Patent Publication Number: US-2022219558-A1

Title: Apparatus for transferring electrcial power to or from an electric vehicle, and control method thereof

Description:
TECHNICAL FIELD 
     The present invention relates to apparatus for transferring electrical power to or from an electric vehicle, and to a control method thereof. 
     BACKGROUND 
     Electric vehicles can provide a more environmentally-friendly alternative to vehicles that rely on other forms of propulsion, such as petrol and diesel engines. The popularity of electric vehicles has increased significantly in recent years. However, some consumers may be deterred from adopting electric vehicles due to concerns over availability of charging points at which a battery of the electric vehicle can be recharged. 
     One drawback of existing charging points is the cabinet that houses the associated hardware, which is typically similar in size to a conventional petrol or diesel pump. In an urban environment it may not be possible to install charging points in areas with limited kerbside space, for example narrow residential streets. This drawback can deter homeowners and local authorities from installing new charging points, which in turn may delay the widespread adoption of electric vehicles. 
     The invention is made in this context. 
     SUMMARY OF THE INVENTION 
     According to a first aspect of the present invention, there is provided apparatus for transferring electrical power to or from an electric vehicle, comprising: a first connector engageable with a second connector on an electric vehicle, the first connector being disposed beneath a space in which the electric vehicle may be parked; one or more sensors configured to detect a current position of the second connector relative to the first connector; an adjustment mechanism configured to adjust a position of the first connector; a controller configured to receive information from the one or more sensors indicative of the current position of the first connector relative to the second connector, determine an adjustment required to align the first connector with the second connector in dependence on the information received from the one or more sensors, control the adjustment mechanism in accordance with the determined adjustment to align the first and second connectors, and engage the first connector with the second connector once aligned to thereby make an electrical connection for transferring electrical power to or from the electric vehicle; and a power circuit configured to transfer electrical power to or from the electric vehicle via said electrical connection. 
     In some embodiments according to the first aspect, one or more of the controller, power circuit, adjustment mechanism and one or more sensors are disposed beneath a ground level of the space in which the electric vehicle may be parked. 
     In some embodiments according to the first aspect, the apparatus comprises a connector housing in which the first connector is installed, wherein an uppermost surface of the connector housing is disposed at or below a ground level of the space in which the electric vehicle may be parked. 
     In some embodiments according to the first aspect, the one or more sensors are disposed so as to capture an image of the underside of the electric vehicle when the electric vehicle is situated in the space above the first connector. 
     In some embodiments according to the first aspect, the controller is configured to use a machine learning algorithm to assign the captured image to one of a plurality of image classes each corresponding to a different position of the second connector in the captured image, and is configured to determine the required adjustment by retrieving a stored predetermined adjustment associated with the assigned image class. 
     In some embodiments according to the first aspect, the apparatus is configured to transmit the captured image to the electric vehicle in which the electric vehicle is being parked in the space above the first connector, to assist a user of the electric vehicle in approximately aligning the second connector with the first connector. 
     In some embodiments according to the first aspect, the captured image comprises an image captured at visible wavelengths, or an infrared image, or an ultrasound image. 
     In some embodiments according to the first aspect, the apparatus is configured to transmit information indicative of a range of the adjustment mechanism to the electric vehicle. 
     In some embodiments according to the first aspect, the information indicative of a range of the adjustment mechanism comprises a bounding box overlaid on the captured image to indicate an area within which the first connector is capable of being positioned by the adjustment mechanism. 
     In some embodiments according to the first aspect, the controller is configured to determine whether the electric vehicle is positioned such that the second connector is beyond a range of the adjustment mechanism, and is configured to transmit a misalignment notification message to the electric vehicle in dependence on a determination that the second connector is beyond a range of the adjustment mechanism. 
     In some embodiments according to the first aspect, the apparatus comprises means for detecting and/or removing an obstruction from a path between the first and second connectors. 
     In some embodiments according to the first aspect, the first connector is configured to be extendable in a first direction towards the second connector to engage the first connector with the second connector, and the adjustment mechanism is configured to move the first connector in a plane inclined with respect to the first direction to adjust the position of the first connector. 
     In some embodiments according to the first aspect, the electric vehicle is an automobile. 
     In some embodiments according to the first aspect, the controller is configured to determine whether a vehicle parked in the space above the first connector is compatible with the first connector, and to automatically take an action in response to a determination that the vehicle is incompatible with the first connector. 
     In some embodiments according to the first aspect, the controller is configured to analyse an image captured by the one or more sensors to determine whether the vehicle is an internal combustion engine vehicle, and is configured to determine that the vehicle is incompatible with the first connector in dependence on a determination that the vehicle is an internal combustion engine vehicle. 
     In some embodiments according to the first aspect, the controller is configured to apply an image recognition algorithm to the image captured by the one or more sensors to detect one or more features indicative of an internal combustion engine vehicle. 
     In some embodiments according to the first aspect, the one or more sensors include an air sensor for detecting a characteristic of air, and the controller is configured to determine that the vehicle is incompatible with the first connector in dependence on the air sensor detecting a characteristic indicative of an exhaust emission of an internal combustion engine vehicle. 
     In some embodiments according to the first aspect, the action comprises one or more of: activating an alarm; automatically issuing a parking violation notice; and alerting an authority to the presence of an incompatible vehicle in the space. 
     According to a second aspect of the present invention, there is provided apparatus for transferring electrical power to or from an electric vehicle, comprising: memory arranged to store computer program instructions; and one or more processors configured to execute the computer program instructions stored in the memory, wherein when executed by the one or more processors, the computer program instructions are adapted to cause the apparatus to: receive information from one or more sensors indicative of the current position of a first connector relative to a second connector disposed on an electric vehicle, the first connector being engageable with the second connector; determine an adjustment required to align the first connector with the second connector in dependence on the information received from the one or more sensors; control an adjustment mechanism configured to adjust a position of the first connector, in accordance with the determined adjustment to align the first and second connectors; engage the first connector with the second connector once aligned to thereby make an electrical connection for transferring electrical power to or from the electric vehicle; and transfer electrical power to or from the electric vehicle via said electrical connection, using the power circuit. 
     According to a third aspect of the present invention, there is provided a control method of an electric vehicle charging apparatus comprising a first connector engageable with a second connector on an electric vehicle, the first connector being disposed beneath a space in which the electric vehicle may be parked, one or more sensors configured to detect a current position of the second connector relative to the first connector, an adjustment mechanism configured to adjust a position of the first connector, and a power circuit configured to transfer electrical power to or from the electric vehicle, the method comprising: receiving information from the one or more sensors indicative of the current position of the first connector relative to the second connector; determining an adjustment required to align the first connector with the second connector in dependence on the information received from the one or more sensors; controlling the adjustment mechanism in accordance with the determined adjustment to align the first and second connectors; engaging the first connector with the second connector once aligned to thereby make an electrical connection for transferring electrical power to or from the electric vehicle; and transferring electrical power to or from the electric vehicle via said electrical connection, using the power circuit. 
     According to a fourth aspect of the present invention, there is provided computer program comprising instructions which, when executed by one or more processors, cause performance of a method according to the second aspect. 
     According to a fifth aspect of the present invention, there is provided a non-volatile computer-readable storage medium having stored thereon a computer program according to the fourth aspect. 
    
    
     
       BRIEF DESCRIPTION OF THE DRAWINGS 
       Embodiments of the present invention will now be described, by way of example only, with reference to the accompanying drawings, in which: 
         FIG. 1  illustrates an apparatus for transferring electric power to or from an electric vehicle, according to an embodiment of the present invention; 
         FIG. 2  is a flowchart illustrating a control method of the apparatus shown in  FIG. 1 , according to an embodiment of the present invention; 
         FIG. 3  is a flowchart illustrating a method of aligning and engaging the first and second connectors of the apparatus shown in  FIG. 1 , according to an embodiment of the present invention; 
         FIG. 4  illustrates a system enabling wireless communication between the electric vehicle and the apparatus of  FIG. 1 , according to an embodiment of the present invention; and 
         FIG. 5  is a flowchart illustrating a method of automatically taking action when a vehicle is improperly parked over the first connector, according to an embodiment of the present invention. 
     
    
    
     DETAILED DESCRIPTION 
     In the following detailed description, only certain exemplary embodiments of the present invention have been shown and described, simply by way of illustration. As those skilled in the art would realize, the described embodiments may be modified in various different ways, all without departing from the scope of the present invention. Accordingly, the drawings and description are to be regarded as illustrative in nature and not restrictive. Like reference numerals designate like elements throughout the specification. 
     Referring now to  FIG. 1 , an apparatus for transferring electric power to or from an electric vehicle is illustrated, according to an embodiment of the present invention. The apparatus  100  comprises a first connector  101  configured to be engageable with a second connector  111  on an electric vehicle  110 . In the present embodiment the electric vehicle  110  is an automobile, for example an electric car, but in other embodiments the apparatus may be configured for use with other types of vehicle, such as aircraft or sea vessels. The apparatus  100  further comprises one or more sensors  102  for detecting a position of the second connector  111 , an adjustment mechanism  103 , a housing  104 , a housing cover  105 , a controller  106 , and a power circuit  107 . 
     As shown in  FIG. 1 , the first connector  101  is disposed beneath a space in which the electric vehicle  110  may be parked. In some embodiments the space may be delimited by suitable markings on the grounds, for example when the apparatus  100  is installed in a marked parking bay in a car park or alongside a road. The first connector  101  may be disposed within the space delimited by the markings, such that the markings act as a guide to assist a driver in parking the vehicle  110  above the first connector  101 . In other embodiments the space may be unmarked, for example when the apparatus  100  is installed on a private driveway at a user&#39;s home, or in a private garage. 
     The one or more sensors  102  are configured to detect a current position of the second connector  111  relative to the first connector  101 , and to transmit information indicative of the current position of the first connector  101  relative to the second connector  111 . The one or more sensors  102  may be configured to detect when the vehicle  110  is being or has been parked in the space above the first connector  101 , and to automatically transmit the information to the controller  106  when the presence of the vehicle  110  is detected. Any suitable type of sensor  102  that is capable of detecting a position of the second connector  111  may be used, depending on the embodiment. For example, the one or more sensors  102  may comprise a camera configured to capture an image of the second connector  111  at visible wavelengths, and/or may comprise an infrared sensor or an ultrasound sensor. In the present embodiment, the one or more sensors  102  are disposed so as to capture an image of the underside of the electric vehicle  110  when the electric vehicle  110  is situated in the space above the first connector  101 . 
     In some embodiments the second connector  111 , and/or an enclosure in which the second connector  111  is housed on the vehicle  110 , is configured so as to provide a high contrast with a part of the vehicle adjacent to the second connector  111  and/or the enclosure of the second connector  111 , so that the controller  106  can more easily locate is the second connector  111  in an image captured by the one or more sensors  102 . For example, when the one or more sensors  102  are configured to capture an image at visible wavelengths, the second connector  111  and/or the enclosure may have a colour that provides a high contrast with the colour of an adjacent part of the vehicle. As another example, instead of using a different colour, another property of the second connector  111  and/or its enclosure, such as the shape and/or surface reflectance, may be configured to produce a high contrast in the image captured by the one or more sensors  102 . 
     The controller  106  is configured to receive the information indicative of the current position of the first connector  101  relative to the second connector  111  from the one or more sensors  102 , and to determine an adjustment required to align the first connector  101  with the second connector  111  in dependence on the information received from the one or more sensors  102 . The controller  106  can use the adjustment mechanism  103  to adjust a position of the first connector  101  in accordance with the determined adjustment, so as to align the first connector  101  with the second connector  111  and allow the first connector  101  to be engaged with the second connector  111 . In some embodiments the adjustment mechanism  103  may be configured to move the first connector  101  linearly along one or more axes, and/or may be configured to rotate the first connector  101  about one or more axes. For example, in one embodiment the adjustment mechanism  103  comprises a moveable platform on which the first connector  101  is mounted, and comprises actuating means for moving the platform along one or more axes. Examples of suitable actuating means include, but are not limited to, an electric motor connected to a rack and pinion mechanism, or a hydraulic ram. In some embodiments, the adjustment mechanism may be configured to raise or lower, and/or rotate, the housing  104  containing the first connector  101 . For example, the adjustment mechanism may raise or lower the housing  104  in a similar manner to a rising bollard. The engagement mechanism may then comprise an arm that extends out from the housing  104  once the housing  104  is in a raised position. 
     By providing an adjustment mechanism  103  in the charging point apparatus  100 , the cost and complexity of the corresponding connector  111  on the vehicle  110  can be reduced, since any necessary adjustment can be performed by the charging point  100 . Furthermore, by allowing the position of the first connector  101  to be adjusted to match the position of the second connector  111  on the vehicle  110 , the apparatus  100  can compensate for a certain degree of misalignment of the first and second connectors  101 ,  111 , making the parking operation easier for the driver since it may not be necessary to accurately align the second connector  111  with the first connector  101  when parking the vehicle  110 . 
     Once engaged, the first and second connectors  101 ,  111  make an electrical connection via which the power circuit  107  can transfer electrical power to or from the vehicle  110 . For example, one of the first and second connectors  101 ,  111  may comprise a plug and the other one of the first and second connectors  101 ,  111  may comprise a socket having a complimentary shape to the plug, such that the plug can be retained in the socket using friction or mechanical means to provide a secure connection. The first connector  101  may be referred to as a ‘charging point connector’, and the second connector  111  may be referred to as a ‘vehicle connector’. The controller  106  may control the power circuit to control the speed, time and duration of the transfer of power to or from the electric vehicle  110 . In some embodiments the controller  106  may control the power circuit  107  to only supply electrical power to the vehicle  110  at certain times of day, for example when demand on the grid is low and/or when the cost of electricity is lower. Conversely, at times when the cost of electricity is higher, in some embodiments the power circuit  107  may be controlled to transfer power from the vehicle  110  to the grid. 
     The first connector  101  is mounted on an engagement mechanism  108  that is configured to move the first connector  101  in a direction towards the second connector  111 , so as to engage the first and second connectors  101 ,  111 . Examples of suitable mechanisms for engaging the first connector  101  include, but are not limited to, a telescoping column, linear actuator, or a robotic arm capable of making independent adjustments on x, y and z Cartesian axes. In some embodiments, adjustment mechanism  103  is configured to move the first connector  101  within a plane, and the engagement mechanism  108  is configured to move the first connector  101  in a direction that is inclined with respect to the plane of the adjustment mechanism  103 . In this way, by combining movements of the adjustment mechanism  103  and the engagement mechanism  108 , the first connector  101  can be accurately positioned with at least three degrees of freedom in space. 
     After adjusting the position of the first connector  101  using the adjustment mechanism  108 , the controller  106  may receive new information from the one or more sensors  102  and confirm that the first and second connectors  101 ,  111  are correctly aligned. Then, in dependence on a determination that the first and second connectors  101 ,  111  are aligned, the controller  106  may control the engagement mechanism  108  to automatically engage the first connector  101  with the second connector  111 . 
     The controller  106  may be configured to control the engagement mechanism  108  to automatically disengage the first connector  101  from the second connector  111  once charging has been completed. For example, the electric vehicle  110  may monitor the state of charge of its internal battery, and transmit a signal to the controller  106  which indicates that the battery is fully charged. In some embodiments, the electric vehicle  110  may transmit the signal to the controller  106  when the battery charge reaches a certain threshold level below 100% charge. For example, if the user has selected a fast charging mode, the electric vehicle  110  may transmit the signal to the controller  106  to terminate the charging operation once the battery reaches a certain level of charge, for example 80% or 90% of the total battery capacity. The controller  106  may be configured to disengage the first connector  101  from the second connector  111  in response to a user command, to allow a driver to interrupt the charging process and continue their journey at a time of their choosing. 
     In some embodiments the charging operation may be terminated once the level of battery charge reaches a threshold defined by a user, which may be referred to as a user-defined threshold. For example, a user may set the user-defined threshold at a level that they consider to represent an adequate amount of charge for the remaining part of their current journey. In some embodiments, the charging operation may be terminated once the level of battery charge reaches a threshold that is determined by an algorithm configured to predict an amount of battery charge required to complete a remaining part of the current journey. The algorithm may be configured to take into account information such as the user&#39;s expected driving pattern and/or their most likely destination when making the prediction. For example, the algorithm may be provided with information indicative of previous journeys carried out by the user, and/or information indicative about the user&#39;s driving style (e.g. rates of acceleration and/or braking, cornering speeds, preference for certain gears at certain speeds, etc.). 
     In the present embodiment the second connector  111 , which may also be referred to as a vehicle connector, is disposed on an underside of the electric vehicle  111 . However, in other embodiments the second connector  111  may be disposed on another part of the vehicle  111 , for example on the side, front, rear, or top of the vehicle  111 . In embodiments in which the second connector  111  is disposed on part of the vehicle other than the underside of the vehicle, the adjustment mechanism  103  and/or the engagement mechanism  108  may be adapted accordingly. For example, in an embodiment in which the second connector  111  is disposed on the side of the vehicle  110 , the adjustment mechanism  103  may comprise a robotic arm configured to move the first connector  101  horizontally out from underneath the vehicle  110 , and raise the first connector  101  vertically alongside the vehicle no until it is at the same height as the second connector  111 . The arm may then be controlled to move the first connector  101  horizontally towards the second connector  111  to engage the first and second connectors  101 ,  111 . In this embodiment, the robotic arm performs the functions of both the adjustment mechanism  103  and the engagement mechanism  108 , and a separate engagement mechanism  108  may not be required. 
     As a further example, in some embodiments the housing  104  and one or more sensors  102  may be disposed on one side of the parking space, and the adjustment mechanism  103  may be configured to raise or lower the housing  104 . For example, the adjustment mechanism  103  may raise or lower the housing  104  using a similar mechanism to a rising bollard, such that the first connector  101  is raised to a position alongside the vehicle  110 . The adjustment mechanism  103  may be configured to rotate the housing  104  to ensure that the first connector  101  is on the same side of the housing  104  as the vehicle  110 . The engagement mechanism  108  may then extend the first connector  101  out from the housing  104 , for example in a horizontal direction, to engage the first connector  101  with the second connector  111 . Such embodiments may be particularly suited for vehicles no in which the second connector  111  is disposed on the side of the vehicle  110 . 
     As shown in  FIG. 1 , in the present embodiment the controller  106 , power circuit  107 , adjustment mechanism  103  and one or more sensors  102  are disposed beneath ground level  120 . In this way, a compact and unobtrusive charging point apparatus  100  can be provided that does not pose any obstruction to pedestrians or road users at street level  120 . This may be particularly advantageous for pedestrians with reduced or impaired mobility, such as the visually challenged, elderly, differently abled pedestrians, or other users of sidewalks suffering from injury or in a medical emergency, all of whom may find it difficult to navigate around obstructions posed by conventional above-ground electric vehicle charging points. However, in some embodiments one or more of the controller  106 , power circuit  107 , adjustment mechanism  103  and one or more sensors  102  may be disposed above ground level. 
     Additionally, in the present embodiment the connector housing  104  is disposed such that an uppermost surface of the housing  104  is at or below the ground level  120  of the space in which the electric vehicle no may be parked. For example, the housing  104  may be installed flush with the ground level  120 , that is to say, the uppermost surface of the housing  104  and the road surface  120  may present a substantially flat and level surface such that vehicles no may drive directly over the housing  104  without difficulty. In other embodiments, the housing  104  may be installed such that a part or the whole of the housing  104  is above ground level  120 . This may be beneficial in situations where it is not possible to fully recess the housing  104  into the ground, for example due to the presence of utility services or other obstructions below ground level. 
     In some embodiments the vehicle no may comprise one or more vehicle sensors  112  configured to detect a position of part of the apparatus  100 , such as the first connector  101 , and/or the housing  104 , and/or the housing cover  105 , relative to the second connector  111 . Information from the one or more vehicle sensors  112  may be used to assist in aligning the first and second connectors  101 ,  111 . For example, in some embodiments the vehicle no may transmit information obtained from the one or more vehicle sensors  112  to the charging point controller  106 . In some embodiments, a controller on the vehicle no may make use of the information obtained from the one or more vehicle sensors  112  to assist in automatically aligning the first and second connectors  101 ,  111 , for example during an autonomous parking operation, and/or may display information obtained from the one or more vehicle sensors  112  to assist a user in aligning the first and second connectors  101 ,  111  during a manual parking operation. 
     In embodiments in which one or more vehicle sensors  112  are provided, the part of the apparatus  100  that is detected by the one or more vehicle sensors  112  may be configured so as to provide a high contrast with an adjacent part of the apparatus  100 , and/or to provide a high contrast with an adjacent part of the road surface  120 . That is, the part of the apparatus  100  that is detected by the one or more vehicle sensors  112  may be configured so as to provide a high contrast in an image captured by the one or more vehicle sensors  112 , so that the part of the apparatus  100  can be more easily located in the captured image. For example, when the one or more vehicle sensors  112  are configured to capture an image at visible wavelengths, the part of the apparatus  100  may have a colour that provides a high contrast with the colour of an adjacent part of the apparatus  100  and/or an adjacent part of the road surface  120 . As another example, instead of using a different colour, another property of the part of the apparatus  100 , such as the shape and/or surface reflectance, may be configured to produce a high contrast in the image captured by the one or more vehicle sensors  112 . 
     The apparatus  100  of the present embodiment comprises a housing cover  105  in the form of one or more parts that can pivot about suitable hinges. When in a closed position, the one or more parts of the housing cover  105  can act as a seal to prevent dirt, liquid or other foreign matter from entering the housing  104 . Additionally, when lifted into an open position as shown by the dashed lines in  FIG. 1 , any dirt, debris or other material that might otherwise obstruct the first connector  101  can be tipped off of the housing cover  105 , clearing a path for the first connector  101  to be engaged with the second connector  111 . In this way, the hinged one or more parts of the housing cover  105  can act as means for removing an obstruction from the path between the first and second connectors  101 ,  111 . 
     Although in the present embodiment the housing cover  105  takes the form of a hinged lid over the housing  104 , in other embodiments a different form of cover  105  may be provided. For example, in some embodiments a rigid housing cover  105  may open and close using a sliding or rotating mechanism, or a flexible or segmented housing cover in the form of a shutter may be opened by rolling the housing cover about a drum or spindle on one side of the housing  104 . 
     In some embodiments a different means for removing the obstruction may be provided, instead of or in addition to a hinged housing cover  105 . The means for removing an obstruction may also be referred to as a path clearing mechanism. For example, in some embodiments the apparatus may comprise a path clearing mechanism in the form of a nozzle configured to direct a jet of gas or liquid across the surface of the housing  104  so as to clear material away from the surface of the housing  104  and clear a path for the first connector  101 . 
     Referring now to  FIG. 2 , a flowchart is illustrated showing a control method of the charging apparatus, according to an embodiment of the present invention. A method such as the one shown in  FIG. 2  may be performed by apparatus similar to the one shown in  FIG. 1 . 
     First, in step S 201  the controller  106  receives information from the one or more sensors  102  indicative of the current position of the first connector  101  relative to the second connector  111 , for example in the form of an image of the underside of the vehicle  110  showing a position of the second connector  111 . Then, in step S 202  the controller  106  determines the adjustment that is required to align the first connector  101  with the second connector  111  in dependence on the information received from the one or more sensors  102 , for example by applying a shape recognition algorithm to identify the second connector  111  within the image and then determining an offset between the current position of the second connector  111  and a known reference point. 
     Once the necessary adjustment has been determined, in step S 203  the controller  106  controls the adjustment mechanism  103  in accordance with the determined adjustment to align the first and second connectors  101 ,  111 . Then, in step S 204  the controller  106  controls the engagement mechanism  108  to engage the first connector  101  with the second connector  111  once the connectors  101 ,  111  have been aligned, so as to make the electrical connection for transferring electrical power to or from the electric vehicle  110 . Then, in step S 205  the power circuit  107  begins transferring electrical power to or from the electric vehicle  110  via the electrical connection between the first and second connectors  101 ,  111 . 
     As explained above, by adjusting the position of the first connector  101  relative to the second connector  111  at the apparatus  100 , it may not be necessary for the vehicle  110  to be parked with a high degree of accuracy with respect to the first connector  101 . 
     Furthermore, since the necessary adjustment can be carried out at the apparatus  100  rather than on the vehicle  110 , a simple fixed connector  111  on the vehicle  110  may be provided, reducing the overall cost and complexity of the vehicle  110 . 
     Nevertheless, in some embodiments the vehicle  110  may also comprise its own mechanism for adjusting the position of the second connector  111 . When both the apparatus  100  and the vehicle  110  each comprise mechanisms for adjusting the positions of the first and second connectors  101 ,  111 , respectively, a greater range of adjustment may be possible and accordingly the system may be able to tolerate a greater degree of misalignment between the apparatus  100  and the vehicle  110 . 
     Referring now to  FIG. 3  a flowchart is illustrated showing a method of aligning and engaging the first and second connectors of the apparatus shown in  FIG. 1 , according to an embodiment of the present invention. As will become apparent from the following description, certain steps illustrated in  FIG. 3  are performed at the apparatus  100  and other steps are performed at the vehicle  110 . 
     The flowchart in  FIG. 3  starts with the vehicle  110  in a driving state in step S 301 . At some point the vehicle  110  detects a parking manoeuvre in step S 302 , for example when the user selects reverse gear, or chooses to activate the vehicle&#39;s parking sensors and/or engages an autonomous parking function. A controller onboard the vehicle  110  responds in step S 303  by wirelessly searching for and attempting to connect to a ground-based charging apparatus, such as the one shown in  FIG. 1 , in the immediate vicinity of the vehicle  110 . For the sake of clarity, a controller onboard the vehicle  110  will hereinafter be referred to as the ‘vehicle controller’, and the controller  106  of the charging point apparatus  100  will hereinafter be referred to as the charging point controller  106 . Depending on the embodiment, the vehicle controller may comprise an electronic control unit (ECU) installed in the vehicle, or may comprise a physically separate device, for example a portable user device such as a tablet computer or smartphone. The vehicle controller may attempt to establish a wireless connection to the apparatus  100  using any suitable technology, for example WiFi, Long Range (LoRa) or Bluetooth. 
     Once a connection is established, the vehicle controller receives an image from the one or more sensors  102  of the ground-based charging point apparatus  100  in step S 304 , for example an image captured at visible wavelengths, or an infrared image, or an ultrasound image. In step S 305 , the vehicle controller obtains information indicative of a range of the adjustment mechanism  103  from the charging point controller  106 . For example, the information transmitted by the charging point controller  106  to the vehicle controller in step S 305  may define the maximum range of adjustment that is possible along one or more predefined axes with respect to the first connector  101 . 
     Next, in step S 306  the vehicle controller displays a whole or part of the image received in step S 304  on a display visible to the driver, for example a dash-mounted display screen, or a display screen of a mobile user device such as a tablet computer or smartphone handset. In the present embodiment, the displayed image includes a bounding box overlaid on the image captured by the one or more sensors  102  to indicate an area within which the first connector  101  is capable of being positioned by the adjustment mechanism  103 . Depending on the embodiment, the bounding box may be added to the captured image by the charging point controller  106  and then transmitted to the vehicle controller, or may be added by the vehicle controller after receiving the captured image in step S 304 , before displaying the image including the bounding box on the display visible to the driver. 
     In step S 307  the vehicle controller checks whether the second connector  111  is within reach of the first connector  101 . That is, the vehicle controller may check whether the second connector  111  is within the range of possible adjustments that can be provided by the adjustment mechanism  103 . If the vehicle controller determines that the second connector  111  is out of range of the adjustment mechanism  103  and the first connector  101 , then a misalignment notification message may be displayed to prompt the driver to manoeuvre the vehicle  110  into a different position. When doing so, the driver may use the displayed image and the bounding box to assist them in approximately aligning the second connector  111  with the first connector  101 . In some embodiments, in step S 307  the vehicle controller may automatically reposition the vehicle without driver involvement, using an autonomous parking mode. 
     Once it is determined that the second connector  111  is within reach of the first connector  101 , in step S 308  the vehicle controller signals to the charging point controller  106  that the vehicle  110  is correctly parked. Then, in step S 309  the charging point controller  106  captures an image of the current location of the second connector  111  using the one or more sensors  102 . Next, in the present embodiment the charging point controller  106  analyses the captured image using a machine learning algorithm in step S 310 . The machine learning algorithm is configured to assign the captured image to one of a plurality of image classes, each class corresponding to a different position of the second connector  111  in the captured image. If the machine learning algorithm succeeds in assigning the image to one of the classes, then the charging point controller  106  proceeds to determine the required adjustment in step S 311  by retrieving a stored predetermined adjustment associated with the assigned image class. By pre-calculating the necessary adjustments for different scenarios and storing the pre-calculated adjustments in memory, the charging point controller  106  can quickly and efficiently determine the necessary adjustment in step S 311 . Also, by retrieving a stored predetermined adjustment appropriate to the current scenario in terms of a relative positioning of the first and second connectors  101 ,  111 , the controller  106  can control the adjustment mechanism  103  without having to rely on information from the one or more sensors  102  to guide the adjustment in real-time. 
     Next, in step S 312  the charging point controller  106  checks whether any obstructions are present in the path between the first and second connectors  101 , in, for example based on information received from the one or more sensors. If an obstruction is detected in step S 312 , or if the machine learning is unable to classify the image in step S 311 , then the charging point controller  106  signals to the vehicle controller to switch to a manual mode in which a human operator, for example the driver or a passenger, provides user input to manually control the adjustment mechanism  103  and/or engagement mechanism  108  in step S 315 . For example, a user interface for controlling the adjustment mechanism  103  and/or engagement mechanism  108  may be displayed on a touchscreen display in the vehicle, and the vehicle controller may transmit user commands received through the user interface to the charging point controller  106 , which in turn can control the adjustment mechanism  103  and/or engagement mechanism  108  according to the user commands. 
     Once the charging point controller  106  has successfully assigned the image to one of the classes using the machine learning algorithm in step S 311 , and determined that the path between the connectors  101 ,  111  is free from obstructions in step S 312 , then in step S 313  the charging point controller  106  signals to the vehicle controller that a viable connection is possible. For example, the vehicle controller may respond by displaying a message or other form of notification to signal to the driver that the vehicle is correctly positioned. 
     Then, in step S 316  the charging point controller  106  transmits instructions to the adjustment mechanism  103 , which performs the requested adjustment in step S 317 . Once the adjustment has been completed, in step S 318  the charging point controller  106  controls the engagement mechanism  108  to engage the first connector  101  with the second connector  111 . The charging point controller  106  may carry out checks to confirm that a suitable connection has been established, for example by testing the resistance of the connection between the first and second connectors  101 ,  111  using the power circuit  107 . Once the charging point controller  106  confirms that a connection has successfully been established, in step S 319  the charging point controller  106  signals to the vehicle controller that connection has been successful. The power circuit  107  then begins the transfer of electrical power to or from the vehicle according to whether charging or discharging is required. For example, in some embodiments the power circuit may transfer power from the vehicle no to the grid at times of high demand on the grid, and may transfer power to the vehicle no at times of low demand. Once the desired transfer has been completed, the vehicle controller may notify the driver that the vehicle no is ready to be disengaged and driven in step S 320 . 
     Referring now to  FIG. 4 , a system enabling wireless communication between the electric vehicle and the apparatus of  FIG. 1  is illustrated, according to an embodiment of the present invention. The apparatus  100  and the vehicle no each comprises a respective wireless interface  401 ,  411  to enable the apparatus  100  and vehicle no to communicate wirelessly with one another. Any suitable wireless communication technology may be used, as described above with reference to  FIG. 3 . The vehicle no also comprises a display  412 , for example in the form of an integrated dash-mounted display screen or in the form of a portable device such as a tablet or smartphone. The display  412  may be used to display information to the driver as described above with reference to  FIG. 3 . 
     The apparatus  100  comprises the sensors  102  and charging point controller  106 . The apparatus may also comprise other elements such as those shown in  FIG. 1 , which for the sake of clarity are not shown in  FIG. 4 . In the present embodiment the apparatus  100  further comprises computer-readable memory  106   a  which is arranged to store a plurality of predetermined adjustments each associated with one of the plurality of image classes, as described above. In some embodiments, instead of storing the predetermined adjustments in local memory  106   a,  the controller  106  may be configured to access remote storage, for example cloud-based storage, to retrieve the stored predetermined adjustments. Furthermore, in some embodiments some or all of the operations described as being carried out by a local controller  106  in the charging point apparatus  100 , could instead be carried out at a controller remote from the charging point apparatus  100 , for example at a cloud computing server. As such, references to a ‘controller’ herein should be construed accordingly, without implying that the corresponding processing steps must be carried out locally at the charging point apparatus  100 . 
     The controller  106  may comprise one or more processors, and the memory  106   a  may store a computer program comprising instructions which, when executed the one or more processors, cause the controller  106  to perform any of the above-described methods. For example, the computer program instructions may cause the charging point controller  106  to classify an image captured by the one or more sensors  102  using a machine learning algorithm, retrieve the associated predetermined adjustment from the memory  106   a,  apply the necessary adjustment using the adjustment mechanism  103 , and control the engagement mechanism  108  to engage the first connector  101  with the second connector  111 . 
     Referring now to  FIG. 5 , a flowchart showing a method of automatically taking action when a vehicle is improperly parked over the first connector is illustrated, according to an embodiment of the present invention. The method may be performed by apparatus such as those illustrated in  FIGS. 1 and 4 . First, in step S 501  the controller  106  receives information from one or more of the sensors  102 . Then, in step S 502  the controller  106  determines whether a vehicle  110  is parked in the space over the first connector  101 , based on the information received in step S 501 . For example, if the one or more sensors  102  includes a light sensor, the controller  106  may determine that a vehicle is parked in the space over the first connector  101  when the light level detected by the light sensor falls below a certain threshold, indicative of an object casting a shadow over the light sensor. If no vehicle is detected, the controller  106  waits and repeatedly checks the sensor information to determine whether a vehicle has been parked over the first connector  101 . 
     Once a vehicle has been detected in step S 502 , the controller  106  proceeds to step S 503  and checks whether the vehicle  110  is one that is compatible with the charging apparatus  100 . For example, in step S 502  the controller  106  may apply an image recognition algorithm to an image captured by the one or more sensors  102 , to attempt to detect the second connector  111  on the vehicle  110 . In some embodiments, the controller  106  may be capable of recognizing different types of vehicle based on information from the one or more sensors  102 . 
     For example, the controller  106  may be configured to analyse information from the one or more sensors  102  to distinguish between electric vehicles and internal combustion engine vehicles. In some embodiments, the one or more sensors  102  include an air sensor for detecting a characteristic of air, and the controller  106  is configured to determine that the vehicle  110  is incompatible with the first connector  101  in dependence on the air sensor  102  detecting a characteristic indicative of an exhaust emission of an internal combustion engine vehicle. In some embodiments, the controller  106  may apply image recognition to an image of the underside of the vehicle to detect features which are indicative of an internal combustion engine vehicle, such as a fuel pump, exhaust pipe, catalytic converters, and so on. In response to one or more such features being detected, the controller  106  may determine in step S 503  that the vehicle  110  is an internal combustion engine vehicle and is therefore incompatible with the charging apparatus  100 . 
     In some embodiments, in step S 503  the controller  106  may make the determination based on information received from the one or more sensors  102  after the vehicle  110  was detected in step S 502 . In other words, the controller  106  may receive new sensor information between steps S 502  and S 503  for determining whether a second connector  111  is present at the expected location. In other embodiments, the controller may use the same sensor information in both steps S 502  and S 503 , in which case it may not be necessary to receive new sensor information between steps S 502  and S 503 . 
     In step S 503 , if the controller  106  determines that the second connector  111  is present, the controller  106  may then proceed to step S 504  and automatically align and connect the first and second connectors  101 ,  111  using the adjustment mechanism, as described above. If on the other hand the second connector  111  is not detected in step S 503  while a vehicle is parked in the space above the first connector  101 , the controller  106  proceeds to step S 505  and automatically takes action in response to a vehicle having been improperly parked in the electric vehicle charging space. The action in step S 505  may take different forms, depending on the embodiment. For example, in one embodiment the controller  106  may automatically issue an enforcement notice, such as a parking violation, or may alert a suitable authority to the presence of an improperly parked vehicle. In another embodiment, the controller  106  may activate an audio or visual alarm in or near to the parking space above the first connector  101 . For example, in a situation in which a driver of an incompatible vehicle  110  is unaware that the space in which they are parked is an electric vehicle charging space, activating an alarm to alert a driver of the vehicle  110  to the presence of the electric vehicle charging space may prompt them to move the vehicle  110  out of the parking space, freeing up the space for users of compatible electric vehicles. 
     In some embodiments the action that is taken in step S 505  may be predetermined. In other embodiments the action may be context-dependent, for example by choosing one of a plurality of predetermined actions according to information received from the one or more sensors and/or other factors. In one such embodiment the controller  106  may take different predetermined actions at different times of day, for example by activating an alarm as described above during daylight hours, whilst taking less obtrusive action at night to avoid disturbing nearby residents, such as silently alerting an enforcement is authority or issuing a parking violation notice. 
     Whilst certain embodiments of the invention have been described herein with reference to the drawings, it will be understood that many variations and modifications will be possible without departing from the scope of the invention as defined in the accompanying claims.