WO2018126663A1

WO2018126663A1 - Automatic battery charging and replacement method for electric vehicle

Info

Publication number: WO2018126663A1
Application number: PCT/CN2017/095143
Authority: WO
Inventors: 吴毅成; 陈炯; 赖建文; 顾宇俊; 付力涛
Original assignee: 上海蔚来汽车有限公司
Priority date: 2017-01-09
Filing date: 2017-07-31
Publication date: 2018-07-12
Also published as: CN106828152A; CN106828152B

Abstract

An automatic battery charging and replacement method for an electric vehicle comprises the following steps: an electric vehicle requiring battery charging or replacement establishing a communication connection with a battery charging and replacement facility; the electric vehicle driving to a specific location within a service range of the battery charging and replacement facility; the battery charging and replacement facility performing authentication on the electric vehicle; and if the authentication is successful, the battery charging and replacement facility activating a battery charging or replacement operation to charge or replace a battery of the electric vehicle. The above automatic battery charging and replacement method realizes a fully automatic battery charging and replacement process, is suitable for unstaffed automatic battery charging and replacement facilities, and solves a problem in which existing battery charging and replacement facilities have a low level of automation.

Description

Electric vehicle automatic charging and replacing method

Technical field

The invention relates to the technical field of vehicle charging and replacing, and particularly relates to an automatic charging and replacing method for an electric vehicle.

Background technique

With the popularity of electric vehicles, charging and replacing facilities are also widely used. In order to facilitate management and save costs, unattended automatic charging and replacing facilities are the targets of future commercial development. Unattended operation can greatly reduce the operating vehicle, and fully reduce the cost of personnel learning and training through automatic charging and replacing of electric energy. It can also greatly reduce the risk of human error. However, in the existing charging and discharging facilities, the charging and discharging process is either manually performed by a worker or semi-automatically performed by means of robot assistance. Therefore, a new solution is urgently needed to fully automate the entire charging and discharging process.

Summary of the invention

It is an object of the present invention to provide an automatic charging and discharging method to achieve full automation of the entire charging and discharging process.

The method of the present invention includes the steps of: establishing a communication connection between the electric vehicle to be recharged and the charging and replacing facility; the electric vehicle driving into a specific location within the service range of the charging and replacing facility; The electric vehicle is authenticated; if the authentication is successful, the charging and discharging facility initiates a charging or power-changing operation to charge or replace the electric vehicle.

Preferably, in the step of establishing a communication connection between the electric vehicle to be charged and replaced and the charging and discharging facility, the electric vehicle establishes a communication connection with the charging and replacing facility by wireless communication.

Preferably, the wireless communication mode is WiFi, Bluetooth or Zigbee, and the The mobile vehicle establishes a communication connection with the charging and replacing facility in a manner of password access or non-password access.

Preferably, the step of establishing a communication connection between the electric vehicle and the charging and replacing facility in a password access manner further comprises: obtaining, by the electric vehicle, a user name and a password of the charging and replacing facility for a communication connection from a server; When the electric vehicle travels to the vicinity of the charging and replacing facility, the electric vehicle detects a wireless signal of the charging and replacing facility, and establishes a communication connection with the charging and replacing facility through the obtained username and password. .

Preferably, the electric vehicle remotely controls the charging and discharging facility to open the door before the electric vehicle enters the specific position of the charging and discharging facility.

Preferably, the step of the electric vehicle remotely controlling the opening and closing of the charging and discharging facility further comprises: the electric vehicle acquiring an opening authentication information of the charging and discharging facility from a server; and when the electric vehicle is replaced with the charging After the electrical facility establishes a communication connection, the opening and closing authentication information is sent to the charging and replacing facility, and if the authentication is passed, the charging and discharging facility opens.

Preferably, before the electric vehicle remotely controls the charging and switching facility to open the door, the automatic charging and discharging process is initiated by human-computer interaction or fully automatic.

Preferably, in the step of the electric vehicle entering a specific position within the service range of the charging and replacing facility, the electric vehicle enters the specific position in a predetermined manner, and dynamic information during the driving process Send to the charging and switching facility.

Preferably, the charging and discharging facility identifies the electric vehicle that is driven in before the charging and discharging facility authenticates the electric vehicle.

Preferably, in the step of identifying the electric vehicle that is driven in, the charging and replacing facility determines, according to the received dynamic information, whether the electric vehicle that initiates the charging and replacing request is driving in The electric vehicle at the specific location.

Preferably, when the electric vehicle enters the specific position in a predetermined manner, the electric vehicle enters the specific position along a predetermined trajectory and/or in a reverse manner and/or in an automatic driving mode.

Preferably, the electric vehicle transmits electric vehicle operation information during the driving process to the charging and replacing facility as the dynamic information.

Preferably, the electric vehicle operation information includes gear information, steering information, driving information, and parking information.

Preferably, the dynamic information further includes in-vehicle device operation information and/or electric vehicle travel information.

Preferably, the in-vehicle device operation information includes whether the auxiliary automatic driving of the electric vehicle is turned on and when is turned on, and/or whether the high-power system is turned on/off and when is turned on/off, and the electric vehicle travel information includes Whether the electric vehicle has undergone a climbing process, and/or whether the electric vehicle is driven in from the left or the right.

Preferably, in the process of the electric vehicle entering the specific position in a predetermined manner, the charging and replacing facility further acquires sensor information in the charging and replacing facility, and then according to the received dynamic information The obtained sensor information is used in conjunction with the acquired sensor information to determine whether the electric vehicle that initiates the charging and discharging request is the electric vehicle that enters the specific position.

Preferably, the dynamic information includes information of stepping on the throttle of the electric vehicle and time when the electric vehicle throttle is stepped on, the sensor information includes information on the departure of the electric vehicle, information on when the electric vehicle is off and information on the approach and stop of the electric vehicle, and electric The time when the vehicle is approaching and stopping.

Preferably, the sensor information further includes a change in the specific position bearing capacity and/or living body sensing information.

Preferably, the step of authenticating the electric vehicle by the charging and replacing facility further comprises: the charging and replacing facility transmitting an authentication request to the server; the server is configured to the electric device according to the received authentication request The charging and recharging request of the vehicle is authenticated; if the authentication is passed, the information for successful authentication is returned to the charging and replacing facility.

Preferably, the step of authenticating the electric vehicle by the charging and discharging facility further comprises: the charging and replacing facility transmitting an authentication code to the electric vehicle; the electric vehicle Calculating a response code according to the predetermined algorithm according to the predetermined algorithm, and returning the response code to the charging and replacing facility; the charging and replacing facility checks whether the response code is correct, and if correct, passes the authentication .

Preferably, before the charging and discharging facility authenticates the electric vehicle, the electric vehicle sends a vehicle parking confirmation message to the charging and discharging facility, and the charging and discharging facility is received by the The electric vehicle is authenticated after the vehicle is sent by the electric vehicle to confirm the confirmation message.

Preferably, after the authentication is successful, before the charging or power-changing operation is started, the charging and switching facility queries whether the electric vehicle is ready for charging and discharging, and if so, starts the charging or switching operation .

Preferably, after the charging or replacing operation of the electric vehicle, the method further comprises the step of: sending, by the charging and discharging facility, a message that the charging and discharging ends to the electric vehicle After receiving the message, the electric vehicle starts a self-test and sends a confirmation notice to the charging and replacing facility after confirming that it can work.

Preferably, the charging and discharging facility is a charging and replacing station.

According to the automatic charging and replacing method of the invention, the entire charging and replacing process does not require the participation of the staff, and the full automation of the charging and discharging process is realized, and is suitable for the unattended automatic charging and replacing facility. In addition, the method of the present invention enables the charging and replacing facility to automatically, accurately and cost-effectively identify the entry into the charging and replacing facility due to the unique dynamic information generated during the process of driving the electric vehicle into the charging and replacing facility. In the case of a recharged electric vehicle, especially in the case where a plurality of vehicles arrive at the charging and discharging facility at the same time, the method of the present invention can accurately identify the vehicle that should be powered up, and no misidentification occurs at all.

DRAWINGS

1 is a flow chart of an automatic charging and replacing method of the present invention;

2 is a flow chart of an authentication method of a preferred embodiment of the present invention;

3 is a flow chart of a vehicle identification method in accordance with a preferred embodiment of the present invention.

detailed description

Preferred embodiments of the present invention are described below with reference to the accompanying drawings. Those skilled in the art should understand that these embodiments are only used to explain the technical principles of the present invention, and are not intended to limit the scope of the present invention. For example, although the present application is described in connection with a power station, the technical solution of the present invention is obviously applicable to other charging and replacing facilities or places, and the change of the application object does not deviate from the basic principle of the present invention, and therefore It falls within the scope of protection of the present invention.

1 is a flow chart of an automatic charging and replacing method according to an embodiment of the present invention. As shown in FIG. 1, the method includes establishing a communication connection between the electric vehicle to be charged and replaced in step S1 and the charging and replacing facility. In order to realize an automatic charging and replacing process, the electric vehicle first needs to establish a communication connection with the charging and discharging facility to transmit information. For example, the electric vehicle can confirm whether the charging and discharging facilities are in normal operation condition, whether the charging and replacing service can be provided, etc. The power changing facility can obtain information of the electric vehicle, such as the vehicle VIN code, driver ID, battery ID, SOC, and the like. In addition, the electric vehicle can remotely control the charging and replacing facilities, such as remotely opening the door of the charging and replacing facility, starting the charging and replacing facilities, and transporting the new battery to prepare for the electrician's position.

In a preferred embodiment of the present invention, the electric vehicle establishes a communication connection with the charging and replacing facility by means of wireless communication, such as WiFi, Bluetooth or Zigbee, wherein the electric vehicle can be accessed by password or non-password. Establishing a communication connection with the charging and discharging facility. For example, when the electric vehicle establishes a communication connection with the charging and replacing facility in a password access manner, the electric vehicle acquires a user name and password of the charging and switching facility for a communication connection from the server (for example, changing a WiFi user name and password of the electrical facility), when the electric vehicle travels to the vicinity of the charging and replacing facility, the electric vehicle detects a wireless signal (eg, a WiFi signal) of the charging and replacing facility, and passes the obtained The username and password establish a communication connection with the charging and replacing facility. After the communication connection is successful, the electricity is described in step S2. The moving vehicle enters a specific location within the service range of the charging and discharging facility. Preferably, the electric vehicle remotely controls the charging and discharging facility to open the door before the electric vehicle enters the specific position of the charging and discharging facility. For example, the electric vehicle acquires, in advance, an opening authentication information (such as an opening code) of the charging and replacing facility from a server for managing a charging and replacing facility, when the electric vehicle and the charging and replacing facility After the communication connection is established, the opening and closing authentication information is sent to the charging and replacing facility, and if the authentication is passed, the charging and discharging facility opens the door, and then the electric vehicle enters the charging and replacing facility The specific location may include: a location where the vehicle stops and can accept charging or changing service - that is, charging and replacing the electrician, the vehicle can enter, and after entering, other vehicles can no longer use the charging and charging facility to charge or change The location of the electrical service, etc.

In one embodiment, the automatic charging and discharging process is initiated by a human-machine interaction or a fully automatic manner before the electric vehicle remotely controls the charging and discharging facility to open the door. Taking human-computer interaction as an example, the electric vehicle may prompt the driver whether to enter the automatic charging and replacing process. If yes, the driver initiates the automatic charging and replacing process, for example, through the in-vehicle button, and then sends the pre-acquired opening authentication information. Remote control charging and switching facilities to open the door. This prevents the vehicle from accidentally opening the door by accident.

After the electric vehicle enters the charging and discharging electric field in the charging and discharging facility, in the step S4 of the present invention, the charging and discharging facility automatically authenticates the electric vehicle. The purpose of the authentication is to determine whether the current vehicle and/or the driver are authorized to perform charging and charging at the charging and discharging facility, and only authorized vehicles and/or drivers are allowed to perform charging and discharging. This is conducive to the management and maintenance of charging and replacing facilities.

In a preferred embodiment, as shown in FIG. 2, the step of automatically authenticating the electric vehicle by the charging and replacing facility further comprises: the charging and replacing facility sending an authentication request to the server, the authentication request The information may include, for example, an ID of the vehicle, an ID of the driver, and an ID of the charging and replacing facility; the server authenticates the charging and discharging request of the electric vehicle according to the received authentication request, specifically, After the server receives the authentication request The verification will be performed according to the previous authorization record. If there is a corresponding authorization record, the authentication is passed, and the authentication success information is returned to the charging and replacing facility, otherwise the charging and replacing service is rejected. In another preferred embodiment, the charging and replacing facility performs automatic authentication of the electric vehicle in a local authentication manner, which is particularly applicable to one of the electric vehicle and the charging and replacing facility or The two sides did not have a network when they were authenticated. Preferably, the step of local authentication further comprises: the charging and replacing facility transmitting an authentication code (for example, a random number) to the electric vehicle; the electric vehicle calculating according to the authentication code according to a predetermined algorithm Answering the code and returning the response code to the charging and replacing facility; the charging and switching facility checks whether the response code is correct, and if correct, passes the authentication. For example, the charging and discharging facility generates a random number salt_code to be sent to the electric vehicle, and the electric vehicle calculates a response code response_code according to the random number salt_code, and returns the response code to the charging and discharging Facilities, where:

The charging and replacing facility acquires a response_code sent by the electric vehicle, and obtains the Data content in the response_code according to its own private key PrivateKeySwap, locally verifies the electric vehicle certificate, and extracts the electric vehicle from the electric vehicle certificate. The public key PubKeyVehile obtains the original information MD5 (salt_code+timestamp+swap_id) of the virtual_key in the data information through the obtained PubKeyVehile, and then calculates the MD5 (salt_code+timestamp+swap_id) locally through the salt_code, timestamp and its own ID. The value is finally compared with whether the locally calculated MD5 and the MD5 sent by the electric vehicle are equal, and if they are equal, the local authentication is passed. In other embodiments, the TLS protocol can also be used for local authentication.

In one embodiment, the step of transmitting the vehicle parking confirmation message to the charging and replacing facility, the charging and replacing facility, is performed before the charging and discharging facility authenticates the electric vehicle The electric vehicle is authenticated upon receiving a vehicle parking confirmation message sent by the electric vehicle. In addition, the charging and switching facility may be manually operated by the driver to trigger the charging and switching facility to authenticate the electric vehicle.

After the authentication succeeds, the charging and discharging facility starts the charging and discharging operation in step S5, and the electric vehicle is charged and replaced. Preferably, after the authentication is successful, before the charging or power-changing operation is started, the charging and switching facility queries whether the electric vehicle is ready for charging and discharging, and if so, starts the charging or switching operation . Further preferably, after the charging or replacing operation of the electric vehicle, the method further comprises the step of: sending and receiving the charging and discharging facility to the electric vehicle The electric vehicle starts the self-test after receiving the message, and sends a confirmation notice to the charging and replacing facility after confirming that it can work, and then the vehicle automatically or by the driver leaves the charging and replacing facility.

In a preferred embodiment of the present invention, before the charging and discharging facility authenticates the electric vehicle, the present invention further includes an optional step S3: the charging and replacing facility identifies the electric motor that is driven in. vehicle. Preferably, when the electric vehicle enters a specific position within the service range of the charging and replacing facility, the electric vehicle enters the specific position in a predetermined manner, and dynamic information of the electric vehicle during the driving process Send to the charging and switching facility. For example, the vehicle enters the particular location along a predetermined trajectory, and/or in a reversed manner, and/or in an automatic driving mode. At the same time, the electric vehicle transmits the dynamic information during the driving process to the charging and replacing facility, and the charging and discharging device determines, according to the received dynamic information, whether the electric vehicle that initiates the charging and replacing request is driving. The electric vehicle entering the specific location. The dynamic information sent by the electric vehicle to the charging and replacing facility preferably includes an electric vehicle operating letter Information, such as gear information, steering information, driving information, parking information, etc. during vehicle entry. Then, in the step of identifying the electric vehicle that is driven in, the charging and replacing facility, according to the received dynamic information, is an electric vehicle that has undergone a dynamic process corresponding to the dynamic information. Recognizing that the electric vehicle is driven into the specific position, and if an electric vehicle initiates a power-replacement request to the charging and discharging facility, the charging and discharging facility can determine whether the electric vehicle that initiates the charging and discharging request is To drive into the electric vehicle of the specific location.

In an embodiment of the present invention, the dynamic information further includes in-vehicle device operation information and/or electric vehicle travel information, wherein the in-vehicle device operation information may include whether the assisted automatic driving of the electric vehicle is turned on and when, and And/or whether the high power system is turned on/off and when it is turned on/off, the electric vehicle travel information may include whether the electric vehicle has undergone a climbing process, and/or the electric vehicle is driven in from the left or the right. After the electric vehicle enters the specific position of the charging and replacing facility and sends the above dynamic information during the driving process, the driver of the electric vehicle can trigger the charging and replacing request, and perform identity confirmation, charging and replacing The facility detects that its corresponding vehicle has completed the charging and replacing preparation operation, and stops in the charging and replacing electrical position to prepare for charging and replacing the power. After the self-test passes, the charging and replacing operation begins. The method of the present invention can accurately identify the vehicle entering the charging and discharging facility. If other drivers trigger the charging and discharging start command on the charging and discharging facility during the process, the charging and replacing facility will require the driver to confirm the identity. And authentication (for example, requesting the input of the vehicle ID) and corresponding to the information of the vehicle, if the corresponding vehicle does not perform the above dynamic process, and/or the high-power system is not turned off, the charging and discharging facility does not respond to the charging and switching request .

In one embodiment of the present invention, the charging and discharging facility also acquires a sensor in the charging and discharging facility during a predetermined manner in which the electric vehicle enters a specific position of the charging and discharging facility. The information is then used, based on the received dynamic information in conjunction with the acquired sensor information, to determine whether the electric vehicle that initiated the charging and replacing request is the electric vehicle that enters the specific location. Preferably, the dynamic information includes stepping on an electric vehicle throttle Information and time when the electric vehicle throttle is stepped on, the sensor information includes, for example, information about the departure of the electric vehicle obtained by the positioning slot sensor and the time when the electric vehicle is driven away, and information about the approach and stop of the electric vehicle acquired, for example, by the proximity switch. And the time when the electric vehicle approaches and stops. In addition, it is also possible to identify that the vehicle has entered the particular location by a change in the load-bearing capacity of the charging facility, in particular a load-bearing change of the parking platform at the particular location, and/or vital sensory information. In this embodiment, the dynamic information in the driving process sent by the vehicle, combined with the sensor information in the charging and replacing facility, is synchronized with the time stamp, and the vehicle to be replaced in the charging and discharging facility can be automatically and accurately identified. .

Referring now to FIG. 3, FIG. 3 is a flow chart of a method for identifying an electric vehicle in a charging and replacing facility according to a preferred embodiment of the present invention. In this embodiment, the charging and replacing facility is specifically a single-station modular power-changing station, the electric vehicle driving into the power-changing station in a reverse manner, and the operation information sent by the electric vehicle to the power-changing station includes hanging down Block information, steering information, reversing information, parking information, etc., and then the substation confirms that the vehicle that has experienced these operating procedures is the vehicle currently entering the substation based on the operational information sent by the vehicle. Specifically, as shown in FIG. 3, in step S210, the vehicle travels to the vicinity of the power exchange station, and the power exchange door is opened by the door opening command. Next, in step S220, the vehicle starts the reverse steering, and transmits the reverse gear and the reverse steering information to the power station. Then in step S230, the steering wheel of the vehicle is positive, the vehicle is driven into the power station, and the steering wheel is sent back to the power station, the power station receives the vehicle information, and the vehicle is informed that the vehicle is entering. Then in step S240, the vehicle continues to reverse, then brakes, and sends corresponding accelerator pedal information and brake information to the power station. Finally, in step S250, the vehicle is stopped at the power-changing position, and the parking information is sent to the power-changing station, the power-changing station receives the parking information, and the vehicle is informed that the vehicle is stopped. Therefore, the substation recognizes the door opening-to-reverse-steering-returning-reversing of the vehicle according to the above information sent by the vehicle (at this time, the substation sensor senses that there is a vehicle entering) - the brake stops (the sensor senses the vehicle) The operation process, such as stopping, confirms that the vehicle that has undergone the above-described action process is a vehicle that is parked at the electrician's position.

According to the above method of vehicle identification, if another vehicle arrives at the same time and sends a door opening command, but does not experience the above series of actions, or the corresponding action occurs when it is not synchronized with the sensor information in the power station, it is not stopped at the electrician changing position. vehicle. For example, suppose that two vehicles A and B arrive at the power station at the same time, establish a communication connection with the power station and send a door opening command. In fact, only vehicle A reversing into the power station. In this process, the power station and vehicles A and B are both Communicate, but only recognize that the vehicle A has the action process shown in Figure 2, so as to know that the car currently entering the electrician is the A car. At this time, if the driver of the B car tries to perform the authentication operation on the power station, due to the background The driver and the car have been in one-to-one correspondence, and the power station will not respond to the B driver's power change request operation.

In the above preferred method of vehicle identification, those skilled in the art can understand that the judgment is based on the uniqueness of the electric vehicle itself during the driving to a specific position of the charging and discharging facility (for example, charging or replacing the electrician). Dynamic information (this information can be easily obtained through the vehicle's CAN and / or LIN bus), this method can eliminate the cost increase and accuracy degradation caused by external identification equipment, making the charging and discharging facilities automatic, accurate and low Costly identifying the electric vehicle to be charged and discharged into the charging and discharging facility, especially in the case where a plurality of vehicles reach the charging and replacing facility at the same time, the method can accurately identify the vehicle that should be powered, and no error occurs at all. Identification.

The automatic charging and replacing method of the invention realizes full automation of the entire charging and discharging process, and is suitable for an unattended automatic charging and replacing facility. Further, in terms of the charging and replacing process, the present invention can automatically complete the charging and replacing full-process operation without the driver's participation. As far as the communication method is concerned, the present invention preferably uses short-range wireless communication methods such as WiFi, Bluetooth or Zigbee to communicate with the charging and replacing facilities, and has the advantages of low cost, good compatibility, and good communication quality. If 3G/4G is used to communicate with charging and replacing facilities, it is not only costly, but also may have no signal in the basement. In terms of the vehicle identification mode, the present invention preferably identifies the vehicle that enters the charging and replacing facility by the real-time dynamic information sent by the vehicle. The method has small requirements on the hardware device, and can directly utilize existing hardware and software resources on the vehicle without additional Add equipment.

Heretofore, the technical solutions of the present invention have been described in conjunction with the preferred embodiments shown in the drawings, but it is obvious to those skilled in the art that the scope of the present invention is obviously not limited to the specific embodiments. Those skilled in the art can make equivalent changes or substitutions to the related technical features without departing from the principles of the present invention. The modifications and alternatives will fall within the scope of the present invention.

Claims

An electric vehicle automatic charging and replacing method, characterized in that the method comprises the following steps:

The electric vehicle to be charged and replaced establishes a communication connection with the charging and replacing facility;

The electric vehicle enters a specific location within the service range of the charging and replacing facility;

The charging and replacing facility authenticates the electric vehicle;

If the authentication is successful, the charging and discharging facility initiates a charging or power-changing operation to charge or replace the electric vehicle.
The method according to claim 1, wherein in the step of establishing a communication connection between the electric vehicle to be charged and replaced and the charging and discharging facility, the electric vehicle establishes communication with the charging and discharging facility by wireless communication connection.
The method according to claim 2, wherein the wireless communication mode is WiFi, Bluetooth or Zigbee, and the electric vehicle establishes a communication connection with the charging and replacing facility in a manner of password access or non-password access.
The method of claim 3, wherein the step of establishing a communication connection between the electric vehicle and the charging and replacing facility in a password access manner further comprises:

Obtaining, by the electric vehicle, a username and a password for the communication connection of the charging and replacing facility from a server;

When the electric vehicle travels to the vicinity of the charging and replacing facility, the electric vehicle detects a wireless signal of the charging and replacing facility, and establishes a communication connection with the charging and replacing facility through the obtained username and password. .
The method of claim 1 wherein said electric vehicle remotely controls said charging and discharging facility to open a door before said electric vehicle enters said specific position of said charging and discharging facility.
The method according to claim 5, wherein the step of remotely controlling the opening and closing of the charging and discharging facility by the electric vehicle further comprises:

Obtaining the door opening authentication information of the charging and replacing facility from the server;

After the electric vehicle establishes a communication connection with the charging and replacing facility, the authentication information is sent to the charging and replacing facility, and if the authentication is passed, the charging and discharging facility opens.
The method according to claim 5, wherein the automatic charging and discharging process is started by a human-machine interaction or a fully automatic manner before the electric vehicle remotely controls the charging and discharging facility to open the door.
The method according to claim 1, wherein in the step of the electric vehicle entering a specific position within the service range of the charging and discharging facility, the electric vehicle enters the specific position in a predetermined manner And transmitting dynamic information during the driving process to the charging and replacing facility.
The method of claim 8 wherein said charging and discharging facility identifies said electric vehicle being driven before said charging and discharging facility authenticates said electric vehicle.
The method according to claim 9, wherein in said step of recognizing said electric powered vehicle in said charging and discharging facility, said charging and discharging facility determines to initiate charging based on said received dynamic information Whether the electric vehicle requested for the power change is the electric vehicle that enters the specific position.
The method of claim 10 wherein said electric vehicle is along a predetermined trajectory and/or in a reversed manner and/or automatically when said electric vehicle enters said particular position in a predetermined manner The driving mode enters the specific position.
The method according to claim 10, wherein said electric vehicle transmits electric vehicle operation information during the driving process to said charging and discharging facility as said dynamic information.
The method according to claim 12, wherein said electric vehicle operation information comprises gear information, steering information, travel information, and parking information.
The method of claim 12 wherein said dynamic information further comprises in-vehicle device operational information and/or electric vehicle travel information.
The method according to claim 14, wherein the in-vehicle device operation information includes whether the assisted automatic driving of the electric vehicle is turned on and when is turned on, and/or whether the power system is turned on/off and when/on/ shut down,

The electric vehicle travel information includes whether the electric vehicle has experienced a climbing process, and/or the electric vehicle is driven in from the left or the right.
The method of claim 10 wherein said electric a process in which the vehicle enters the specific location in a predetermined manner, the charging and replacing facility also acquires sensor information in the charging and replacing facility, and then combines the acquired sensor information according to the received dynamic information. It is determined whether the electric vehicle that initiated the charging and discharging request is the electric vehicle that enters the specific position.
The method according to claim 16, wherein the dynamic information comprises information of stepping on the throttle of the electric vehicle and time to step on the throttle of the electric vehicle, the sensor information including information on the departure of the electric vehicle and the time of departure of the electric vehicle Information about the approach and stop of the electric vehicle and the time when the electric vehicle approaches and stops.
The method of claim 17 wherein said sensor information further comprises said specific location bearing change and/or vital body sensing information.
The method according to any one of claims 1 to 18, wherein the step of authenticating the electric vehicle by the charging and discharging facility further comprises:

The charging and replacing facility sends an authentication request to the server;

The server authenticates the charging and replacing request of the electric vehicle according to the received authentication request;

If the authentication is passed, information indicating that the authentication is successful is returned to the charging and replacing facility.
The method according to any one of claims 1 to 18, wherein the step of authenticating the electric vehicle by the charging and discharging facility further comprises:

The charging and replacing facility transmits an authentication code to the electric vehicle;

The electric vehicle calculates a response code according to the authentication code according to a predetermined algorithm, and returns the response code to the charging and replacing facility;

The charging and discharging facility checks whether the response code is correct, and if it is correct, passes the authentication.
The method according to any one of claims 1 to 18, wherein the electric vehicle sends a vehicle parking confirmation message to the charging and replacing facility before the charging and discharging facility authenticates the electric vehicle. The charging and discharging facility authenticates the electric vehicle after receiving a vehicle parking confirmation message sent by the electric vehicle.
The method according to any one of claims 1 to 18, characterized in that, after the authentication is successful, before the charging or power-changing operation is started, the charging and discharging facility asks whether the electric vehicle is ready for charging and discharging, If so, the charging or power changing operation is initiated.
The method according to any one of claims 1 to 18, wherein after the charging and replacing facility charges or replaces the electric vehicle, the method further comprises the steps of:

The charging and discharging facility sends a message to the electric vehicle that the charging and discharging ends;

After receiving the message, the electric vehicle starts a self-test and sends a confirmation notice to the charging and replacing facility after confirming that it can work.
The method of claims 1-18, wherein the charging and discharging facility is a charging and replacing station.
The method of claim 19 wherein said charging and discharging facility is a charging and discharging station.
The method of claim 20 wherein said charging and discharging facility is a charging and discharging station.
The method of claim 21 wherein said charging and discharging facility is a charging and discharging station.
The method of claim 22 wherein said charging and discharging facility is a charging and discharging station.
The method of claim 23 wherein said charging and discharging facility is a charging and discharging station.