Vehicle control system

Abstract

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

Description

Technical Field

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

Background Art

[0002] Patent Document 1 discloses that external charging is performed in a state where a charging connector of charging equipment is connected to a charging port of a vehicle. In this vehicle, in order to prevent an accidental start during charging, when the lid of the charging port is open, control is performed to invalidate an ignition operation by the user.

Prior Art Document

Patent Document

[0003]

Patent Document 1

Summary of the Invention

Problems to be Solved by the Invention

[0004] By the way, a system in which a charging connector is automatically connected to a charging port using an automatic charging device such as a mobile robot arm can be considered. The automatic charging device can autonomously travel to the front of the charging port and can insert and remove the charging connector. However, the configuration described in Patent Document 1 did not assume the use of an automatic charging device such as a mobile robot arm.

[0005] The present invention has been made in view of the above circumstances, and an object thereof is to provide a vehicle control device that can control a vehicle assuming external charging using an automatic charging device in a parking lot or the like.

Means for Solving the Problems

[0006] The present invention relates to a vehicle control device mounted on a vehicle capable of external charging, characterized in that, upon receiving an instruction signal from an automatic charging device that automatically connects a charging connector to the charging port of the vehicle, the vehicle is controlled to a first state in which movement of the vehicle is prohibited, and while the vehicle is controlled to the first state, if the user of the vehicle requests the release of the first state, the first state is released if the charging connector is not connected to the charging port and there are no obstacles in the direction of travel of the vehicle. [Effects of the Invention]

[0007] In this invention, when a vehicle's movement is prohibited by an automatic charging device such as a mobile robotic arm, even if some trouble occurs with the automatic charging device, the vehicle can release the restriction on its movement from its own side. [Brief explanation of the drawing]

[0008] [Figure 1] This is a schematic diagram illustrating a vehicle in an embodiment. [Figure 2] This is a sequence diagram showing the control between the automatic charging device and the vehicle. [Modes for carrying out the invention]

[0009] The vehicle control device in the embodiments of the present invention will be described in detail below. However, the present invention is not limited to the embodiments described below.

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

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

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

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

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

[0015] HIM14 is located inside the vehicle 1 and consists of, for example, a car navigation system. If HIM14 is a car navigation system, it detects user operation when the screen of the car navigation system is operated by the user. When HIM14 receives an operation from the user of vehicle 1, it outputs a signal indicating that the operation has been detected to the control device 16.

[0016] The communication unit 15 performs wireless communication with external devices. The communication unit 15 is configured to enable wireless communication with the automatic charging device 2. Wireless communication can be performed using communication methods such as Wi-Fi (registered trademark). The communication unit 15 outputs the information acquired by wireless communication to the control device 16. This communication unit 15 is controlled by the control device 16.

[0017] The control device 16 is an electronic control device that controls the vehicle 1. The control device 16 performs various controls based on signals from various sensors. For example, when wireless communication is established between the vehicle 1 and the automatic charging device 2, the control device 16 performs automatic charging control to perform external charging using the automatic charging device 2.

[0018] The automatic charging device 2 is a device capable of autonomous driving and is installed, for example, in a parking lot. The automatic charging device 2 is installed near the charging equipment, independently of the charging connector 3. When vehicle 1 is parked in a parking space, the automatic charging device 2 autonomously drives to the charging port 11 of vehicle 1, opens the lid 11a, and connects the charging connector 3 to the charging port 11 to perform the charging process.

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

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

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

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

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

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

[0025] The automatic charging device 2 transmits an instruction signal instructing the vehicle stopped in the parking space 1 to shift to a state where its movement is prohibited (immobilized state) (step S11). In step S11, an instruction signal instructing the immobilization of the vehicle 1 is transmitted from the communication unit 23.

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

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

[0028] If it is determined that the occupant of vehicle 1 has requested the immobilization to be released (step S13: Yes), the control device 16 determines whether or not the charging connector 3 is connected to the charging port 11 (step S14). In step S14, the presence or absence of a connection between the charging connector 3 and the charging port 11 is determined based on the detection signal from the connection detection unit 12.

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

[0030] If it is determined that there are no obstacles around vehicle 1 (step S15: Yes), the control device 16 releases the immobilization state (step S16). In step S16, the state in which vehicle 1 is prohibited from moving is released. As a result of the process in step S16, vehicle 1 transitions to a state in which movement is permitted.

[0031] As shown in Figure 2, even when vehicle 1 is receiving an immobilization instruction signal from the automatic charging device 2, vehicle 1 can deactivate the immobilization state if predetermined deactivation conditions are met. The deactivation conditions include a request from the user to deactivate the immobilization, the charging connector 3 not being connected to the charging terminal of vehicle 1, and no obstacles such as the automatic charging device 2 being detected around vehicle 1.

[0032] As explained above, according to this embodiment, even if any trouble occurs in the automatic charging device 2 during the charging process, the immobilization state can be deactivated on the vehicle 1 side.

[0033] The charging port 11 and lid 11a are not limited to the front of the vehicle 1, but may also be provided on the side or rear of the vehicle 1. [Explanation of Symbols]

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

Claims

1. A vehicle control device installed in a vehicle capable of external charging, Automatic charging control is performed using the automatic charging device when wireless communication is established between the automatic charging device, which automatically connects the charging connector of the charging equipment to the charging port of the vehicle, and the vehicle, and the automatic charging device is used for external charging. If, before the start of charging by the automatic charging device, an instruction signal to prohibit the movement of the vehicle is received via wireless communication from the automatic charging device, the vehicle is controlled to a first state in which the movement of the vehicle is prohibited. If, after the charging operation by the automatic charging device is completed, a release signal for releasing the first state is received via wireless communication from the automatic charging device, the first state is released. While the vehicle is being controlled to the first state, if the user of the vehicle requests to release the first state, the first state is released if the charging connector is not connected to the charging port and there are no obstacles in the direction of travel of the vehicle. The aforementioned automatic charging device is a device capable of autonomous driving, and is provided near the charging equipment, independently of the charging connector. The vehicle is capable of being charged by the automatic charging device. A vehicle control device characterized by the following features.

2. While the vehicle is controlled to the first state, the presence or absence of a request from the user to release the first state is determined by detecting the user's operation of the vehicle's car navigation system screen. The vehicle control device according to feature 1.

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