings, in which:

[0002] The use of the same reference numbers in different drawings indicates similar or identical components or features.

[0003] [Figure 1] FIG. 1 is a schematic diagram of a charging system including several charging stations.

[0004] [Figure 2] FIG. 2 is a schematic diagram of a charging station.

[0005] [Figure 3] FIG. 3 is a schematic diagram of a power converter.

[0006] [Figure 4] FIG. 4 is a schematic diagram of two connectable power converters.

[0007] [Figure 5] FIG. 5 is a schematic diagram of a first use case of a charging station.

[0008] [Figure 6] FIG. 6 is a schematic diagram of a second use case of a charging station.

[0009] [Figure 7] FIG. 7 is a flow diagram illustrating a method for charging first and second autonomous electric vehicles.

[0010] [Figure 8] FIG. 8 is a schematic diagram of a third use case of a charging station.

[0011] [Figure 9] FIG. 9 is a schematic diagram of a fourth use case of a charging station.

[0012] [Figure 10] FIG. 10 is a schematic diagram of a system comprising a vehicle and one or more computing device(s). Detailed Description

[0013] This application relates to efficient and cost-effective charging for fleets of autonomous electric vehicles, such as those used as taxis. When fleets of autonomous electric vehicles are used to provide taxi services, it may be desirable for those autonomous electric vehicles to be available for trips as frequently as possible, especially during times of peak demand.

[0014] To this end, a charging system is provided that includes several charging stations. Each charging station includes a power converter connected to multiple outputs, thereby allowing the power converter to be used to simultaneously charge multiple autonomous electric vehicles connected to each of those outputs. This can provide flexibility in charging, for example, by allowing all power provided by the power converter to be provided to a single output to charge a single autonomous electric vehicle, or by splitting the power provided by the power converter to multiple outputs simultaneously to allow simultaneous charging of multiple autonomous electric vehicles. This can allow both fast and slow charging depending on current requirements. This can be useful for a fleet of autonomous electric vehicles, for example, to allow fast or slow charging depending on the time of day that charging will occur. In some examples, each charging station includes several power converters, such that each power converter is connected to multiple outputs, thereby allowing each power converter to simultaneously charge multiple autonomous electric vehicles.

[0015]

[0015] Intelligent charging control can be provided, whereby the batteries of autonomous electric vehicles can be charged in an appropriate manner depending, for example, on the battery's state of charge or the time of day charging will occur. If two autonomous electric vehicles are to be connected to the output of the same power converter, their connection to the output can be identified based on parameters indicative of the state of the two batteries of the electric vehicles. As an example, the electric vehicle with the higher open-circuit voltage can be disconnected from the output to allow the autonomous electric vehicle with the lower open-circuit voltage to be charged on another output, thereby preventing charge leakage between the two batteries that would otherwise occur if batteries with different open-circuit voltages were connected to two outputs of the same power converter simultaneously. If the autonomous electric vehicles to be charged have approximately the same level of open-circuit voltage, the autonomous electric vehicles can be connected to two different outputs of the same power converter and charged simultaneously.

[0016] In the event of adverse operating conditions of one of the charging stations, the output of the charging station for connection to electric vehicles can be connected to a power converter of another, different charging station of the charging stations, for example, by closing an appropriate contactor. This can allow the same number of electric vehicles to be charged at the charging station despite adverse operating conditions of one of the charging stations. In this way, a faulty charging station can be disconnected from the electric vehicles or can be replaced by another charging station.

[0017]

[0017] Thus, as discussed herein, a method, a charging station, and a charging system may be provided. For example, the method may include: connecting a first electric vehicle to a first output of a charging station, the charging station comprising a power converter configured to convert a received first type of power to a second type of power different from the first type of power, the second type of power comprising DC power, the power converter connected to the first output such that the DC power can be provided to the first output; Charging a first electric vehicle using DC power provided from the power converter to a first output; comparing a first parameter indicative of a current state of a first battery of a first autonomous electric vehicle with a second parameter indicative of a current state of a second battery of a second electric vehicle to be connected to a second output of the charging station, wherein a power converter is connected to the second output whereby DC power can be provided to the second output; i) if the first parameter is greater than the second parameter, disconnecting a first electric vehicle from a first output; and connecting a second electric vehicle to a second output; charging a second electric vehicle using the DC power provided from the power converter to a second output; reconnecting the first electric vehicle to the first output when the second parameter reaches a level within a first pre-specified threshold of the first parameter; simultaneously charging a first electric vehicle and a second electric vehicle using DC power provided from the power converter to respective first and second outputs; ii) if the first parameter is less than the second parameter, waiting for the first parameter to reach a level within a second pre-specified threshold of the second parameter; connecting a second electric vehicle to the second output; simultaneously charging a first electric vehicle and a second electric vehicle using DC power provided from the power converter to respective first and second outputs; In such a manner, the first and second electric vehicles can be charged simultaneously by the same power converter, which can reduce the number of power converters, and therefore costs, needed to charge the first and second electric vehicles compared to a configuration in which each power converter can only supply power to one output at a time. By disconnecting the first electric vehicle from the first output and connecting the second electric vehicle to the second output, charge leakage between the batteries of the first and second electric vehicles can be avoided when a first parameter indicative of a current state of the first battery of the first electric vehicle is greater than a second parameter indicative of a current state of the second battery of the second electric vehicle. Similarly, charge leakage between the batteries of the first and second electric vehicles can be avoided by waiting to connect the second electric vehicle until the first parameter indicative of a current state of the first battery of the first electric vehicle reaches a level within a second pre-specified threshold of the second parameter indicative of a current state of the second battery of the second electric vehicle. In some examples, the first and second parameters may indicate the open circuit voltages of the first and second batteries, respectively.

[0018] The power converter may include a first power converter, and the method may further include: connecting a second power converter of the charging station to the second output, the second power converter being connected to the second output such that DC power can be provided to the second output; charging a second electric vehicle using DC power provided from the first power converter to the second output and from the second power converter to the second output when the second electric vehicle is connected to the second output and the first electric vehicle is disconnected from the first output; This can include a first power converter and a second power converter. This can enable both the first power converter and the second power converter to provide DC power to charge the second autonomous electric vehicle, which can increase the rate of charging compared to using only a single power converter. This can more quickly bring the second parameter, e.g., the open-circuit voltage of the second battery of the second electric vehicle, approximately equal to the level of the first parameter, e.g., the open-circuit voltage of the first battery of the first electric vehicle, which can ensure that the first electric vehicle is not disconnected from the first output for an extended period of time. This can be particularly relevant when the first and second electric vehicles are intended for use as taxis, as this can ensure that both the first and second electric vehicles are returned to service as quickly as possible, without either having to wait for the other to fully charge.

[0019]

[0019] The charging station may include a first charging station, the power converter may include a first power converter, and the method may include: connecting the first and second outputs to a second power converter of the second charging station, whereby DC power can be supplied from the second power converter to the first and second outputs of the first charging station; charging first and second electric vehicles using DC power provided from the second power converter to respective first and second outputs; This can provide redundancy in case of adverse operating conditions of the first charging station and can ensure that the same number of electric vehicles can be charged at the charging stations where the charging station is located.

[0020]

[0020] In another example, the charging station an input configured to receive a first type of power; a power converter connected to the input, the power converter configured to convert a first type of power from the input to a second type of power different from the first type of power, the second type of power comprising DC power; outputs connected to the power converter, the outputs configured such that DC power can be simultaneously supplied to each of the outputs, each of the outputs configured to connect to a respective electric vehicle for charging the electric vehicle; This can allow multiple electric vehicles, e.g., autonomous electric vehicles, to be charged simultaneously by the same power converter, which can reduce the number of power converters needed to charge multiple electric vehicles, and therefore costs, compared to configurations in which each power converter can only power one output, and therefore one electric vehicle, at a time. In some examples, DC power is provided simultaneously at the same level to multiple outputs, whereby each of the outputs has the same charging potential (e.g., the same voltage), reducing system cost, component count, and improving reliability. In some examples, as further disclosed herein, vehicle contactors can be used to disconnect or connect vehicles to each output for charge balancing purposes.

[0021]

[0021] The power converter may comprise a first power converter, the output may comprise a first output, and the charging station may comprise: a second power converter connected to the input, the second power converter configured to convert a first type of power from the input to a third type of power different from the first type of power, the third type of power comprising DC power; second outputs connected to the second power converter, the second outputs configured such that DC power can be simultaneously supplied to each of the second outputs, each of the second outputs configured to connect to a respective electric vehicle for charging the electric vehicle; The first power converter and the second power converter may be connectable such that DC power can be supplied from the first power converter and the second power converter to the second output, and such that DC power can be supplied from the second power converter and the first power converter to the first output. This can allow increased DC power to be supplied to either the first output or the second output, which can, for example, allow for increased charging rates if desired.

[0022]

[0022] As another example, a charging system may include a plurality of charging stations, each of which: an input configured to receive a first type of power; a power converter connected to the input, the power converter configured to convert a first type of power from the input to a second type of power different from the first type of power, the second type of power comprising DC power; outputs connected to the power converter, the outputs configured such that DC power can be simultaneously supplied to each of the outputs, each of the outputs configured to connect to a respective electric vehicle for charging the electric vehicle; This may, for example, reduce the number of charging stations and / or power converters required for the charging system compared to a charging system having charging stations where each power converter is only capable of supplying a single electric vehicle at a time, and / or may reduce the wait time for charging of an electric vehicle compared to a charging system having the same number of power converters but where each power converter is only capable of supplying a single electric vehicle at a time.

[0023] A charging system in the form of a charging depot, generally designated 10, is shown schematically in Figure 1. Charging system 10 includes a system controller 11 and a first 12, a second 14, a third 16, and a fourth 18 charging stations, as shown. Charging stations 12, 14, 16, and 18 may have substantially the same structure.

[0024] System controller 11 may be configured to perform the functions of charging system 10, including causing electric vehicles to connect and disconnect to charging stations 12, 14, 16, and 18, as described below. Controller 11 may include a suitable processor for performing the functions described herein. Controller 11 may include suitable communication circuitry to enable controller 11 to communicate with any of charging stations 12, 14, 16, and 18 and any electric vehicles that will be connected to charging stations 12, 14, 16, and 18.

[0025] In some examples, the system controller 11 can be used to direct autonomous electric vehicles to an appropriate one of the charging stations 12, 14, 16, 18. For example, the system controller 11 can direct electric vehicles to an appropriate one of the charging stations 12, 14, 16, 18 depending on the condition of the electric vehicle's battery, and / or can group electric vehicles together for charging at an appropriate one of the charging stations 12, 14, 16, 18 depending on the condition of the electric vehicle's battery. In some examples, the controller 11 can direct an electric vehicle to an appropriate charging station 12, 14, 16, 18 based on any of the open-circuit voltage of the battery of the electric vehicle to be connected to the charging station 12, 14, 16, 18, the open-circuit voltage of the battery of an electric vehicle already connected to the charging station 12, 14, 16, 18, the state of charge of the battery of the electric vehicle to be connected to the charging station 12, 14, 16, 18, and the state of charge of the battery of an electric vehicle already connected to the charging station 12, 14, 16, 18. As used herein, open-circuit voltage may refer to a stationary vehicle during charging when substantially few vehicle components (e.g., the drivetrain) are drawing power from the vehicle battery. Vehicle components may be drawing power during open-circuit voltage for self-tests, ventilation, fluid pumps, etc. Severe imbalances in open-circuit voltage can lead to cross currents between vehicles, which may be harmful to the vehicle batteries and / or the charging station. Additionally, the imbalance can lead to unbalanced charging between the vehicles, especially if the outputs of corresponding charging stations coupled to the vehicles share a common power stage (e.g., share power regulation between the vehicles).

[0026] For example, if an incoming electric vehicle has a battery with an open-circuit voltage substantially corresponding to the open-circuit voltage of a battery of an electric vehicle already being charged at one of the charging stations 12, 14, 16, 18, the system controller 11 may direct the incoming electric vehicle to that charging station 12, 14, 16, 18. Additionally or alternatively, if the charge state of the incoming electric vehicle is such that the incoming electric vehicle requires rapid charging, for example, to meet a desired turnaround time or during peak driving hours, the system controller 11 may direct the incoming vehicle to an available charging station 12, 14, 16, 18, so that rapid charging can occur, as described below. In these and other examples, the system controller 11 may direct the incoming electric vehicle to the appropriate charging station 12, 14, 16, 18 depending on the condition of the battery of the incoming electric vehicle, along with other parameters such as the time of day and the status of other electric vehicles in the fleet to which the incoming electric vehicle belongs.

[0027] In some examples, the system controller 11 may communicate with the electric vehicles and / or charging stations 12, 14, 16, 18 to start and / or stop charging of the electric vehicles, as discussed in further detail below. The controller 11 may be a site controller communicatively coupled to multiple charging stations and / or vehicles and / or may cooperate with corresponding controllers of the charging stations, the functionality of which is disclosed herein and shared among them in any combination.

[0028]

[0028] In some examples, the system controller 11 may monitor and / or receive safety information regarding the electric vehicle and / or any of the charging stations 12, 14, 16, 18, and may cause appropriate action to be taken, for example, by disconnecting the vehicle from the charging station 12, 14, 16, 18.

[0029]

[0029] The first charging station 12, shown alone in Figure 2, comprises an input 20, a first power converter 22, a second power converter 24, a first link 26, a second link 28, a first plurality of outputs 30, a second plurality of outputs 32, a communication module 34, and a controller 36.

[0030]

[0030] The input 20 may be an electrical connection connecting the first charging station 12 to a mains power source, whereby the input 20 receives AC power from the mains power source. The mains power may be, for example, in the range of 100-240V AC at a frequency of 50-60Hz, or alternatively may be a 480V three-phase power source. In other examples, the input may be an electrical connection connecting the first charging station to a suitable DC power source. It will be understood that AC power may be a first type of power, and DC power may be a second type of power. It will further be understood that power at different voltages, or different power levels, may further be considered different types of power.

[0031]

[0031] In the example of Figure 2, first power converter 22 can convert AC power received at input 20 to DC power suitable for charging an electric vehicle. An example showing a possible schematic layout of first power converter 22 is shown in Figure 3. First power converter 22 can include an AC-DC stage 38 and a DC-DC stage 40. AC-DC stage 38 can include power electronics suitable for converting AC power received at input 20 to DC power, and in some examples, can include a rectifier or the like. DC-DC stage 40 can receive DC power from AC-DC stage 38 and reduce its voltage to a voltage suitable for charging an electric vehicle. DC-DC stage 40 can include power electronics for performing a step-down function and can include a suitable step-down or buck converter. Although not shown in FIG. 3, in some examples, the first power converter 22 may include a power factor correction (PFC) stage before or as part of the AC-DC stage 38 to reduce losses.

[0032] In other examples, first power converter 22 may convert a first voltage of DC power received at input 20 to a second, lower voltage of DC power suitable for charging an electric vehicle. In such examples, AC-DC stage 38, and any appropriate PFC stage, may be omitted.

[0033] As an illustrative example, first power converter 22 may be designed such that first power converter 22 is capable of outputting DC power at approximately 85 kW of power. While 85 kW is used here as an illustrative example, it will be understood that the power provided by first power converter 22 may actually vary, with the maximum power therefore typically dependent on the available input power, the condition of the battery of the autonomous electric vehicle that first charging station 12 is designed to optimally charge, and / or the electrical interconnections and power handling capabilities of the components therebetween.

[0034] The second power converter 24 can convert the AC power received at the input 20 to DC power suitable for charging an electric vehicle. The second power converter 24 can have substantially the same configuration as the first power converter 22. In particular, the second power converter 24 can include an AC-DC stage and a DC-DC stage. The AC-DC stage can include power electronics suitable for converting the AC power received at the input 20 to DC power, and in some examples, can include a rectifier or the like. The DC-DC stage can receive DC power from the AC-DC stage and reduce its voltage to a voltage suitable for charging an electric vehicle. The DC-DC stage can include power electronics for performing a step-down function, and can include a suitable step-down or buck converter. In some examples, the second power converter 24 can include a power factor correction (PFC) stage before or as part of the AC-DC stage to reduce losses.

[0035] In other examples, second power converter 24 may convert a first voltage of DC power received at input 20 to a second, lower voltage of DC power suitable for charging an electric vehicle. In such examples, AC-DC stage 38, and any appropriate PFC stage, may be omitted.

[0036] As an illustrative example, second power converter 24 may be designed such that second power converter 24 is capable of outputting DC power at approximately 85 kW of power. While 85 kW is used here as an illustrative example, it will be understood that the power provided by second power converter 24 may actually vary, with the maximum power therefore typically dependent on the available input power, the condition of the battery of the autonomous electric vehicle that first charging station 12 is designed to optimally charge, and / or the electrical interconnections and power handling capabilities of the components therebetween.

[0037] 4 , the first 22 and second 24 power converters may be connectable in parallel via disconnect switches 42. This may allow power from each of the first 22 and second 24 power converters to be provided to any of the first 30 and second 32 pluralities of outputs, which may enable selective fast charging of electric vehicles connected to any of the first 30 and second 32 pluralities of outputs, as discussed in further detail below. Following the illustrative example above, in which each of the first 22 and second 24 power converters may have a power output of 85 kW, the first charging station 12 may be capable of providing a power output of 170 kW at any of the first 30 and second 32 pluralities of outputs.

[0038] The first 26 and second 28 links may each include a DC bus extending from the respective first 22 and second 24 power converters. Each output of the first plurality of outputs 30 may include a connector coupled to the first link 26, whereby the connector is any suitable connector for connecting to a charging terminal of an electric vehicle. Similarly, each output of the second plurality of outputs 32 may include a connector coupled to the second link 28, whereby the connector is any suitable connector for connecting to a charging terminal of an electric vehicle. As shown in FIGS. 1 and 2 , the first plurality of outputs 30 may include three outputs, and the second plurality of outputs 32 may include six outputs. This means that the first charging station 12 may be connected to up to six autonomous electric vehicles at a time, enabling charging of up to six autonomous electric vehicles at a time.

[0039] 1 and 2, the first charging station 12 can have a different number of outputs, with the number of outputs being selected to strike a balance between the charging speed and the number of vehicles that can be charged simultaneously. For example, as discussed in more detail below, if the first power converter 22 can provide 85 kW of output power and the first power converter 22 can provide DC power to three electric vehicles simultaneously, each electric vehicle can be provided with approximately 28 kW of power (subject to losses that may be determined by the efficiency of the first power converter 22). A configuration with a greater number of outputs can allow more electric vehicles to be charged simultaneously, but results in a decrease in the total power provided to each electric vehicle simultaneously as more electric vehicles are added. A decrease in the total power provided to the electric vehicles may increase the time it takes to charge the electric vehicles.

[0040]

[0040] Therefore, when using a single power converter to charge several electric vehicles simultaneously, there may be a balance to be achieved between the number of autonomous electric vehicles that can be simultaneously charged by a single power converter and the overall charging time. The example of Figures 1 and 2, in which the first charging station 12 has three outputs 30, 32 per power converter 22, 24, may provide a good balance between the number of electric vehicles that can be simultaneously charged by a single power converter and the overall charging time when using a single power converter to charge several electric vehicles simultaneously.

[0041] The communications module 34 may include a transmitter, receiver, and / or transceiver to enable the first charging station 12 to communicate with autonomous electric vehicles that are or will be coupled to the first 30 and second 32 plurality of outputs, and to enable the first charging station 12 to communicate with the system controller 11. Details of the communications module 34 will not be described herein for the sake of brevity, but it will be understood that the communications module 34 may transmit and / or receive signals indicative of any of the following: an autonomous electric vehicle state of charge, autonomous electric vehicle health, autonomous electric vehicle contactor control, and power converter health. It will be understood that the signals referenced herein are merely illustrative examples, and that other types of signals may be transmitted and / or received by the communications module 34.

[0042] The controller 36 may be configured to perform the functions of the first charging station 12, including causing the connection and disconnection of autonomous electric vehicles to the first 30 and second 32 plurality of outputs, as described below. The controller 36 may include a suitable processor for performing the functions described herein. In some examples, the controller 36 may be in communication with the system controller 11, and the controller 36 may be guided by the system controller 11 to perform such functions. In such examples, the system controller 11 may act as a master controller, and the controller 36 may act as a slave controller. It will be understood that in some examples, the communication module 34 and the controller 36 may be embodied as a single control module.

[0043]

[0043] Collectively, the input 20, the first power converter 22, the second power converter 24, the communication module 34, and the controller 36 can be disposed in a housing, and together the housing and associated internal components are referred to as a charger.

[0044] An example of the operation of the first charging station 12 for charging one or more autonomous electric vehicles will now be described with reference to FIGS.

[0045] 5 , a first electric vehicle 100 is approaching a first charging station 12 and therefore has a 3% state of charge. The first electric vehicle 100 may establish communication with the system controller 11 and, e.g., via the system controller 11, with the communication module 34 of the first charging station 12. Once communication between the first electric vehicle 100 and the system controller 11 and / or the first charging station 12 is established, the system controller 11 may communicate with the controller 36, which may communicate with the controller of the electric vehicle 100 to perform system safety checks of both the first charging station 12 and the electric vehicle 100. If the safety checks do not identify any potential problems, the system controller 11 may cause the controller 36 of the first charging station 12 to pre-charge the first link 26 using the first power converter 22. Either the system controller 11 or the controller 36 can then cause the electric vehicle 100 to connect to one of the first plurality of outputs 30 via a signal sent to the corresponding controller of the electric vehicle 100 indicating that the first link 26 has been pre-charged, thereby allowing the electric vehicle to charge, and the electric vehicle 100 will then close the charging contactor to allow charging to occur.

[0046] By default, the first power converter 22 can be used to provide DC power to the first plurality of outputs 30 for the purpose of charging the electric vehicle 100. In this example, assuming only a single electric vehicle 100 is connected to any of the first plurality of outputs 30, power is provided at approximately 85 kW (subject to losses) for charging the electric vehicle 100. Defaulting to using only the first power converter 22 to charge the electric vehicle can provide relatively less power for charging the battery of the electric vehicle 100, which can extend battery life compared to defaulting to higher power charging using multiple power converters.

[0047]

[0047] However, because there are no electric vehicles connected to the second plurality of outputs 32, the controller 36 of the first charging station 12, for example in response to a command from the system controller 11, can cause the second power converter 24 and the first power converter 22 to be connected in parallel, so that 170 kW of power (subject to losses) can be provided to the first plurality of outputs 30 and therefore to the electric vehicle 100, as needed.

[0048]

[0048] Example scenarios where this may be desirable include when the state of charge of the electric vehicle 100 is below a pre-specified threshold and when a high priority state of charge has been identified. For example, the electric vehicle 100 of FIG. 5 arrives at the first charging station 12 with a 3% state of charge. This state of charge can be communicated by the electric vehicle 100 to either the system controller 11 or the controller 36 of the first charging station 12, which can identify the state of charge as being below a pre-specified threshold, e.g., 20% or 10%. In response, either the system controller 11 or the controller 36 of the first charging station 12 can cause the second power converter 24 and the first power converter 22 to be connected in parallel, thereby providing 170 kW of power (subject to losses) to charge the autonomous electric vehicle 100 and quickly bring the state of charge to the desired level. Additionally or alternatively, a high priority charging state can be identified depending on the time of day that autonomous electric vehicle 100 is to be charged or based on the status of the electric vehicle fleet to which electric vehicle 100 belongs. For example, if electric vehicle 100 is used for taxi service, higher levels of demand may occur at various times of day, and therefore it may be desirable to charge electric vehicle 100 at a faster rate during certain times of day to enable a quicker return to service. Similarly, if the rest of the electric vehicle fleet to which autonomous electric vehicle 100 belongs is in use, it may be desirable to charge electric vehicle 100 at a faster rate to enable a quicker return to service. Information regarding the time of day and / or fleet status can be communicated by electric vehicle 100 to either system controller 11 and controller 36, or can be derived from other sources by either system controller 11 and controller 36.

[0049]

[0049] When the electric vehicle 100 has completed charging to the desired level (which may or may not be a 100% state of charge depending on the desired journey of the autonomous electric vehicle 100), the electric vehicle 100 can open its fast charge contactor to disconnect from that output of the first plurality of outputs 30, and the electric vehicle can leave the first charging station 12.

[0050] FIG. 6 illustrates a second example of use of the first charging station 12. In the example of FIG. 6, a first electric vehicle 102 is shown already connected to one output of the first plurality of outputs 30 and is charging in the manner described above in connection with the example of FIG. 5. A second electric vehicle 104 is approaching the first charging station 12 and requires connection to an additional output of the first plurality of outputs 30, e.g., to the first power converter 22, for charging. As shown in FIG. 6, the first electric vehicle 102, already connected for charging, has a current state of charge of 27%, while the second autonomous electric vehicle 102, not yet connected for charging, has a current state of charge of 3%. The states of charge of the first 102 and second 104 electric vehicles can be communicated to either the system controller 11 or the controller 36 of the first charging station 12. 6 , the battery of the first electric vehicle 102 may have an open circuit voltage level that is greater than the open circuit voltage level of the battery of the second electric vehicle 104, e.g., 10 V or more greater than the open circuit voltage level of the battery of the second electric vehicle 104. The open circuit voltage levels of the first 102 and second 104 electric vehicles may be communicated to either the system controller 11 or the controller 36 of the first charging station 12. Here, the state of charge and open circuit voltage level of the batteries may each be considered a parameter indicative of the condition of the respective batteries.

[0051]

[0051] In some examples, the system controller 11 may already be directing the second 104 autonomous electric vehicle toward the first charging station 12 based on either its state of charge and its battery's open circuit voltage level.

[0052] Assuming for this example that the open circuit voltage level of the first electric vehicle 102 is greater than the open circuit voltage level of the second electric vehicle 104, either of the system controller 11 and the controller 36 can cause the first electric vehicle 102 to disconnect from its respective output of the first plurality of outputs 30, for example, by communicating a signal to the corresponding controller of the first electric vehicle 102 requesting that the first electric vehicle 102 disconnect from its respective output of the first plurality of outputs 30. The first electric vehicle 102 can open its charging contactor to disconnect from its respective output of the first plurality of outputs 30, thereby stopping charging of the first electric vehicle 102.

[0053] Once the first autonomous vehicle 102 is disconnected, either the system controller 11 or the controller 36 causes connection of the second electric vehicle 104 to the further output of the first plurality of outputs 30, for example, by communicating a signal to the corresponding controller of the second electric vehicle 104 indicating that connection is available and / or requesting that the second electric vehicle 104 connect to the further output of the first plurality of outputs 30. The second electric vehicle 104 closes its fast charge contactor to connect to the further output of the first plurality of outputs 30, thereby commencing charging of the second autonomous electric vehicle 104.

[0054] The open-circuit voltage level of the second electric vehicle 104, as well as the charge state of the second electric vehicle 104, can be communicated to either the system controller 11 or the controller 36 of the first charging station 12 during charging. If the open-circuit voltage level of the second electric vehicle 104 is within a pre-specified threshold of the current open-circuit voltage level of the first autonomous electric vehicle 102, the first autonomous electric vehicle 102 can be reconnected, with connections made to its respective output of the first plurality of outputs 30 in the manner described above, to resume charging. In some examples, the pre-specified threshold can be within 10 volts or within 5 volts of the current open-circuit voltage level of the first electric vehicle 102. The first 102 and second 104 electric vehicles can then charge together, simultaneously, in parallel, with the power of the first link 26 being split between the first 102 and second 104 electric vehicles. By charging only electric vehicles having similar open circuit voltage levels that are connected to a common link from the same power converter, charge leakage can be avoided compared to a scenario in which electric vehicles having widely different voltage levels are simultaneously charged via a common link from the same power converter.

[0055] In some examples, the state of charge of an electric vehicle can be used in addition to or as an indicator of the open-circuit voltage level. For example, if the state of charge of the second electric vehicle 104 reaches a level within a pre-specified threshold, e.g., 2% of the state of charge of the first electric vehicle 102, the open-circuit voltage levels can be approximated as approximately equal, and proper parallel charging of the first 102 and second 104 electric vehicles can occur. Considering the example of FIG. 6, the first electric vehicle 102 may have a state of charge of 27% and the second electric vehicle 104 may have a state of charge of 3%. This may be a good indicator that the batteries of the first 102 and second 104 electric vehicles have different open-circuit voltages. If the state of charge of the second 104 electric vehicle is close to the state of charge of the first electric vehicle 102, this may be a good indicator that the batteries of the first 102 and second 104 electric vehicles have similar open-circuit voltage levels. By bringing the state of charge of the second 104 electric vehicle close to the state of charge of the first electric vehicle 102, the open-circuit voltage level of the battery of the second electric vehicle 104 can be brought close to the open-circuit voltage level of the battery of the first electric vehicle 102, thereby allowing proper parallel charging of the first 102 and second 104 electric vehicles to occur. The state of charge can be useful for estimating the open-circuit voltage level, for example, when the open-circuit voltage level may not be able to be measured directly due to the load on the battery. The state of charge can be used to estimate the open-circuit voltage in such cases by characterizing the load, environmental factors (e.g., temperature), and battery factors (e.g., age, configuration, battery cell composition, etc.).

[0056] As mentioned above, the second electric vehicle 104 may initially have a 3% state of charge and an open-circuit voltage level lower than the open-circuit voltage level of the first electric vehicle 102 when approaching the first charging station 12. When no electric vehicles are connected to any of the second plurality of outputs 32, either the system controller 11 or the controller 36 may cause the first 22 and second 24 power converters to connect, such that each of the first 22 and second 24 power converters supplies DC power to the first link 26. This may allow the second electric vehicle 104 to be charged at a faster rate, more quickly bringing either of the open-circuit voltage level and state of charge of the second autonomous electric vehicle 104 to the open-circuit voltage level and state of charge of the first autonomous electric vehicle 102. This may allow the first electric vehicle 102 to return to being charged more quickly than if the second electric vehicle 104 were initially charged using only the first power converter 22.

[0057] In some examples, the first 102 and second 104 electric vehicles can be charged simultaneously using, for example, only the first power converter 22 if they have either substantially the same open-circuit voltage level and substantially the same state of charge. In the illustrative example previously referenced, this may result in 85 kW of power (subject to losses) being split to charge the first 102 and second 104 electric vehicles. In some examples, if desired, the first 102 and second 104 electric vehicles can be charged simultaneously using the first power converter 22 and the second power converter 24 if they have either substantially the same open-circuit voltage level and substantially the same state of charge. Such a scenario may occur when a high priority charging state is identified, as described above. In the illustrative example mentioned above, this may result in 170 kW of power (subject to losses) being split to charge the first 102 and second 104 electric vehicles, which may increase the charging speed of the first 102 and second 104 electric vehicles.

[0058] 6 , the first electric vehicle 102 initially has a higher state of charge (27%) than the second electric vehicle 104 (3%), and the first electric vehicle 102 initially has a higher open-circuit voltage than the second electric vehicle 104. Alternatively, if the second electric vehicle 104, i.e., the autonomous electric vehicle to be connected to one output of the first plurality of outputs 30, has either a higher open-circuit voltage or a higher state of charge than the first electric vehicle 104, i.e., the autonomous electric vehicle already connected to one output of the first plurality of outputs 30, the first electric vehicle 102 will remain connected, and the second 104 autonomous electric vehicle will only be connected once the open-circuit voltage level or state of charge of the first electric vehicle 104 is approximately equal to the open-circuit voltage level or state of charge of the second electric vehicle 104.

[0059] In other examples, disconnection of the first electric vehicle 102 when the second electric vehicle 104 is to be charged by the first charging station 12 can occur regardless of the state of charge and / or open circuit voltage of the first electric vehicle 102. For example, in certain scenarios, it can be assumed that vehicles that are already being charged have a higher state of charge and / or open circuit voltage than the vehicle to be charged. Because vehicles may only need to be charged if their state of charge is below a certain threshold, it can be assumed that the already connected vehicle needs to be disconnected without a comparison between the connected vehicle and the vehicle to be connected.

[0060] A method 200 in which the steps described above in connection with the example of FIG. 6 are performed is shown in the flow diagram of FIG.

[0061]

[0061] Method 200 includes step 202 of connecting a first electric vehicle to a first output of a charging station, wherein the charging station has a power converter configured to convert the received first type of power into a second type of power including DC power, and the power converter is connected to the first output, thereby enabling DC power to be supplied to the first output.

[0062] The method 200 includes charging 204 a first electric vehicle using DC power provided from the power converter to a first output.

[0063]

[0063] Method 200 includes step 206 of comparing a first parameter indicating the current state of a first battery of a first autonomous electric vehicle with a second parameter indicating the current state of a second battery of a second electric vehicle to be connected to a second output of the charging station, wherein a power converter is connected to the second output so that DC power can be supplied to the second output.

[0064]

[0064] Method 200 includes step 208 of disconnecting the first electric vehicle from the first output if the first parameter is greater than the second parameter, and step 210 of connecting the second electric vehicle to the second output.

[0065] The method 200 includes charging 212 a second electric vehicle using the DC power provided from the power converter to a second output.

[0066]

[0066] The method 200 includes a step 214 of reconnecting the first electric vehicle to the first output if the second parameter reaches a level within a first pre-specified threshold of the first parameter.

[0067] The method 200 includes simultaneously charging 216 a first electric vehicle and a second electric vehicle using DC power provided from the power converter to respective first and second outputs.

[0068] Method 200 includes step 218 of waiting for the first parameter to reach a level within a second pre-specified threshold of the second parameter if the first parameter is less than the second parameter, and then step 220 of connecting a second electric vehicle to the second output. Method 200 includes step 222 of simultaneously charging the first electric vehicle and the second electric vehicle using DC power provided from the power converter to the respective first and second outputs.

[0069]

[0069] In such a manner, the method may enable simultaneous charging of a first and second electric vehicle using the same power converter, while also providing a reduced risk of charge leakage between the two electric vehicles, compared to, for example, a configuration in which first and second electric vehicles having either significantly different open circuit voltage levels and states of charge are simultaneously charged using the same power converter.

[0070] In some examples, method 200 includes connecting a second power converter of the charging station to a second output whereby DC power can be provided to the second output, and charging the second electric vehicle using DC power provided from the first power converter to the second output and from the second power converter to the second output when the second electric vehicle is connected to the second output and the first electric vehicle is disconnected from the first output. As previously discussed, this can allow for more rapid charging of the second electric vehicle compared to using the power converters alone, which can reduce the amount of time the first electric vehicle must wait before charging can resume.

[0071] 8, a third electric vehicle 106 may approach the first charging station 12 so as to be connected to one of the first plurality of outputs 30 while the first 102 and second 104 electric vehicles are being charged simultaneously. In a similar manner as described in connection with the example of FIG. 6, the open circuit voltage levels of the battery packs and any of the states of charge of the first 102, second 104, and third 106 electric vehicles may be taken into consideration to ensure that the first 102, second 104, and third 106 electric vehicles are charged simultaneously if they have substantially similar open circuit voltage levels or states of charge. 7, the third electric vehicle 106 may have a 3% state of charge, while the first 102 and second 104 electric vehicles may have 52% and 53% states of charge, respectively. The battery pack of the third electric vehicle 106 may have a lower open circuit voltage level than the open circuit voltage levels of the first 102 and second 104 electric vehicles, and the battery packs of the first 102 and second 104 electric vehicles may have substantially similar open circuit voltage levels. In such an example, the first 102 and second 104 electric vehicles may be disconnected and the third electric vehicle 106 may be connected, whereby the third electric vehicle 106 is charged until its open circuit voltage level reaches approximately the same level as the open circuit voltage levels of the first 102 and second 104 electric vehicles and until its state of charge reaches approximately the same level as the state of charge of the first 102 and second 104 autonomous electric vehicles. The first 102 and second 104 electric vehicles may then be reconnected, whereby each of the first 102, second 103, and third 106 electric vehicles may be charged simultaneously.

[0072] A further example of the use of the first charging station 12 is shown schematically in Figure 9. Here, a fourth 108 electric vehicle may approach the first charging station 12 so as to be connected to one output of the second plurality of outputs 132 while a first 102, a second 104, and a third 106 electric vehicles are being simultaneously charged. When the first 102, second 104, and third 106 electric vehicles are being simultaneously charged using only the first power converter 22, the fourth electric vehicle 108 may be connected to one of the second plurality of outputs 32 in the manner previously described. When the first 102, second 104, and third 106 electric vehicles are being charged simultaneously using the first power converter 22 and the second power converter 24, either the system controller 11 or the controller 36 can cause the disconnect switch 42 to open, thereby allowing the first power converter 22 to provide DC power to the first plurality of outputs 30 and the second power converter 24 to provide DC power to the second plurality of outputs 32. The fourth electric vehicle 108 can then be connected to one output of the second plurality of outputs 32 and charged in the manner described above. Although not shown, it will be understood that the fifth and sixth electric vehicles can also be connected to respective outputs of the second plurality of outputs 32 in the manner described above, thereby allowing the first charging station 12 to simultaneously charge six electric vehicles using the first 22 and second 24 power converters to simultaneously charge three electric vehicles each.

[0073] The second 14, third 16, and fourth 18 charging stations may each have a similar structure to the first charging station 12 and may operate similarly to the first charging station 12 described above. This may allow each charging station 12, 14, 16, 18 to simultaneously charge six electric vehicles, which may allow simultaneous charging of 24 vehicles using only eight power converters (i.e., two per charging station). This may provide a lower cost charging system than, for example, a charging system in which each power converter is capable of charging only one autonomous electric vehicle at a time.

[0074] 1 , the second charging station 14 may include a first power converter 44, a second power converter 46, a first link 48, a second link 50, a first plurality of outputs 52, and / or a second plurality of outputs 54. The third charging station 16 may include a first power converter 56, a second power converter 58, a first link 60, a second link 62, a first plurality of outputs 64, and / or a second plurality of outputs 66. The fourth charging station 18 may include a first power converter 68, a second power converter 70, a first link 72, a second link 74, a first plurality of outputs 76, and / or a second plurality of outputs 78. The interaction of each of the components of the second 14, third 16, and fourth 18 charging stations within that charging station may be similar to that described above with respect to the first charging station 12.

[0075] 1, the first link 26 of the first charging station 12 can be connected to the second link 50 of the second charging station 14 by the first contactor 80. Under normal use conditions, the first contactor 80 can be open, thereby causing the first link 26 of the first charging station 12 to be independent from the second link 50 of the second charging station 14.

[0076] In the event of adverse operating conditions that prevent the first charging station 12 from providing DC power to its first link 26 and therefore to its first plurality of outputs 30, the first contactor 80 can be closed, for example, as a result of a signal communicated by either the system controller 11 or the controller 36 of the first charging station 12. Thus, the first link 26 of the first charging station 12 and the second link 50 of the second charging station 14 can be electrically connected to one another. This can enable the second power converter 46 of the second charging station 14 to supply DC power to the first link 26 of the first charging station 12 and therefore to the first plurality of outputs 30. In doing so, an electric vehicle connected to the first plurality of outputs 30 of the first charging station 12 can still be charged in the event of adverse operating conditions that prevent the first charging station 12 from providing DC power to its first link 26 and therefore to the first plurality of outputs 30.

[0077] It will also be appreciated that in the event of adverse operating conditions that prevent second charging station 14 from providing DC power to its second link 50 and therefore to its second plurality of outputs 54, first contactor 80 can be closed to enable first power converter 22 of first charging station 12 to supply DC power to second link 50 of second charging station 14 and therefore to second plurality of outputs 54. In doing so, electric vehicles connected to second plurality of outputs 54 of second charging station 14 can still be charged in the event of adverse operating conditions that prevent second charging station 14 from providing DC power to its second link 50 and therefore to its second plurality of outputs 54.

[0078] Similarly, the second link 28 of the first charging station 12 can be connected to the first link 72 of the fourth charging station 18 by the second contactor 82. Under normal use conditions, the second contactor 82 can be open, thereby making the second link 28 of the first charging station 12 independent of the first link 72 of the fourth charging station 18.

[0079] In the event of adverse operating conditions that prevent the first charging station 12 from providing DC power to its second link 28 and therefore to its second plurality of outputs 32, the second contactor 82 can be closed, for example, as a result of a signal communicated by either the system controller 11 or the controller 36 of the first charging station 12. Thus, the second link 28 of the first charging station 12 and the first link 72 of the fourth charging station 18 can be electrically connected to one another. This can enable the first power converter 68 of the fourth charging station 18 to supply DC power to the second link 28 of the first charging station 12 and therefore to the second plurality of outputs 32. In doing so, an electric vehicle connected to the second plurality of outputs 32 of the first charging station 12 can still be charged in the event of adverse operating conditions that prevent the first charging station 12 from providing DC power to its second link 28 and therefore to the second plurality of outputs 32.

[0080] It will also be appreciated that in the event of adverse operating conditions that prevent fourth charging station 18 from providing DC power to its first link 72 and therefore to its first plurality of outputs 76, second contactor 82 can be closed to enable second power converter 24 of first charging station 12 to supply DC power to first link 72 of fourth charging station 18 and therefore to first plurality of outputs 76. In doing so, electric vehicles connected to first plurality of outputs 76 of fourth charging station 18 can still be charged in the event of adverse operating conditions that prevent fourth charging station 18 from providing DC power to its first link 72 and therefore to its first plurality of outputs 76.

[0081]

[0081] In some examples, when adverse operating conditions prevent the first charging station 12 from providing DC power to its first link 26 and to its first plurality of outputs 30, and when adverse operating conditions prevent the first charging station 12 from providing DC power to its second link 28 and to its second plurality of outputs 32, the first contactor 80 and the second contactor 82 can be closed as described above.

[0082] 1 , a third contactor 84 may be provided between the first link 48 of the second charging station 14 and the second link 62 of the third charging station 16, and a fourth contactor 86 may be provided between the first link 60 of the third charging station 16 and the second link 74 of the fourth charging station 18. The third 84 and fourth 86 contactors may provide functionality similar to that described above with respect to the first 80 and second 82 contactors. While shown as connected squares in FIG. 1 , it will be understood that this is a schematic diagram and that other layouts of the first 12, second 14, third 16, and fourth 18 charging stations are possible, and thus the proper interconnection of the links of the charging stations 12, 14, 16, and 18 will depend on the corresponding layout. With regard to the use of contactors to increase charging speed, it should be understood that any number of charging station(s) can be connected to any number of electric vehicle(s) within design parameters, for example, to avoid excessive battery degradation or to exceed interconnection capabilities.

[0083] 1, in some examples, the charging system may include pyrofuses 88 disposed on either side of each of the first 80, second 82, third 84, and fourth 86 contactors. The pyrofuses 88 may isolate the associated links 26, 28, 48, 50, 60, 62, 72, 74 from one another when the associated contactors 80, 82, 84, 86 are closed in the event of adverse operating conditions experienced by the respective charging stations 12, 14, 16, 18. While shown here as pyrofuses, it will be understood that any suitable fuse may be utilized.

[0084]

[0084] In some examples where the charging station comprises a first charging station and the power converter comprises a first power converter, including the inclusion of a contactor as discussed above, method 200 includes the steps of connecting the first and second outputs to a second power converter of the second charging station, whereby DC power can be supplied from the second power converter to the first and second outputs of the first charging station, and charging the first and second electric vehicles using the DC power provided from the second power converter to the respective first and second outputs.

[0085] Similarly, in some examples where the charging station comprises a first charging station and the power converter comprises a first power converter, method 200 may include the steps of connecting a third electric vehicle to a third output of the charging station, wherein the charging station comprises a second power converter configured to convert the received third type of power into a fourth type of power different from the third type of power, the fourth type of power including DC power, the power converter connected to the third output such that the DC power is capable of being provided to the third output; charging the third electric vehicle using the DC power provided from the second power converter to the third output; and connecting the first and second outputs to a third output of the charging station. connecting the third output to a third power converter of the third charging station, whereby DC power can be supplied from the third power converter of the second charging station to the first and second outputs; connecting the third output to a fourth power converter of the third charging station, whereby DC power can be supplied from the fourth power converter of the third further charging station to the third output; charging the first and second electric vehicles using the DC power provided from the third power converter of the second charging station to their respective first and second outputs; and charging the third electric vehicle using the DC power provided from the fourth power converter of the third charging station to the third output.

[0086] In some examples, any of the charging stations 12, 14, 16, 18 may be equipped with additional sets of contactors to provide additional functionality.

[0087] In some examples, the first charging station 12 may include contactors configured to i) disconnect the first link 26 from the first power converter 22, ii) disconnect the second link 28 from the second power converter 24, iii) disconnect any of the first plurality of outputs 30 from the first link 26, and iv) disconnect any of the second plurality of outputs 32 from the second link 28. By providing such additional contactors, the outputs 30, 32 of the first charging station may be disconnected from the appropriate power converter 22, 24, for example, if operation of any of the outputs 30, 32 and power converters 22, 24 is impaired. Similar contactors may be implemented in any of the second 14, third 16, and fourth 18 charging stations.

[0088] In some examples, the first charging station may include contactors configured to i) connect the first link 26 to the second link 28, and ii) connect any of the first plurality of outputs 30 to any of the second plurality of outputs 32. By providing such contactors, any of the second 14 and fourth 18 charging stations may provide DC power to all of the outputs 30, 32 of the first charging station 12 when the appropriate first 80 and second 82 contactors are closed. Similar contactors may be implemented in any of the second 14, third 16, and fourth 18 charging stations.

[0089] 10 is a block diagram illustrating an example system 300 for implementing some of the various technologies described herein. In some examples, the system 300 may include one or more features, components, and / or functionality of the examples described herein with reference to other figures.

[0090] The system 300 may include a vehicle 302. In some examples, the vehicle 302 may include some or all of the features, components, and / or functionality described above with respect to the electric vehicles 100, 102, 104, 106, 108. The vehicle 302 may include a two-way vehicle. As shown in FIG. 10 , the vehicle 302 may also include a vehicle computing device 304, one or more sensor systems 304, one or more emitters 308, one or more communication connections 310, one or more direct connections 312, and / or one or more drive assemblies 314.

[0091] The vehicle computing device 304, in some examples, may include one or more processors 316 and a memory 318 communicatively coupled to the one or more processors 316. In some examples, the one or more processors 316 may execute instructions stored in the memory 318 to perform one or more operations for the one or more vehicle computing devices 304.

[0092] The memory 318 of the one or more vehicle computing devices 304 may store a localization component 320, a perception component 322, a planning component 324, one or more vehicle system controllers 326, a map(s) component 328, and log data 330. While shown in FIG. 10 as residing in memory 318 for illustrative purposes, it is contemplated that the localization component 320, the perception component 322, the planning component 324, the one or more vehicle system controllers 326, the map(s) component 328, and / or the log data 330 may additionally or alternatively be accessible to the vehicle 302 (e.g., stored in or otherwise accessible from memory separate from the vehicle 302, such as memory 340 of one or more computing devices 336).

[0093] In at least one example, the localization component 320 can include functionality for receiving data from the sensor system(s) 306 to determine the position and / or orientation (e.g., one or more of x, y, z position, roll, pitch, or yaw) of the vehicle 302. For example, the localization component 320 can include and / or request / receive a map of the environment and can continuously determine the location and / or orientation of the autonomous vehicle within the map. In some cases, the localization component 320 can precisely determine the location of the autonomous vehicle using simultaneous localization and mapping (SLAM), calibration, localization, and mapping simultaneously (CLAMS), relative SLAM, bundle adjustment, nonlinear least-squares optimization, or the like based on image data, lidar (LIDAR) data, radar data, IMU data, GPS data, wheel encoder data, etc., captured by the one or more sensor systems 306 or received from one or more other devices (e.g., computing device 336). In some cases, the localization component 320 can provide data to various components of the vehicle 302 to identify an initial location of the autonomous vehicle for purposes of generating a trajectory and / or determining to retrieve map data. In various examples, the localization component 320 can provide data to a web-based application, which can generate a data visualization associated with the vehicle 302 based at least in part on the data.

[0094] In some cases, the perception component 322 may include functionality for performing object tracking, detection, segmentation, and / or classification. In some examples, the perception component 322 may provide processed sensor data indicative of the presence of an entity in proximity to the vehicle 302 and / or the classification of the entity as an entity type (e.g., car, pedestrian, cyclist, animal, building, tree, road surface, curb, sidewalk, unknown, etc.). In additional and / or alternative examples, the perception component 322 may provide processed sensor data indicative of one or more features associated with a detected entity (e.g., a tracked object) and / or the environment in which the entity is located. In some examples, the features associated with an entity may include, but are not limited to, x-position (global and / or local position), y-position (global and / or local position), z-position (global and / or local position), orientation (e.g., roll, pitch, yaw), entity type (e.g., classification), entity velocity, entity acceleration, entity magnitude (size), etc. The features associated with the environment may include, but are not limited to, the presence of another entity in the environment, the state of another entity in the environment, the time of day, the day of the week, the season, weather conditions, dark / light indications, etc. In some cases, the perception component 322 may provide data to a web-based application that generates a data visualization associated with the vehicle 302 based at least in part on the data.

[0095] In general, the planning component 324 can specify a path for the vehicle 302 to follow through an environment. For example, the planning component 324 can specify various routes and trajectories, as well as various levels of detail. For example, the planning component 324 can specify a route for traveling from a first location (e.g., a current location) to a second location (e.g., a target location). For purposes of this discussion, a route may be a series of waypoints for traveling between the two locations. By way of example, the waypoints may include streets, intersections, Global Positioning System (GPS) coordinates, etc. Furthermore, the planning component 324 can generate instructions for guiding the autonomous vehicle along at least a portion of the route from the first location to the second location. In at least one example, the planning component 324 can specify how to guide the autonomous vehicle from a first waypoint in the series of waypoints to a second waypoint in the series of waypoints. In some examples, the instructions may be a trajectory or a portion of a trajectory. In some examples, multiple trajectories may be generated substantially simultaneously (e.g., within technical tolerances) according to the receding horizon technique, and one of the multiple trajectories is selected for vehicle 302 to travel on.

[0096] In at least one example, the vehicle computing device 304 may include one or more vehicle system controllers 326, which may be configured to control steering, propulsion, braking, safety, emitter, communication, component, and other systems of the vehicle 302. These vehicle system controller(s) 326 may communicate with and / or control corresponding systems of the drive assembly(ies) 314 and / or other components of the vehicle 302. In some examples, the vehicle system controller(s) 326 may communicate with and / or control the vehicle's charging contactors to connect with the outputs of the charging stations 12, 14, 16, 18, as described above.

[0097] Memory 318 may further include a map(s) component 328 for maintaining and / or updating one or more maps (not shown) that may be used by vehicle 302 to navigate through the environment. For purposes of this discussion, a map may be any number of data structures modeled in two, three, or N dimensions that may provide information about the environment, such as, but not limited to, topology (such as intersections), streets, mountains, roads, terrain, and the environment in general. In some cases, the map may include, but is not limited to, texture information (e.g., color information (e.g., RGB color information, Lab color information, HSV / HSL color information), etc.), intensity information (e.g., lidar information, radar information, etc.), spatial information (e.g., image data projected onto a mesh, individual “surfels” (e.g., polygons associated with individual colors and / or intensities), reflectance information (e.g., specularity information, retroreflectance information, BRDF information, BSSRDF information, etc.). In one example, the map may include a three-dimensional mesh of the environment. In some cases, the map may be stored in a tile format, whereby individual tiles of the map represent distinct portions of the environment and may be loaded into the working memory as needed. In at least one example, the one or more maps may include at least one map (e.g., an image and / or a mesh). In some examples, the vehicle 302 may be controlled based at least in part on the map. That is, the map may be used in conjunction with the localization component 320, the perception component 322, and / or the planning component 324 to locate the vehicle 302, identify objects in the environment, and / or generate a route and / or trajectory for traveling through the environment. Additionally, the map may be used in conjunction with web-based applications to generate content associated with the vehicle 302, such as data visualizations.

[0098] In some examples, one or more maps may be stored on a remote computing device(s) (accessible via one or more network(s)). In some examples, multiple maps may be stored, for example, based on characteristics (e.g., type of entity, time of day, day of the week, season, etc.). Storing multiple maps has similar memory requirements but can increase the speed at which data in the maps can be accessed.

[0099] Memory 318 may also store log data 330 associated with the vehicle. For example, log data 330 may include one or more of a diagnostic message, a note, a route, etc. associated with the vehicle. As an example, if information associated with a notification (e.g., a diagnostic message) presented on a system interface of a user interface is copied and saved, the information may be stored in log data 330.

[0100] In some cases, some or all aspects of the components discussed herein that are stored in memory may include any model, algorithm, and / or machine learning algorithm. For example, in some cases, components in memory 318, such as localization component 320, perception component 322, and / or planning component 324, may be implemented as neural networks.

[0101] As described herein, an exemplary neural network is a biologically inspired algorithm that passes input data through a series of connected layers to produce an output. Each layer in a neural network can comprise another neural network, or can comprise any number of layers (convolutional or otherwise). As can be understood in the context of this disclosure, neural networks can utilize machine learning, which can refer to a broad class of such algorithms in which output is generated based on learned parameters.

[0102] Although discussed in the context of neural networks, any type of machine learning can be used consistent with this disclosure. For example, machine learning algorithms can include regression algorithms (e.g., ordinary least squares regression (OLSR), linear regression, logistic regression, stepwise regression, multivariate adaptive regression splines (MARS), local estimation scatterplot smoothing (LOESS)), instance-based algorithms (e.g., ridge regression, least absolute shrinkage and selection operator (LASSO), elastic nets, least angle regression (LARS)), decision tree algorithms (e.g., classification and regression trees (CART), iterative binomial classification), and others. Bayesian algorithms (e.g., Naive Bayes, Gaussian Naive Bayes, Multinomial Naive Bayes, Average One Dependence Estimators (AODE), Bayesian Belief Networks (BNN), Bayesian Networks), clustering algorithms (e.g., k-means, k-medians, Expectation Maximization (EM), hierarchical clustering), association rule learning algorithms (e.g., The learning algorithms may include, but are not limited to, perceptrons, backpropagation, Hopfield networks, radial basis function networks (RBFNs), deep learning algorithms (e.g., deep Boltzmann machines (DBMs), deep belief networks (DBNs), convolutional neural networks (CNNs), stacked autoencoders), dimensionality reduction algorithms (e.g., principal component analysis (PCA), principal component regression (PCR), partial least squares regression (PLSR), Sammon mapping, multidimensional scaling (MDS), projection pursuit, linear discriminant analysis (LDA), mixed discriminant analysis (MDA), quadratic discriminant analysis (QDA), flexible discriminant analysis (FDA)), ensemble algorithms (e.g., boosting, bootstrap aggregation (bagging), Adaboost, stacked generalization (blending), gradient boosting machines (GBMs), gradient boosted regression trees (GBRTs), random forests), SVMs (support vector machines), supervised learning, unsupervised learning, semi-supervised learning, etc.Further example architectures include neural networks such as ResNet50, ResNet101, VGG, DenseNet, PointNet, etc.

[0103] In at least one example, the sensor system(s) 306 may include a lidar sensor, a radar sensor, an ultrasonic transducer, a sonar sensor, a location sensor (e.g., GPS, compass, etc.), an inertial sensor (e.g., an inertial measurement unit (IMU), an accelerometer, a magnetometer, a gyroscope, etc.), an image sensor (e.g., a camera, RGB, IR, intensity, depth, etc.), an audio sensor (e.g., a microphone), a wheel encoder, an environmental sensor (e.g., a temperature sensor, a humidity sensor, a light sensor, a pressure sensor, etc.), a temperature sensor (e.g., for measuring the temperature of vehicle components), etc. The sensor system(s) 306 may include multiple instances of each of these or other types of sensors. For example, the lidar sensor may include individual lidar sensors located at the corners, front, rear, sides, and / or top of the vehicle 302. As another example, the image sensor may include multiple image sensors located at various locations around the exterior and / or interior of the vehicle 302. As yet a further example, the audio sensors may include multiple audio sensors positioned at various locations around the exterior and / or interior of the vehicle 302. Additionally, the audio sensors may include an array of multiple audio sensors to determine the directionality of the audio data. The sensor system(s) 306 may provide input to the vehicle computing device 304. Additionally or alternatively, the sensor system(s) 306 may transmit sensor data to one or more computing device(s) 336 via one or more networks 334 at a specified frequency, after a pre-specified period of time, in near real-time, etc.

[0104] The vehicle 302 may also include one or more emitters 308 for emitting light and / or sound. The emitters 308 in this example include interior audio and visual emitters for communicating with occupants of the vehicle 302. By way of example, the interior emitters can include speakers, lights, signs, display screens, touchscreens, tactile emitters (e.g., vibration and / or force feedback), mechanical actuators (e.g., seat belt tensioners, seat positioners, headrest positioners, etc.). The emitters 308 in this example also include exterior emitters. By way of example, the exterior emitters in this example include lights or other indicators of vehicle actions (e.g., indicator lights, signs, light arrays, etc.) to indicate direction of travel, and one or more audio emitters (e.g., speakers, speaker arrays, horns, etc.) for audibly communicating with pedestrians or other nearby vehicles, one or more of which include acoustic beam steering technology.

[0105] Vehicle 302 may also include one or more communication connection(s) 310 that enable communication between vehicle 302 and one or more other local or remote computing device(s). For example, communication connection(s) 310 may facilitate communication with other local computing device(s) on vehicle 302 and / or drive assembly(ies) 314. Communication connection(s) 310 may also enable vehicle 302 to communicate with other nearby computing device(s) (e.g., other nearby vehicles, traffic signals, laptop computers, etc.). Communication connection(s) 310 also enable vehicle 302 to communicate with a remote teleoperation system or other remote services. In some examples, the communication connection(s) 310 may enable communication of parameters indicative of the state of the battery of the vehicle 302, such as the battery's state of charge and / or open circuit voltage, to the system controller 11 of the charging system 10 or the controller 36 of the first charging station 12, as described above.

[0106] The communication connection(s) 310 may include physical and / or logical interfaces for connecting the vehicle computing device(s) 304 to another computing device (e.g., computing device(s) 336) and / or to a network, such as network(s) 334. For example, the communication connection(s) 310 may enable Wi-Fi-based communication, such as over frequencies defined by the IEEE 802.11 standard, short-range wireless frequencies such as Bluetooth, cellular communication (e.g., 2G, 3G, 4G, 4G LTE, 5G, etc.), or any suitable wired or wireless communication protocol that enables each computing device to interface with other computing device(s).

[0107] In at least one example, the direct connection 312 of the vehicle 302 may provide a physical interface for coupling one or more drive assembly(ies) 314 with the body of the vehicle 302. For example, the direct connection 312 may enable the transfer of energy, fluid, air, data, etc. between the drive assembly(ies) 314 and the vehicle 302. In some cases, the direct connection 312 may further releasably secure the drive assembly(ies) 314 to the body of the vehicle 302.

[0108] In at least one example, the vehicle 302 can include one or more drive assemblies 314. In some examples, the vehicle 302 can have a single drive assembly 314. In at least one example, if the vehicle 302 has multiple drive assemblies 314, the individual drive assemblies 314 can be located at opposite longitudinal ends of the vehicle 302 (e.g., leading and trailing ends, front and rear, etc.).

[0109] The drive assembly(ies) 314 can include many of the vehicle systems and / or components, including a high-voltage battery, a motor for propelling the vehicle, an inverter for converting direct current from the battery to alternating current for use by other vehicle systems, a steering system including a steering motor and steering rack (which can be electric), a braking system including hydraulic or electric actuators, a suspension system including hydraulic and / or pneumatic components, a stability control system for distributing braking force to mitigate loss of traction and maintain control, an HVAC system, lighting (e.g., lighting such as head / tail lights for illuminating the exterior surroundings of the vehicle), and one or more other systems (e.g., a cooling system, a safety system, an on-board charging system, other electrical components such as a DC / DC converter, a high-voltage junction, high-voltage cables, a charging system, a charge port, etc.). Additionally, the drive assembly(ies) 314 can include a drive assembly controller, which can receive and preprocess data from the sensor system(s) and control the operation of the various vehicle systems. In some examples, the drive assembly controller may include one or more processors and memory communicatively coupled to the one or more processors. The memory may store one or more systems for performing various functions of the drive assembly(ies) 314. Additionally, the drive assembly(ies) 314 may include one or more communication connection(s) that enable the respective drive assembly to communicate with one or more other local or remote computing device(s). In such a manner, parameters associated with the drive assembly(ies) 314, such as those associated with the high-voltage battery, may be transmitted to the computing device 336.

[0110] The computing device(s) 336 may include one or more processors 338 and memory 340 that may be communicatively coupled to the one or more processors 338. In some examples, the computing device(s) 336 may be embodied as the previously described system controller 11 or the controller 36 of the first charging station 12, and the memory 340 may store charging instructions 342 that may cause the vehicle 302 to connect and / or disconnect from any of the charging stations 12, 14, 16, 18 of the charging system 10, as previously described.

[0111] The processor(s) 316 of the vehicle 302 and the processor(s) 338 of the computing device(s) 336 may be any suitable processor capable of executing instructions to process data and perform the operations described herein. By way of example and not limitation, the processor(s) 316 and 338 may include one or more central processing units (CPUs), graphics processing units (GPUs), or any other device or portion of a device that processes electronic data and transforms it into registers and / or other electronic data that may be stored in memory. In some examples, integrated circuits (e.g., ASICs, etc.), gate arrays (e.g., FPGAs, etc.), and other hardware devices may also be considered processors so long as they are configured to execute encoded instructions.

[0112]

[0112] Memories 318 and 340 are examples of non-transitory computer-readable media. Memories 318 and 340 may store an operating system and one or more software applications, instructions, programs, and / or data for performing the methods and functions attributed to the various systems described herein. In various embodiments, memories may be implemented using any suitable memory technology, such as static random access memory (SRAM), synchronous dynamic RAM (SDRAM), non-volatile / flash-type memory, or any other type of memory capable of storing information. The architectures, systems, and individual elements described herein may include many other logical, programmatic, and physical components, of which those shown in the accompanying figures are merely examples relevant to the discussion herein.

[0113] As can be understood, the components discussed herein are described as being separated for purposes of illustration. However, the operations performed by the various components can be combined or performed in any other component. Note that while FIG. 10 is shown as a distributed system, in alternative examples, components of vehicle 302 can be associated with computing device(s) 336 and / or components of computing device(s) 336 can be associated with vehicle 302. That is, vehicle 302 can perform one or more of the functions associated with computing device(s) 336, and vice versa. Exemplary Clauses

[0114]

[0114] A: A step of connecting a first electric vehicle to a first output of a charging station, the charging station comprising a power converter configured to convert received first type of power into a second type of power different from the first type of power, the second type of power including DC power, the power converter being connected to the first output, whereby DC power can be supplied to the first output; charging the first electric vehicle using DC power provided from the power converter to the first output; comparing a first parameter indicative of a current state of a first battery of the first autonomous electric vehicle with a second parameter indicative of a current state of a second battery of a second electric vehicle to be connected to a second output of the charging station, the power converter being connected to the second output whereby DC power can be provided to the second output; i) if the first parameter is greater than the second parameter, disconnecting the first electric vehicle from the first output; connecting the second electric vehicle to the second output; charging the second electric vehicle using DC power provided from the power converter to the second output; reconnecting the first electric vehicle to the first output when the second parameter reaches a level within a first pre-specified threshold of the first parameter; simultaneously charging the first electric vehicle and the second electric vehicle using DC power provided from the power converter to respective first and second outputs; ii) if the first parameter is less than the second parameter, waiting for the first parameter to reach a level that is within a second pre-specified threshold of the second parameter; connecting the second electric vehicle to the second output; simultaneously charging the first electric vehicle and the second electric vehicle using DC power provided from the power converter to respective first and second outputs; A method comprising:

[0115] B: The power converter comprises a first power converter, and the method comprises: connecting a second power converter of the charging station to the second output, the second power converter being connected to the second output such that DC power can be provided to the second output; charging the second electric vehicle using DC power provided from the first power converter to the second output and from the second power converter to the second output when the second electric vehicle is connected to the second output and the first electric vehicle is disconnected from the first output; The method described in clause A, including:

[0116] C: The charging station comprises a first charging station, the power converter comprises a first power converter, and the method comprises: connecting the first and second outputs to a second power converter of a second charging station, whereby DC power can be supplied from the second power converter to the first and second outputs of the first charging station; charging the first and second electric vehicles using DC power provided from the second power converter to respective first and second outputs; The method described in clause A, including:

[0117] D: The charging station comprises a first charging station, the power converter comprises a first power converter, and the method comprises: connecting a third electric vehicle to a third output of a charging station, the charging station comprising a second power converter configured to convert received third type of power into a fourth type of power different from the third type of power, the fourth type of power including DC power, the power converter connected to the third output such that DC power can be provided to the third output; charging the third electric vehicle using DC power provided from the second power converter to the third output; connecting the first and second outputs to a third power converter of a second charging station, whereby DC power can be supplied to the first and second outputs from the third power converter of the second charging station; connecting the third output to a fourth power converter of a third charging station, whereby DC power can be supplied from the fourth power converter of the third further charging station to the third output; charging the first and second electric vehicles using DC power provided to respective first and second outputs from the third power converter of the second charging station; charging the third electric vehicle using DC power provided to the third output from the fourth power converter of the third charging station; The method described in clause A, including:

[0118]

[0118] E: A charging system including a charging station, The charging station an input configured to receive a first type of power; a power converter connected to the input, the power converter configured to convert the first type of power from the input to a second type of power different from the first type of power, the second type of power comprising DC power; and outputs connected to the power converter, the outputs configured such that DC power can be simultaneously supplied to each of the outputs, each of the outputs configured to connect to a respective electric vehicle for charging the electric vehicle; and A charging system comprising:

[0119] F: the power converter comprises a first power converter, and the output comprises a first output; The charging station a second power converter connected to the input, the second power converter configured to convert the first type of power from the input to a third type of power different from the first type of power, the third type of power comprising DC power; and second outputs connected to the second power converter, the second outputs configured such that DC power can be simultaneously supplied to each of the second outputs, each of the second outputs configured to connect to a respective electric vehicle for charging the electric vehicle; 10. The charging system of claim E, comprising:

[0120]

[0120] G: A charging system as described in clause F, wherein the first power converter and the second power converter are configured to be connectable, whereby DC power can be supplied from the first power converter and the second power converter to either of the second outputs.

[0121] H: a controller coupled to the charging station; one or more non-transitory computer-readable media storing instructions executable by the controller; and wherein the instructions cause the controller to: controlling the supply of DC power to one of the outputs based on a parameter indicative of the state of a battery of an electric vehicle to be connected to one of the outputs; The charging system of clause E, wherein the controller is configured to perform actions including:

[0122] I: The power converter comprises a first power converter, the output comprises a first output, and the charging station comprises: a second power converter connected to the input, the second power converter configured to convert the first type of power from the input to a third type of power different from the first type of power, the third type of power comprising DC power; and second outputs connected to the second power converter, the second outputs configured such that DC power can be simultaneously supplied to each of the second outputs, each of the second outputs configured to connect to a respective electric vehicle for charging the electric vehicle; Equipped with The instructions may include: causing the first power converter and the second power converter to provide DC power to the one of the first outputs to charge the electric vehicle connected to the one of the first outputs when an electric vehicle is connected to one of the first outputs and no electric vehicles are connected to the second outputs. The charging system of clause H, wherein the controller is configured to cause the controller to perform actions including:

[0123] J: The instruction is to the controller: in response to a state of charge associated with the vehicle connected to the one of the first outputs being below a threshold, causing a supply of DC power from the first power converter and the second power converter to the one of the first outputs to charge the electric vehicle connected to the output. 10. The charging system of claim I, wherein the controller is configured to perform actions including:

[0124]

[0124] K: The charging system of clause E, wherein the outputs are configured such that equal amounts of DC power can be supplied to each of the outputs simultaneously.

[0125]

[0125] L: The charging station is a controller coupled to the charging station; one or more non-transitory computer-readable media storing instructions executable by the controller; Equipped with The instructions may include: controlling the connection of electric vehicles to the plurality of outputs based on a parameter indicative of the state of a battery of an electric vehicle already connected to the respective output; The charging system of clause E, wherein the controller is configured to perform actions including:

[0126] M: The charging station is a controller coupled to the charging station; one or more non-transitory computer-readable media storing instructions executable by the controller; Equipped with The instructions may include: controlling connection of electric vehicles to a first one of the outputs based on a first parameter indicative of a state of a first battery of a first electric vehicle already connected to the first one of the outputs and based on a second parameter indicative of a state of a second battery of a second electric vehicle to be connected to a second one of the outputs; in response to the first parameter being greater than the second parameter; causing a disconnection of the first electric vehicle from the first output; causing connection of the second electric vehicle to the second output to charge the second electric vehicle; and The charging system of clause E, wherein the controller is configured to perform actions including:

[0127] N: the power converter comprises a first power converter, the output comprises a first output, and the charging station comprises: a second power converter connected to the input, the second power converter configured to convert the first type of power from the input to a third type of power different from the first type of power, the third type of power comprising DC power; and second outputs connected to the second power converter, the second outputs configured such that DC power can be simultaneously supplied to each of the second outputs, each of the second outputs configured to be connected to a respective electric vehicle; Equipped with The instructions may include: in response to the first parameter being greater than the second parameter; causing a disconnection of the first electric vehicle from the first output; causing connection of the second electric vehicle to the second output; causing a supply of DC power from the second power converter to the second output to charge the second electric vehicle; The charging system of clause L, wherein the controller is configured to perform actions including:

[0128] O: The instruction instructs the controller to: The charging system of clause L, wherein the controller is configured to, in response to the second parameter subsequently reaching a level within a threshold of the first parameter, cause an action to be performed including causing connection of the first electric vehicle to the first output to charge the first electric vehicle.

[0129] P: a controller coupled to the charging station; one or more non-transitory computer-readable media storing instructions executable by the controller; and wherein the instructions cause the controller to: providing DC power to the output based at least in part on a time of day; and providing DC power to one of the outputs based at least in part on a status of an electric vehicle fleet to which an electric vehicle to be connected belongs; The system of claim E is configured to cause an action to be performed, including any of:

[0130]

[0130] Q: The charging station comprises a first charging station, the charging system further comprises a second charging station, and the second charging station a second input configured to receive the first type of power; a second power converter connected to the second input, the second power converter configured to convert the first type of power to a third type of power different from the first type of power, the third type of power comprising DC power; and second outputs connected to the second power converter, the second outputs configured such that DC power can be simultaneously supplied to each of the second outputs, each of the second outputs configured to connect to a respective electric vehicle for charging the electric vehicle; 10. The charging system of claim E, comprising:

[0131] R: a controller coupled to the charging station; and one or more non-transitory computer-readable media storing instructions executable by the controller; Furthermore, The instructions may include: The charging system of clause Q, configured to perform an action including causing a connection of an output of the first charging station to the second power converter, whereby DC power can be supplied from the second power converter to the output of the first charging station.

[0132]

[0132] S: Further comprising a third charging station, wherein the third charging station: a third input configured to receive the first type of power; a third power converter connected to the third input, the third power converter configured to convert the received first type of power at the input to a fourth type of power different from the first type of power, the fourth type of power comprising DC power; Equipped with The charging system comprises: a controller coupled to the first, second, and third charging stations; one or more non-transitory computer-readable media storing instructions executable by the controller; Equipped with The instructions may include: causing a connection of an output of the first charging station to the second power converter of the second charging station, whereby DC power can be supplied from the second power converter of the second charging station to the output of the first charging station; causing a connection of an output of the first charging station to the third power converter of the third charging station, whereby DC power can be provided from the third power converter to the output of the third charging station; The charging system of clause Q, wherein the controller is configured to perform actions including:

[0133]

[0133] T: One or more non-transitory computer-readable media storing instructions executable by one or more processors, the instructions, when executed, connecting a first electric vehicle to a first output of a charging station, the charging station comprising a power converter configured to convert received first type of power to a second type of power different from the first type of power, the second type of power comprising DC power, the power converter connected to the first output such that DC power can be provided to the first output; charging the first electric vehicle using DC power provided from the power converter to the first output; comparing a first parameter indicative of a current state of a first battery of the first autonomous electric vehicle with a second parameter indicative of a current state of a second battery of a second electric vehicle to be connected to a second output of the charging station, the power converter being connected to the second output whereby DC power can be provided to the second output; i. if the first parameter is greater than the second parameter, disconnecting the first electric vehicle from the first output and connecting the second electric vehicle to the second output; charging the second electric vehicle using DC power provided from the power converter to the second output; reconnecting the first electric vehicle to the first output when the second parameter reaches a level within a first pre-specified threshold of the first parameter; simultaneously charging the first electric vehicle and the second electric vehicle using DC power provided from the power converter to the respective first and second outputs; ii. if the first parameter is less than the second parameter, waiting for the first parameter to reach a level within a second pre-specified threshold of the second parameter; connecting the second electric vehicle to the second output; simultaneously charging the first electric vehicle and the second electric vehicle using DC power provided from the power converter to the respective first and second outputs; one or more non-transitory computer-readable media that cause the one or more processors to perform actions including:

[0134]

[0134] While the exemplary clauses set forth above are described with respect to one particular embodiment, it should be understood in the context of this document that the contents of the exemplary clauses may also be implemented via a method, device, system, computer-readable medium, and / or other embodiment. Additionally, any of the exemplary clauses A-T may be implemented alone or in combination with any other one or more of the exemplary clauses A-T. [Item of invention] [Item 1] A charging system including a charging station, The charging station an input configured to receive a first type of power; a power converter connected to the input, the power converter configured to convert the first type of power from the input to a second type of power different from the first type of power, the second type of power comprising DC power; and outputs connected to the power converter, the outputs configured such that DC power can be simultaneously supplied to each of the outputs, each of the outputs configured to connect to a respective electric vehicle for charging the electric vehicle; and A charging system comprising: [Item 2] the power converter comprises a first power converter and the output comprises a first output; The charging station a second power converter connected to the input, the second power converter configured to convert the first type of power from the input to a third type of power different from the first type of power, the third type of power comprising DC power; and second outputs connected to the second power converter, the second outputs configured such that DC power can be simultaneously supplied to each of the second outputs, each of the second outputs configured to connect to a respective electric vehicle for charging the electric vehicle; Item 1. The charging system according to item 1, comprising: [Item 3] Item 3. The charging system of item 2, wherein the first power converter and the second power converter are configured to be connectable such that DC power can be supplied from the first power converter and the second power converter to either of the second outputs. [Item 4] a controller coupled to the charging station; one or more non-transitory computer-readable media storing instructions executable by the controller; and wherein the instructions cause the controller to: controlling the supply of DC power to one of the outputs based on a parameter indicative of the state of a battery of an electric vehicle to be connected to one of the outputs; Item 1. The charging system of item 1, wherein the controller is configured to perform actions including: [Item 5] the power converter comprises a first power converter, the output comprises a first output, and the charging station a second power converter connected to the input, the second power converter configured to convert the first type of power from the input to a third type of power different from the first type of power, the third type of power comprising DC power; and second outputs connected to the second power converter, the second outputs configured such that DC power can be simultaneously supplied to each of the second outputs, each of the second outputs configured to connect to a respective electric vehicle for charging the electric vehicle; Equipped with The instructions may include: causing the first power converter and the second power converter to provide DC power to the one of the first outputs to charge the electric vehicle connected to the one of the first outputs when an electric vehicle is connected to one of the first outputs and no electric vehicles are connected to the second outputs. Item 5. The charging system of item 4, wherein the controller is configured to perform actions including: [Item 6] The instructions may include: in response to a state of charge associated with the vehicle connected to the one of the first outputs being below a threshold, causing a supply of DC power from the first power converter and the second power converter to the one of the first outputs to charge the electric vehicle connected to the output. Item 6. The charging system of item 5, wherein the controller is configured to perform actions including: [Item 7] 7. The charging system of any one of items 1 to 6, wherein the outputs are configured such that equal amounts of DC power can be supplied to each of the outputs simultaneously. [Item 8] The charging station a controller coupled to the charging station; one or more non-transitory computer-readable media storing instructions executable by the controller; Equipped with The instructions may include: controlling the connection of electric vehicles to the plurality of outputs based on a parameter indicative of the state of a battery of an electric vehicle already connected to the respective output; Item 1. The charging system of item 1, wherein the controller is configured to perform actions including: [Item 9] The charging station a controller coupled to the charging station; one or more non-transitory computer-readable media storing instructions executable by the controller; Equipped with The instructions may include: controlling connection of electric vehicles to a first one of the outputs based on a first parameter indicative of a state of a first battery of a first electric vehicle already connected to the first one of the outputs and based on a second parameter indicative of a state of a second battery of a second electric vehicle to be connected to a second one of the outputs; in response to the first parameter being greater than the second parameter; causing a disconnection of the first electric vehicle from the first output; causing connection of the second electric vehicle to the second output to charge the second electric vehicle; and Item 1. The charging system of item 1, wherein the controller is configured to perform actions including: [Item 10] the power converter comprises a first power converter, the output comprises a first output, and the charging station a second power converter connected to the input, the second power converter configured to convert the first type of power from the input to a third type of power different from the first type of power, the third type of power comprising DC power; and second outputs connected to the second power converter, the second outputs configured such that DC power can be simultaneously supplied to each of the second outputs, each of the second outputs configured to be connected to a respective electric vehicle; Equipped with The instructions may include: in response to the first parameter being greater than the second parameter; causing a disconnection of the first electric vehicle from the first output; causing connection of the second electric vehicle to the second output; causing a supply of DC power from the second power converter to the second output to charge the second electric vehicle; Item 9. The charging system of item 8, wherein the controller is configured to perform actions including: [Item 11] The instructions may include: Item 9. The charging system of item 8, wherein the controller is configured to, in response to the second parameter subsequently reaching a level within a threshold of the first parameter, cause an action to be performed including causing connection of the first electric vehicle to the first output to charge the first electric vehicle. [Item 12] a controller coupled to the charging station; one or more non-transitory computer-readable media storing instructions executable by the controller; and wherein the instructions cause the controller to: providing DC power to the output based at least in part on a time of day; and providing DC power to one of the outputs based at least in part on a status of an electric vehicle fleet to which an electric vehicle to be connected belongs; Item 1. The charging system of item 1, configured to cause the system to perform an action including any of the following: [Item 13] The charging station comprises a first charging station, the charging system further comprises a second charging station, the second charging station a second input configured to receive the first type of power; a second power converter connected to the second input, the second power converter configured to convert the first type of power to a third type of power different from the first type of power, the third type of power comprising DC power; and second outputs connected to the second power converter, the second outputs configured such that DC power can be simultaneously supplied to each of the second outputs, each of the second outputs configured to connect to a respective electric vehicle for charging the electric vehicle; Item 1. The charging system according to item 1, comprising: [Item 14] and a third charging station, the third charging station comprising: a third input configured to receive the first type of power; a third power converter connected to the third input, the third power converter configured to convert the received first type of power at the input to a fourth type of power different from the first type of power, the fourth type of power comprising DC power; Equipped with The charging system comprises: a controller coupled to the first, second, and third charging stations; one or more non-transitory computer-readable media storing instructions executable by the controller; Equipped with The instructions may include: causing a connection of an output of the first charging station to the second power converter of the second charging station, whereby DC power can be supplied from the second power converter of the second charging station to the output of the first charging station; causing a connection of an output of the first charging station to the third power converter of the third charging station, whereby DC power can be provided from the third power converter to the output of the third charging station; Item 14. The charging system of item 13, wherein the controller is configured to perform actions including: [Item 15] One or more non-transitory computer-readable media storing instructions executable by one or more processors, the instructions, when executed, connecting a first electric vehicle to a first output of a charging station, the charging station comprising a power converter configured to convert received first type of power to a second type of power different from the first type of power, the second type of power comprising DC power, the power converter connected to the first output such that DC power can be provided to the first output; charging the first electric vehicle using DC power provided from the power converter to the first output; comparing a first parameter indicative of a current state of a first battery of the first autonomous electric vehicle with a second parameter indicative of a current state of a second battery of a second electric vehicle to be connected to a second output of the charging station, the power converter being connected to the second output whereby DC power can be provided to the second output; i. if the first parameter is greater than the second parameter, disconnecting the first electric vehicle from the first output and connecting the second electric vehicle to the second output; charging the second electric vehicle using DC power provided from the power converter to the second output; reconnecting the first electric vehicle to the first output when the second parameter reaches a level within a first pre-specified threshold of the first parameter; simultaneously charging the first electric vehicle and the second electric vehicle using DC power provided from the power converter to the respective first and second outputs; ii. if the first parameter is less than the second parameter, waiting for the first parameter to reach a level within a second pre-specified threshold of the second parameter; connecting the second electric vehicle to the second output; simultaneously charging the first electric vehicle and the second electric vehicle using DC power provided from the power converter to the respective first and second outputs; one or more non-transitory computer-readable media that cause the one or more processors to perform actions including:

Claims

1. A charging system including a charging station, The charging station an input configured to receive a first type of power; a power converter connected to the input, the power converter configured to convert the first type of power from the input to a second type of power different from the first type of power, the second type of power comprising DC power; and a plurality of outputs connected to the power converter, the outputs configured such that DC power can be simultaneously supplied to each of the outputs, each of the outputs configured to connect to a respective electric vehicle for charging the electric vehicle; a controller coupled to the charging station; one or more non-transitory computer-readable media storing instructions executable by the controller; Equipped with The instructions may include: connecting a first electric vehicle of a fleet of vehicles to a first output of the plurality of outputs of the charging station; charging the first electric vehicle using DC power provided from the power converter to the first output; comparing a first parameter indicative of a current state of charge or open circuit voltage of a first battery of the first electric vehicle with a second parameter indicative of a current state of charge or open circuit voltage of a second battery of a second electric vehicle in the fleet of vehicles to be connected to a second output of the plurality of outputs of the charging station, the power converter being connected to the second output such that DC power can be provided to the second output; i. if the first parameter is greater than the second parameter, disconnecting the first electric vehicle from the first output and connecting the second electric vehicle to the second output; charging the second electric vehicle using DC power provided from the power converter to the second output; reconnecting the first electric vehicle to the first output when the second parameter reaches a level within a first pre-specified threshold of the first parameter; simultaneously charging the first electric vehicle and the second electric vehicle using DC power provided from the power converter to the first output and the second output; ii. if the first parameter is less than the second parameter, waiting for the first parameter to reach a level within a second pre-specified threshold of the second parameter; connecting the second electric vehicle to the second output; simultaneously charging the first electric vehicle and the second electric vehicle using DC power provided from the power converter to the first output and the second output; configuring the controller to perform actions including: Charging system.

2. the power converter comprises a first power converter and the outputs comprise a plurality of first outputs; The charging station a second power converter connected to the input, the second power converter configured to convert the first type of power from the input to a third type of power different from the first type of power, the third type of power comprising DC power; and a plurality of second outputs connected to the second power converter, the second outputs configured such that DC power can be simultaneously supplied to each of the second outputs, each of the second outputs configured to connect to a respective electric vehicle for charging the electric vehicle; The charging system of claim 1 , comprising:

3. 3. The charging system of claim 2, wherein the first power converter and the second power converter are configured to be connectable such that DC power can be provided from the first power converter and the second power converter to either of the second outputs.

4. a controller coupled to the charging station; one or more non-transitory computer-readable media storing instructions executable by the controller; and wherein the instructions cause the controller to: controlling the supply of DC power to one of the outputs based on a parameter indicative of the state of a battery of an electric vehicle to be connected to one of the outputs; 10. The charging system of claim 1, wherein the controller is configured to cause the controller to perform actions including:

5. the power converter comprises a first power converter, the output comprises a plurality of first outputs, and the charging station comprises: a second power converter connected to the input, the second power converter configured to convert the first type of power from the input to a third type of power different from the first type of power, the third type of power comprising DC power; and a plurality of second outputs connected to the second power converter, the second outputs configured such that DC power can be simultaneously supplied to each of the second outputs, each of the second outputs configured to connect to a respective electric vehicle for charging the electric vehicle; Equipped with The instructions may include: causing the first power converter and the second power converter to provide DC power to the one of the first outputs to charge the electric vehicle connected to the one of the first outputs when an electric vehicle is connected to one of the first outputs and no electric vehicles are connected to the second outputs. The charging system of claim 4 , wherein the controller is configured to cause the controller to perform actions including:

6. The instructions may include: in response to a state of charge associated with the vehicle connected to the one of the first outputs being below a threshold, causing the first power converter and the second power converter to provide DC power to the one of the first outputs to charge the electric vehicle connected to the output. The charging system of claim 5 , wherein the controller is configured to cause the controller to perform actions including:

7. 7. A charging system according to any preceding claim, wherein the outputs are configured such that equal amounts of DC power can be supplied to each of the outputs simultaneously.

8. the power converter comprises a first power converter, the output comprises a plurality of first outputs, and the charging station comprises: a second power converter connected to the input, the second power converter configured to convert the first type of power from the input to a third type of power different from the first type of power, the third type of power comprising DC power; and a plurality of second outputs connected to the second power converter, the second outputs configured such that DC power can be simultaneously supplied to each of the second outputs, each of the second outputs configured to be connected to a respective electric vehicle; Equipped with The instructions may include: in response to the first parameter being greater than the second parameter; causing a disconnection of the first electric vehicle from the first output; causing connection of the second electric vehicle to the second output; causing a supply of DC power from the second power converter to the second output to charge the second electric vehicle; 10. The charging system of claim 1, wherein the controller is configured to cause the controller to perform actions including:

9. The instructions may include:

10. The charging system of claim 1, wherein the controller is configured to, in response to the second parameter subsequently reaching a level within a threshold of the first parameter, cause an action to be performed including causing connection of the first electric vehicle to the first output to charge the first electric vehicle.

10. The instruction is to the controller: providing DC power to the output based at least in part on a time of day; and providing DC power to one of the outputs based at least in part on a status of an electric vehicle fleet to which an electric vehicle to be connected belongs; 10. The charging system of claim 1, wherein the controller is configured to cause the controller to perform actions including any of the following:

11. The charging station comprises a first charging station, the charging system further comprises a second charging station, the second charging station a second input configured to receive the first type of power; a second power converter connected to the second input, the second power converter configured to convert the first type of power to a third type of power different from the first type of power, the third type of power comprising DC power; and a plurality of second outputs connected to the second power converter, the second outputs configured such that DC power can be simultaneously supplied to each of the second outputs, each of the second outputs configured to connect to a respective electric vehicle for charging the electric vehicle; The charging system of claim 1 , comprising:

12. and a third charging station, the third charging station comprising: a third input configured to receive the first type of power; a third power converter connected to the third input, the third power converter configured to convert the received first type of power at the input to a fourth type of power different from the first type of power, the fourth type of power comprising DC power; Equipped with The charging system comprises: a controller coupled to the first, second, and third charging stations; one or more non-transitory computer-readable media storing instructions executable by the controller; Equipped with The instructions may include: causing a connection of an output of the first charging station to the second power converter of the second charging station, whereby DC power can be supplied from the second power converter of the second charging station to the output of the first charging station; causing a connection of an output of the first charging station to the third power converter of the third charging station, whereby DC power can be supplied from the third power converter of the third charging station to the output; The charging system of claim 11 , wherein the controller is configured to cause the controller to perform actions including:

13. One or more non-transitory computer-readable media storing instructions executable by one or more processors, the instructions, when executed, connecting a first electric vehicle to a first output of a charging station, the charging station comprising a power converter configured to convert received first type of power to a second type of power different from the first type of power, the second type of power comprising DC power, the power converter connected to the first output whereby DC power can be provided to the first output; charging the first electric vehicle using DC power provided from the power converter to the first output; comparing a first parameter indicative of a current state of charge or open circuit voltage of a first battery of the first electric vehicle with a second parameter indicative of a current state of charge or open circuit voltage of a second battery of a second electric vehicle to be connected to a second output of the charging station, the power converter being connected to the second output whereby DC power can be provided to the second output; iii. if the first parameter is greater than the second parameter, disconnecting the first electric vehicle from the first output and connecting the second electric vehicle to the second output; charging the second electric vehicle using the DC power provided from the power converter to the second output; reconnecting the first electric vehicle to the first output when the second parameter reaches a level within a first pre-specified threshold of the first parameter; simultaneously charging the first electric vehicle and the second electric vehicle using DC power provided from the power converter to the first output and the second output; iv. if the first parameter is less than the second parameter, waiting for the first parameter to reach a level within a second pre-specified threshold of the second parameter; connecting the second electric vehicle to the second output; simultaneously charging the first electric vehicle and the second electric vehicle using DC power provided from the power converter to the first output and the second output; one or more non-transitory computer-readable media that cause the one or more processors to perform actions including:

14. The charging station, comprising: a communications module configured to transmit signals to an autonomous electric vehicle; The instructions may include: directing the incoming second electric vehicle to the charging station based at least in part on comparing the first parameter to the second parameter.

10. The charging system of claim 1, wherein the controller is configured to cause the controller to perform actions including:

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