JP7658225B2 - Collision Avoidance Device - Google Patents

Description

The present invention relates to a collision avoidance device.

Patent Document 1 discloses a contactless power supply system equipped with a power supply device that supplies power contactlessly to a power receiving device mounted on an electric vehicle. This power supply device is configured to include a power supply mat with a power transmission coil. This power supply mat is formed in a portable rectangular sheet shape and can be placed on the road surface on which the electric vehicle runs. Then, when the electric vehicle passes over the power supply mat, power is supplied contactlessly from the power transmission coil on the road surface side to the power receiving coil on the vehicle side.

JP 2014-236540 A

In a contactless power supply system in which a power supply device is installed on the road surface, it is conceivable that various moving objects can be supplied with power, not limited to electric vehicles such as those in the configuration described in Patent Document 1, but also including vehicles capable of automatic driving and moving objects too small for a person to ride in. Furthermore, it is conceivable that multiple moving objects traveling on the road surface approach the power supply device to supply power, stop on the power supply device to supply power, or pass over the power supply device while supplying power. However, since multiple moving objects approach the power supply device from various directions and at various times and pass over it, there is a risk of the moving objects colliding with each other on the power supply device.

The present invention has been made in consideration of the above circumstances, and aims to provide a collision avoidance device for a contactless power supply system that can prevent multiple moving bodies from colliding with each other above a power supply device when the moving bodies move to supply power.

The collision avoidance device according to the present invention is targeted at a contactless power supply system including a power supply device that supplies power contactlessly to a mobile body capable of electrically powered running, and includes a control unit that executes collision avoidance control to prevent a mobile body passing over the power supply device to supply power from colliding with another mobile body, and the control unit determines whether or not there is a high possibility of a collision between the mobile bodies on the power supply device based on a signal indicating an approach to the power supply device output by the mobile body, and if there is a high possibility of a collision between the mobile bodies, outputs a signal to at least one of the mobile bodies instructing the mobile body to take a collision avoidance action to avoid a collision.

The present invention is directed to a contactless power supply system, and is capable of preventing multiple moving objects from colliding with each other above a power supply device when the moving objects move to supply power.

FIG. 1 is a schematic diagram for explaining a collision avoidance device according to an embodiment. FIG. 2 is a schematic diagram for explaining communication between a small moving object and a power supply device. FIG. 3 is a functional block diagram for explaining the configuration of the collision avoidance device. FIG. 4 is a flow chart showing the control in the small mobile object. FIG. 5 is a flow chart showing the control in the power supply device. FIG. 6 is a schematic diagram showing a case where a collision avoidance instruction is output from the power supply device to the small moving object. FIG. 7 is a flow chart for explaining the control in the small moving body when a collision avoidance command is received.

The following describes in detail the collision avoidance device according to an embodiment of the present invention with reference to the drawings. Note that the present invention is not limited to the embodiment described below.

Figure 1 is a schematic diagram of a collision avoidance device according to an embodiment. The collision avoidance device 1 is applied to a non-contact power supply system in which a small mobile object 2 capable of electrically traveling is supplied with power from a power supply device 3 in a non-contact manner.

In a contactless power supply system, a power supply device 3 is placed on the road surface on which a small mobile object 2 travels, and when the small mobile object 2 passes over the power supply device 3, power is supplied from the power supply device 3 to the small mobile object 2 in a contactless manner. In other words, the collision avoidance device 1 is intended for a contactless power supply system, and is configured to prevent small mobile objects 2 from colliding with each other on the power supply device 3 when multiple small mobile objects 2 move for power supply. In this embodiment, a configuration in which the collision avoidance device 1 is provided on the power supply device 3 will be described.

For example, as shown in FIG. 2, when two small mobile bodies 2A and 2B approach the power supply device 3 to supply power, the collision avoidance device 1 can control the behavior of the small mobile bodies 2 so that the first small mobile body 2A and the second small mobile body 2B do not collide on the power supply device 3. In this case, each small mobile body 2A and 2B can transmit an approach signal to notify the power supply device 3 of the approach of the small mobile body 2. In other words, the small mobile body 2 and the power supply device 3 are configured to be able to communicate wirelessly. Then, the collision avoidance device 1 can instruct the small mobile body 2 to take evasive action to prevent the two small mobile bodies 2A and 2B from colliding on the power supply device 3.

Figure 3 is a functional block diagram for explaining the configuration of the collision avoidance device. Note that the collision avoidance device 1 is configured as being included in the power supply device 3.

The power supply device 3 includes a communication unit 11, a control unit 12, and a power supply unit 13.

The communication unit 11 performs wireless communication with the small mobile body 2. The communication unit 11 receives signals transmitted from the small mobile body 2 and transmits signals from the power supply device 3 to the small mobile body 2.

The control unit 12 is an electronic control device that controls the power supply device 3. This electronic control device includes a microcomputer equipped with a CPU, RAM, ROM, and an input/output interface. In other words, the control unit 12 performs signal processing according to a program pre-stored in the ROM. The control unit 12 then executes various controls based on signals input from the communication unit 11. For example, the control unit 12 executes non-contact power supply control to control the power supply unit 13. At that time, a control signal is output from the control unit 12 to the power supply unit 13. The power supply unit 13 includes a power transmission coil.

In non-contact power supply control, the control unit 12 controls the power supply unit 13, thereby transmitting power from the power supply unit 13 to the small mobile object 2 in a non-contact manner. In other words, the control unit 12 has a power supply control unit that executes non-contact power supply control.

The control unit 12 also executes collision avoidance control to prevent small moving bodies 2 from colliding with each other on the power supply device 3. In other words, the control unit 12 has a collision avoidance control unit that executes collision avoidance control. As shown in FIG. 3, the control unit 12 includes a collision determination unit 12a, a target identification unit 12b, and a collision avoidance instruction creation unit 12c.

The collision determination unit 12a determines whether or not small mobile objects 2 collide with each other on the power supply device 3. The control unit 12 can detect that a small mobile object 2 is approaching the power supply device 3 for power supply based on the approach signal input from the communication unit 11. Furthermore, the control unit 12 can detect the direction of the small mobile object 2 that transmitted the approach signal based on the direction from which the signal was transmitted. The control unit 12 can also calculate the distance between the small mobile object 2 and the power supply device 3 based on the strength of the signal received by the communication unit 11. In this case, both small mobile objects 2 output approach signals of the same strength. In this way, the control unit 12 can obtain information on the direction and position of the small mobile object 2 based on the approach signal received by the communication unit 11.

The collision determination unit 12a then has a calculation unit that calculates the possibility of the small moving bodies 2 colliding with each other on the power supply device 3. The calculation unit can calculate the possibility of collision as a probability using information acquired by the approach signal. Then, the collision determination unit 12a can determine that there is a high possibility of collision between the small moving bodies 2 when the calculated collision probability, i.e., the value indicating the possibility of collision, is higher than a threshold value. This threshold value is a preset value. For example, the collision determination unit 12a compares information indicating the direction and distance in which the first small moving body 2A is located with information indicating the direction and distance in which the second small moving body 2B is located, and when it determines that each of them passes over the power supply device 3 at the same time, it can determine that there is a possibility that these small moving bodies 2A and 2B will collide on the power supply device 3.

The target identification unit 12b identifies the small moving body 2 that is to take evasive action to avoid a collision. This target identification unit 12b identifies the target to which the collision avoidance instruction is to be sent.

The collision avoidance instruction creation unit 12c creates a collision avoidance instruction. The collision avoidance instruction is a signal that is sent toward the small moving body 2 that is to take collision avoidance action, and is a signal that instructs the small moving body 2 that receives this signal to take collision avoidance action. In addition, the collision avoidance instruction creation unit 12c creates a collision avoidance instruction that targets the small moving body 2 identified by the target identification unit 12b. Then, the power supply device 3 transmits the collision avoidance instruction created by the collision avoidance instruction creation unit 12c toward the small moving body 2 identified by the target identification unit 12b.

The small mobile object 2 includes a communication unit 21, a control unit 22, a power receiving unit 23, and a drive unit 24.

The communication unit 21 performs wireless communication with the power supply device 3. The communication unit 21 receives a collision avoidance instruction signal transmitted from the power supply device 3, and transmits an approach signal from the small mobile object 2 to the power supply device 3.

The control unit 22 is an electronic control device that controls the small mobile body 2. This electronic control device is configured to include a microcomputer equipped with a CPU, RAM, ROM, and an input/output interface. In other words, the control unit 22 performs signal processing according to a program pre-stored in the ROM. The control unit 22 then executes various controls for controlling the small mobile body 2. For example, the control unit 22 executes non-contact charging control that controls non-contact charging by the power receiving unit 23, and drive control that controls electric driving by the drive unit 24.

In the non-contact charging control, a control signal from the control unit 22 is output to the power receiving unit 23, and the power receiving unit 23 is controlled to a state in which power can be received non-contact. The power receiving unit 23 receives power supplied from the power supply device 3 non-contactly and charges the received power to the battery. Specifically, the power receiving unit 23 has a power receiving coil that receives power supplied from the power supply device 3 non-contactly. Furthermore, the power receiving unit 23 functions as a charger that charges the battery with the power received by the power receiving coil. This battery is a secondary battery that can discharge and store power, and is composed of, for example, a lithium-ion battery or a nickel-metal hydride battery. Note that the non-contact power supply system including the power transmitting coil and the power receiving coil may be either a magnetic resonance type or an electromagnetic induction type.

In drive control, a control signal from the control unit 22 is output to the drive unit 24, which controls the drive unit 24 so that the traveling state of the small mobile body 2 is in the desired state. The drive unit 24 has a motor that serves as a power source for traveling. When the small mobile body 2 is traveling, the motor is driven by power supplied from the battery to generate a driving force for the small mobile body 2.

The control unit 22 also includes a drive control unit 22a and a signal creation unit 22b.

The drive control unit 22a executes drive control. This drive control unit 22a controls the drive unit 24 to take avoidance action in response to a collision avoidance instruction received by the communication unit 21. Avoidance actions include stopping travel, changing the travel speed, bypassing the power supply device 3, and the like. In the small mobile body 2, the type of avoidance action to be taken is set in advance, and the small mobile body 2 can be configured to automatically take the set avoidance action in response to receiving a collision avoidance instruction. For example, if stopping travel is set as the avoidance action, when the control unit 22 detects a collision avoidance instruction, it controls the drive unit 24 to brake the small mobile body 2 and stop traveling.

The signal creation unit 22b creates an approach signal. The control unit 22 transmits the approach signal created by the signal creation unit 22b from the communication unit 21 to the surrounding area. Note that the approach signals created by each of the multiple small mobile bodies 2 are all transmitted with the same intensity.

Figure 4 is a flow chart showing the control in the small mobile body. The control shown in Figure 4 is repeatedly performed by the control unit 22 of the small mobile body 2.

The control unit 22 of the small mobile unit 2 determines whether a predetermined time has elapsed since the previous transmission of the approach signal (step S1). In step S1, the control unit 22 can determine the elapsed time since the previous transmission based on the history information of the previous transmission of the approach signal.

If the specified time has not elapsed since the last time the approach signal was transmitted (step S1: No), this control routine ends.

When a predetermined time has passed since the previous transmission of the approach signal (step S1: Yes), the small mobile body 2 transmits an approach signal (step S2). In step S2, the approach signal created by the signal creation unit 22b is transmitted from the communication unit 21 to the surroundings. Furthermore, when the approach signal is transmitted in step S2, the control unit 22 stores history information including the transmission time in the storage unit. After the processing of step S2 is performed, this control routine ends.

Figure 5 is a flow chart showing the control in the power supply device. Note that the control shown in Figure 5 is repeatedly performed by the control unit 12 of the power supply device 3.

The control unit 12 of the power supply device 3 determines whether or not an approach signal has been received (step S11). In step S11, the communication unit 11 determines whether or not an approach signal has been received. If a small mobile body 2 is present near the power supply device 3, the approach signal can be received, and if a small mobile body 2 is not present near the power supply device 3, the approach signal is not received.

If no approach signal is received (step S11: No), this control routine ends.

When an approaching signal is received (step S11: Yes), the control unit 12 of the power supply device 3 calculates the possibility that the small mobile body 2 that transmitted the approaching signal will collide with another small mobile body 2 on the power supply device 3 (step S12). In step S12, the probability that small mobile bodies 2 that have moved to supply power will collide with each other on the power supply device 3 is calculated. The calculation process in step S12 is performed by the collision determination unit 12a.

The control unit 12 of the power supply device 3 also determines whether or not the small mobile objects 2 will collide with each other on the power supply device 3 if things continue as they are (step S13). In step S13, based on the calculated collision probability, it is determined whether or not the small mobile object 2 that transmitted the approach signal will collide with another small mobile object 2 if it passes over the power supply device 3 as it is. The determination process in step S13 is performed by the collision determination unit 12a.

If it is determined that the small moving bodies 2 will not collide with each other (step S13: No), this control routine ends.

On the other hand, if it is determined that the small moving bodies 2 will collide with each other if things continue as they are (step S13: Yes), the control unit 12 of the power supply device 3 identifies the small moving body 2 that is the target of the collision avoidance instruction (step S14). In step S14, at least one of the two small moving bodies 2 that are determined to have a high probability of colliding is identified as the target of the collision avoidance instruction. In other words, it is also possible to identify both small moving bodies 2 as the instruction targets. Furthermore, the processing of step S14 is performed by the target identification unit 12b.

For example, information indicating the state of charge, or SOC, of the battery of the small mobile unit 2 can be used to determine the target of the instruction. Of the two, the small mobile unit 2 with the relatively higher SOC is less likely to run out of power even if it is not supplied with power this time, so this small mobile unit 2 is identified as the target of the avoidance instruction. In this case, the approach signal includes information indicating the SOC of the small mobile unit 2. In other words, the signal creation unit 22b of the small mobile unit 2 creates an approach signal that includes information indicating the SOC of the battery.

In addition, when the small mobile body 2 is a mobile body that transports luggage, information indicating the amount of luggage loaded on the small mobile body 2 can be used to determine the instruction target. In this case, the small mobile body 2 with a relatively small amount of luggage consumes less power during travel than the small mobile body 2 with a relatively large amount of luggage, so this small mobile body 2 can be specified as the avoidance instruction target. In other words, in order to prevent power shortage, the small mobile body 2 that is relatively in need of power supply is given priority as the power supply target and continues to move, and the instruction target is determined so that the other small mobile body 2 takes collision avoidance action. In this case, the approach signal includes information on the luggage carried by the small mobile body 2. It is possible to give priority to the small mobile body 2 that is more likely to consume power based on the number of luggage and the total weight of the luggage, not limited to the amount of luggage. In other words, the signal creation unit 22b of the small mobile body 2 creates an approach signal that includes information (information indicating the number, weight, volume, etc.) on the luggage currently loaded on the small mobile body 2.

Then, the power supply device 3 transmits a collision avoidance instruction to the small mobile body 2 identified as the target (step S15). In step S15, the collision avoidance instruction signal created by the collision avoidance instruction creation unit 12c is transmitted to the small mobile body 2 identified by the target identification unit 12b. For example, if the second small mobile body 2B of the two is identified as the target, a collision avoidance instruction signal is transmitted from the power supply device 3 to the second small mobile body 2B, as shown in FIG. 6. After the processing of step S15 is performed, this control routine ends.

Figure 7 is a flow chart for explaining the control of the small mobile body when a collision avoidance command is received. The control shown in Figure 7 is repeatedly performed by the control unit 22 of the small mobile body 2.

The control unit 22 of the small mobile object 2 determines whether or not a collision avoidance instruction has been received (step S21). In step S21, it is determined whether or not the communication unit 21 has received a collision avoidance instruction.

If a collision avoidance command has not been received (step S21: No), this control routine ends.

If a collision avoidance instruction is received (step S21: Yes), the control unit 22 of the small mobile body 2 executes an avoidance action (step S22). In step S22, the drive control unit 22a controls the drive unit 24, and an avoidance action is taken to avoid a collision. After the processing of step S22 is performed, this control routine ends.

As described above, according to the embodiment, in a contactless power supply system, it is possible to prevent small mobile bodies 2 from colliding with each other on the power supply device 3 when multiple small mobile bodies 2 move for power supply.

In the above example, a configuration in which the avoidance action is preset has been described, but the present invention is not limited to this. For example, the collision avoidance instruction signal may contain information specifying the avoidance action. In other words, the power supply device 3 creates a collision avoidance instruction that contains information indicating stopping travel as the avoidance action, and transmits this collision avoidance instruction to the target small mobile body 2. Then, the small mobile body 2 that receives the collision avoidance instruction is configured to take the avoidance action according to the information on the avoidance action contained in the collision avoidance instruction.

Although a small mobile object 2 has been described above, the mobile object to be powered is not limited to this. In other words, the present invention can be applied to a contactless power supply system that supplies power to electric vehicles, non-small mobile objects, mobile objects capable of autonomous driving, and the like.

Although the configuration in which the collision avoidance device 1 is provided in the power supply device 3 has been described, the present invention is not limited to this. For example, the collision avoidance device 1 may be provided in a server. This server is connected to the small mobile body 2 and the power supply device 3 via a network so that information can be transmitted and received. In this case, the control shown in FIG. 5 is performed by the server.

REFERENCE SIGNS LIST 1 Collision avoidance device 2 Small mobile object 3 Power supply device 11 Communication unit 12 Control unit 12a Collision determination unit 12b Target identification unit 12c Collision avoidance instruction creation unit 13 Power supply unit 21 Communication unit 22 Control unit 22a Drive control unit 22b Signal creation unit 23 Power receiving unit 24 Drive unit

Claims (1)

a control unit that executes collision avoidance control for preventing a moving body that passes over the power supply device for power supply from colliding with another moving body on the power supply device, the control unit being targeted for a contactless power supply system including the power supply device that supplies power to a moving body capable of electrically running in a contactless manner;
A communication unit that performs wireless communication with the mobile object;
Equipped with
each of the moving objects approaching the power supply device transmits an approach signal indicating the approach to the power supply device, and each of the moving objects transmits the approach signal with the same intensity;
The communication unit receives the approach signal transmitted by the moving object,
The control unit is
detecting a direction in which a moving object that transmitted the approach signal is located based on the approach signal received by the communication unit , and calculating a distance between the moving object and the power supply device based on a strength of the approach signal received by the communication unit;
comparing information indicating the direction and the distance acquired from each of the approach signals received by the communication unit to determine whether or not there is a high possibility that moving objects will collide with each other above the power supply device;
When there is a high possibility that the moving objects will collide with each other, a signal is output to at least one of the moving objects to instruct the moving object to take a collision avoidance action to avoid the collision;
When determining a target for the collision avoidance action, the moving body having a relatively high SOC is specified as the target based on information indicating an SOC of the moving body included in the approach signal.
A collision avoidance device characterized by:

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