Method for controlling docking and undocking of ev and method for controlling docking and undocking of aevse

Abstract

This method for controlling docking and undocking of an EV comprises steps in which the EV: receives a docking setup request message from an aEVSE; transmits a docking setup response message to the aEVSE; receives a docking execution indication message from the aEVSE; receives a docking completion notification message from the aEVSE; transmits a docking completion response message to the aEVSE; and initiates reception of power from the aEVSE. Therefore, docking and undocking procedures can be safely and precisely performed.

Description

Method for controlling docking and undocking of EV and method for controlling docking and undocking of AEVSE

[0001] The present disclosure relates to a docking and undocking control method for an EV and a docking and undocking control method for an aEVSE, and more specifically, to a docking and undocking control method for an EV and a docking and undocking control method for an aEVSE capable of safely and precisely performing the docking and undocking process.

[0002] With the recent widespread adoption of electric vehicles (EVs), various charging infrastructure technologies are being developed to improve charging efficiency and user convenience. In particular, there is a rapidly increasing demand for Automatic Charging Devices (ACDs) equipped with automatic coupling and disconnection functions between the vehicle's charging port and the EV Supply Equipment (EVSE).

[0003] In conventional wired charging systems, users must manually insert or remove the plug, which can lead to problems such as poor connection, poor contact, or power short circuits caused by user error. To address this, technology has been proposed to automatically connect or disconnect the vehicle connector or EV plug using a manipulator.

[0004] However, conventional automatic charging systems focus merely on physical coupling and separation, failing to adequately consider communication synchronization between the EV and EVSE, verification of safety status at each operation stage, and real-time control of potential errors during the docking / undocking process.

[0005] In particular, in structures where the EV and EVSE have independent control systems, timing mismatches frequently occur between the movement of the manipulator or plug and power transmission control, which creates a possibility of coupling failure or disengagement failure. Additionally, there is a risk of electrical arcing if the connector is disconnected before power transmission is completed.

[0006] Therefore, there is a growing need for communication protocols and parameter control methods that can reliably perform docking and undocking procedures between the EV and EVSE while clearly synchronizing the state of each stage.

[0007] The technical problem that the present disclosure aims to solve is to provide a docking and undocking control method for an EV and a docking and undocking control method for an aEVSE that can safely and precisely perform docking and undocking procedures between an electric vehicle (EV) and an automated EV supply equipment (aEVSE) in charging using an automated charging device (ACD).

[0008] According to embodiments of the present disclosure for solving such technical problems, a docking and undocking control method for an EV is provided, wherein docking and undocking between an electric vehicle (EV) and an automated EV supply equipment (aEVSE) for charging using an automated charging device (ACD) is performed using a manipulator and a vehicle connector attached to the aEVSE. The docking and undocking control method for the EV comprises the steps of: the EV receiving a docking setup request message (DockingSetupReq) from the aEVSE; the EV transmitting a docking setup response message (DockingSetupRes) to the aEVSE; the EV receiving a docking execution instruction message (DockingExecution) from the aEVSE; and the EV receiving a docking completion notification message (DockingConfirmationReq) from the aEVSE. The method includes the step of the EV transmitting a docking completion response message (DockingConfirmationRes) to the aEVSE; and the step of the EV initiating power reception from the aEVSE.

[0009] The above docking setup request message (DockingSetupReq) may include one or more of the TargetPosition parameter indicating the target inlet position and the MatingSpace parameter indicating the allowable binding area, and the above docking setup response message (DockingSetupRes) may include one or more of the ResponseCode parameter indicating the acknowledgment status for the docking setup request, the CurrentInletPosition parameter indicating the current inlet position, and the AlignmentDeviation parameter indicating the deviation from the target position.

[0010] The above docking execution instruction message (DockingExecution) may include one or more of the following parameters: ConnectorRampupDistance, which indicates the approach distance of the vehicle connector; ConnectorRampupAngle, which indicates the approach angle of the vehicle connector; ConnectorRampupSpeed, which indicates the approach speed of the vehicle connector; and LatchLockCommand, which indicates the latch lock command of the vehicle connector.

[0011] The above docking completion notification message (DockingConfirmationReq) may include one or more of the DockingResult parameter indicating the docking result between the vehicle connector and the vehicle inlet, and the LatchLockingResult parameter indicating the latch locking result of the vehicle connector, and the above docking completion response message (DockingConfirmationRes) may include one or more of the ResponseCode parameter indicating the acknowledgment status for the docking completion notification, and the EVProcessing parameter indicating the vehicle side response to the docking results.

[0012] The docking and undocking control method of the above EV may further include, after the step of the EV initiating power reception from the aEVSE, the step of the EV completing power reception from the aEVSE; the step of the EV transmitting an undocking setup request message (UndockingSetupReq) to the aEVSE; the step of the EV receiving an undocking setup response message (UndockingSetupRes) from the aEVSE; the step of the EV receiving an undocking execution instruction message (UndockingExecution) from the aEVSE; the step of the EV receiving an undocking completion notification message (UndockingConfirmationReq) from the aEVSE; and the step of the EV transmitting an undocking completion response message (UndockingConfirmationRes) to the aEVSE.

[0013] The above undocking setup request message (UndockingSetupReq) may include one or more of the UndockingType parameter indicating the unlock type of the vehicle connector and the LatchUnlockingCommand parameter indicating the latch unlock command of the vehicle connector, and the above undocking setup response message (UndockingSetupRes) may include one or more of the ResponseCode parameter indicating the acknowledgment status for the undocking setup request and the LatchUnlockingResult parameter indicating the result of the latch unlock of the vehicle connector.

[0014] The above Undocking Execution message may include one or more of the ConnectorRampdownDistance parameter, which indicates the leave distance of the vehicle connector; the ConnectorRampdownAngle parameter, which indicates the leave angle of the vehicle connector; and the ConnectorRampdownSpeed ​​parameter, which indicates the leave speed of the vehicle connector.

[0015] The above undocking completion notification message (UndockingConfirmationReq) may include one or more of the UndockingResult parameter, which indicates the undocking result between the vehicle connector and the vehicle inlet, and the ConnectorPosition parameter, which indicates the home position of the vehicle connector, and the above undocking completion response message (UndockingConfirmationRes) may include one or more of the ResponseCode parameter, which indicates the acknowledgment status for the undocking completion notification, and the EVProcessing parameter, which indicates the vehicle side response to the undocking results.

[0016] According to embodiments of the present disclosure, a docking and undocking control method for an EV is provided, wherein docking and undocking between an electric vehicle (EV) and an automated EV supply equipment (aEVSE) for charging using an automated charging device (ACD) is performed using a manipulator and an EV plug attached to the EV. The docking and undocking control method for the EV comprises the steps of: the EV transmitting a docking setup request message (DockingSetupReq) to the aEVSE; the EV receiving a docking setup response message (DockingSetupRes) from the aEVSE; the EV transmitting a docking execution instruction message (DockingExecution) to the aEVSE; and the EV transmitting a docking completion notification message (DockingConfirmationReq) to the aEVSE. The method includes the step of the EV receiving a docking confirmation message (DockingConfirmationRes) from the aEVSE; and the step of the EV initiating power reception from the aEVSE.

[0017] The above docking setup request message (DockingSetupReq) may include one or more of the TargetPosition parameter indicating the target inlet position and the MatingSpace parameter indicating the allowable binding area, and the above docking setup response message (DockingSetupRes) may include one or more of the ResponseCode parameter indicating the acknowledgment status for the docking setup request, the CurrentSocketOutletPosition parameter indicating the current EV socket-outlet position, and the AlignmentDeviation parameter indicating the deviation from the target position.

[0018] The above docking execution instruction message (DockingExecution) may include one or more of the following parameters: PlugRampupDistance, which indicates the approach distance of the EV plug; PlugRampupAngle, which indicates the approach angle of the EV plug; PlugRampupSpeed, which indicates the approach speed of the EV plug; and LatchLockCommand, which indicates the latch lock command of the EV plug.

[0019] The above docking completion notification message (DockingConfirmationReq) may include one or more of the DockingResult parameter, which indicates the docking result between the EV plug and the EV socket outlet, and the LatchLockingResult parameter, which indicates the latch locking result of the EV plug; and the above docking completion response message (DockingConfirmationRes) may include one or more of the ResponseCode parameter, which indicates the acknowledgment status for the docking completion notification, and the aEVSEProcessing parameter, which indicates the aEVSE side response to the docking results.

[0020] The docking and undocking control method of the above EV may further include, after the step of the EV initiating power reception from the aEVSE, the step of the EV completing power reception from the aEVSE; the step of the EV transmitting an undocking setup request message (UndockingSetupReq) to the aEVSE; the step of the EV receiving an undocking setup response message (UndockingSetupRes) from the aEVSE; the step of the EV transmitting an undocking execution instruction message (UndockingExecution) to the aEVSE; the step of the EV transmitting an undocking completion notification message (UndockingConfirmationReq) to the aEVSE; and the step of the EV receiving an undocking completion response message (UndockingConfirmationRes) from the aEVSE.

[0021] The above undocking setup request message (UndockingSetupReq) may include one or more of the UndockingType parameter indicating the unlock type of the EV plug and the LatchUnlockingExecution parameter indicating the execution of latch unlocking of the EV plug, and the above undocking setup response message (UndockingSetupRes) may include one or more of the ResponseCode parameter indicating the acknowledgment status for the undocking setup request and the LatchUnlockingResult parameter indicating the result of latch unlocking of the EV plug.

[0022] The above Undocking Execution instruction message may include one or more of the PlugRampdownDistance parameter representing the leave distance of the EV plug, the PlugRampdownAngle parameter representing the leave angle of the EV plug, and the PlugRampdownSpeed ​​parameter representing the leave speed of the EV plug.

[0023] The above undocking completion notification message (UndockingConfirmationReq) may include one or more of the UndockingResult parameter, which indicates the undocking result between the EV plug and the EV socket outlet, and the PlugPosition parameter, which indicates the home position of the EV plug, and the above undocking completion response message (UndockingConfirmationRes) may include one or more of the ResponseCode parameter, which indicates the acknowledgment status for the undocking completion notification, and the aEVSEProcessing parameter, which indicates the aEVSE side response to the undocking results.

[0024] According to embodiments of the present disclosure, a docking and undocking control method for an automated EV supply equipment (aEVSE) is provided, wherein docking and undocking between an electric vehicle (EV) and an automated EV supply equipment (aEVSE) for charging using an automated charging device (ACD) is performed using a manipulator and a vehicle connector attached to the aEVSE. The docking and undocking control method for the aEVSE comprises the steps of: the aEVSE transmitting a docking setup request message (DockingSetupReq) to the EV; the aEVSE receiving a docking setup response message (DockingSetupRes) from the EV; the aEVSE transmitting a docking execution instruction message (DockingExecution) to the EV; and the aEVSE transmitting a docking completion notification message (DockingConfirmationReq) to the EV. The method may include the step of the aEVSE receiving a docking completion response message (DockingConfirmationRes) from the EV; and the step of the aEVSE initiating power transmission to the EV.

[0025] The above docking setup request message (DockingSetupReq) may include one or more of the TargetPosition parameter indicating the target inlet position and the MatingSpace parameter indicating the allowable binding area, and the above docking setup response message (DockingSetupRes) may include one or more of the ResponseCode parameter indicating the acknowledgment status for the docking setup request, the CurrentInletPosition parameter indicating the current inlet position, and the AlignmentDeviation parameter indicating the deviation from the target position. The above docking execution instruction message (DockingExecution) may include one or more of the following parameters: ConnectorRampupDistance, which indicates the approach distance of the vehicle connector; ConnectorRampupAngle, which indicates the approach angle of the vehicle connector; ConnectorRampupSpeed, which indicates the approach speed of the vehicle connector; and LatchLockCommand, which indicates the latch lock command of the vehicle connector.The above docking completion notification message (DockingConfirmationReq) may include one or more of the DockingResult parameter indicating the docking result between the vehicle connector and the vehicle inlet, and the LatchLockingResult parameter indicating the latch locking result of the vehicle connector, and the above docking completion response message (DockingConfirmationRes) may include one or more of the ResponseCode parameter indicating the acknowledgment status for the docking completion notification, and the EVProcessing parameter indicating the vehicle side response to the docking results.

[0026] The docking and undocking control method of the aEVSE above may further include, after the step of the aEVSE initiating power transmission to the EV, the step of the aEVSE completing power transmission to the EV; the step of the aEVSE receiving an undocking setup request message (UndockingSetupReq) from the EV; the step of the aEVSE transmitting an undocking setup response message (UndockingSetupRes) to the EV; the step of the aEVSE transmitting an undocking execution instruction message (UndockingExecution) to the EV; the step of the aEVSE transmitting an undocking completion notification message (UndockingConfirmationReq) to the EV; and the step of the aEVSE receiving an undocking completion response message (UndockingConfirmationRes) from the EV.

[0027] The above Undocking Setup Request message may include one or more of the UndockingType parameter, which indicates the unlock type of the vehicle connector, and the LatchUnlockingCommand parameter, which indicates the latch unlock command of the vehicle connector; and the above Undocking Setup Res message may include one or more of the ResponseCode parameter, which indicates the acknowledgment status for the Undocking Setup Request, and the LatchUnlockingResult parameter, which indicates the result of the latch unlock of the vehicle connector. The above Undocking Execution message may include one or more of the ConnectorRampdownDistance parameter, which indicates the leave distance of the vehicle connector; the ConnectorRampdownAngle parameter, which indicates the leave angle of the vehicle connector; and the ConnectorRampdownSpeed ​​parameter, which indicates the leave speed of the vehicle connector.The above undocking completion notification message (UndockingConfirmationReq) may include one or more of the UndockingResult parameter, which indicates the undocking result between the vehicle connector and the vehicle inlet, and the ConnectorPosition parameter, which indicates the home position of the vehicle connector, and the above undocking completion response message (UndockingConfirmationRes) may include one or more of the ResponseCode parameter, which indicates the acknowledgment status for the undocking completion notification, and the EVProcessing parameter, which indicates the vehicle side response to the undocking results.

[0028] According to embodiments of the present disclosure, by controlling the docking and undocking procedures between an electric vehicle (EV) and an automatic electric vehicle power supply (aEVSE) based on communication, the precision of the physical coupling and the safety of the charging operation can be simultaneously secured.

[0029] In addition, it enables safe and reliable docking and undocking procedures between the EV and aEVSE, eliminates user intervention in the charging automation process, and improves the durability and efficiency of the charging interface and the stability of the entire system.

[0030] FIG. 1 is a flowchart illustrating the approaching, docking, power transfer, payment, close session, and departure procedures of electric mobility according to one embodiment of the present disclosure in steps.

[0031] FIG. 2 is a diagram illustrating an example of a state flow representing a communication procedure between an electric mobility and an automatic electric vehicle power supply (aEVSE) according to the present disclosure.

[0032] FIGS. 3a and 3b are drawings illustrating the documentation system of a communication structure according to the present disclosure, with reference to the documentation system of the ISO 15118 3rd Generation (V2G-CI 3rd Generation) communication structure.

[0033] FIGS. 4a and 4b are diagrams showing the configuration of primary actors and secondary actors for performing entry and exit scenarios near an automatic electric vehicle power supply (aEVSE) according to the present disclosure.

[0034] FIG. 5 is a system configuration diagram illustrating a communication structure between electric mobility or electric vehicle (EV), an automatic electric vehicle power supply (aEVSE), and various infrastructure operators according to the present disclosure.

[0035] FIG. 6 is a sequence diagram illustrating a docking procedure between an EV and an aEVSE when a manipulator and a vehicle connector are attached to the aEVSE according to embodiments of the present disclosure.

[0036] FIG. 7 is a sequence diagram illustrating the undocking procedure between an EV and an aEVSE when a manipulator and a vehicle connector are attached to the aEVSE according to embodiments of the present disclosure.

[0037] FIG. 8 is a sequence diagram illustrating a docking procedure between an EV and an aEVSE when a manipulator and an EV plug are attached to the EV according to embodiments of the present disclosure.

[0038] FIG. 9 is a sequence diagram illustrating the undocking procedure between an EV and an aEVSE when a manipulator and an EV plug are attached to the EV according to embodiments of the present disclosure.

[0039] FIG. 10 is a block diagram illustrating a generalized configuration for performing docking and undocking methods according to embodiments of the present disclosure.

[0040] In addition to the above purposes, other purposes and features of the present disclosure will become apparent from the description of embodiments with reference to the accompanying drawings.

[0041] The present disclosure is capable of various modifications and may have various embodiments, and specific embodiments are illustrated in the drawings and described in detail. However, this is not intended to limit the present disclosure to specific embodiments, and it should be understood that it includes all modifications, equivalents, and substitutions that fall within the spirit and scope of the present disclosure.

[0042] Terms such as first, second, A, B, etc., may be used to describe various components, but said components should not be limited by said terms. These terms are used solely for the purpose of distinguishing one component from another. For example, without departing from the scope of the present disclosure, the first component may be named the second component, and similarly, the second component may be named the first component. The term "and / or" includes a combination of a plurality of related described items or any of a plurality of related described items.

[0043] In the embodiments of the present application, "at least one of A and B" may mean "at least one of A or B" or "at least one of one or more combinations of A and B". Additionally, in the embodiments of the present application, "at least one of A and B" may mean "at least one of A or B" or "at least one of one or more combinations of A and B".

[0044] When it is stated that one component is "connected" or "connected" to another component, it should be understood that while it may be directly connected or connected to that other component, there may also be other components in between. On the other hand, when it is stated that one component is "directly connected" or "directly connected" to another component, it should be understood that there are no other components in between.

[0045] The terms used in this application are used merely to describe specific embodiments and are not intended to limit the disclosure. The singular expression includes the plural expression unless the context clearly indicates otherwise. In this application, terms such as “comprising” or “having” are intended to specify the presence of the features, numbers, steps, actions, components, parts, or combinations thereof described in the specification, and should be understood as not precluding the existence or addition of one or more other features, numbers, steps, actions, components, parts, or combinations thereof.

[0046] Unless otherwise defined, all terms used herein, including technical or scientific terms, have the same meaning as generally understood by those skilled in the art to which this disclosure pertains. Terms such as those defined in commonly used dictionaries should be interpreted as having a meaning consistent with their meaning in the context of the relevant technology, and should not be interpreted in an ideal or overly formal sense unless explicitly defined in this application.

[0047] Meanwhile, even if technology is known prior to the filing date of this application, it may be included as part of the composition of the invention of this application if necessary, and such details are described in this specification to the extent that they do not obscure the intent of this disclosure. However, in describing the composition of the invention of this application, detailed descriptions of matters that are known prior to the filing date and are obvious to those skilled in the art may obscure the intent of this disclosure, so overly detailed descriptions of known technology are omitted.

[0048] For example, technologies such as mobile communication technologies like Wi-Fi or 5G, but using a single layer of communication technology, to perform setup, association, pairing, localization, positioning, and docking / undocking control before charging an electric vehicle, or to transmit and receive information necessary to perform each process, may utilize technologies known prior to the filing of this disclosure, and at least some of these known technologies may be applied as elemental technologies necessary to implement this disclosure.

[0049] However, the purpose of this disclosure is not to claim rights to these prior art technologies, and the content of the prior art technologies may be included as part of this disclosure to the extent that it does not deviate from the purpose of this disclosure.

[0050] Some terms used in this specification are defined as follows.

[0051] An electric vehicle (EV) may refer to an automobile as defined in 49 CFR (code of federal regulations) 523.3, etc. An electric vehicle is capable of using highways and may be powered by electricity supplied from an onboard energy storage device, such as a battery, that can be recharged from a power source outside the vehicle. The power source may include residential areas, public electricity services, or generators using onboard fuel.

[0052] Electric vehicles (EVs) may be referred to as electric cars, electric automobiles, ERVs (electric road vehicles), PVs (plug-in vehicles), xEVs (plug-in vehicles), etc., and xEVs may be referred to or distinguished as BEVs (plug-in all-electric vehicles or battery electric vehicles), PEVs (plug-in electric vehicles), HEVs (hybrid electric vehicles), HPEVs (hybrid plug-in electric vehicles), PHEVs (plug-in hybrid electric vehicles), etc.

[0053] A plug-in electric vehicle (PEV) can be referred to as an electric vehicle that recharges its onboard primary battery by connecting to the power grid.

[0054] A plug-in vehicle (PV) may be referred to in this specification as a vehicle capable of being recharged via a wireless charging method without using a physical plug and socket from an Electric Vehicle Supply Equipment (EVSE).

[0055] Heavy-duty vehicles (HD Vehicles) may refer to any vehicle with four or more wheels as defined in 49 CFR 523.6 or CFR 37.3 (bus).

[0056] Light-duty plug-in electric vehicles may refer to three- or four-wheeled vehicles propelled by an electric motor powered by a rechargeable battery or other energy device, intended for use primarily on public streets, roads, and highways. Light-duty plug-in electric vehicles may be defined as having a gross weight of less than 4.545 kg.

[0057] A wireless power charging system (WCS) may refer to a system for controlling between a Supply Device (or Ground Assembly, GA) and an EV device (or Vehicle Assembly, VA), including wireless power transmission, alignment, and communication.

[0058] Wireless power transfer (WPT) can refer to the transmission of electrical power from an AC power supply network, such as a utility or grid, to an electric vehicle via contactless means.

[0059] A utility provides electrical energy and can typically be referred to as a set of systems including a Customer Information System (CIS), Advanced Metering Infrastructure (AMI), and Rates and Revenue system. The utility enables plug-in electric vehicles to utilize energy through price tags or discrete events. Additionally, the utility may provide information regarding tariff rates, intervals for metered power consumption, and verification of electric vehicle programs for plug-in electric vehicles.

[0060] Smart charging can be described as a system in which EVSEs and / or electric vehicles (including plug-in hybrid electric vehicles) communicate with the power grid to optimize the vehicle's charging or discharging rate in terms of grid capacity or usage cost ratio.

[0061] Automatic charging can be defined as the operation of positioning a vehicle at an appropriate location relative to a primary charger assembly capable of transmitting power and performing conductive or inductive charging. Automatic charging can be performed after obtaining the necessary authentication and authorization.

[0062] Interoperability can refer to the state in which components of relative systems can work together to perform the intended operation of the entire system. Information interoperability can refer to the ability of two or more networks, systems, devices, applications, or components to safely and effectively share and easily use information with little to no inconvenience to users.

[0063] An inductive charging system may refer to a system that electromagnetically transmits energy in the forward direction from an electric vehicle to an electric vehicle through a transformer in which two parts are loosely coupled. In this embodiment, the inductive charging system may correspond to an electric vehicle charging system.

[0064] An inductive coupler can refer to a transformer formed by a primary device and a secondary device that transmits power through electrical isolation.

[0065] Inductive coupling may refer to magnetic coupling between two coils. The two coils may refer to a primary coil / ground assembly coil and a secondary coil / vehicle assembly coil.

[0066] The supply power circuit (SPC) / ground assembly (GA) may refer to an assembly placed on the primary side / ground assembly or infrastructure side, including a primary side coil / GA coil and other suitable components. Other suitable components may include at least one component for controlling impedance and resonant frequency, ferrite for reinforcing the magnetic path, and electromagnetic shielding material. For example, the SPC or GA may include a power / frequency converter necessary to function as a power source for a wireless charging system, wiring from the SPC controller / GA controller and grid, and wiring between each unit and filtering circuits, housing, etc.

[0067] An EV power circuit (EVPC) / vehicle assembly (VA) may refer to an assembly placed in a vehicle, comprising a secondary coil / VA coil and other suitable components. Other suitable components may include at least one component for controlling impedance and resonant frequency, ferrite for reinforcing magnetic paths, and electromagnetic shielding materials. For example, the EVPC or VA may include wiring between each unit and filtering circuits, housings, etc., as well as wiring between the rectifier / power converter, EVPC controller / VA controller, and vehicle battery, which are necessary to function as vehicle components of a wireless charging system.

[0068] The aforementioned SPC may be referred to or distinguished as a ground assembly (GA), and similarly, the EVPC may be referred to or distinguished as a vehicle assembly (VA).

[0069] The aforementioned GA may be referred to as a primary device (PD), a primary-side device, etc., and similarly, VA may be referred to as a secondary device (SD), a secondary-side device, etc.

[0070] The aforementioned GA may be referred to as a supply device, power supply side device, etc., and similarly, VA may be referred to as an electric vehicle device, electric vehicle side device, etc.

[0071] The primary device may be a device that provides contactless coupling to the secondary device, i.e., a device outside the electric vehicle. The primary device may be referred to as the primary side device. When the electric vehicle receives power, the primary device may operate as a power source that transmits power. The primary device may include a housing and all covers.

[0072] A secondary device may be an onboard device for an electric vehicle that provides contactless coupling to a primary device. The secondary device may be referred to as a secondary device. When the electric vehicle receives power, the secondary device can transfer power from the primary device to the electric vehicle. The secondary device may include a housing and all covers.

[0073] Supply power electronics may be part of an SPC or GA that controls the output power level for the primary coil / GA coil based on information from the vehicle. EV power electronics may be part of an EVPC or VA that controls the output power level by monitoring specific vehicle parameters during charging and initiating communication with the SPC or GA.

[0074] The aforementioned supply power electronics may be referred to as ground assembly electronics (GA electronics), ground assembly controller (GA controller), or primary device communication controller (PDCC), and the EV power electronics may be referred to as vehicle assembly electronics (VA electronics), vehicle assembly controller (VA controller), or electric vehicle communication controller (VA controller).

[0075] The magnetic gap may refer to the vertical distance between the highest plane of the upper part of the litz wire or the upper part of the magnetic material of the primary coil / GA coil and the lowest plane of the lower part of the litz wire or the secondary coil / VA coil when they are aligned with each other.

[0076] Ambient temperature may refer to the ground level temperature measured in the atmosphere of a target subsystem that is not exposed to direct sunlight.

[0077] Vehicle ground clearance may refer to the vertical distance between the road or road pavement and the lowest point of the vehicle floor pan.

[0078] Vehicle magnetic ground clearance may refer to the vertical distance between the lowest plane of the floor of the Litz line or the insulating material of the secondary coil / VA coil mounted on the vehicle and the road pavement.

[0079] The secondary coil surface distance / vehicle assembly (VA) coil surface distance may refer to the vertical distance between the plane at the bottom of the Litz wire or the magnetic material of the secondary coil / VA coil and the lowest outer surface of the secondary coil / VA coil. This distance may include additional items wrapped in protective cover material and coil packaging material.

[0080] The aforementioned secondary coil may be referred to as a VA coil, vehicle coil, receiver coil, etc., and similarly, the primary coil may be referred to as a ground assembly coil (GA coil), transmit coil, etc.

[0081] An exposed conductive component may refer to a conductive component of an electrical device (e.g., an electric vehicle) that can be touched by a person and does not normally conduct electricity but can conduct electricity in the event of a failure.

[0082] A hazardous live component may refer to a live component capable of delivering a hazardous electric shock under certain conditions.

[0083] A live component can refer to any conductor or conductive part that is electrically active in its basic application.

[0084] Direct contact can refer to contact with a living being, such as a person.

[0085] Indirect contact may refer to contact with an exposed, conductive, electrically conductive active component due to insulation failure (see IEC 61140).

[0086] Alignment may refer to a procedure for finding the relative position of a secondary device to a primary device for defined efficient power transmission and / or a procedure for finding the relative position of a primary device to a secondary device. In this specification, alignment may refer to the positional alignment of a wireless power transmission system, but is not limited thereto.

[0087] Pairing may refer to a procedure in which a vehicle (electric vehicle) is associated with a single dedicated ground assembly (primary device) positioned to transmit power. In this specification, pairing may include a procedure in which a charging spot or a specific SPC / ground assembly is associated with an EVPC / vehicle assembly controller.

[0088] Correlation / Association may include the procedure for establishing a relationship between two peer communication entities.

[0089] Command and control communication may refer to communication between an electric vehicle power supply unit and an electric vehicle that exchanges information necessary for the start, control, and termination of the wireless power transmission process.

[0090] High-level communication can process all information exceeding that handled by command and control communication. Power line communication (PLC) can be used as the data link for high-level communication, but is not limited thereto.

[0091] Low power excitation may refer to, but is not limited to, activating the electric vehicle to detect a primary device in order to perform precision positioning and pairing, and the reverse is also possible.

[0092] An SSID (Service Set Identifier) ​​is a unique 32-character identifier attached to the header of packets transmitted over a wireless LAN. The SSID distinguishes the Basic Service Set (BSS) that a wireless device intends to connect to. Fundamentally, the SSID distinguishes multiple wireless LANs from one another. Therefore, all access points (APs) and all terminal / station devices attempting to use a specific wireless LAN can use the same SSID. Devices that do not use a unique SSID cannot join the BSS. Since the SSID is displayed in plain text, it may not provide any security features to the network.

[0093] ESSID (Extended service set identifier) ​​is the name of the network you want to connect to. It is similar to SSID but can be a more extended concept.

[0094] The BSSID (Basic Service Set Identifier) ​​is typically 48 bits long and is used to distinguish a specific BSS (Basic Service Set). In the case of an infrastructure BSS network, the BSSID can be the MAC (Medium Access Control) of an AP device. In the case of an independent BSS or ad hoc network, the BSSID can be generated as a random value.

[0095] A charging station may include at least one ground assembly and at least one ground assembly controller that manages at least one ground assembly. A ground assembly may be equipped with at least one wireless communication device. A charging station may refer to a place equipped with at least one ground assembly installed in a home, office, public place, road, parking lot, etc.

[0096] In this specification, the term "association" may be used to refer to the procedure for establishing wireless communication between an Electric Vehicle Communication Controller (EVCC) and a Supply Equipment Communication Controller (SECC) that controls charging infrastructure.

[0097] A 'Smart Grid' can refer to a system in which power plants, power generation units, energy storage systems, etc., are all connected in an intelligent manner through network facilities and implemented to exchange messages based on information and communication technology.

[0098] 'OEM (Original Equipment Manufacturer)' can refer to a top-level certification authority (CA) that issues OEM root certificates as a server operated by an electric vehicle manufacturer.

[0099] A 'charging station' may refer to a facility that includes one or more EV supply equipment (EVSE), smart meters, and other technical equipment necessary for charging an electric vehicle (EV).

[0100] An EV Supply Equipment (EVSE) is a device that forms part of a charging station that supplies energy to an electric vehicle via an outlet, and can refer to a device connected to a smart meter to measure energy.

[0101] A 'Charging station (CS)' may refer to a facility that includes one or more EV power supply units and actually performs charging for EVs.

[0102] A charging station may include at least one ground assembly and at least one ground assembly controller that manages at least one ground assembly. A ground assembly may include at least one wireless communication device. A charging station may refer to a place including at least one ground assembly installed in a home, office, public place, road, parking lot, etc.

[0103] 'Charging station operator (CSO)' may refer to an entity that manages electricity to provide requested energy transmission services, and may be a term synonymous with 'charge point operator (CPO).'

[0104] A 'Charge Service Provider (CSP)' may refer to an entity responsible for managing and authenticating EV user credentials and providing billing and other value-added services to customers; it can be considered a special type of MO and may be implemented in a combined form with an MO.

[0105] A 'Charge Point Operator (CPO)' may refer to a company or organization that has authority over the location where a charging station is situated to allow physical access to the charging station, or it may refer to a communication node or entity that manages the charging station and uses information and communication technology to authorize and control the charging process carried out by individual electric vehicle power supply units (EVSEs).

[0106] A 'Mobility Operator (MO)' may refer to a legal entity that forms a contractual relationship with an end user or company regarding charging, serving as the legal basis for the authorization of charging and payment at charging stations.

[0107] Electric Mobility Provider (EMP), Electric Mobility Service Provider (EMSP), and Mobility Service Provider (MSP) may be used with a similar meaning to Mobility Operator.

[0108] Additionally, a 'Mobility operator (MO)' may refer to a service provider that has entered into a contractual relationship with an EV owner regarding charging, authorization, and payment, enabling EV drivers to charge their EVs at charging stations.

[0109] A 'Clearing House (CH)' is an entity that handles cooperation matters among MOs, CSPs, and CSOs, and can act as an intermediary to facilitate approval, billing, and settlement procedures for EV charging service roaming, particularly between two settlement or clearing parties.

[0110] 'Roaming' may refer to information exchange and related provisions and schemes that enable EV users to access charging services provided by multiple CSPs or CSOs belonging to multiple mobility networks using a single credential and contract.

[0111] "Credential" is a physical or digital asset representing the personal information of an EV or EV owner, and may include cryptographic information used to verify identity, such as passwords, public key / private key pairs used in public key cryptographic algorithms, public key certificates issued by certification authorities, and information related to trusted root certification authorities.

[0112] A 'certificate' can refer to an electronic document that binds a public key to an ID via a digital signature.

[0113] A 'service session' may refer to a set of services related to electric vehicle charging at a charging point, assigned to a customer within a specific timeframe with a unique identifier.

[0114] In one embodiment, 'Plug-and-Charge (PnC)' may refer to a process in which authentication, authorization, load control, and payment are automatically performed without the need for additional user interaction, simply by the user plugging the electric vehicle into the electric vehicle power supply. Alternatively, PnC may refer to an identification and authorization mode for such an automatic process. PnC may be performed by applying an X.509 certificate, verifying the signature, and transmitting it.

[0115] In one embodiment, 'Park-and-Charge (PnC)' may refer to a process in which authentication, authorization, load control, and payment are automatically performed without the need for additional user interaction, provided that the user aligns the electric vehicle with the electric vehicle power supply or primary assembly. Alternatively, PnC may refer to an identification and authorization mode for such an automated process. PnC may be performed by applying an X.509 certificate, verifying the signature, and transmitting it.

[0116] 'Public Key Infrastructure (PKI)' may refer to a system for the generation, storage, redistribution, and revocation of digital signatures used to verify special public keys belonging to a specific person or object.

[0117] 'External Identification Means (EIM)' may refer to any external means by which a driver can authenticate and authorize themselves for a charging session taking place at a charging station. Examples include cash payment, prepaid cards, credit cards, debit cards, NFC, RFID, and SMS. EIM can configure two authentication modes in conjunction with PnC.

[0118] "Sales Tariff" may refer to a function that provides price-related information over time. Specifically, it may refer to an input provided by a mobility operator that enables the EV Communication Controller (EVCC) to calculate a charging schedule. The sales tariff may be a concept intended to provide incentives to electric vehicles that charge within a specific time slot for a preferred amount of power. A use case related to the sales tariff may be price information for power provided by a mobility operator that authenticates a charging session through a valid contract, wherein the contract may be authenticated by a contract certificate installed in the electric vehicle by the driver themselves or the vehicle sharing operator to which the vehicle belongs.

[0119] Furthermore, 'sales rate' may refer to a concept intended to promote the utilization of renewable energy, such as solar panels or wind turbines, by providing incentives to electric vehicles that charge during predictable time periods, such as using renewable energy. In some cases, the term may refer to the sales rate by including not only the price information of electricity but also the time slot associated with that price information.

[0120] A 'Secondary Actor' may refer to any party involved in the charging process that is not an EVCC or SECC. A Secondary Actor may be involved in the charging process by providing information related to the charging process, and examples of Secondary Actors include Charging Point Operators (CPO) and Mobility Operators (MO).

[0121] 'e-Mobility Account Identifier (eMAID)' may refer to a unique EV identifier that links a contract certificate to an EV owner's billing account.

[0122] An 'E-Mobility Account ID (EMAID)' may refer to a single contract certificate issued for each legal contract entered into between a mobility operator and a customer for electric vehicle charging. An EMAID may allow for the pseudonymization of personal data and may be valid only for a limited period, such as the lifetime of the legal contract. Unlike a Vehicle Identification Number (VIN), an EMAID may not allow for the long-term evaluation of customer or vehicle data. An EMAID may be introduced as a temporary identifier that can be granted using different authentication media for single, temporary, and short-term contracts, such as family vehicles or car-sharing agreements; furthermore, since one person may hold an EMAID for each of multiple contracts, it may be utilized for purposes different from personal identification information.

[0123] In the present disclosure, Vehicle-to-Grid (V2G) communication is defined in the ISO 15118 standard and can be designed to correspond to the OSI 7 layers. That is, the Open Systems Interconnection (OSI) may be a "conceptual model for standardizing the communication functions of communication or computing systems regardless of the internal structure and technology involved."

[0124] The ISO 15118 standard is characterized by its purpose of establishing and implementing charging and payment processes for electric vehicles, and it also includes the ability to adopt and utilize various information and communication technologies for this purpose. In other words, while it includes information and communication technology elements mapped to the OSI 7-layer model, the primary focus is on application-related features, as the objective is to establish charging and payment processes for electric vehicles.

[0125] The V2G communication interface specified in the ISO 15118 standard may include digital, IP-based protocols. In this case, communication between an electric vehicle (EV) and an electric vehicle power supply unit (EVSE), and communication between an electric vehicle power supply unit (EVCC) and a supply equipment communication controller (SECC) may be included in the V2G communication interface specified in the ISO 15118 standard.

[0126] V2G communication interfaces and ISO 15118 standards may be intended to enable user-friendly mechanisms that can perform authentication, authorization, and payment at charging stations without the need for separate user interaction.

[0127] Electric vehicles can be integrated into smart grids to provide flexible load control and valuable grid services capable of responding to diverse driving habits without compromising those habits. To avoid the need for additional grid components to supply power during peak demand caused by highly variable load fluctuations, the energy from electric vehicles can be considered as one of the energy sources within the smart grid. Furthermore, methods to provide appropriate incentives to electric vehicles to enable the smart grid to induce the expansion of renewable energy in the long term can also be considered to promote the activation of the smart grid.

[0128] The OSI Layer 5 Vehicle-to-Grid Transfer Protocol (V2GTP) can be understood as essentially a session wrapper for application layer messages. In this context, application layer messages may be referred to as so-called V2G messages. The V2GTP protocol may include header and payload definitions to enable efficient identification and processing of V2G messages.

[0129] Autoconnect Charging Device or Automatic Charging Device (ACD) technology can be implemented based on the provisions in ISO / IEC 15118 Edition 2, ISO 15118-20, which specify that at least part of the charging process is performed by controlling a robot or automated device using wireless communication.

[0130] As an example of ACD technology, types such as ACD-U (Underbody), ACD-S (Sidearm), or ACD-P (Pantograph) have been proposed based on the direction in which the ACD equipment on the EVSE side approaches the electric vehicle and / or the position of the ACD equipment on the EVSE side relative to the electric vehicle, and additional ACD types may be included in the future as wired / wireless charging technology expands.

[0131] The ACD charging communication method described below can be configured to define a new namespace, change message parameters, change the message sequence, and use a docking-undocking-pairing mechanism in ISO 15118 ACD charging communication over a WLAN. Additionally, the ACD charging communication method can be configured to define VSE additional information parameters for ACD-U or ACD-S.

[0132] A VSE (Vendor Specific Element) may refer to a data format containing information about the types of EVSEs available at the current location in ISO 15118-based communication.

[0133] Hereinafter, preferred embodiments of the present disclosure will be described in more detail with reference to the attached drawings. In order to facilitate an overall understanding of the present disclosure, the same reference numerals are used for identical components in the drawings, and redundant descriptions of identical components are omitted.

[0134] Details of the present disclosure will be explained below through the embodiments of FIGS. 1 to 10.

[0135] FIG. 1 is a flowchart illustrating the approaching, docking, power transfer, payment, close session, and departure procedures of electric mobility according to one embodiment of the present disclosure in steps.

[0136] The details described in this disclosure regarding electric vehicles, electric vehicles (EVs), or electric mobility may be applied without limitation to various types of electric mobility capable of driving using electric energy. In this context, electric mobility may refer to not only mobility that drives solely on electric energy but also various types of hybrid electric mobility that utilize other energy sources in combination.

[0137] Even when targeting various types of electric mobility, expressions such as EVSE may conventionally refer to a device that supplies electric energy, and expressions such as EVCC may refer to a controller that performs electronic communication and control within electric mobility. In other words, matters related to EVSE, aEVSE, EVCC, etc. in this disclosure may also be applied to electric mobility. Furthermore, matters described in relation to EVSE in this disclosure may also be applied to aEVSE.

[0138] Power is supplied to the EVSE or aEVSE from a power supply network, and power can be transferred from the EVSE or aEVSE to electric mobility.

[0139] Power can be supplied from the EVSE / aEVSE to the electric mobility. For power to be supplied from the EVSE / aEVSE to the electric mobility, a docking process between the EVSE / aEVSE and the electric mobility may be required, and after power is supplied, an undocking process can be performed to separate the EVSE / aEVSE and the electric mobility.

[0140] Wired or wireless power transfer (WPT) technology may be used for power supply between EVSE / AEVSE and electric mobility. When using wired or wireless power transfer, technology according to standards such as Automatic Charging Devices (ACD) may be used.

[0141] In addition, power may be supplied from the grid to the electric mobility side via the EVSE / AEVSE, as well as from the electric mobility side to the grid via the EVSE / AEVSE. Whether the electric mobility and / or EVSE / AEVSE support this bidirectional power transfer (BPT) function may be discussed in advance during the negotiation process before the EVSE / AEVSE is determined or power supply begins.

[0142] In communication between electric mobility and EVSE / aEVSE, Level 1 communication technology and Level 2 communication technology may be used. For example, Level 1 communication technology may refer to technologies such as UWB, PLC, RFID, NFC, and irDA. For example, Level 2 communication technology may refer to wireless communication technologies such as WLAN (Wi-Fi) and 5G / 6G.

[0143] Level 1 communication technology can be based on the premise that the entities participating in the communication are in close proximity to each other. Level 2 communication technology can be applied between entities located over a wider range than Level 1 communication technology.

[0144] Level 1 communication technology can be used for exchanging relatively simple information, while Level 2 communication technology can be used for exchanging advanced information or performing complex authentication procedures. In this regard, Level 2 communication technology can be considered a high-level communication technology compared to Level 1 communication technology.

[0145] Since Level 1 communication technology is based on short distances, it is possible to obtain indirect and additional information regarding the location of entities participating in the communication. For example, since entities communicating via Level 1 technology are likely to be within close proximity to each other, the possibility of communicating with the wrong counterpart can be reduced. From this perspective, Level 1 communication technology can be considered a technology more specialized in localization than Level 2 communication technology.

[0146] Even after the mobility enters a service site after driving on the road, the mobility can utilize both Level 1 communication technology and Level 2 communication technology when moving to various utilities within the service site or to any one of multiple aEVSEs.

[0147] For example, if mobility performs Level 1 communication with a specific utility or aEVSE, mobility may be considered to be located within a certain distance from that utility or aEVSE. That is, when the process of identifying whether mobility is communicating with a desired counterparty is called pairing, it can be confirmed by authenticating, through Level 2 communication technology, whether the counterparty paired by Level 1 communication technology is the counterparty desired by mobility.

[0148] Conversely, when mobility reserves a specific counterparty using Level 2 communication technology, whether mobility is correctly paired with the reserved counterparty can be verified based on identification information exchanged using Level 1 communication technology.

[0149] A dual verification process using both Level 1 communication technology and Level 2 communication technology can be performed by verifying whether there is a match between identification information mutually exchanged using Level 1 communication technology and authentication information exchanged using Level 2 communication technology. Since authentication information can be enhanced based on identification information, the mobility and the counterpart can confirm that the counterparts of the Level 1 / 2 communication technology match by verifying whether the authentication information was generated based on target identification information.

[0150] When the mobility is driving on the road before entering a charging station or service site, the mobility and the Area Site Manager (ASM) described below or a specific aEVSE can identify each other and establish a communication channel using Level 2 communication technology. Even while the mobility enters the service site and moves toward a specific target aEVSE, it can identify each other and establish a communication channel using Level 2 communication technology. After the mobility is positioned to be close to the target aEVSE (or after it is parked), the mobility can identify each other with the target aEVSE using Level 1 communication technology and identify whether the target aEVSE with which it has exchanged information via a communication channel of Level 2 communication technology is the same as the currently nearby aEVSE.

[0151] Level 2 communication technology can provide more functions with a wider range than Level 1 communication technology, whereas Level 1 communication technology is suitable for short-range communication and can be implemented at a low cost. As mentioned above, examples of Level 1 communication technology include wireless communication technology such as UWB, wired communication technology such as PLC, or various short-range wireless communication technologies such as BLE, irDA, and RFID.

[0152] As a Level 2 communication technology, for example, WLAN can be suitable for complex data communication (TCP / IP / TLS / XML). Since Level 2 communication technology can provide services in various application areas and provide advanced security functions, most advanced functions such as user identification, authentication, and authorization can be performed by Level 2 communication technology.

[0153] On the other hand, since Level 1 communication technology is closely related to the power transfer process, operations that are directly related to the charging procedure, such as safety checks and monitoring of the charging process, can be performed by Level 1 communication technology.

[0154] Level 1 communication technology and Level 2 communication technology can be used together to assist in precise localization while in motion. Localization-specialized communication technology may be a technology where the communication range is short, making it easy to determine the location and / or distance during the process of identifying a communication partner. Localization-specialized communication technology may be a communication technology that does not incur high communication costs and can be implemented with simple hardware. Localization-specialized communication technology may be a communication technology for performing a specific task in a specific environment. In this case, the specific task may include assistance for localization, pairing, and / or positioning, which is included in one embodiment of the present disclosure.

[0155] For variations such as the embodiments described below of this disclosure, ACDS / U parameters related to VSE (Vendor specific element) and / or Additional Info. in ISO 15118-8 may be proposed for modification. In ISO 15118-20, message parameters, message sequences, additional namespaces, and requirements may be changed or additionally proposed.

[0156] According to one embodiment of the present disclosure, an ACD charging communication method can be provided that defines VSE additional information parameters for ACDP, ACDU, or ACDS.

[0157] According to one embodiment of the present disclosure, a charging communication method for an ACD using a docking-undocking means using robotics (a manipulator or a robot arm) can be provided.

[0158] Referring again to FIG. 1, the present disclosure can provide a fully automatic charging service without user intervention by automatically performing the processes of vehicle access, docking, charging, payment, termination, and exit based on standardized messages.

[0159] First, in the Install Credentials step, the EV may install digital credentials for using the service. The said credentials correspond to Vehicle ID or user account information and may be issued and managed by a Public Key Infrastructure (PKI). In this disclosure, the EV may be configured to securely perform authentication procedures (AuthenticationReq / AuthenticationRes messages) with the ASM and aEVSE through these credentials.

[0160] During the while driving phase, internal systems of the EV, such as the OS (Orchestration System), VCMS (Vehicle Charging Management System), and VAS (Value Added Service) subsystems, can receive charging schedules and service information along the driving route from the ASM or eMSP. The ASM provides the EV with reservation identification information (ReservationID) and a list of accessible charging facilities (aEVSEList) via backend communication, and the EV can update the reservation or adjust the planned access location based on this. In this disclosure, preliminary communication prior to SiteApproachReq is performed with the ASM during this phase, enabling pre-mapping and authentication key synchronization for accessing charging stations.

[0161] In the "Arriving at site" phase, the EV can obtain entry permission by transmitting a SiteApproachReq message to the ASM as it enters the ASM's communication range and receiving a SiteApproachRes message from the ASM. During this process, the vehicle can confirm that it is a reserved vehicle by receiving the ReservationConfirmed parameter from the ASM and prepare for the authentication procedure using the AuthenticationCode information.

[0162] In the Approaching aEVSE phase, the EV can move to a designated charging port location based on the aEVSELocationInfo and aEVSEGuideReady information received from the ASM. The ASM receives the EV's location coordinates (VehicleLocation) in real time to synchronize the movement path linked with the parking guide sensor, and can control the aEVSE to maintain a standby state in accordance with the EV's approach direction.

[0163] In the "Parked at aEVSE" phase, when the EV reaches the target location, the ASM checks the status of the charging facility via CSReadyReq / Res messages and confirms that the aEVSE is ready for docking. At this phase, the vehicle's OS and the ASM exchange OSReadyReq / Res messages to mutually verify whether the vehicle's automatic docking procedure can be initiated.

[0164] In the PS Docking (Parking Spot Docking) phase, a mechanical coupling and communication session can be established between the vehicle and the aEVSE. The EV receives a coupling readiness signal from the ASM via a CSOReadyReq / Res message and can perform the docking procedure based on the ACDCSID (Automatic Connection Device CS ID). The ASM transmits this information to the CSO and CS to perform the power supply readiness procedure in parallel. At this time, the ACDSessionStart and OSReadyReq / Res procedures operate based on ISO 15118-20, so that the SessionID and authentication status can be synchronized.

[0165] In the Parking Spot Power Transfer (PS Power Transfer) stage, power transfer between the EV and the aEVSE can be initiated. Metering data, such as charging current, voltage, and temperature, can be transmitted to the ASM and eMSP and utilized in the payment stage. In this disclosure, payment services are performed in parallel through interoperability between the CSO and the eMSP, and additional services can be re-selected via ServiceReselectionReq / Res messages.

[0166] In the Terminate phase, after charging is complete, the ASM may send an EVLeavingReq message to the EV to request that it prepare for vehicle departure. The EV sends a response including LeavingTime and EVStatus, and the ASM may perform session cleanup procedures with the CSO and CS.

[0167] In the Close Session phase, authentication, payment, and log information are synchronized, and the ASM can update the status of the corresponding site (ASMStatus, StationStatus, etc.) by sending a SiteStatusUpdate message to the eMSP. This ensures that the status information of the charging infrastructure remains consistent with the central system in real time.

[0168] Finally, at the departure stage, the EV may send a SiteLeaveReq message to the ASM as it exits the buffer zone. The ASM confirms the vehicle's departure via a SiteLeaveRes message and subsequently sends a SiteStatusUpdate message to the eMSP to update the site's availability status to "available". According to the present disclosure, since this entire series of procedures is automatically performed based on standardized message exchange, the entire charging service from vehicle entry to departure can be fully automated without user intervention.

[0169] FIG. 2 is a diagram illustrating an example of a state flow representing a communication procedure between an electric mobility and an automatic electric vehicle power supply (aEVSE) according to the present disclosure.

[0170] As illustrated in FIG. 2, the present disclosure can define a series of state transition processes based on the ISO 15118 third-generation communication structure (ESDP-based V2G-CI) in which a vehicle initiates communication with an aEVSE, performs service negotiation and a charging session, and then terminates the session.

[0171] (1) ESDP / ENP stage

[0172] ESDP (Extensible SECC Discovery Protocol) and ENP (Event Notification Protocol) are lightweight initial session discovery procedures performed prior to the TCP / TLS-based session setup used in the existing ISO 15118-2, enabling an EV to discover nearby aEVSEs on the network and identify a Service Endpoint to initiate a session. By performing this step prior to the existing TCP handshake, it reduces the time required for session setup and allows communication to begin immediately upon vehicle approach, particularly in an Automatic Charging Device (ACD) environment.

[0173] (2) TCP(TLS) step

[0174] Once a session candidate is determined via ESDP, a Transport Layer Security-based TCP session can be established between EV and aEVSE. During this process, mutual authentication is performed, and one authentication path can be selected from either Plug and Charge (PnC) mode or External Identification Means (EIM) mode.

[0175] (3) Session Handling and Service Negotiation Step

[0176] The Session Handling and Service Negotiation phases include Session Setup, Service Discovery, Service Detail, and Service Selection, and in these phases, a structured communication phase sequence between the EVCC and SECC may be represented.

[0177] Session Setup is a step in which a charging session is formed by exchanging charging profiles, vehicle identification information, power requirements, etc., between the EV's communication controller (EVCC) and the aEVSE's communication controller (SECC). In this disclosure, an Orchestration System (OS) intervenes in this step to synchronize the parameters of the charging session with external systems such as an Area Site Manager (ASM), eMSP, and DSO. After the session is established, the ASM can transmit to the EV a list of services provided by the ASM and specific details of the services. Based on the received information, the EV can select a desired service, and upon notifying the ASM of the selected service, the ASM can prepare the selected service. The series of processes involving finding services, providing a list, and setting up services can be considered as the Service Negotiation step. That is, the EV and aEVSE can negotiate charging methods and Value Added Services (VAS) through the Service Negotiation step. At this time, the EV may request one or more service instances (e.g., DC BPT, PnC, or VAS), and the aEVSE may transmit a message to approve or reject them. The Service Negotiation stage can be defined to integrate and perform various service modules (e.g., DC bidirectional charging, car wash, parking, vehicle inspection, etc.) within a single session.

[0178] In an environment where PnC (Plug and Charge or Park and Charge) is supported, if PnC is selected during the service selection stage, automatic authentication and payment based on an in-vehicle certificate are performed, and the automatic authentication and payment process may follow the sequence defined in ISO 15118-20 Annex A-2. In an environment where VAS (Value Added Service) is supported, if VAS is selected during the service selection stage, additional services such as parking, car washing, payment, or vehicle status checks can be performed in parallel through the OS and ASM. In an environment where DC BPT (DC Bidirectional Power Transfer) is supported, if DC BPT is selected during the service selection stage, power flow is controlled bidirectionally, allowing functions to charge the vehicle battery or discharge power to the grid when necessary.

[0179] (4) Authorization step

[0180] In the Authorization stage, methods can be defined for the EV, aEVSE, and CSO to securely identify and authorize each other for electric vehicle charging, including PnC functions. In this stage, the identity of the EV can be verified through a digital certificate using PKI, and billing methods and information can be transmitted to the EV for billing.

[0181] (5) AC / DC charging stage

[0182] Depending on the service method selected by the EV, information regarding charge parameters, reservation information, and charge amount for the selected charging method (AC, DC, WPT, ACD, BPT, etc.) is exchanged with each other, and preparations for directly transmitting electrical energy can be made.

[0183] (6) Session Stop Step

[0184] When all service sessions are completed, during the Session Stop phase, the EV and aEVSE exchange ACDSessionStopReq / Res messages and terminate the session by exchanging BillingReq / BillingRes messages according to the selected payment method among PnC, EIM, or Mobile Pay. Subsequently, the OS notifies the ASM, VAS, eMSP, and DSO of the termination status, which may trigger a vehicle leaving vicinity scenario.

[0185] FIGS. 3a and 3b are drawings illustrating the documentation system of a communication structure according to the present disclosure, with reference to the documentation system of the ISO 15118 3rd Generation (V2G-CI 3rd Generation) communication structure.

[0186] As shown in Figures 3a and 3b, the third-generation V2G-CI standard can be composed of a more detailed set of Requirements series documents (left) and a corresponding set of Conformance series documents (right) by extending and reorganizing the existing ISO 15118-1, 15118-2, and 15118-20 series. Each document can define the communication procedure between the vehicle (EV) and the electric vehicle power supply unit (EVSE) by charging method (AC / DC / WPT / ACD) and service layer.

[0187] (1) Common layer

[0188] The common layer serves as the basis of the third-generation communication structure and may include a V2G communication framework, service discovery, security, session management, etc.

[0189] ISO / TR 15118-200 (Framework): A framework document for the overall communication structure that can define a reference model for the relationships between modules and message flow.

[0190] ISO / PAS 15118-202 / 203 (ESDP & ENP): By defining a lightweight Service Discovery Protocol (ESDP) and Network Provisioning (ENP) that are performed before session initiation, the existing TCP / TLS establishment time can be reduced.

[0191] ISO 15118-204 / 205 (Security): Can define a security framework for managing security and authentication (Plug & Charge or Park & ​​Charge, including EIM) of communication channels.

[0192] ISO 15118-206 / 207 (Session handling & Service negotiation): Defines the procedure for establishing a session, selecting a service, and negotiating a service between an EV and an EVSE, and can directly correspond to the state flow illustrated in FIG. 2 of the present disclosure.

[0193] (2) AC charging layer

[0194] ISO 15118-210 / 211 can define detailed protocols including AC charging, AC bidirectional power transfer (AC BPT), and distributed energy resources (AC BPT DER). This step can define communication requirements and conformance in typical slow charging environments.

[0195] (3) DC charging layer

[0196] ISO 15118-220 / 221 (using IEC 61851-23) defines session procedures in DC fast charging and DC BPT environments and can manage power conversion control and bidirectional power flow of aEVSE.

[0197] ISO 15118-222 / 223 (MCS: Megawatt Charging System) can define an ultra-high power charging protocol for heavy commercial vehicles (MCS) by referring to IEC 61851-23-3.

[0198] ISO 15118-224 / 225 (CHAdeMO) may be a module for maintaining interoperability with the Japanese rapid charging method (CHAdeMO).

[0199] (4) Automated Connection Device (ACD) layer

[0200] ISO 15118-230 / 231 (ACD Pantograph) based on IEC 61851-23-1 can define contactless automatic docking between a vehicle and a charging facility and communication procedures for a pantograph-type automatic charging device. This disclosure is closely related to this layer and can extend the definition of automatic docking and undocking procedures, including both ACD-S (Static) and ACD-U (Uplift) methods, and Entering / Leaving scenarios near aEVSE at the Application Layer level.

[0201] (5) Wireless Charging Layer

[0202] ISO 15118-240 / 241 (WPT) can define communication interfaces and conformity tests in wireless power transfer (WPT) systems based on IEC 61980. The communication structure proposed in this disclosure is equally applicable to WPT-based charging systems.

[0203] (6) Optional Services Layer

[0204] The optional service tier may include Value Added Services (VAS) other than charging, such as PnC, EIM authentication, metering, and scheduling.

[0205] ISO 15118-250 / 251 (Authorization): Can define certification procedures such as Plug & Charge or Park & ​​Charge (PnC), External Identification Means (EIM).

[0206] ISO 15118-252 / 253 (Metering): Can define standardized formats for energy measurement and billing data.

[0207] ISO 15118-254 / 255 (Scheduling): Can define charging reservation and scheduling protocols.

[0208] The present disclosure enables the processing of additional services within a single integrated session flow by combining the Authorization and Scheduling functions among these layers with payment and Rereservation messages in the "Leaving vicinity of aEVSE" stage.

[0209] That is, the ISO 15118 3rd generation standard system illustrated in FIGS. 3a and 3b promotes standardization by dividing each charging method (AC / DC / WPT / ACD) and service layer into requirements and conformances, and the present disclosure can propose entry and exit scenarios in an automatic parking-based ACD charging environment as new Application Layer Requirements based on the ISO 15118-230 series (ACD Pantograph) and the ISO 15118-206 / 207 series (Session handling & Service negotiation).

[0210] FIGS. 4a and 4b are diagrams showing the configuration of primary actors and secondary actors for performing entry and exit scenarios near an automatic electric vehicle power supply (aEVSE) according to the present disclosure.

[0211] As disclosed in FIGS. 4a and 4b, the present disclosure is based on the basic communication structure between an Electrical Vehicle and an Electric Vehicle Supply Equipment (EVSE) as defined in the international standard ISO 15118, and can provide an extended integrated control structure by adding new secondary actors to suit an Automated Charging Device (ACD) environment. An Electrical Vehicle Communication Controller (EVCC) is provided on the vehicle side, which interacts with the Electronic Control Unit (ECU), charger, interlock, residual current device, contactor, human machine interface (HMI), and modular current breaker inside the vehicle to control the state before and after charging and to transmit and receive messages in accordance with ISO 15118 standards. Users can check the charging status or select a payment method through the HMI, but in the present disclosure, most procedures can be performed automatically.

[0212] The automatic electric vehicle power supply unit (aEVSE) is equipped with a Supply Equipment Communication Controller (SECC) and can communicate with the vehicle's EVCC via the ISO 15118 protocol, along with components such as an Electricity Meter, a Paying Unit, an Interlock Device, a Contactor, and a Leakage Current Breaker. In particular, in this disclosure, the aEVSE includes an automatic docking device (Manipulator or Pantograph) so that it can automatically perform coupling and uncoupling operations by referencing the vehicle's location information (AVPS or ADAS-based).

[0213] In addition to such vehicles and electric vehicle power supply units, the present disclosure may newly define several secondary actors not included in the ISO 15118 standard and the resulting changes in the roles of existing secondary actors. For example, a Charging Station Operator (CSO) may centrally manage one or more aEVSEs and monitor the reservation status, session progress, and failure status of each charger in real time.

[0214] The CSO receives a session reservation request from the OS (Orchestration System) when the vehicle approaches the aEVSE and can transmit the session identifier (Session ID) and connection information to the vehicle.

[0215] Next, the Area Site Manager (ASM) acts as the entity managing the physical space within a charging station or parking area. It controls the parking location of vehicles in conjunction with the Automatic Parking System (AVPS) and supports vehicle departure by unlocking the parking lock after charging is complete. The ASM integrates with the OS and Value Added Service (VAS) subsystems to comprehensively manage local services such as parking, car washing, payment, and reservations.

[0216] In addition, the ACD Operator, as the entity controlling the aEVSE's automatic docking device, can maintain docking accuracy based on distance, attitude, and position data from the vehicle. The ACD Operator manages the ACD Session separately from the Charging Session, enabling the safe interruption of power flow even in the event of docking failure or an emergency stop.

[0217] Meanwhile, the Distribution System Operator (DSO) monitors the load status of the local power grid, including charging loads, and transmits distribution control signals for EV power supplies to the OS to distribute the load during peak hours or adjust the charging speed. This enables the stable maintenance of power quality even in the large-scale operating environment of aEVSE.

[0218] As such, the actors illustrated in FIGS. 4a and 4b operate in conjunction with each other according to their respective roles, and all communication can be managed through an Orchestration System (OS). That is, when a vehicle enters the vicinity of an aEVSE, the OS sequentially performs charging preparation, parking location control, and docking sequences in conjunction with the ASM, CSO, and ACD Operator, and after charging is completed, the OS completes the automatic exit procedure of the vehicle by notifying all actors, including Billing, VAS, and DSO, of the session termination and payment results. Consequently, the present disclosure can realize a fully automatic charging scenario in which automatic parking, automatic charging, and automatic payment are organically combined by extending the single vehicle-to-charger communication structure defined in the existing ISO 15118 into an integrated ecosystem in which multiple layers of operating entities cooperate.

[0219] FIG. 5 is a system configuration diagram illustrating a communication structure between electric mobility or electric vehicle (EV), an automatic electric vehicle power supply (aEVSE), and various infrastructure operators according to the present disclosure.

[0220] As illustrated in FIG. 5, the present disclosure may propose an integrated V2G (Vehicle-to-Grid) communication architecture capable of automatic parking and automatic charging by organically linking the vehicle's internal control module, driving assistance system, automatic parking control, additional service subsystem, charging facility, and external management system. The vehicle (EV) may internally include an AVPS (Automated Valet Parking System), AVDS (Automated Valet Driving System), OS (Orchestration System), and VAS (Value Added Service) subsystem centered around an ADAS (Advanced Driver Assistance System) subsystem.

[0221] ADAS recognizes the vehicle's driving environment, AVPS controls precise movement to the parking position, and AVDS can calculate the vehicle's automatic entry and exit paths. In this process, the OS manages communication between each module, and the VAS shown in Fig. 5 can provide a function to assist autonomous parking by the vehicle's autonomous driving, in addition to supplementary services.

[0222] The vehicle also includes a Vehicle Charging Management System (VCMS), which is linked with an Electric Vehicle Communication Controller (EVCC) to perform ISO 15118-based communication with a Supply Equipment Communication Controller (SECC). The VCMS handles charging session setup, charging status monitoring, session termination, and billing requests, and can automatically perform authentication procedures based on Plug and Charge (PnC) or External Identification Means (EIM) methods.

[0223] Multiple infrastructure modules may be deployed on the exterior of the vehicle. The aEVSE (SECC) illustrated in the central area of ​​FIG. 5 may include an automatic charging device (ACD), a direct current (DC) or alternating current (AC) power converter, and a wireless power transfer (WPT) device, and a Charging Station Controller (CSC) may exist separately corresponding to each charging method. For example, the CSC (ACD Operator) controls the ACD docking and undocking operations, the CSC (AC / DC Operator) controls power conversion and session current, and the CSC (WPT Operator) manages the wireless charging interface. The aEVSE is linked to a higher-level control system, and at the upper level there may be Automated Valet Parking Facility Equipment (AVPFE) and Automated Valet Driving Facility Equipment (AVDFE). These communicate with the AVPS and AVDS modules, respectively, to manage location control and movement paths so that the vehicle can enter an automated parking lot or charging area, or exit after charging is complete. These devices can exchange data with the vehicle and aEVSE through the AVPCC (Automated Valet Parking Communication Controller) and AVDCC (Automated Valet Driving Communication Controller).

[0224] In addition, Fig. 5 may include additional service infrastructure such as CWE (Car Wash Equipment), CWC (Car Wash Controller), and PFC (Parking Facility Controller). These are linked with VAS to process service requests such as car washing, parking reservation, and additional payment, and the information can be managed through ASM (Area Site Manager) and OS.

[0225] Meanwhile, e-Mobility Service Providers (eMSPs) and Distribution System Operators (DSOs) can be responsible for service provision and power distribution outside of the charging session. The eMSP performs authentication, payment, and user account integration for the charging service, while the DSO monitors the load status of the local power grid and transmits charging load control signals to the OS. In this process, the OS can function as a central coordination hub that integrates and manages message sequences among all actors.

[0226] As shown at the bottom of Fig. 5, the user can select PnC authentication, Mobile Pay, or EIM-based payment through the vehicle HMI or mobile device without direct intervention, and the vehicle's automatic parking, charging, and exit procedures can be automatically performed entirely through communication between the OS, ASM, and ACD Operator.

[0227] Therefore, the structure illustrated in FIG. 5 can realize a fully automated ACD charging environment in which an in-vehicle control module, automatic charging facility, field management system, power grid operator, e-mobility service provider, etc. are linked into a single network.

[0228] Hereinafter, use cases regarding docking and undocking operations of an electric vehicle (EV) and an automated electric vehicle power supply (aEVSE) through an automated charging device (ACD) will be explained in detail with reference to Tables 1 and 2.

[0229] Table 1 describes an example of a docking use case.

[0230] CharacteristicsValue / DescriptionActor / RoleEV, aEVSEGeneralEV prepares itself for being connected and ACD performs docking.Pre-conditions1) Docking and undocking communication is established.2) Vehicle / inlet positioning has been successfully performed.3) The aEVSE is ready to perform docking.Post-conditions1) The EV is ready to start a power transfer session.2) The aEVSE is ready for starting a power transfer session.Basic scenario1) The aEVSE and the EV exchange compatibility information and confirm compatibility.2) The aEVSE performs all measures to be ready for docking.3) The EV performs all measures to be ready for docking (e.g., open charging door, adjust suspension, ...).4) When ready for docking the EV initiates the docking process by sending a docking request to the aEVSE.5) The aEVSE or the EV is moving the manipulator and performs mating.6) aEVSE and EV exchange information that the docking process is completed.ExceptionsMating not successful due to obstacles in mating space or package space.

[0231]

[0232] Referring to Table 1, EV and automatic aEVSE perform docking operations via ACD.

[0233] This docking operation can be performed by controlling the manipulator and vehicle connector so that the aEVSE can engage with the EV inlet before the EV begins charging.

[0234] Alternatively, the docking operation can be performed by controlling the manipulator and the EV plug so that the EV can be coupled to the socket outlet before the EV begins charging.

[0235] With docking and undocking communications pre-established and the vehicle's inlet position adjustment completed, the aEVSE completes preparation for docking. Once these pre-conditions are met, the EV is ready to initiate a power transmission session, and the aEVSE also becomes ready for power transmission.

[0236] The basic scenario is as follows. First, the aEVSE and EV exchange compatibility information to verify the suitability of the system. Subsequently, the aEVSE performs the necessary procedures for docking preparation, and the EV also completes preparations for docking, such as opening the charging door and adjusting the suspension. Once the EV is ready for docking, it sends a docking request message to the aEVSE to initiate the docking process. Afterward, either the aEVSE or the EV drives the manipulator to perform the mating operation. When the docking process is complete, the aEVSE and the EV exchange docking completion information to confirm that the mating has been successfully achieved.

[0237] When this series of processes is successfully completed, the EV becomes ready to initiate a power transmission session, and the aEVSE also becomes ready to start power transmission. On the other hand, if there are obstacles in the mating space or package space, docking may not be successfully performed.

[0238] Table 2 explains an example of a use case for undocking.

[0239] CharacteristicsValue / DescriptionActor / RoleEV, aEVSEGeneralAfter power transfer has finished, the manipulator is moved into the clearance space.Pre-conditions1) The EV power transfer is finished.2) The aEVSE power transfer is finished.3) The EV interlock is unlocked, so that the connector can be removed from the vehicle.(If the EV does not have interlock, this step can be ignored.)Post-conditions1) The aEVSE is within the clearance space.2) The EV is able to depart.Basic scenarioThe EV sends an undocking request to the aEVSE.The aEVSE retracts the manipulator into the clearance space.The aEVSE signals the EV that the manipulator is within the clearance space.If applicable the EV closes the charging door.AlternativeIn case the manipulator is part of the vehicle, the vehicle retracts the manipulator.ExceptionsFailure in unmating the connectorFailure in moving the manipulatorManipulator cannot reach the clearance spaceCommunication failure

[0240]

[0241] Referring to Table 2, the undocking operation between the EV and aEVSE is performed after power transfer is completed. When power transfer is finished, the manipulator is moved to the clearance space, and the EV and aEVSE each perform the undocking procedure.

[0242] The preconditions for the undocking operation are as follows. First, power transmission from the EV must be complete, and second, power transmission from the aEVSE side must also be terminated. Third, the EV's interlock must be released so that the connector can be disconnected from the vehicle. If the EV does not have an interlock function, this step may be omitted.

[0243] When these conditions are met, the post-conditions after undocking are that the aEVSE is located in the waiting space and the EV is ready to start.

[0244] The basic scenario is as follows. The EV sends an undocking request message to the aEVSE, and the aEVSE retracts the manipulator into the waiting space. Subsequently, the aEVSE signals the EV that the manipulator has returned to a safe position, and if necessary, the EV closes the charging door.

[0245] If the manipulator is attached to the vehicle side, an alternative procedure can be performed in which the EV directly retracts the manipulator. However, exceptions may occur, such as failure to disconnect the connector, failure of the manipulator to move, the manipulator failing to reach the waiting space, or communication failures.

[0246] Hereinafter, a docking procedure between an EV and an aEVSE is described in detail according to embodiments of the present disclosure when a manipulator and a vehicle connector are attached to the aEVSE.

[0247] FIG. 6 is a sequence diagram illustrating a docking procedure between an EV and an aEVSE when a manipulator and a vehicle connector are attached to the aEVSE according to embodiments of the present disclosure.

[0248] In Fig. 6, the EV communicates with the Supply Equipment Communication Controller (SECC) of the aEVSE through the Vehicle Control and Management System (VCMS) or EV Communication Controller (EVCC) inside the vehicle, and transmits and receives docking-related messages.

[0249] As illustrated in FIG. 6, first, aEVSE sends a DockingSetupReq message to the EV to request the start of the docking procedure and alignment signals. In response, the EV sends a DockingSetupRes message to aEVSE to respond with the current position and alignment status of the vehicle inlet.

[0250] After that, aEVSE sends a DockingExecution message to the EV to perform an approach operation on the vehicle connector. Subsequently, aEVSE sends a DockingConfirmationReq message to the EV to notify it of the completion of docking and the results of the safety verification, and the EV sends a DockingConfirmationRes message in response to notify the vehicle side of the processing status regarding the docking results.

[0251] Through this series of communication procedures, docking between the EV and the aEVSE is completed, and subsequently, charging of the EV begins.

[0252] Table 3 illustrates the parameters that may be included in each message of the sequence of Fig. 6.

[0253] MessageDescriptionParameterDescriptionDockingSetupReqRequest of docking procedure start signal and alignmentTargetPositionTarget inlet position (e.g., x, y, z coordinates in mm)MatingSpaceAllowable binding areaDockingSetupResResponse of vehicle inlet position and alignment statusResponseCodeResponseCode indicating the acknowledgment status of received by aEVSECurrentInletPositionCurrent inlet position (e.g., x, y, z coordinates in mm)AlignmentDeviationDeviation from target positionDockingExecutionPerform connector alignment and engagementConnectorRampupDistanceVehicle connector approach distance (e.g., vector value Δx, Δy, Δz, in mm)ConnectorRampupAngleVehicle connector approach angle (e.g., value Δx, Δy, Δz, in degree)ConnectorRampupSpeedVehicle connector approach speed (e.g., value in velocity)LatchLockCommandVehicle connector latch lock command (e.g., true, false, error, etc.)DockingConfirmationReqNotification of docking completion and safety verification resultsDockingResultDocking results between vehicle connector and vehicle inlet (eg, success, failure, error, etc.)LatchLockingResultLatch locking results vehicle connector (eg, success, failure, error, etc.)DockingConfirmationResResponse to docking results from vehicle sideResponseCodeResponseCode indicating the acknowledgment status of received by aEVSEEVProcessingVehicle side response to docking results (eg, success, failure, error, etc.).

[0254]

[0255] As shown in Table 3, each message used in the docking procedure may include various parameters. Specifically, according to the sequence procedure illustrated in Fig. 6, docking between the EV and aEVSE can be performed through the various messages and parameters shown in Table 3. The messages used in the docking procedure may include DockingSetupReq, DockingSetupRes, DockingExecution, DockingConfirmationReq, and DockingConfirmationRes, and each message may include the following parameters.

[0256] First, the docking setup request message (DockingSetupReq) may include one or more of the TargetPosition parameter, which indicates the target inlet position, and the MatingSpace parameter, which indicates the allowable binding area.

[0257] The TargetPosition parameter defines the target position of the EV inlet using x, y, and z coordinates (in mm), thereby providing a precise positional reference for aligning the vehicle inlet with the aEVSE connector. The MatingSpace parameter specifies the allowable area where the connector and inlet can be mated, and can be set to ensure safe and smooth mating by taking into account mechanical tolerances or error ranges.

[0258] Next, the docking setup response message (DockingSetupRes) may include one or more of the following: a ResponseCode parameter indicating the acknowledgment status for the docking setup request, a CurrentInletPosition parameter indicating the current inlet position, and an AlignmentDeviation parameter indicating the deviation from the target position.

[0259] The ResponseCode parameter is a response code used to identify whether the EV has successfully received the DockingSetupReq message from the aEVSE, and can have values ​​such as success, failure, or error. The CurrentInletPosition parameter indicates the current position of the EV inlet in x, y, and z coordinates (in mm), providing feedback information for the aEVSE to align the manipulator and connector to the target position. Additionally, the AlignmentDeviation parameter indicates the amount of deviation between the target position and the current position, and the correction movement of the connector can be determined based on this deviation.

[0260] The DockingExecution message may include one or more of the following parameters: ConnectorRampupDistance, which indicates the approach distance of the vehicle connector; ConnectorRampupAngle, which indicates the approach angle of the vehicle connector; ConnectorRampupSpeed, which indicates the approach speed of the vehicle connector; and LatchLockCommand, which indicates the latch lock command of the vehicle connector.

[0261] The ConnectorRampupDistance parameter specifies the distance vector (Δx, Δy, Δz, in mm) that the connector must move toward the EV inlet, and the ConnectorRampupAngle parameter specifies the tilt or rotation angle (Δx, Δy, Δz, in degrees) that the connector must maintain during approach. The ConnectorRampupSpeed ​​parameter defines the connector's approach speed (in velocity units) to control the manipulator to approach safely without collision. The LatchLockCommand parameter is a signal that specifies the latch lock or unlock command of the connector and can be expressed as a logical value or status value such as true, false, or error.

[0262] Next, the docking completion notification message (DockingConfirmationReq) may include one or more of the DockingResult parameter, which indicates the docking result between the vehicle connector and the vehicle inlet, and the LatchLockingResult parameter, which indicates the latch locking result of the vehicle connector.

[0263] The DockingResult parameter reports the connection status by indicating the success or failure (success, failure, error, etc.) of the docking process, and the LatchLockingResult parameter indicates the result of the connector's latch locking, which can be used as an indicator to determine whether the physical connection was properly performed.

[0264] Finally, the docking confirmation message (DockingConfirmationRes) may include one or more of the ResponseCode parameter indicating the acknowledgment status for the docking confirmation, and the EVProcessing parameter indicating the vehicle side response to the docking results.

[0265] The ResponseCode parameter indicates whether the docking completion notification message received from aEVSE was successfully delivered to the EV, and the EVProcessing parameter may indicate the result of internal processing (success, failure, error, etc.) performed on the vehicle side after docking is complete. This parameter can be used to verify whether the vehicle's charging control module has completed preparations for actual charging initiation.

[0266] Accordingly, each message and parameter shown in Table 3 can specifically implement a communication structure for performing a precise docking procedure between EV and aEVSE.

[0267] Hereinafter, an undocking procedure between an EV and an aEVSE is described in detail according to embodiments of the present disclosure when a manipulator and a vehicle connector are attached to an aEVSE.

[0268] FIG. 7 is a sequence diagram illustrating the undocking procedure between an EV and an aEVSE when a manipulator and a vehicle connector are attached to the aEVSE according to embodiments of the present disclosure.

[0269] In Fig. 7, the EV communicates with the Supply Equipment Communication Controller (SECC) of the aEVSE through the Vehicle Control and Management System (VCMS) or EV Communication Controller (EVCC) inside the vehicle, and transmits and receives undocking-related messages.

[0270] As shown in FIG. 7, after power reception is complete, the EV sends an UndockingSetupReq message to aEVSE to request a procedure for disconnecting the connector. In response, aEVSE sends an UndockingSetupRes message to the EV to respond with the status of readiness for undocking and whether the connector is ready for release.

[0271] Subsequently, aEVSE sends an UndockingExecution message to the EV to perform the connector leave operation. Afterward, aEVSE sends an UndockingConfirmationReq message to notify the completion of undocking and the safety verification results, and the EV sends an UndockingConfirmationRes message in response to report the vehicle-side processing status regarding the undocking results.

[0272] Through this series of communication procedures, undocking between the EV and aEVSE is completed, and the manipulator returns to its initial position (or clearance area), enabling the EV to start.

[0273] Table 4 illustrates the parameters that may be included in each message of the sequence of Fig. 7.

[0274] MessageDescriptionParameterDescriptionUndockingSetupReqRequest to disconnect vehicle connectorUndockingTypeVehicle connector unlock type (e.g., immediate, reservation, etc.)LatchUnlockingCommandVehicle connector latch unlock command (e.g., true, false, error, etc.)UndockingSetupResConfirm power transfer is complete and prepare to vehicle connector unlockResponseCodeResponseCode indicating the acknowledgment status of received by EVLatchUnlockingResultLatch unlocking results vehicle connector (e.g., success, failure, error, etc.)UndockingExecutionPerform vehicle connector disconnectionConnectorRampdownDistanceVehicle connector leave distance (e.g., vector value Δx, Δy, Δz, in mm)ConnectorRampdownAngleVehicle connector leave angle (e.g., value Δx, Δy, Δz, in degree)ConnectorRampdownSpeedVehicle connector leave speed (e.g., value in velocity)UndockingConfirmationReqNotification of undocking completion and safety verification resultsUndockingResultUndocking results between vehicle connector and vehicle inlet (eg, success, failure, error, etc.)ConnectorPositionVehicle connector home position (eg, x, y, z coordinates in mm)UndockingConfirmationResResponse to undocking result from vehicle sideResponseCodeResponseCode indicating the acknowledgment status of received by aEVSEEVProcessingVehicle side response to undocking results (eg, success, failure, error, etc.).

[0275]

[0276] As shown in Table 4, each message used in the undocking procedure may include various parameters. Specifically, according to the sequence procedure illustrated in FIG. 7, undocking between EV and aEVSE can be performed through the various messages and parameters shown in Table 4. The messages used in the undocking procedure may include UndockingSetupReq, UndockingSetupRes, UndockingExecution, UndockingConfirmationReq, and UndockingConfirmationRes, and each message may include the following parameters.

[0277] First, the Undocking Setup Req message may include one or more of the UndockingType parameter, which indicates the unlock type of the vehicle connector, and the LatchUnlockingCommand parameter, which indicates the latch unlock command of the vehicle connector.

[0278] The UndockingType parameter specifies the release method of the vehicle connector, such as immediate release or reservation release, and allows for the adjustment of the undocking timing between the EV and aEVSE. The LatchUnlockingCommand parameter is a command signal to control the latch unlocking operation of the vehicle connector; it can be expressed as true, false, error, etc., and determines whether to execute the connector release operation.

[0279] Next, the undocking setup response message (UndockingSetupRes) may include one or more of the ResponseCode parameter, which indicates the acknowledgment status for the undocking setup request, and the LatchUnlockingResult parameter, which indicates the latch unlocking result of the vehicle connector.

[0280] The ResponseCode parameter is a response code used to verify whether the aEVSE has successfully received the UndockingSetupReq message from the EV, and can have status values ​​such as success, failure, or error. The LatchUnlockingResult parameter indicates whether the latch unlocking operation of the vehicle connector has been successfully performed and can provide reference information for determining whether the mechanical coupling is in a releaseable state.

[0281] Subsequently, the Undocking Execution message may include one or more of the ConnectorRampdownDistance parameter, which indicates the leave distance of the vehicle connector; the ConnectorRampdownAngle parameter, which indicates the leave angle of the vehicle connector; and the ConnectorRampdownSpeed ​​parameter, which indicates the leave speed of the vehicle connector.

[0282] The ConnectorRampdownDistance parameter can define the distance vector (Δx, Δy, Δz, in mm) for the connector to move away from the inlet, and the ConnectorRampdownAngle parameter can specify the connector rotation angle (Δx, Δy, Δz, in degrees) at the time of moving away. The ConnectorRampdownSpeed ​​parameter can control the manipulator to move safely without physical interference by setting the speed of the moving motion.

[0283] Next, the undocking confirmation message (UndockingConfirmationReq) may include one or more of the UndockingResult parameter, which indicates the undocking result between the vehicle connector and the vehicle inlet, and the ConnectorPosition parameter, which indicates the home position of the vehicle connector.

[0284] The UndockingResult parameter can indicate whether undocking was successfully completed (success, failure, error, etc.) and can be used by aEVSE to notify the EV of the connector's disconnection status. The ConnectorPosition parameter defines the final position to which the connector returned after undocking in x, y, and z coordinates (in mm) and can verify whether the manipulator returned normally within the clearance space.

[0285] Finally, the undocking confirmation message (UndockingConfirmationRes) may include one or more of the ResponseCode parameter, which indicates the acknowledgment status for the undocking confirmation, and the EVProcessing parameter, which indicates the vehicle side response to the undocking results.

[0286] The ResponseCode parameter indicates whether the EV has successfully received the undocking completion notification from the aEVSE, and the EVProcessing parameter can indicate the result of the processing performed on the vehicle side after undocking is complete (success, failure, error, etc.). This parameter can be used to verify whether the vehicle recognizes that it has been physically separated and has transitioned to a ready-to-go state.

[0287] Accordingly, each message and parameter in Table 4 can specifically implement a communication procedure to stably and precisely perform the undocking process between EV and aEVSE.

[0288] Hereinafter, a docking procedure between an EV and an aEVSE is described in detail according to embodiments of the present disclosure when a manipulator and an EV plug are attached to the EV.

[0289] FIG. 8 is a sequence diagram illustrating a docking procedure between an EV and an aEVSE when a manipulator and an EV plug are attached to the EV according to embodiments of the present disclosure.

[0290] In Fig. 8, the EV communicates with the Supply Equipment Communication Controller (SECC) of the aEVSE through the Vehicle Control and Management System (VCMS) or EV Communication Controller (EVCC) inside the vehicle, and transmits and receives docking-related messages.

[0291] As shown in Fig. 8, the EV first sends a DockingSetupReq message to aEVSE to request the start of the docking procedure and alignment signals.

[0292] In response, aEVSE responds with the DockingSetupRes message to the EV to report the current position and alignment status of the EV socket-outlet.

[0293] After that, aEVSE sends a DockingExecution message to the EV to perform the alignment and coupling operations of the plug.

[0294] When the docking operation is completed, aEVSE sends a DockingConfirmationReq message to notify the completion of the coupling and the results of the safety verification, and EV sends a DockingConfirmationRes message as a response to report the processing status on the aEVSE side regarding the docking result.

[0295] Through this communication procedure, the connection between the EV plug and the aEVSE socket-outlet can be accurately established, and power transmission is subsequently initiated.

[0296] Table 5 illustrates the parameters that may be included in each message of the sequence of Fig. 8.

[0297] MessageDescriptionParameterDescriptionDockingSetupReqRequest of docking procedure start signal and alignmentTargetPositionTarget inlet position (e.g., x, y, z coordinates in mm)MatingSpaceAllowable binding areaDockingSetupResResponse of EV socket-outlet position and alignment statusResponseCodeResponseCode indicating the acknowledgment status of received by aEVCurrentSocketoutletPositionCurrent EV socket-outlet position (e.g., x, y, z coordinates in mm)AlignmentDeviationDeviation from target positionDockingExecutionPerform EV plug alignment and engagementPlugRampupDistanceEV plug approach distance (e.g., vector value Δx, Δy, Δz, in mm)PlugRampupAngleEV plug approach angle (e.g., value Δx, Δy, Δz, in degree)PlugRampupSpeedEV plug approach speed (e.g., value in velocity)LatchLockCommandEV plug latch lock command (e.g., true, false, error, etc.)DockingConfirmationReqNotification of docking completion and safety verification resultsDockingResultDocking results between EV plug and EV socket-outlet (eg, success, failure, error, etc.)LatchLockingResultLatch locking results EV plug (eg, success, failure, error, etc.)DockingConfirmationResResponse to docking results from aEVSE sideResponseCodeResponseCode indicating the acknowledgment status of received by EVaEVSEProcessingaEVSE side response to docking results (eg, success, failure, error, etc.).

[0298]

[0299] As shown in Table 5, each message used in the docking procedure of FIG. 8 may include various parameters. Specifically, according to the sequence procedure illustrated in FIG. 8, docking between EV and aEVSE may be performed through the various messages and parameters shown in Table 5. The messages used in the docking procedure may include DockingSetupReq, DockingSetupRes, DockingExecution, DockingConfirmationReq, and DockingConfirmationRes, and each message may include the following parameters.

[0300] First, the docking setup request message (DockingSetupReq) may include one or more of the TargetPosition parameter, which indicates the target inlet position, and the MatingSpace parameter, which indicates the allowable binding area.

[0301] The TargetPosition parameter defines the target coordinates of the socket-outlet to which the plug must be coupled as x, y, and z (in mm), and the MatingSpace parameter can increase coupling precision by specifying the tolerance range for coupling.

[0302] Next, the docking setup response message (DockingSetupRes) may include one or more of the following: a ResponseCode parameter indicating the acknowledgment status for the docking setup request, a CurrentSocketoutletPosition parameter indicating the current EV socket-outlet position, and an AlignmentDeviation parameter indicating the deviation from the target position.

[0303] The ResponseCode parameter indicates the status of receiving a request from aEVSE, and the CurrentSocketoutletPosition parameter indicates the current position of the EV socket-outlet in x, y, and z coordinates, which can be used for alignment correction of the plug. Additionally, the AlignmentDeviation parameter indicates the difference from the target position, thereby providing correction information to control plug alignment.

[0304] Next, the DockingExecution message may include one or more of the following parameters: PlugRampupDistance, which indicates the approach distance of the EV plug; PlugRampupAngle, which indicates the approach angle of the EV plug; PlugRampupSpeed, which indicates the approach speed of the EV plug; and LatchLockCommand, which indicates the latch lock command of the EV plug.

[0305] The PlugRampupDistance parameter represents the distance vector (Δx, Δy, Δz, in mm) of the EV plug approaching the socket-outlet, and the PlugRampupAngle parameter represents the approach angle (Δx, Δy, Δz, in degrees) of the plug.

[0306] The PlugRampupSpeed ​​parameter defines the plug's approach speed (in velocity units) and controls precise approach without coupling collisions.

[0307] The LatchLockCommand parameter conveys the plug's latch lock command and can be represented by status values ​​such as true, false, or error.

[0308] Next, the docking completion notification message (DockingConfirmationReq) may include one or more of the DockingResult parameter, which indicates the docking result between the EV plug and the EV socket-outlet, and the LatchLockingResult parameter, which indicates the latch locking result of the EV plug.

[0309] The DockingResult parameter indicates the success or failure of the join (success, failure, error, etc.) and notifies the EV of the join status.

[0310] The LatchLockingResult parameter indicates the result of the EV plug's latch locking operation, allowing verification of whether the mechanical engagement is complete.

[0311] Finally, the docking confirmation message (DockingConfirmationRes) may include one or more of the ResponseCode parameter, which indicates the acknowledgment status for the docking confirmation, and the aEVSEProcessing parameter, which indicates the aEVSE side response to the docking results.

[0312] The ResponseCode parameter checks the reception status of the coupling completion message transmitted from the EV, and the aEVSEProcessing parameter can indicate the result (success, failure, error, etc.) of the docking process performed internally on the aEVSE side.

[0313] Accordingly, each message and parameter in Table 5 can specifically define the precise coupling process between the EV plug and the socket-outlet.

[0314] Hereinafter, an undocking procedure between an EV and an aEVSE is described in detail according to embodiments of the present disclosure when a manipulator and an EV plug are attached to an EV.

[0315] FIG. 9 is a sequence diagram illustrating the undocking procedure between an EV and an aEVSE when a manipulator and an EV plug are attached to the EV according to embodiments of the present disclosure.

[0316] In FIG. 9, the EV communicates with the aEVSE’s SECC (Supply Equipment Communication Controller) through the VCMS (Vehicle Control and Management System) or EVCC (EV Communication Controller) inside the vehicle, and transmits and receives undocking-related messages.

[0317] As shown in Fig. 9, after power transmission is finished, the EV sends an UndockingSetupReq message to aEVSE to request the procedure for disconnecting the EV plug.

[0318] In response, aEVSE replies to the EV with an UndockingSetupRes message to notify it of the power transmission termination status and whether the EV plug is ready for unplugging.

[0319] Subsequently, the EV or aEVSE sends an UndockingExecution message to perform the plug disconnection operation.

[0320] When undocking is complete, aEVSE sends an UndockingConfirmationReq message to the EV to notify it of the undocking completion and safety verification results, and the EV sends an UndockingConfirmationRes message in response to report the vehicle-side processing status regarding the undocking results to aEVSE.

[0321] Through this series of procedures, the EV plug is safely disconnected from the socket-outlet, enabling the EV to start.

[0322] Table 6 illustrates the parameters that may be included in each message of the sequence in Fig. 9.

[0323] MessageDescriptionParameterDescriptionUndockingSetupReqRequest to disconnect EV plugUndockingTypeEV plug unlock type (e.g., immediate, reservation, etc.)LatchUnlockingExecutionEV plug latch unlock execution (e.g., true, false, error, etc.)UndockingSetupResConfirm power transfer is complete and prepare to EV plug unlockResponseCodeResponseCode indicating the acknowledgment status of received by aEVSELatchUnlockingResultLatch unlocking results EV plug (e.g., success, failure, error, etc.)UndockingExecutionPerform vehicle connector disconnectionPlugRampdownDistanceEV plug leave distance (e.g., vector value Δx, Δy, Δz, in mm)PlugRampdownAngleEV plug leave angle (e.g., value Δx, Δy, Δz, in degree)PlugRampdownSpeedEV plug leave speed (e.g., value in velocity)UndockingConfirmationReqNotification of undocking completion and safety verification resultsUndockingResultUndocking results between EV plug and EV socket-outlet (e.g., success, failure, error, etc.)PlugPositionEV plug home position (e.g., x, y, z coordinates in mm)UndockingConfirmationResResponse to undocking result from aEVSE sideResponseCodeResponseCode indicating the acknowledgment status of received by EVaEVSEProcessingaEVSE side response to undocking results (eg, success, failure, error, etc.).

[0324]

[0325] As shown in Table 6, each message used in the undocking procedure of FIG. 9 may include various parameters. Specifically, according to the sequence procedure illustrated in FIG. 9, undocking between EV and aEVSE may be performed through the various messages and parameters shown in Table 6. The messages used in the undocking procedure may include UndockingSetupReq, UndockingSetupRes, UndockingExecution, UndockingConfirmationReq, and UndockingConfirmationRes, and each message may include the following parameters.

[0326] First, the undocking setup request message (UndockingSetupReq) may include one or more of the UndockingType parameter, which indicates the unlock type of the EV plug, and the LatchUnlockingExecution parameter, which indicates the latch unlock execution of the EV plug.

[0327] The UndockingType parameter specifies the plug release method (e.g., immediate release, scheduled release, etc.) and can adjust the separation time between the EV and aEVSE.

[0328] The LatchUnlockingExecution parameter is a latch unlock command signal for the EV plug, which can be expressed in a state such as true, false, or error, and can determine whether to execute the unlock operation.

[0329] Next, the undocking setup response message (UndockingSetupRes) may include one or more of the ResponseCode parameter, which indicates the acknowledgment status for the undocking setup request, and the LatchUnlockingResult parameter, which indicates the latch unlocking result of the EV plug.

[0330] The ResponseCode parameter is a response code used to verify whether aEVSE has successfully received the EV's request, and it can have a status such as success, failure, or error.

[0331] The LatchUnlockingResult parameter indicates the result of the EV plug unlocking operation and can provide information to determine whether the mechanical coupling has been completely released.

[0332] Subsequently, the UndockingExecution message may include one or more of the PlugRampdownDistance parameter, which indicates the leave distance of the EV plug; the PlugRampdownAngle parameter, which indicates the leave angle of the EV plug; and the PlugRampdownSpeed ​​parameter, which indicates the leave speed of the EV plug.

[0333] The PlugRampdownDistance parameter can define the distance vector (Δx, Δy, Δz, in mm) at which the EV plug is separated from the socket-outlet, and the PlugRampdownAngle parameter can represent the angle (Δx, Δy, Δz, in degrees) at which the plug rotates or tilts when separated.

[0334] The PlugRampdownSpeed ​​parameter sets the release speed of the EV plug, allowing for safe separation without physical interference or collision.

[0335] Next, the undocking confirmation message (UndockingConfirmationReq) may include one or more of the UndockingResult parameter, which indicates the undocking result between the EV plug and the EV socket-outlet, and the PlugPosition parameter, which indicates the home position of the EV plug.

[0336] The UndockingResult parameter indicates whether undocking was successful (success, failure, error, etc.), and the PlugPosition parameter defines the position where the EV plug returns after disconnection using x, y, and z coordinates (in mm). This allows verification of whether the EV plug has returned normally within the clearance area.

[0337] Finally, the undocking confirmation message (UndockingConfirmationRes) may include one or more of the ResponseCode parameter, which indicates the acknowledgment status for the undocking confirmation, and the aEVSEProcessing parameter, which indicates the aEVSE side response to the undocking results.

[0338] The ResponseCode parameter can indicate whether the EV has successfully received the undocking completion notification from aEVSE, and the aEVSEProcessing parameter can indicate the result of aEVSE's internal processing (success, failure, error, etc.).

[0339] Accordingly, each message and parameter in Table 6 can specifically implement a communication structure for performing the undocking procedure between the EV plug and the socket-outlet precisely and safely.

[0340] FIG. 10 is a block diagram illustrating a generalized configuration for carrying out a method of mobility and a method of aEVSE according to embodiments of the present disclosure.

[0341] Referring to FIG. 10, a computing system (3000) according to embodiments of the present disclosure may include at least one processor (3100) and a memory (3200) that stores instructions instructing the at least one processor (3100) to perform at least one step described above. At least some steps of a method according to one embodiment of the present invention may be performed by the at least one processor (3100) loading instructions from the memory (3200) and executing them.

[0342] The processor (3100) may mean a central processing unit (CPU), a graphics processing unit (GPU), or a dedicated processor on which methods according to embodiments of the present invention are performed.

[0343] Each of the memory (3200) and the storage device (3400) may be composed of at least one of a volatile storage medium and a non-volatile storage medium. For example, the memory (3200) may be composed of at least one of read-only memory (ROM) and random access memory (RAM).

[0344] Additionally, the computing system (3000) may include a communication interface (3300) that performs communication through a wired / wireless network.

[0345] Additionally, the computing system (3000) may further include a storage device (3400), an input interface (3500), an output interface (3600), etc.

[0346] Additionally, each component included in the computing system (3000) can communicate with each other by being connected by a bus (3700).

[0347] A device including a processor (3100) according to one embodiment of the present invention may be, for example, a communicable desktop computer, laptop computer, notebook, smartphone, tablet PC, mobile phone, smart watch, smart glass, e-book reader, PMP (portable multimedia player), portable game console, navigation device, digital camera, DMB (digital multimedia broadcasting) player, digital audio recorder, digital audio player, digital video recorder, digital video player, PDA (Personal Digital Assistant), etc.

[0348] A device for controlling power transmission or determining operating conditions according to embodiments of the present disclosure may be installed on the EV and / or charging station side, ASM, in connection with an electric vehicle charging system, aEVSE, and / or a charging manipulator, and may include a processor (3100) that receives and executes at least one command from a memory (3200).

[0349] A processor (3100) according to embodiments of the present disclosure may perform a method executed by a computing system or controller on the EV side or aEVSE side. Such a processor (3100) may perform a docking and undocking control method of an EV or a docking and undocking control method of an aEVSE comprising each of the following steps.

[0350] The docking and undocking control method of the above EV may include the step of the EV receiving a docking setup request message (DockingSetupReq) from the aEVSE; the step of the EV transmitting a docking setup response message (DockingSetupRes) to the aEVSE; the step of the EV receiving a docking execution instruction message (DockingExecution) from the aEVSE; the step of the EV receiving a docking completion notification message (DockingConfirmationReq) from the aEVSE; the step of the EV transmitting a docking completion response message (DockingConfirmationRes) to the aEVSE; and the step of the EV initiating power reception from the aEVSE.

[0351] The docking and undocking control method of the above EV may further include, after the step of the EV initiating power reception from the aEVSE, the step of the EV completing power reception from the aEVSE; the step of the EV transmitting an undocking setup request message (UndockingSetupReq) to the aEVSE; the step of the EV receiving an undocking setup response message (UndockingSetupRes) from the aEVSE; the step of the EV receiving an undocking execution instruction message (UndockingExecution) from the aEVSE; the step of the EV receiving an undocking completion notification message (UndockingConfirmationReq) from the aEVSE; and the step of the EV transmitting an undocking completion response message (UndockingConfirmationRes) to the aEVSE.

[0352] The docking and undocking control method of the aEVSE above may include the step of the aEVSE transmitting a docking setup request message (DockingSetupReq) to the EV; the aEVSE receiving a docking setup response message (DockingSetupRes) from the EV; the aEVSE transmitting a docking execution instruction message (DockingExecution) to the EV; the aEVSE transmitting a docking completion notification message (DockingConfirmationReq) to the EV; the aEVSE receiving a docking completion response message (DockingConfirmationRes) from the EV; and the aEVSE initiating power transmission to the EV.

[0353] The docking and undocking control method of the aEVSE above may further include, after the step of the aEVSE initiating power transmission to the EV, the step of the aEVSE completing power transmission to the EV; the step of the aEVSE receiving an undocking setup request message (UndockingSetupReq) from the EV; the step of the aEVSE transmitting an undocking setup response message (UndockingSetupRes) to the EV; the step of the aEVSE transmitting an undocking execution instruction message (UndockingExecution) to the EV; the step of the aEVSE transmitting an undocking completion notification message (UndockingConfirmationReq) to the EV; and the step of the aEVSE receiving an undocking completion response message (UndockingConfirmationRes) from the EV.

[0354] The operation of the method according to the embodiments of the present disclosure can be implemented as a computer-readable program or code on a computer-readable recording medium. A computer-readable recording medium includes any type of recording device in which information that can be read by a computer system is stored. Additionally, the computer-readable recording medium may be distributed across networked computer systems so that a computer-readable program or code can be stored and executed in a distributed manner.

[0355] In addition, computer-readable recording media may include hardware devices specifically configured to store and execute program instructions, such as ROM, RAM, and flash memory. Program instructions may include machine code, such as that generated by a compiler, as well as high-level language code that can be executed by a computer using an interpreter, etc.

[0356] Some aspects of the invention have been described in the context of a device, but may also be described according to a corresponding method, wherein a block or device corresponds to a method step or a feature of a method step. Similarly, aspects described in the context of a method may also be described according to a corresponding block or item or a feature of a corresponding device. Some or all of the method steps may be performed by (or using) a hardware device, such as, for example, a microprocessor, a programmable computer, or an electronic circuit. In some embodiments, at least one of the most important method steps may be performed by such a device.

[0357] In the embodiments, a programmable logic device (e.g., a field-programmable gate array) may be used to perform some or all of the functions of the methods described herein. In the embodiments, a field-programmable gate array may operate with a microprocessor to perform one of the methods described herein. Generally, it is preferable that the methods be performed by some hardware device.

[0358] As described above, according to the present disclosure, by controlling the docking and undocking procedures between an electric vehicle (EV) and an automatic electric vehicle power supply (aEVSE) based on communication, the precision of the physical coupling and the safety of the charging operation can be simultaneously secured.

[0359] Since docking and undocking procedures are performed step-by-step based on messages, the EV and aEVSE can recognize and mutually verify their respective states in real time. Accordingly, physical coupling and uncoupling operations are synchronized with control signals, which can reduce risks such as coupling failure or premature uncoupling.

[0360] In addition, parameters such as the target position, mating space, connector ramp-up distance, approach angle, and approach speed can be finely configured during docking, allowing the EV plug or vehicle connector to be precisely aligned with the vehicle inlet or socket-outlet. This minimizes mating errors and improves the driving precision of the manipulator or plug.

[0361] In addition, unlocking (LatchUnlockingExecution) and disconnection operations (PlugRampdownDistance, PlugRampdownAngle, PlugRampdownSpeed, etc.) during undocking can be safely controlled. Therefore, electrical arcs or mechanical collisions do not occur even after power transmission ends, and wear on the connector or plug can be prevented.

[0362] In addition, through the acknowledgment status, result, and processing information included in the messages exchanged at each stage, complete state synchronization between EV and aEVSE can be achieved. For example, by exchanging a docking completion notification (DockingConfirmationReq) and a response to it (DockingConfirmationRes), and an undocking completion notification (UndockingConfirmationReq) and a response to it (UndockingConfirmationRes), the operational status of both sides can be clearly verified.

[0363] Furthermore, the message structure of the present invention can be operated with the same procedure even when a manipulator or plug is attached to either the EV or the aEVSE. That is, since both the EV subject type and the aEVSE subject type have the same message flow and parameter configuration, compatibility can be provided to various charging infrastructure environments with different system structures.

[0364] In addition, since the protocol of the present disclosure is extensibly applicable at the upper layer of international charging standards (e.g., ISO 15118, IEC 61851, etc.), an automatic docking function can be added without modifying the existing charging communication framework. Therefore, an automatic charging function can be implemented while maintaining interoperability with existing charging systems.

[0365] Accordingly, the docking and undocking procedures between the EV and aEVSE can be performed safely and reliably, user intervention in the charging automation process can be eliminated, and the durability, efficiency, and overall system stability of the charging interface can be improved.

[0366] Although the present disclosure has been described with reference to preferred embodiments, those skilled in the art will understand that various modifications and changes can be made to the present disclosure without departing from the spirit and scope of the present disclosure as set forth in the following claims.

Claims

1. A docking and undocking control method for an EV, wherein docking and undocking between an electric vehicle (EV) and an automated EV supply equipment (aEVSE) are performed using a manipulator and a vehicle connector attached to the aEVSE for charging using an automated charging device (ACD), The step of the above EV receiving a docking setup request message (DockingSetupReq) from the above aEVSE; The step of the above EV sending a docking setup response message (DockingSetupRes) to the above aEVSE; The step of the above EV receiving a docking execution instruction message (DockingExecution) from the above aEVSE; The step of the above EV receiving a docking completion notification message (DockingConfirmationReq) from the above aEVSE; The step of the above EV transmitting a docking completion response message (DockingConfirmationRes) to the above aEVSE; and The above EV includes the step of initiating power reception from the aEVSE. Method for controlling docking and undocking of an EV.

2. In Claim 1, The above docking setup request message (DockingSetupReq) is, A TargetPosition parameter indicating the target inlet position, and Includes one or more of the MatingSpace parameters representing an allowable binding area, The above docking setup response message (DockingSetupRes) is, ResponseCode parameter indicating the acknowledgment status for the docking setup request, A CurrentInletPosition parameter representing the current inlet position, and including one or more of the AlignmentDeviation parameters representing the deviation from the target position, Method for controlling docking and undocking of an EV.

3. In Claim 1, The above docking execution instruction message (DockingExecution) is, ConnectorRampupDistance parameter indicating the approach distance of the vehicle connector, ConnectorRampupAngle parameter representing the approach angle of the vehicle connector, ConnectorRampupSpeed ​​parameter indicating the approach speed of the vehicle connector, and including one or more of the LatchLockCommand parameters representing the latch lock command of the vehicle connector, Method for controlling docking and undocking of an EV.

4. In Claim 1, The above docking completion notification message (DockingConfirmationReq) is, A DockingResult parameter indicating the docking result between the vehicle connector and the vehicle inlet, and Includes one or more of the LatchLockingResult parameters indicating the latch locking result of the vehicle connector, and The above docking completion response message (DockingConfirmationRes) is, A ResponseCode parameter indicating the acknowledgment status for the docking completion notification, and including one or more of EVProcessing parameters representing the vehicle side response to docking results Method for controlling docking and undocking of an EV.

5. In Claim 1, After the step in which the above EV begins receiving power from the above aEVSE, A step in which the above EV completes receiving power from the above aEVSE; The step of the above EV sending an undocking setup request message (UndockingSetupReq) to the above aEVSE; The step of the EV receiving an undocking setup response message (UndockingSetupRes) from the aEVSE; The step of the EV receiving an Undocking Execution instruction message from the aEVSE; The step of the EV receiving an undocking completion notification message (UndockingConfirmationReq) from the aEVSE; and The method further includes the step of the above EV transmitting an undocking confirmation message (UndockingConfirmationRes) to the above aEVSE. Method for controlling docking and undocking of an EV.

6. In Claim 5, The above undocking setup request message (UndockingSetupReq) is, An UndockingType parameter indicating the unlock type of the vehicle connector, and Includes one or more of the LatchUnlockingCommand parameters representing a latch unlock command for a vehicle connector, and The above undocking setup response message (UndockingSetupRes) is, A ResponseCode parameter indicating the acknowledgment status for the undocking setup request, and including one or more of the LatchUnlockingResult parameters indicating the latch unlock result of the vehicle connector, Method for controlling docking and undocking of an EV.

7. In Claim 5, The above Undocking Execution instruction message is, ConnectorRampdownDistance parameter indicating the leave distance of the vehicle connector, ConnectorRampdownAngle parameter indicating the leave angle of the vehicle connector, and including one or more of the ConnectorRampdownSpeed ​​parameters representing the leave speed of the vehicle connector, Method for controlling docking and undocking of an EV.

8. In Claim 5, The above undocking completion notification message (UndockingConfirmationReq) is, An UndockingResult parameter representing the undocking result between the vehicle connector and the vehicle inlet, and It includes one or more ConnectorPosition parameters indicating the home position of the vehicle connector, and The above undocking completion response message (UndockingConfirmationRes) is, A ResponseCode parameter indicating the acknowledgment status for the undocking completion notification, and including one or more EVProcessing parameters representing the vehicle side response to undocking results, Method for controlling docking and undocking of an EV.

9. A docking and undocking control method for an EV, wherein docking and undocking between an electric vehicle (EV) and an automated EV supply equipment (aEVSE) for charging using an automated charging device (ACD) is performed using a manipulator and an EV plug attached to the EV, The step of the above EV sending a docking setup request message (DockingSetupReq) to the above aEVSE; The step of the above EV receiving a docking setup response message (DockingSetupRes) from the above aEVSE; The step of the above EV transmitting a Docking Execution instruction message to the above aEVSE; The step of the above EV sending a docking completion notification message (DockingConfirmationReq) to the above aEVSE; The step of the EV receiving a docking completion response message (DockingConfirmationRes) from the aEVSE; and The above EV includes the step of initiating power reception from the aEVSE. Method for controlling docking and undocking of an EV.

10. In Claim 9, The above docking setup request message (DockingSetupReq) is, A TargetPosition parameter indicating the target inlet position, and Includes one or more of the MatingSpace parameters representing an allowable binding area, The above docking setup response message (DockingSetupRes) is, ResponseCode parameter indicating the acknowledgment status for the docking setup request, CurrentSocketOutletPosition parameter indicating the current EV socket-outlet position, and including one or more of the AlignmentDeviation parameters representing the deviation from the target position, Method for controlling docking and undocking of an EV.

11. In Claim 9, The above docking execution instruction message (DockingExecution) is, PlugRampupDistance parameter indicating the approach distance of the EV plug, PlugRampupAngle parameter representing the approach angle of the EV plug, PlugRampupSpeed ​​parameter indicating the approach speed of the EV plug, and including one or more of the LatchLockCommand parameters representing the EV plug latch lock command, Method for controlling docking and undocking of an EV.

12. In Claim 9, The above docking completion notification message (DockingConfirmationReq) is, A DockingResult parameter indicating the docking result between the EV plug and the EV socket outlet, and Includes one or more of the LatchLockingResult parameters representing the latch locking result of the EV plug, and The above docking completion response message (DockingConfirmationRes) is, A ResponseCode parameter indicating the acknowledgment status for the docking completion notification, and including one or more of the aEVSEProcessing parameters representing the aEVSE side response to docking results, Method for controlling docking and undocking of an EV.

13. In Claim 9, After the step in which the above EV begins receiving power from the above aEVSE, A step in which the above EV completes receiving power from the above aEVSE; The step of the above EV sending an undocking setup request message (UndockingSetupReq) to the above aEVSE; The step of the EV receiving an undocking setup response message (UndockingSetupRes) from the aEVSE; The step of the above EV transmitting an undocking execution instruction message (UndockingExecution) to the above aEVSE; The step of the above EV sending an undocking completion notification message (UndockingConfirmationReq) to the above aEVSE; The above EV further includes the step of receiving an undocking confirmation message (UndockingConfirmationRes) from the aEVSE. Method for controlling docking and undocking of an EV.

14. In Claim 13, The above undocking setup request message (UndockingSetupReq) is, An UndockingType parameter indicating the unlock type of the EV plug, and Includes one or more of the LatchUnlockingExecution parameters indicating the execution of latch unlocking of the EV plug, and The above undocking setup response message (UndockingSetupRes) is, A ResponseCode parameter indicating the acknowledgment status for the undocking setup request, and including one or more of the LatchUnlockingResult parameters indicating the result of unlocking the EV plug latch, Method for controlling docking and undocking of an EV.

15. In Claim 13, The above Undocking Execution instruction message is, PlugRampdownDistance parameter indicating the leave distance of the EV plug, PlugRampdownAngle parameter indicating the leave angle of the EV plug, and including one or more of the PlugRampdownSpeed ​​parameters representing the leave speed of the EV plug, Method for controlling docking and undocking of an EV.

16. In Claim 13, The above undocking completion notification message (UndockingConfirmationReq) is, An UndockingResult parameter indicating the undocking result between the EV plug and the EV socket outlet, and Includes one or more PlugPosition parameters indicating the home position of the EV plug, and The above undocking completion response message (UndockingConfirmationRes) is, A ResponseCode parameter indicating the acknowledgment status for the undocking completion notification, and including one or more of the aEVSEProcessing parameters representing the aEVSE side response to undocking results, Method for controlling docking and undocking of an EV.

17. A docking and undocking control method for an automated EV supply equipment (aEVSE) in which docking and undocking between an electric vehicle (EV) and an automated EV supply equipment (aEVSE) are performed using a manipulator and a vehicle connector attached to the aEVSE, for charging using an automated charging device (ACD). The step of the aEVSE sending a docking setup request message (DockingSetupReq) to the EV; The step of the aEVSE receiving a docking setup response message (DockingSetupRes) from the EV; The step of the aEVSE transmitting a Docking Execution instruction message to the EV; The step of the aEVSE sending a docking completion notification message (DockingConfirmationReq) to the EV; The step of the aEVSE receiving a docking completion response message (DockingConfirmationRes) from the EV; and The above aEVSE includes the step of initiating power transmission to the EV. Docking and undocking control method for aEVSE.

18. In Claim 17, The above docking setup request message (DockingSetupReq) is, A TargetPosition parameter indicating the target inlet position, and Includes one or more of the MatingSpace parameters representing an allowable binding area, The above docking setup response message (DockingSetupRes) is, ResponseCode parameter indicating the acknowledgment status for the docking setup request, A CurrentInletPosition parameter representing the current inlet position, and It includes one or more of the AlignmentDeviation parameters representing the deviation from the target position, and The above docking execution instruction message (DockingExecution) is, ConnectorRampupDistance parameter indicating the approach distance of the vehicle connector, ConnectorRampupAngle parameter representing the approach angle of the vehicle connector, ConnectorRampupSpeed ​​parameter indicating the approach speed of the vehicle connector, and It includes one or more of the LatchLockCommand parameters representing the latch lock command of the vehicle connector, and The above docking completion notification message (DockingConfirmationReq) is, A DockingResult parameter indicating the docking result between the vehicle connector and the vehicle inlet, and Includes one or more of the LatchLockingResult parameters indicating the latch locking result of the vehicle connector, and The above docking completion response message (DockingConfirmationRes) is, A ResponseCode parameter indicating the acknowledgment status for the docking completion notification, and including one or more of EVProcessing parameters representing the vehicle side response to docking results Docking and undocking control method for aEVSE.

19. In Claim 17, After the step in which the aEVSE initiates power transmission to the EV, The step of the aEVSE completing power transmission to the EV; The step of the aEVSE receiving an undocking setup request message (UndockingSetupReq) from the EV; The step of the aEVSE sending an undocking setup response message (UndockingSetupRes) to the EV; The step of the aEVSE transmitting an Undocking Execution instruction message to the EV; The step of the aEVSE sending an undocking completion notification message (UndockingConfirmationReq) to the EV; and The above aEVSE further includes the step of receiving an undocking confirmation message (UndockingConfirmationRes) from the EV. Docking and undocking control method for aEVSE.

20. In Claim 19, The above undocking setup request message (UndockingSetupReq) is, An UndockingType parameter indicating the unlock type of the vehicle connector, and Includes one or more of the LatchUnlockingCommand parameters representing a latch unlock command for a vehicle connector, and The above undocking setup response message (UndockingSetupRes) is, A ResponseCode parameter indicating the acknowledgment status for the undocking setup request, and It includes one or more LatchUnlockingResult parameters indicating the result of unlocking the latch of the vehicle connector, and The above Undocking Execution instruction message is, ConnectorRampdownDistance parameter indicating the leave distance of the vehicle connector, ConnectorRampdownAngle parameter indicating the leave angle of the vehicle connector, and It includes one or more of the ConnectorRampdownSpeed ​​parameters representing the leave speed of the vehicle connector, The above undocking completion notification message (UndockingConfirmationReq) is, An UndockingResult parameter representing the undocking result between the vehicle connector and the vehicle inlet, and It includes one or more ConnectorPosition parameters indicating the home position of the vehicle connector, and The above undocking completion response message (UndockingConfirmationRes) is, A ResponseCode parameter indicating the acknowledgment status for the undocking completion notification, and including one or more EVProcessing parameters representing the vehicle side response to undocking results, Docking and undocking control method for aEVSE.

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