Intelligent driving fully-automated charging control method adapted to electronic guidance rubber-tyred system

Abstract

The present invention relates to the technical field of intelligent charging, and in particular to an intelligent driving fully-automated charging control method adapted to an electronic guidance rubber-tyred system. The charging control method comprises the following steps: after a train drives to a station provided with a charging station, determining whether charging is needed; if charging is needed, stopping at the charging station, performing pantograph raising control, and determining whether a charging condition is met; if the charging condition is met, starting a charging interaction process, and monitoring charging interaction messages in real time; if a charging interaction message indicates that a battery is fully charged and is stopped from being charged, or a fault occurs and causes an exception to stop charging, performing pantograph lowering control; and lowering a pantograph to finish the automated charging process. On the basis of the automated driving of an electric train using an electronic guidance rubber-tyred system, the intelligent driving fully-automated charging control method adapted to an electronic guidance rubber-tyred system provided by the present invention allows charging environments to cover operation lines, thus improving charging efficiency. Fully-automated charging interaction control improves train intellectualization, and reduces human communication costs.

Description

Intelligent driving fully automatic charging control method for electronic guided rubber wheel system Technical Field

[0001] The present invention relates to the field of intelligent charging technology, and more particularly to an intelligent driving fully automatic charging control method suitable for an electronically guided rubber wheel system. Background Art

[0002] As urban traffic congestion becomes increasingly prominent, a variety of public transportation solutions have been proposed, including subways, BRT (Bus Rapid Transit), light rail, and electronically guided rubber-tyred systems. Among these, intelligent rail express systems, with electronically guided rubber-tyred systems as their core transportation tool, offer advantages such as a short construction period, minimal infrastructure investment, high urban adaptability, and strong comprehensive transportation capacity, making them promising applications.

[0003] Electronically guided rubber-tire systems typically use pantograph charging for rapid charging. Currently, the pantograph charging process is mostly manually controlled. Upon arrival at the terminal, the driver manually drives the vehicle to the charging station according to the issued operation plan and manually raises and lowers the pantograph, starting and stopping charging.

[0004] The charging control method of the electronic guide rubber wheel system in the prior art has the following problems:

[0005] 1) Charging time cannot be automatically determined. When to stop charging is generally determined by the driver based on operation plans and experience. The accuracy and rationality of charging time needs to be improved.

[0006] 2) Whether the vehicle's charge level can meet the next trip plan after the current charge is completed cannot be determined before charging. If the vehicle's charge level does not meet the next trip plan after the current charge, the driver needs to communicate with the dispatch center to temporarily adjust the operation plan, which will affect vehicle operations.

[0007] 3) When the driver manually drives the vehicle to the charging station, it may be necessary to adjust the vehicle position several times before completing the parking.

[0008] 4) During the charging process, operations such as raising and lowering the pantograph, and starting and stopping charging are all performed by the driver, which increases the driver's operating burden.

[0009] Therefore, there is an urgent need for an intelligent driving fully automatic charging control method suitable for an electronically guided rubber wheel system.

[0010] The purpose of the present invention is to provide an intelligent driving fully automatic charging control method suitable for an electronic guide rubber wheel system, so as to solve the problems of low automation and low intelligence of the charging control methods suitable for electronic guide rubber wheel systems in the prior art.

[0011] To achieve the above objectives, the present invention provides an intelligent driving fully automatic charging control method applicable to an electronically guided rubber tire system, comprising the following steps:

[0012] When a vehicle reaches a charging station, it determines whether it needs charging based on the received subsequent operation plan, the charging location information, and the current battery level information.

[0013] If charging is required, the vehicle will stop at a charging station and enter the bow raising control mode to determine whether the charging conditions are met.

[0014] If the charging conditions are met, the charging interaction process begins and the charging interaction messages are monitored in real time;

[0015] If the charging interaction message shows that the battery is fully charged and charging stops, the pantograph lowering control is entered;

[0016] After the pantograph is lowered, the automatic charging process is completed.

[0017] In one embodiment, the determining whether charging is required based on the received subsequent operation plan, combined with the charging location information and the current battery power information, further includes the following steps:

[0018] Based on the subsequent operation plan and charging location information, determine whether the current battery power is sufficient for the next operation;

[0019] If the current battery power is not sufficient for the next operation, calculate the current vehicle charging time;

[0020] Calculate the available charge capacity based on the current vehicle charging time and, combined with the current battery level information, determine whether the battery level after charging is complete is sufficient for the next trip.

[0021] If the battery power after this charging is sufficient for the next operation, charging is required.

[0022] In one embodiment, the determining whether charging is required based on the received subsequent operation plan, combined with the charging location information and the current battery power information, further includes the following steps:

[0023] Calculate the current vehicle charging time based on the subsequent operation plan, charging location information, and current battery power information;

[0024] Calculate the available charge capacity based on the current vehicle charging time and, combined with the current battery level information, determine whether the battery level after charging is complete is sufficient for the next trip.

[0025] If it is not satisfied, the fault information will be fed back to the ground dispatch center, prompting the ground dispatch center to adjust the operation plan.

[0026] In one embodiment, the subsequent operation plan includes up and down routes, departure time and operation mileage.

[0027] In one embodiment, docking at a charging station further comprises:

[0028] If the charging station is arranged at the current platform and the charging position is consistent with the platform stop position, the vehicle will complete the docking at the charging station when it reaches the current platform;

[0029] If the charging station is arranged in front of or behind the current platform, and the charging position is inconsistent with the platform stop position, the uplink and downlink charging positions are selected according to the uplink and downlink information, the charging route map information is called, the vehicle is controlled to drive to the charging position, and the vehicle is docked at the charging station.

[0030] In one embodiment, docking at a charging station further comprises:

[0031] Obtain ground beacon information to determine whether the current vehicle is parked in place;

[0032] If beacon information acquisition fails, it is determined that the current vehicle has not parked in place, and the fault is fed back to the dispatch center through vehicle-ground communication, prompting the dispatch center to take over manual charging;

[0033] If the beacon information is obtained normally and it is determined that the current vehicle is parked normally, the bow raising control is entered.

[0034] In one embodiment, the step of entering the lifting control further comprises:

[0035] Send pantograph raising control instructions to the vehicle control system to control the pantograph raising;

[0036] Determine whether the bow raising signal is received within the preset time; if not, send the bow raising control command again;

[0037] If the pantograph raising control command is sent the specified number of times and the pantograph raising signal is still not received, the fault will be fed back to the dispatch center through vehicle-ground communication, prompting the dispatch center to take over manual charging.

[0038] In one embodiment, the charging condition includes whether the wireless communication between the vehicle and the charging station is normal and whether the pantograph grid voltage is normal.

[0039] In one embodiment, the real-time monitoring of charging interaction messages further includes the following steps:

[0040] Determine whether charging should be stopped based on abnormal stop-charging signals and battery full stop-charging signals;

[0041] If charging stops, check whether the pantograph grid voltage is 0;

[0042] If the pantograph grid voltage is not 0, the fault will be fed back to the ground dispatch center through the vehicle-ground communication, prompting the ground dispatch center to take over manual charging.

[0043] In one embodiment, the step of entering the pantograph lowering control further comprises:

[0044] Send pantograph lowering control instructions to the vehicle control system to control the pantograph lowering;

[0045] Determine whether the pantograph lowering signal is received within the preset time; if not, send the pantograph lowering control command again;

[0046] If the pantograph lowering control command is sent a specified number of times and the pantograph lowering signal is still not received, the fault will be fed back to the dispatch center through vehicle-ground communication, prompting the dispatch center to take over manual charging.

[0047] The intelligent driving fully automatic charging control method for the electronic guided rubber-wheel system proposed in the present invention combines the operation scheduling of the electronic guided rubber-wheel system and the vehicle battery power to realize the logical judgment of charging demand. Based on the automatic driving of the tram of the electronic guided rubber-wheel system, it realizes the charging scene coverage of the operating line, improves the charging efficiency, and the fully automatic charging interactive control enhances the vehicle intelligence and reduces the manual communication cost. BRIEF DESCRIPTION OF THE DRAWINGS

[0048] The above and other features, properties and advantages of the present invention will become more apparent through the following description in conjunction with the accompanying drawings and embodiments, in which like reference numerals represent like features throughout, wherein:

[0049] FIG1 discloses a correlation diagram of a fully automatic charging system for intelligent driving according to an embodiment of the present invention;

[0050] FIG2 discloses a flow chart of a fully automatic charging control method for intelligent driving applicable to an electronically guided rubber-tire system according to an embodiment of the present invention.

[0051] The meanings of the reference numerals in the figures are as follows:

[0052] 100 vehicle-mounted terminals;

[0053] 101 Vehicle Battery System;

[0054] 102 Intelligent driving fully automatic charging system;

[0055] 103 on-board pantograph;

[0056] 200 ground terminal;

[0057] 201 ground charging station;

[0058] 202 Ground Control Center;

[0059] 203 Ground beacon. DETAILED DESCRIPTION

[0060] In order to make the purpose, technical solutions and advantages of the present invention more clearly understood, the present invention will be further described in detail below with reference to the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are only used to explain the invention and are not intended to limit the invention.

[0061] The present invention proposes a fully automatic charging control method for intelligent driving of an electronically guided rubber-wheeled system, in particular, automatic charging control of a pantograph during operation in an intelligent driving mode of the electronically guided rubber-wheeled system.

[0062] Electronically guided rubber-wheeled system trains are generally composed of three modules, with a pantograph installed in the middle car. The vehicle can be charged by raising the pantograph at the charging station. Pantograph charging stations are usually arranged at the starting and ending stations of the operating line.

[0063] FIG1 discloses a correlation diagram of an intelligent driving fully automatic charging system according to an embodiment of the present invention. As shown in FIG1 , an on-board battery system 101 , an intelligent driving fully automatic charging system 102 , and an on-board pantograph 103 are arranged on an on-board terminal 100 ;

[0064] The ground charging station 201 , the ground dispatching center 202 and the ground beacon 203 are arranged at the ground terminal 200 .

[0065] The intelligent driving fully automatic charging system 102 receives the charging status data of the vehicle-mounted battery system 101, receives the pantograph status of the vehicle-mounted pantograph 103, and sends pantograph raising and lowering control instructions to the vehicle-mounted pantograph 103.

[0066] The intelligent driving fully automatic charging system 102 receives charging status data from the ground charging station 201 and sends charging start and stop control instructions to the ground charging station 201;

[0067] The intelligent driving fully automatic charging system 102 receives the operation plan, operation route, route mileage, timetable, etc. from the ground dispatch center 202, and sends the charging status and fault reporting information to the ground dispatch center 202;

[0068] The intelligent driving fully automatic charging system 102 receives positioning information from the ground beacon 203 .

[0069] The vehicle-mounted battery system 101 exchanges charging data with the ground charging station 201 .

[0070] The intelligent driving fully automatic charging system 102 is associated with the ground dispatching center 202, the ground charging station 201, the ground beacon 203, the on-board pantograph 103, and the on-board battery system 101. Through real-time vehicle positioning, pantograph raising and lowering control, automatic charging interactive control, and combined with ground dispatching information, the vehicle is controlled to realize the automatic charging function of the pantograph charging station during the operation of the electronic guided rubber-tyred system.

[0071] The intelligent driving fully automatic charging control method for an electronically guided rubber tire system proposed in the present invention comprises the following steps:

[0072] When a vehicle reaches a charging station, it determines whether it needs charging based on the received subsequent operation plan, the charging location information, and the current battery level information.

[0073] If charging is required, the vehicle will stop at a charging station and enter the bow raising control mode to determine whether the charging conditions are met.

[0074] If the charging conditions are met, the charging interaction process begins and the charging interaction messages are monitored in real time;

[0075] If the charging interaction message shows that the battery is fully charged and charging stops, the pantograph lowering control is entered;

[0076] After the pantograph is lowered, the automatic charging process is completed.

[0077] The intelligent driving fully automatic charging control method for the electronic guided rubber-tyred system proposed in the present invention is based on automatic train driving. Taking into account the line characteristics of the electronic guided rubber-tyred system where pantograph charging stations are installed at the starting and ending stations of the line, a fully automatic charging function process is designed to achieve charging scenario coverage of the operating line and improve charging efficiency.

[0078] The following describes in detail the intelligent driving fully automatic charging control method for an electronically guided rubber tire system proposed in the present invention in conjunction with the intelligent driving fully automatic charging system shown in FIG1 .

[0079] FIG2 discloses a flow chart of an intelligent driving fully automatic charging control method applicable to an electronically guided rubber-tire system according to an embodiment of the present invention. As shown in FIG2 , the intelligent driving fully automatic charging control method applicable to an electronically guided rubber-tire system proposed by the present invention includes the following steps:

[0080] When the vehicle arrives at a charging station (e.g., a terminal), the intelligent driving fully automatic charging system 102 receives the subsequent operation plan sent by the ground dispatch center 202 and the power information sent by the on-board battery system, and determines whether charging is needed based on the charging location information and the current battery power information.

[0081] In this embodiment, the subsequent operation plan includes but is not limited to up and down routes, departure time, and operation mileage.

[0082] The process by which the intelligent driving fully automatic charging system 102 determines whether charging is required is as follows:

[0083] The intelligent driving fully automatic charging system 102 determines whether the current battery power is sufficient for the next operation based on the subsequent operation plan and the charging location information;

[0084] If the current battery power is not sufficient for the next operation, it needs to be charged.

[0085] Considering that the vehicle charging time is limited by the subsequent scheduled departure time, it is necessary to determine whether the battery power after charging meets the operation requirements within the limited charging time. Furthermore, the intelligent driving fully automatic charging system 102 can further determine the following when the current battery power does not meet the next operation:

[0086] The intelligent driving fully automatic charging system 102 comprehensively determines the current vehicle charging time based on the departure time, battery power, and next trip mileage;

[0087] Calculate the available charge capacity based on the current vehicle charging time and, combined with the current battery level information, determine whether the battery level after charging is complete is sufficient for the next trip.

[0088] If the battery power after this charging is sufficient for the next operation, charging is required.

[0089] Furthermore, the intelligent driving fully automatic charging system 102 comprehensively determines the current vehicle charging time based on the departure time, battery power, and the mileage of the next operation. Based on the current charging time, it calculates the chargeable amount of this charge and determines whether the battery power after this charge is completed is sufficient for the next operation. If the intelligent driving fully automatic charging system 102 determines that the battery power after this charge is completed cannot meet the requirements of the next operation, it will feedback the fault to the ground dispatch center 202 through vehicle-to-ground communication, prompting the ground dispatch center 202 to adjust the operation plan.

[0090] For example, a vehicle drives to Station A where a charging station is arranged. The current battery power remaining is 30%. According to the subsequent operation plan received, the vehicle will drive to Station B.

[0091] Assuming that the operating distance from platform A to platform B requires 40% of the battery power, and the current charging time from the start of charging to the departure time is 30%, the battery power after this charge is 60%, which is sufficient for the next operation;

[0092] Assuming that the operating distance from platform A to platform B requires 20% of the power consumption, the current battery power is sufficient for the next operation, that is, it can be used for the next operation without charging this time;

[0093] Assuming that the operating mileage from platform A to platform B requires 70% of the power consumption, and the vehicle's rechargeable capacity from the start of charging to the departure time is 30%, the battery power after this charging is completed will be 60%. Even if this charging is completed, it cannot meet the next operation. The fault information is fed back to the ground dispatch center, prompting the ground dispatch center to adjust the operation plan.

[0094] The above examples are only for ease of understanding and cannot be used to limit the scope of protection of the present invention. As a simplified scenario, the situations that need to be considered in conjunction with subsequent operation plans during actual operation will be more complicated.

[0095] The intelligent driving fully automatic charging control method for the electronic guided rubber-wheel system proposed in the present invention combines the operation scheduling of the electronic guided rubber-wheel system and the vehicle battery power to realize the logical judgment of charging demand, automatically judge the current vehicle charging time and charging position requirements, reasonably judge the charging demand, and reduce the cost of manual communication.

[0096] The layout of the electronic guide rubber wheel system at the charging station of the operating line is generally divided into the following two situations:

[0097] The first type is that the charging station is arranged on the platform of the terminal / starting station, which is consistent with the platform stop position;

[0098] The second type is that the charging station is arranged behind or in front of the terminal / starting station, and is a dedicated charging position.

[0099] When the vehicle arrives at the current station (terminal station / starting station) where the charging station is located, if the current charging station is located in the first case, the vehicle will stop at the current station, and after all passengers have gotten off and closed the doors, it will be docked at the charging station and charged according to the fully automatic charging process;

[0100] When the vehicle drives to the current station (terminal station / starting station) where the charging station is arranged, if the current charging station layout location belongs to the second case, the terminal stop is completed, and after all passengers get off and close the door, the intelligent driving fully automatic charging system 102 selects the uplink and downlink charging positions according to the uplink and downlink scheduling information, calls the charging route map information collected and pre-stored in advance, controls the vehicle to drive to the charging position, completes the stop at the charging station, and charges according to the fully automatic charging process.

[0101] Furthermore, when the vehicle reaches the charging position, the ground beacon 203 information is obtained to determine whether the vehicle is currently parked in place;

[0102] If the beacon information acquisition fails, it is determined that the current vehicle has not parked in place, and the fault is fed back to the ground dispatch center 202 through vehicle-ground communication, prompting the ground dispatch center 202 to take over manual charging;

[0103] If the beacon information is obtained normally and it is determined that the current vehicle is parked normally, the bow raising control is entered.

[0104] The intelligent driving fully automatic charging control method proposed in the present invention is suitable for electronic guided rubber-tyre systems. It adopts a pantograph automatic control strategy under the intelligent driving charging mode. According to the vehicle positioning information and the pantograph status and charging status, it designs automatic pantograph raising and lowering control. The driver does not need to raise or lower the pantograph, freeing up his hands and improving the vehicle intelligence.

[0105] The intelligent driving fully automatic charging system 102 outputs a pantograph raising control instruction to the vehicle control system, controlling the vehicle-mounted pantograph 103 to raise the pantograph. After the pantograph is raised, the intelligent driving fully automatic charging system 102 detects a pantograph raising completion signal.

[0106] Determine whether the pantograph raising signal is received within 5 seconds. If no pantograph raising signal is detected, output the pantograph raising control command again.

[0107] If the pantograph raising control command is sent three times and still no pantograph raising signal is detected, the fault is fed back to the ground dispatching center 202 via vehicle-ground communication, prompting the ground dispatching center 202 to take over the manual charging.

[0108] After the pantograph is raised into place, the wireless communication between the vehicle and the ground charging station and the pantograph network voltage are checked to see if they are normal. If the above charging conditions are met, the intelligent driving fully automatic charging system 102 outputs a start charging instruction to the ground charging station 201, and the ground charging station 201 and the vehicle-mounted battery system 101 enter the charging interaction process.

[0109] The intelligent driving system monitors charging interaction messages in real time and determines whether charging should be stopped based on abnormal charging stop signals and charging stop when the battery is fully charged.

[0110] Furthermore, when it is determined that charging is stopped, it is detected whether the pantograph grid voltage is 0.

[0111] If the pantograph grid voltage is not 0, the fault is fed back to the ground dispatching center 202 via vehicle-to-ground communication, prompting the ground dispatching center 202 to take over manual charging.

[0112] If the pantograph grid voltage is 0 and the battery is fully charged, the pantograph lowering command is output to control the vehicle-mounted pantograph 102 to lower the pantograph, and the intelligent driving automatic charging system 102 detects the pantograph lowering position signal;

[0113] Determine whether the pantograph lowering signal is received within 5 seconds. If no pantograph lowering signal is detected, output the pantograph lowering control command again.

[0114] If the pantograph lowering control command is sent three times and the pantograph lowering signal is still not detected, the fault is fed back to the ground dispatching center 202 through the vehicle-ground communication, prompting the ground dispatching center 202 to take over the manual charging.

[0115] After the pantograph is lowered, the automatic charging is completed and the train is waiting for departure information.

[0116] The intelligent driving fully automatic charging control method for the electronic guided rubber-wheel system proposed in the present invention adopts an automatic control strategy for the charging interaction process. Based on the original human-machine interaction charging process of the electronic guided rubber-wheel system electric vehicle, it realizes automatic charging process interaction of starting, stopping, and abnormal situations. The driver does not need to start or stop charging, freeing up the driver's hands and improving the vehicle's intelligence.

[0117] All fault and status information during the fully automatic charging process will be sent to the ground dispatch center 202 in real time via vehicle-to-ground communication.

[0118] The fully automatic charging process can be taken over at any time by the driver or the ground dispatch center 202. After taking over, the automatic charging process will be terminated. The driver can manually perform the charging operation, or the dispatch center can remotely control the vehicle charging.

[0119] The intelligent driving fully automatic charging system 102 pre-stores the route information of all charging stations on the operating route.

[0120] The intelligent driving fully automatic charging control method for an electronically guided rubber tire system proposed in the present invention has the following beneficial effects:

[0121] 1) Considering the characteristics of the line where pantograph charging stations are installed at the starting and ending stations of the electronically guided rubber-tire system line, and based on the automatic driving of the electronically guided rubber-tire system tram, the charging scenarios of the operating line are covered and the charging efficiency is improved;

[0122] 2) Fully automatic charging interactive control eliminates the need for the driver to raise the bow, start charging, or stop charging, freeing the driver's hands and improving vehicle intelligence.

[0123] 3) Combine the operation and scheduling of the electronic guided rubber tire system and the vehicle battery power to reasonably judge the current vehicle charging time and charging space requirements, thereby reducing manual communication costs.

[0124] Although the above methods are illustrated and described as a series of acts for simplicity of explanation, it is to be understood and appreciated that these methods are not limited by the order of the acts, as some acts may occur in a different order and / or concurrently with other acts from those illustrated and described herein or not illustrated and described herein but understandable to those skilled in the art according to one or more embodiments.

[0125] As used in this application and the claims, unless the context clearly indicates otherwise, the words "a," "an," "an," and / or "the" are not intended to refer to the singular but may include the plural. Generally speaking, the terms "comprises" and "include" only indicate the inclusion of the steps and elements specifically identified, and these steps and elements do not constitute an exclusive list. A method or apparatus may also include other steps or elements.

[0126] The above embodiments are provided to persons familiar with the art for implementing or using the present invention. Personnel familiar with the art may make various modifications or changes to the above embodiments without departing from the inventive concept of the present invention. Therefore, the scope of protection of the present invention is not limited to the above embodiments, but should be the maximum scope of the innovative features mentioned in the claims.

Claims

1. An intelligent driving fully automatic charging control method suitable for an electronically guided rubber wheel system, characterized in that: The following steps are involved: After the vehicle reaches the charging station, it determines whether charging is needed based on the received subsequent operation plan, the charging location information, and the current battery power information; If charging is required, the vehicle will stop at the charging station and enter the bow raising control to determine whether the charging conditions are met; If the charging conditions are met, the charging interaction process starts and the charging interaction messages are monitored in real time; If the charging interaction message shows that the battery is fully charged and charging stops, the bow lowering control is entered; After the pantograph is lowered, the automatic charging process is completed.

2. The intelligent driving fully automatic charging control method applicable to the electronic guided rubber wheel system according to claim 1 is characterized in that: The method of determining whether charging is required based on the received subsequent operation plan and the charging location information and the current battery power information also includes the following steps: According to the subsequent operation plan and charging location information, determine whether the current battery power is sufficient for the next operation; If the current battery power is not enough for the next operation, calculate the current vehicle charging time; According to the current vehicle charging time, calculate the chargeable capacity of this charge, and combine the current battery power information to determine whether the battery power after this charge is completed is sufficient for the next operation; If the battery power after this charging is sufficient for the next operation, charging is required.

3. The intelligent driving fully automatic charging control method applicable to the electronic guided rubber wheel system according to claim 1 is characterized in that: The method of determining whether charging is required based on the received subsequent operation plan and the charging location information and the current battery power information also includes the following steps: Calculate the current vehicle charging time based on the subsequent operation plan, charging location information, and current battery power information; According to the current vehicle charging time, calculate the chargeable capacity of this charge, and combine the current battery power information to determine whether the battery power after this charge is completed is sufficient for the next operation; If it is not satisfied, the fault information will be fed back to the ground dispatch center, prompting the ground dispatch center to adjust the operation plan.

4. The intelligent driving fully automatic charging control method applicable to the electronic guided rubber wheel system according to claim 1 is characterized in that: The subsequent operation plan includes up and down routes, departure times and operating mileage.

5. The intelligent driving fully automatic charging control method applicable to the electronic guided rubber wheel system according to claim 1 is characterized in that: The step of docking at a charging station further comprises: If the charging station is arranged at the current platform and the charging position is consistent with the platform stop position, the vehicle will complete the stop at the charging station when it reaches the current platform; If the charging station is arranged in front of or behind the current platform, and the charging position is inconsistent with the platform parking position, the uplink and downlink charging positions are selected according to the uplink and downlink information, the charging route map information is called, the vehicle is controlled to drive to the charging position, and the parking is completed at the charging station.

6. The intelligent driving fully automatic charging control method applicable to the electronic guided rubber wheel system according to claim 1 is characterized in that: The step of docking at a charging station further comprises: Obtain ground beacon information to determine whether the current vehicle is parked in place; If the beacon information acquisition fails, it is determined that the current vehicle has not parked in place, and the fault is fed back to the ground dispatch center through vehicle-to-ground communication, prompting the ground dispatch center to take over manual charging; If the beacon information is obtained normally and it is determined that the current vehicle is parked normally, the bow raising control is entered.

7. The intelligent driving fully automatic charging control method applicable to the electronic guided rubber wheel system according to claim 1 is characterized in that: The entering the bow raising control further comprises: Send pantograph raising control instructions to the vehicle control system to control the pantograph raising; Determine whether the bow raising signal is received within the preset time, and if the bow raising signal is not received, send the bow raising control command again; If the pantograph raising control command is sent a specified number of times and still no pantograph raising signal is received, the fault will be fed back to the ground dispatch center through vehicle-to-ground communication, prompting the ground dispatch center to take over manual charging.

8. The intelligent driving fully automatic charging control method applicable to the electronic guided rubber wheel system according to claim 1 is characterized in that: The charging conditions include whether the wireless communication between the vehicle and the charging station is normal and whether the pantograph grid voltage is normal.

9. The intelligent driving fully automatic charging control method applicable to the electronic guided rubber wheel system according to claim 1 is characterized in that: The real-time monitoring of charging interaction messages further includes the following steps: Determine whether charging should be stopped according to abnormal stop charging signal and battery full stop charging; If charging stops, check whether the pantograph grid voltage is 0; If the pantograph grid voltage is not 0, the fault will be fed back to the ground dispatch center through the vehicle-to-ground communication, prompting the ground dispatch center to take over manual charging.

10. The intelligent driving fully automatic charging control method applicable to the electronic guided rubber wheel system according to claim 1 is characterized in that: The entering the bow lowering control further comprises: Send pantograph lowering control instructions to the vehicle control system to control the pantograph lowering; Determine whether the bow lowering signal is received within the preset time, and if the bow lowering signal is not received, send the bow lowering control command again; If the pantograph lowering control command is sent a specified number of times and still no pantograph lowering signal is received, the fault is fed back to the ground dispatch center through vehicle-to-ground communication, prompting the ground dispatch center to take over manual charging.

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