CN107499166B - Charging and exchanging facility and charging port guide charging and exchanging method and device - Google Patents

Abstract

The invention relates to the technical field of battery charging and replacing, in particular to a battery charging and replacing facility and a method and a device for guiding battery charging and replacing through a charging port, wherein the method comprises the following steps: detecting the warehousing action of the vehicle; establishing communication connection between the vehicle and a battery charging and replacing facility; and measuring distance information between the vehicle and the battery charging and replacing facility, and adjusting the warehousing posture and the warehousing position of the vehicle according to the measured distance information. The invention solves the problems of inaccurate charging distance estimation between different vehicle types and charging and replacing facilities such as fixed charging piles, overlong charging wire pulling or poor user experience of trailers and the like, and provides a self-adaptive guiding charging solution with good user experience; simultaneously, can improve present stake and the unmatched problem in car mouth position that charges, solve different mouthful and the different grade type of charging and trade the problem of electric facility adaptation. The adaptation process can be intelligently decided without user confirmation.

Description

Charging and exchanging facility and charging port guide charging and exchanging method and device

technical field

The present invention relates to the technical field of charging and exchanging, in particular to a charging and exchanging facility and a charging port guiding charging and exchanging method and device.

Background technique

The positions of the charging ports of existing electric vehicles are often different. Some models are in the rear, some are in the front, and some are in the middle of the hood. The location of the charging and swapping facilities is usually relatively fixed. When the gun is pulled for a long time to complete the charging, the user experience is poor.

In addition, although some movable charging piles in the prior art (such as adding guide rails) are used for charging electric vehicles with different charging port positions or multi-parking co-pile charging, there may still be target charging ports and charging ports. When the gun is far away and requires a long line to be drawn.

In addition, electric vehicles generally support two charging methods: AC slow charging and DC fast charging, and the positions of the charging ports are also different. Some electric vehicles also support battery swapping. facility plan.

In view of this, there is an urgent need for a technical solution for adaptively guiding charging and replacing.

SUMMARY OF THE INVENTION

The purpose of the present invention is to provide a charging and exchanging facility and a charging port guide charging and exchanging method and device to solve the problem of inaccurate estimation of the charging distance between different vehicle models and charging and exchanging facilities such as fixed charging piles, excessively long charging lines, etc. The problem of poor user experience.

The object of the present invention is achieved through the following technical solutions.

The invention provides a charging and exchanging facility and a charging port guiding charging and exchanging method, including: detecting a vehicle warehousing action; establishing a communication connection between the vehicle and the charging and exchanging facility; wherein the vehicle has various types of charging ports , the charging and exchanging facilities include various types of charging piles; obtain the distance information between the vehicle and the charging and exchanging facilities; according to the distance information and the adaptation type of the charging port and the charging and exchanging facilities, Adjust the warehousing posture and warehousing position of the vehicle; wherein, the warehousing posture includes forward warehousing, backward warehousing or oblique warehousing.

Further, the detecting the vehicle warehousing action includes: a request for detecting the vehicle warehousing action initiated by the vehicle controller or a request for detecting the vehicle warehousing action initiated by the charging and exchanging facility terminal.

Further, the establishing of the communication connection between the vehicle and the charging and exchanging facility includes: initiating a request for establishing a communication connection by the vehicle end or initiating a request for establishing a communication connection by the end of the charging and exchanging facility.

Further, the communication connection methods include Wifi, Bluetooth BT, Zigbee, NFC and RFID.

Further, the communication connection mode is Wifi.

Further, the obtaining of the distance information between the vehicle and the charging and replacing facility includes: activating the distance measurement transmitter and the distance measurement receiver; wherein, the distance measurement transmitter is configured on the charging gun or the power exchange component, and the distance measurement receiver is configured with on the charging port of the vehicle or on the battery to be replaced.

Further, the obtaining the distance information between the vehicle and the charging and swapping facility includes: activating the distance measuring transmitter and the distance measuring receiver; wherein, the distance measuring transmitter is arranged on the charging port of the vehicle, and the distance measuring receiver is arranged on the charging and replacing on electrical facilities.

Further, the starting condition of the distance measuring transmitter is: detecting a vehicle warehousing action and completing the establishment of a communication connection between the electric vehicle and the charging and swapping facility.

Further, the ranging methods of the distance measuring transmitter and the distance measuring receiver are ultrasonic ranging or radar ranging.

Further, the adjusting the warehousing posture and warehousing position of the vehicle further includes automatically adjusting the warehousing posture and warehousing position of the vehicle according to the distance information, availability of charging and exchanging facilities and user requirements.

Further, the adjusting the warehousing posture and warehousing position of the vehicle according to the obtained distance information includes: adjusting the warehousing posture and warehousing position of the vehicle based on the obtained charging cable length information and distance information.

Further, the method further includes: before, at the same time or after establishing the communication connection between the vehicle and the charging and swapping facility, judging whether the electric vehicle is a legal vehicle corresponding to the charging and swapping facility; Authentication passed.

Further, the method further includes: after the charging gun is inserted into the charging port, performing secondary authentication through the power line carrier wave and passing the authentication.

Further, the method further includes: after the vehicle is put into the warehouse, performing a charging and replacing operation on the vehicle that has passed the authentication.

Further, according to the distance information and the adaptation type of the charging port and the charging and swapping facility, adjusting the storage posture and storage position of the vehicle further includes: according to the distance information, the The adaptation type of the charging port and the charging and exchanging facility, and the position of the charging port on the vehicle body, adjust the warehousing posture and warehousing position of the vehicle.

The invention also provides a charging and exchanging facility and a charging port guiding charging and exchanging device, comprising: a detection module for detecting a vehicle warehousing action; a communication module for establishing a communication connection between the vehicle and the charging and exchanging facility; wherein , the vehicle has various types of charging ports, and the charging and exchanging facilities include various types of charging piles; a distance measurement module is used to obtain distance information between the vehicle and the charging and exchanging facilities; a driving assistance module is used for According to the obtained distance information and the type of adaptation between the charging port and the charging and swapping facility, the auxiliary vehicle adjusts the warehousing posture and the warehousing position; wherein, the warehousing posture includes forward warehousing, backward warehousing To store or oblique store.

Further, the communication module is a Wifi module.

Further, the distance measuring module is an ultrasonic ranging module or a radar ranging module.

Further, the distance measurement module includes a distance measurement transmitter module and a distance measurement receiver module;

Wherein, when the distance measurement transmitter module is configured on the charging gun or the power exchange component, the distance measurement receiver module is configured on the charging port of the vehicle or on the battery to be replaced; or, wherein the distance measurement transmitter module is configured on the The charging port of the vehicle, the distance measurement receiving module is configured on the charging and exchanging facility.

Further, the driving assistance module is further configured to: based on the obtained length information of the charging cable and the distance information obtained by the distance measurement module, to assist the vehicle in adjusting the posture and position of the storage.

Further, the device further includes: an authentication module for judging whether the electric vehicle is a legal vehicle corresponding to the charging and swapping facility before, at the same time or after establishing the communication connection between the vehicle and the charging and swapping facility, and if so, start charging. The power exchange authentication process is completed and the authentication is passed.

Further, the device further includes: a secondary authentication module, configured to perform secondary authentication through the power line carrier after the charging gun is inserted into the charging port and pass the authentication.

Further, the driving assistance module is specifically used to: adjust the storage posture of the vehicle according to the distance information, the adaptation type of the charging port and the charging and swapping facility, and the position of the charging port on the vehicle body and storage location.

The present invention also provides a computer-readable storage medium for storing computer instructions that, when executed by a computer or processor, implement steps such as any method.

The advantages and effects of the present invention, through the method and device for guiding charging and exchanging through the charging and exchanging facilities and the charging port, solve the problem of inaccurate estimation of the charging distance between different vehicle models and charging and exchanging facilities such as fixed charging piles, and the charging line is pulled over. It provides an adaptive guided charging solution with good user experience; at the same time, it can improve the current problem of the mismatch between the position of the pile and the charging port of the vehicle, and solve the problem of different charging ports and different types of charging ports. The problem of adapting the power exchange facility. The adaptation process can be intelligently determined without user confirmation.

Description of drawings

Fig. 1 is the flow chart of the charging and exchanging facility and the charging port guiding charging and exchanging method of the present invention;

FIG. 2 is a schematic diagram of an embodiment of a vehicle-end device in the charging and exchanging facility and the charging port guiding charging and exchanging method of the present invention;

FIG. 3 is a schematic diagram of an embodiment of guiding parking by applying the charging and swapping facility and the charging port guiding charging and swapping method of the present invention;

FIG. 4 is a structural block diagram of the charging and exchanging facility and the charging port guiding charging and exchanging device of the present invention.

Detailed ways

The present invention will be further described in detail below through specific embodiments and in conjunction with the accompanying drawings.

Referring to FIG. 1 , this embodiment provides a charging and exchanging facility and a charging port guiding charging and exchanging method, including:

Step S1, a VCU (Vehicle Control Unit, vehicle controller) detects a vehicle storage action. On the other hand, detection can also be initiated from the charging and swapping facility, such as by relying on a vision system. It needs to be understood that the usual storage is R gear (parking gear) storage, but the storage action applicable to this scheme may also be forward D gear storage, so it is not only the vehicle gear that is transmitted to the VCU side. The location information can also be combined with camera image capture information, such as observing whether there is a parking space line; or combined with garage system information, such as entering a car networking system garage or the corresponding intelligent hardware device at the garage location. In addition, the vehicle warehousing action may be automatic driving into the warehousing, or may be the in-vehicle system guiding the driver to perform manual warehousing.

Step S2, establishing a communication connection between the electric vehicle and the charging and swapping facility. Taking the most common charging pile as an example, this communication connection is mainly used for data interaction between electric vehicles and charging piles, such as transmitting charging pile type information, charging pile location information, charging pile availability information, charging pile performance parameter information, etc. to the vehicle end. , or transmit relevant information of the electric vehicle (such as distance, authentication handshake information, etc.) to the pile end. The communication connection can be initiated by the electric vehicle end or by the charging pile end; the communication connection methods include but are not limited to: Wifi, Bluetooth BT, Zigbee, NFC, RFID, etc. In this case, the Wifi method is preferably used, which is convenient for subsequent start-up identification right.

Step S3, start the distance measurement transmitter. The distance measurement transmitter can be configured on the electric vehicle or on the charging pile; when it is configured on the electric vehicle, it is preferably arranged at the position of the charging port. At this time, the corresponding distance measurement receiver is configured on the charging pile; when When the distance measuring transmitter is arranged on the charging and replacing facility, it is preferably arranged on the charging gun/battery. At this time, the distance measuring receiver is arranged on the charging port/battery of the electric vehicle.

Step S4, according to the distance information obtained by the distance measurement receiver, adjust the storage posture of the vehicle and the final storage position. Specifically, according to the distance obtained by the distance measuring device and the adaptation type of the charging port and the charging and swapping facility, the storage posture of any angle, such as forward storage, reverse storage or oblique storage, must be ensured at the same time. The vehicle is finally parked in a reasonable and compliant storage location, and this operation can be determined by the camera around the vehicle. Preferably, the distance measuring device can be an ultrasonic ranging device, or laser, infrared, radar, GPS, etc. Different ranging methods have slightly different ranging processes. This is the content of the prior art and will not be repeated in this solution. , this scheme prefers ultrasonic ranging or radar ranging.

Preferably, the length of the charging cable should also be added to the calculation factor of the distance measurement, that is, the final storage location is the distance between the charging port and the charging facility, which can ensure the shortest pull-out length of the cable.

Further, before/at the same time/after establishing the communication connection in step S2, it is determined that the electric vehicle is a legal vehicle corresponding to the charging and swapping facility, and if the conclusion is yes, the charging and swapping authentication process is started and the authentication is passed.

Further, in order to reduce the energy consumption of the distance measuring device, the distance measuring device may be restarted after the vehicle storage action is detected and the vehicle has established a communication connection with the charging and swapping facility.

Further, the specific authentication judgment process can be the built-in key data comparison, such as the frame number (VIN code) of the electric vehicle, the engine number (motor number), the battery number, the preset and stored in the electric vehicle. The special identification code, or other numbers that can identify the identity of the electric vehicle, etc., the judgment subject can be the pile or the cloud.

Further, in order to enhance security, a secondary authentication mechanism can be added, because there is a process for reversing the car. In the above-mentioned authentication, the vehicle is completely parked, and the user pulls the gun to charge the process, which may be due to the authentication protection time ( If there is no charging within 3 minutes, it will automatically return to the initial state), then after the charging gun is inserted into the EV charging port, the second authentication confirmation can be performed through the power line carrier method, and the charging will be started.

Further, after the vehicle is put into the warehouse in step S4, the electric vehicle that has passed the authentication (verified as a legal vehicle) is charged and replaced, and at this time, the pile is authorized to charge the EV.

The method interacts with electric vehicles through charging and swapping facilities. When the car needs to be charged and swapped when it is parked in the warehouse, the closest distance between the charging pile and the target charging port is calculated in real time, so as to guide the vehicle to park in the closest parking space or The location in the parking space, and the length of the charging cable in the charging and swapping facilities is incorporated into the calculation process, which solves the problem of inaccurate estimation of the charging distance between different models and charging and swapping facilities such as fixed charging piles, and the charging cable is too long or on the trailer. Various problems with poor user experience. It improves the current problem of mismatch between the position of the charging pile and the charging port of the vehicle, and provides an adaptive guided charging solution with a good user experience. At the same time, it solves the problem of adapting different charging ports to different types of charging and swapping facilities. The adaptation process can be intelligently determined without user confirmation. In addition, the present invention synchronously embeds the authentication mechanism in the communication process itself, compared with the traditional charging pile authentication, which requires swiping a card, swiping a fingerprint, an iris, etc., or using a mobile phone APP, or better traditional physical locks and physical keys are more intelligent. , the user experience is better.

Referring to Figure 2 and Figure 3, in Figure 2, the front of the car is facing upward, the left side of the car near the front of the car is the AC slow charging port, and the right side of the car is close to the front of the car is the DC fast charging port; in addition, the car is equipped with a distance A measuring device (not shown in the figure, this example is a transmitter device, which is arranged on the side of the charging port); and a number of cameras (not shown in the figure) to assist in determining whether a legal parking space is parked.

Fig. 3 is one of the scene embodiments of the present invention, and the overall description is as follows in conjunction with the flow chart of Fig. 1 and the vehicle end device of Fig. 2:

When a vehicle enters a garage area, take this scene as an example, there are 3 vacant parking spaces G1/G2/G3, and an AC AC charging pile is configured near the 3 vacant parking spaces (left side in the figure), and A DC charging pile, the charging pile is equipped with a distance receiving device and a Wifi communication module (not marked in the figure). At this time, when the vehicle VCU detects that the vehicle has a parking action or a parking request, it starts the communication connection, and the vehicle shakes hands with the AC pile/DC pile respectively to identify the availability of the pile. The battery life priority method recommends that the car owner choose AC slow charging or DC fast charging, or the system can automatically select it. When the selection is completed, a communication connection is established and an authentication handshake is started. Immediately after this step or at the same time, the distance information is judged. Assume that the AC charging is selected in this example. Since the AC charging port is on the left side of the body close to the front of the car, the system feeds back the distance information and adds the length information of the AC charging pile cable. Automatically calculate the inbound and outbound posture and a reasonable and compliant warehouse location: In this embodiment, you can choose to drive the front of the car into the G1 position, or reverse the car to the G2 position, because the charging port is located near the front of the car, so drive forward into the G1 position is the optimal choice (the closest choice).

Of course, this case just cites an example to illustrate that there are many scenarios in reality that are not listed one by one, and there are also some special scenarios such as a parking space being occupied, or a certain part of a parking space being occupied. The garage method is not limited to reversing or forward driving, but also sideways driving (in this case, the garage needs to be large enough).

In addition, it is worth noting that the present invention does not describe the specific method for calculating the distance between the charging pile and the vehicle charging port in detail, which is the prior art. System decision process.

After the vehicle is put into the warehouse, the authentication between the vehicle and the pile has been completed through the previous communication handshake. At this time, the charging is started by inserting the gun into the corresponding charging port, and the whole process is completed without swiping the card or re-verification.

Referring to FIG. 4 , this embodiment also provides a charging and exchanging facility and a charging port guiding charging and exchanging device, including:

The detection module 10 is used to detect the vehicle storage action.

The detection module 10 can be built into the VCU (Vehicle Control Unit, vehicle controller). It should be understood that the normal storage is R gear (parking gear) storage, but the storage action applicable to this solution may also be If the forward D gear is stored in the warehouse, then not only the vehicle gear information is transmitted to the VCU side, but also the information captured by the camera image, such as observing whether there is a parking space line; or combined with the garage system information, such as entering a certain Internet of Vehicles The corresponding smart hardware device on the system garage or garage location. In addition, the vehicle warehousing action may be automatic driving into the warehousing, or may be the in-vehicle system guiding the driver to perform manual warehousing.

The communication module 20 is used for establishing a communication connection between the electric vehicle and the charging and swapping facility.

Taking the most common charging pile as an example, the communication module 20 is mainly used for data interaction between the electric vehicle and the charging pile, such as transmitting charging pile type information, charging pile location information, charging pile availability information, charging pile performance parameter information, etc. to the vehicle end. , or transmit relevant information of the electric vehicle (such as distance, authentication handshake information, etc.) to the pile end. The communication connection can be initiated by the electric vehicle end (connection establishment request), or initiated by the charging pile end (connection establishment request); communication connection methods include but are not limited to: Wifi, Bluetooth BT, Zigbee, NFC, RFID, etc., this case The communication module 20 preferably uses a Wifi module, which is convenient for subsequent activation of authentication.

The distance measurement module 30 is used for acquiring distance information between the electric vehicle and the charging and swapping facility.

The distance measurement module 30 can use an ultrasonic ranging module, or a laser, infrared, radar, GPS module, etc. Different ranging methods have slightly different ranging processes. This is the content of the prior art and will not be repeated in this solution. This solution is preferably an ultrasonic ranging module or a radar ranging module.

The driving assistance module 40 is used for assisting the vehicle to adjust the warehousing posture and the final warehousing position according to the obtained distance information. Specifically, according to the distance obtained by the distance measuring device and the adaptation type of the charging port and the charging and swapping facility, the storage posture of any angle, such as forward storage, reverse storage or oblique storage, must be ensured at the same time. The vehicle is finally parked in a reasonable and compliant storage location, and this operation can be determined by the camera around the vehicle.

Further, the distance measurement module 30 includes a distance measurement transmitter module and a distance measurement receiver module; wherein, when the distance measurement transmitter module is configured on the charging gun or the power exchange component, the distance measurement receiver module is configured on the charging port of the electric vehicle or is replaced. on the battery;

Wherein, the distance measurement transmitter module is arranged on the charging port of the electric vehicle, and the distance measurement receiver module is arranged on the charging and swapping facility.

Further, the driver assistance module is also used for:

Based on the obtained length information of the charging cable and the distance information obtained by the distance measurement module, the vehicle is assisted to adjust the warehousing posture and the final warehousing position. That is, the length of the charging cable is added to the calculation factor of the distance measurement. At this time, the final storage location is the distance between the charging port and the charging facility, which can ensure the shortest pull-out length of the cable.

Further, the device also includes:

The authentication module is used to determine whether the electric vehicle is a legal vehicle corresponding to the charging and swapping facility before, at the same time or after establishing the communication connection between the electric vehicle and the charging and swapping facility, and if so, start the charging and swapping authentication process and authenticate pass.

Further, the device may further include a secondary authentication module. Because there is a process for reversing the car, the authentication protection time may be exceeded when the user pulls the gun for charging after the above-mentioned authentication is passed and the car is completely parked (for example, if there is no charging within 3 minutes, it will automatically return to the initial state). Then, after the charging gun is inserted into the EV charging port, the secondary authentication module can also perform secondary authentication confirmation through the power line carrier method, and then start charging, thereby further improving the security of authentication.

The device realizes the interaction between the charging and swapping facilities and the electric vehicle. When the car needs to be charged and swapped when it is parked in the garage, the closest distance between the charging pile and the target charging port is calculated in real time, so as to guide the vehicle to park in the closest distance. At the same time, the length of the charging cable in the charging and swapping facility is incorporated into the calculation process, which solves the problem of inaccurate estimation of the charging distance between different models and charging and swapping facilities such as fixed charging piles, and the charging cable is too long. Or various problems with poor user experience on the trailer. It improves the current problem of mismatch between the position of the charging pile and the charging port of the vehicle, and provides an adaptive guided charging solution with a good user experience. At the same time, it solves the problem of adapting different charging ports to different types of charging and swapping facilities. The adaptation process can be intelligently determined without user confirmation. In addition, the present invention synchronously embeds the authentication mechanism in the communication process itself, compared with the traditional charging pile authentication, which requires swiping a card, swiping a fingerprint, an iris, etc., or using a mobile phone APP, or better traditional physical locks and physical keys are more intelligent. , the user experience is better.

The above descriptions are only preferred embodiments of the present invention, and are not intended to limit the present invention. For those skilled in the art, the present invention may have various modifications and changes. Any modification, equivalent replacement, improvement, etc. made within the spirit and principle of the present invention shall be included within the protection scope of the present invention.

Claims (24)

1. A charging and battery-replacing facility and a charging port guiding charging and battery-replacing method are characterized by comprising the following steps:

detecting the warehousing action of the vehicle;

establishing communication connection between the vehicle and a battery charging and replacing facility; the vehicle is provided with a plurality of types of charging ports, and the charging and replacing facility comprises a plurality of types of charging piles;

obtaining distance information between the vehicle and a battery charging and replacing facility;

adjusting the warehousing posture and the warehousing position of the vehicle according to the distance information and the adaptation type of the charging port and the battery charging and replacing facility; wherein the warehousing posture comprises forward warehousing, backward warehousing or oblique warehousing.

2. The charging facility and the charging port guided charging method according to claim 1, wherein the detecting the vehicle warehousing action comprises:

and the vehicle control unit initiates a request for detecting the vehicle warehousing action or the battery charging and replacing facility end initiates a request for detecting the vehicle warehousing action.

3. The charging and replacing facility and the charging port guided charging and replacing method as claimed in claim 2, wherein the establishing of the communication connection between the vehicle and the charging and replacing facility comprises:

the vehicle end initiates a request for establishing communication connection or the charging and battery replacing facility end initiates a request for establishing communication connection.

4. The charging and replacing facility and the charging port guided charging and replacing method as claimed in claim 3, wherein the communication connection mode includes Wifi, bluetooth BT, Zigbee, NFC, and RFID.

5. The charging and replacing facility and the charging port guided charging and replacing method as claimed in claim 4, wherein the communication connection mode is Wifi.

6. The charging and replacing facility and the charging port guided charging and replacing method as claimed in claim 3, wherein the obtaining of the distance information between the vehicle and the charging and replacing facility comprises:

starting a distance measurement transmitter and a distance measurement receiver;

the distance measuring transmitter is configured on the charging gun or the battery replacing component, and the distance measuring receiver is configured on the charging port of the vehicle or the battery to be replaced.

7. The charging and replacing facility and the charging port guided charging and replacing method as claimed in claim 3, wherein the obtaining of the distance information between the vehicle and the charging and replacing facility comprises:

starting a distance measurement transmitter and a distance measurement receiver;

the distance measuring transmitter is arranged at a charging port of the vehicle, and the distance measuring receiver is arranged on the charging and replacing facility.

8. The charging facility and the charging port guided charging method according to claim 6 or 7, wherein the starting conditions of the distance measuring transmitter are as follows:

and detecting the vehicle warehousing action and finishing establishing the communication connection between the electric vehicle and the battery charging and replacing facility.

9. The charging facility and the charging port guided charging method according to claim 8, wherein the distance measuring transmitter and the distance measuring receiver are configured to perform ultrasonic ranging or radar ranging.

10. The charging facility and charging port guided charging and swapping method of claim 8, wherein the adjusting the warehousing posture and warehousing position of the vehicle further comprises automatically adjusting the warehousing posture and warehousing position of the vehicle according to the distance information, the availability of the charging and swapping facility, and user requirements.

11. The charging facility and charging port guided charging and swapping method according to claim 9, wherein the adjusting the warehousing posture and the warehousing position of the vehicle according to the obtained distance information comprises:

and adjusting the warehousing posture and the warehousing position of the vehicle based on the obtained length information and distance information of the charging wire cable.

12. The charging facility and the charging port guided charging method according to claim 11, further comprising:

before, at the same time or after the communication connection between the vehicle and the battery charging and replacing facility is established, whether the electric vehicle is a legal vehicle corresponding to the battery charging and replacing facility is judged, if yes, a battery charging and replacing authentication process is started and the authentication is passed.

13. The charging facility and charging port guided charging method according to claim 12, further comprising: after the charging gun is inserted into the charging port, secondary authentication is carried out through a power line carrier and the authentication is passed.

14. The charging facility and the charging port guided charging method according to claim 12 or 13, further comprising:

and after the vehicle enters the garage, performing battery charging and replacing operation on the vehicle passing the authentication.

15. The charging and replacing facility and the charging port guided charging and replacing method as claimed in claim 1, wherein the adjusting the warehousing posture and the warehousing position of the vehicle according to the distance information and the adaptation type of the charging port and the charging and replacing facility further comprises:

and adjusting the warehousing posture and the warehousing position of the vehicle according to the distance information, the adaptation type of the charging port and the charging and replacing facility and the position of the charging port on the vehicle body.

16. The utility model provides a fill and trade electric facility and charge mouthful guide and fill and trade electric device which characterized in that includes:

the detection module is used for detecting the vehicle warehousing action;

the communication module is used for establishing communication connection between the vehicle and the battery charging and replacing facility; the vehicle is provided with a plurality of types of charging ports, and the charging and replacing facility comprises a plurality of types of charging piles;

the distance measurement module is used for acquiring distance information between the vehicle and the battery charging and replacing facility;

the driving assistance module is used for assisting the vehicle to adjust the warehousing posture and the warehousing position according to the acquired distance information and the adaptation type of the charging port and the battery charging and replacing facility; wherein the warehousing posture comprises forward warehousing, backward warehousing or oblique warehousing.

17. The charging facility and charging port guided charging and replacing device as claimed in claim 16, wherein the communication module is a Wifi module.

18. The charging facility and charging port guided charging and replacing device as claimed in claim 16, wherein the distance measuring module is an ultrasonic ranging module or a radar ranging module.

19. The charging facility and charging port guided charging device according to claim 18, wherein the distance measuring module comprises a distance measuring transmitter module and a distance measuring receiver module;

when the distance measurement transmitting module is configured on a charging gun or a battery replacement part, the distance measurement receiving module is configured on a charging port of a vehicle or a battery to be replaced;

or, the distance measurement transmitting module is configured at a charging port of the vehicle, and the distance measurement receiving module is configured at a charging facility.

20. The charging facility and charging port guided charging device of claim 16, wherein the driving assistance module is further configured to:

and assisting the vehicle to adjust the warehousing posture and the warehousing position based on the obtained length information of the charging wire cable and the distance information obtained by the distance measuring module.

21. The charging facility and charging port guided charging device of claim 20, further comprising:

and the authentication module is used for judging whether the electric vehicle is a legal vehicle corresponding to the battery charging and replacing facility before, simultaneously with or after the communication connection between the vehicle and the battery charging and replacing facility is established, and if so, starting a battery charging and replacing authentication process and passing the authentication.

22. The charging facility and charging port guided charging device of claim 21, further comprising:

and the secondary authentication module is used for performing secondary authentication through the power line carrier and passing the authentication after the charging gun is inserted into the charging port.

23. The charging facility and charging port guided charging device according to claim 16, wherein the driving assistance module is specifically configured to: and adjusting the warehousing posture and the warehousing position of the vehicle according to the distance information, the adaptation type of the charging port and the charging and replacing facility and the position of the charging port on the vehicle body.

24. A computer-readable storage medium storing computer instructions which, when executed by a computer or processor, implement the steps of the method of any one of claims 1 to 15.

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