Patent Publication Number: US-2021170896-A1

Title: Electric motor vehicle

Description:
BACKGROUND 
     1. Technical Field 
     The present invention relates to an electric motor vehicle. 
     2. Related Art 
     A system is known which moves a power feeding connector according to the position of a target object (for example, see Patent Literature 1). 
     CITATION LIST 
     Patent Literature 
     Patent Literature 1: Japanese Patent Application Publication No. 2009-249856 
     Technical Problem 
     An electric vehicle secures energy for driving by connecting an external power source to a secondary battery mounted thereon during parking for charging. In order to connect to the external power source, it is necessary to connect a charging connector and a charging port provided in the vehicle. In addition, there has been developed a technique called V2G (Vehicle to Grid) for receiving power by connecting with an external power source regardless of the necessity of charging. Also in this case, it is necessary to connect the charging connector and the charging port provided in the vehicle. 
     Connecting the charging connector to the charging port of the vehicle is troublesome for a driver, and it is desirable to be automated. In a case where power receiving and feeding is performed by a request such as charging during a normal use, V2G, or the like, the connection frequency is increased, and thus labor saving is desired. Although so-called non-contact charging technology for putting power in and out using a charging pad or the like has also been developed, sufficient results have not been obtained in terms of charging efficiency and cost. 
    
    
     
       BRIEF DESCRIPTION OF THE DRAWINGS 
         FIG. 1  schematically illustrates an example of power receiving and feeding equipment  100 . 
         FIG. 2  schematically illustrates an example of the power receiving and feeding equipment  100 . 
         FIG. 3  schematically illustrates an example of a connector moving unit  110 . 
         FIG. 4  schematically illustrates an example of a rotating area  130  of a connector  120 . 
         FIG. 5  schematically illustrates another example of the power receiving and feeding equipment  100 . 
         FIG. 6  schematically illustrates another example of the power receiving and feeding equipment  100 . 
         FIG. 7  schematically illustrates another example of the power receiving and feeding equipment  100 . 
         FIG. 8  schematically illustrates another example of the power receiving and feeding equipment  100 . 
         FIG. 9  schematically illustrates another example of the power receiving and feeding equipment  100 . 
         FIG. 10  schematically illustrates another example of the power receiving and feeding equipment  100 . 
         FIG. 11  schematically illustrates another example of the power receiving and feeding equipment  100 . 
         FIG. 12  schematically illustrates an example of a communication environment of a power receiving and feeding equipment control unit  200 . 
         FIG. 13  schematically illustrates an example of a connection determination process  710  of the connector  120 . 
         FIG. 14  schematically illustrates an example of a connection control process  720  of the connector  120 . 
         FIG. 15  schematically illustrates an example of a connection control process  730  of the connector  120 . 
         FIG. 16  schematically illustrates an example of a power receiving and feeding control process  740 . 
         FIG. 17  schematically illustrates an example of a connector release control process  750 . 
         FIG. 18  schematically illustrates an example of a connector release control process  760 . 
         FIG. 19  schematically illustrates an example of a functional configuration of the power receiving and feeding equipment control unit  200 . 
         FIG. 20  schematically illustrates an example of the configuration of a vehicle  300 . 
         FIG. 21  schematically illustrates an example of a functional configuration of a control device  320 . 
         FIG. 22  schematically illustrates an arrangement example of a power receiving and feeding outlet and an external sensor of a vehicle  800 . 
         FIG. 23  schematically illustrates an example of a configuration of the vehicle  800 . 
         FIG. 24  schematically illustrates an example of a communication environment of a charging and discharging control unit  830 . 
         FIG. 25  schematically illustrates an example of an appearance of a power receiving and feeding outlet  860  and a lid portion  870 . 
         FIG. 26  illustrates an example of a cross-sectional view A-A of the power receiving and feeding outlet  860  and the lid portion  870 . 
         FIG. 27  illustrates an example of a cross-sectional view A-A of the power receiving and feeding outlet  860  and the lid portion  870 . 
         FIG. 28  schematically illustrates an example of a power receiving and feeding outlet lid state determination process  910 . 
         FIG. 29  schematically illustrates an example of a power receiving and feeding outlet lid opening control process  920 . 
         FIG. 30  schematically illustrates an example of a power receiving and feeding outlet lid closing control process  930 . 
     
    
    
     DESCRIPTION OF EXEMPLARY EMBODIMENTS 
     Hereinafter, the invention will be described through embodiments of the invention, but the following embodiments do not limit the invention according to claims. In addition, not all of the combinations of features described in the embodiments are essential to the solving means of the invention. 
       FIGS. 1 and 2  schematically illustrate examples of power receiving and feeding equipment  100 . The power receiving and feeding equipment  100  may be an example of a power receiving and feeding apparatus.  FIG. 1  is a diagram of the power receiving and feeding equipment  100  viewed from above, and  FIG. 2  is a diagram viewed from the horizontal direction indicated by an arrow A as illustrated in  FIG. 1 . The power receiving and feeding equipment  100  according to the present embodiment includes a connector  120  to be coupled to a power receiving and feeding outlet of a vehicle  300 , and a connector moving unit  110  to move the connector  120  in a lateral direction and a vertical direction. The vehicle  300  may be an electric motor vehicle. The electric motor vehicle mentioned herein may be a pure electric vehicle, so-called an EV (Electric Vehicle), and may be an externally chargeable hybrid vehicle, so-called a PHEV (Plug-in Hybrid Electric Vehicle). The X direction and the Y direction illustrated in  FIG. 1  may be the lateral directions, and the Z direction may be the vertical direction. 
     The power receiving and feeding equipment  100  is controlled by a power receiving and feeding equipment control unit  200 . The power receiving and feeding equipment control unit  200  may be wire-connected or wirelessly connected to the power receiving and feeding equipment  100 . 
     The power receiving and feeding equipment control unit  200  acquires position information indicating the position of the vehicle  300 . In addition, the power receiving and feeding equipment control unit  200  acquires vehicle information of the vehicle  300 . The vehicle information includes the dimensions of the vehicle  300 , the position of the power receiving and feeding outlet of the vehicle  300 , and the like. 
     The power receiving and feeding equipment control unit  200  determines the position of the power receiving and feeding outlet of the vehicle  300  based on the position information and the vehicle information which are acquired. Then, the power receiving and feeding equipment control unit  200  couples the connector  120  to the power receiving and feeding outlet by causing the connector moving unit  110  to move the connector  120  in the lateral direction at a position higher than a predetermined height, and then to move the connector  120  in the vertical direction, and aligning the connector  120  to the position of the power receiving and feeding outlet. For example, the power receiving and feeding equipment control unit  200  couples the connector  120  to the power receiving and feeding outlet by causing the connector  120  to be moved in the lateral direction at a position higher than a predetermined height, and then to be moved in the vertical direction, aligning the connector  120  to the position of the power receiving and feeding outlet, and then causing the connector moving unit  110  to rotate the connector  120  as needed and to move the connector  120  in the lateral direction. As the predetermined height, a height higher than the height of the vehicle  300  may be set. The power receiving and feeding equipment control unit  200  may be an example of a connection control device that drives the connector  120  so as to control a connection between the connector  120  and the power receiving and feeding outlet of the vehicle  300 . 
     The power receiving and feeding equipment  100  may be capable of feeding power to the vehicle  300  via the connector  120 . In addition, the power receiving and feeding equipment  100  may be capable of receiving power from the vehicle  300  via the connector  120 . “Power receiving and feeding” may be power feeding to the vehicle  300 . In addition, “power receiving and feeding” may be power receiving from the vehicle  300 . “Power receiving and feeding” may include both power feeding to the vehicle  300 , and power receiving from the vehicle  300 . The power receiving and feeding equipment  100  can couple the connector  120  to the vehicle  300  in which the power receiving and feeding outlet is disposed in a power receiving and feeding area  102 . 
     As described above, it is possible to prevent the connector from coming in contact with the vehicle  300  or the like during movement by moving the connector  120  at a position higher than a predetermined height in the lateral direction. In addition, moving the connector  120  in the lateral direction and then in the vertical direction to align the connector  120  to the position of the power receiving and feeding outlet so as to couple the connector  120  to the power receiving and feeding outlet of the vehicle  300  allows the connector  120  to be coupled to the vehicle  300  without manual operations. This can automate the connection to the power receiving and feeding outlet of the connector  120  and thus can reduce the burden on the user of the vehicle  300 . Since charging the vehicle  300  is a daily routine, the automation of connection is highly demanded. In addition, a parking lot equipped with this system eliminates annoying manual charging operations, so that the added value of the parking industry can be increased. In addition, this parking lot enables efficiently charging many vehicles  300  with less charging facilities. 
       FIG. 3  schematically illustrates an example of the connector moving unit  110 . The connector moving unit  110  includes traveling rails  112 , saddles  114 , a garter  116 , and a connector support portion  122 . When the saddles  114  run on the traveling rails  112  and the connector support portion  122  moves along the garter  116 , the connector  120  is moved in the lateral direction. In addition, the connector support portion  122  moves the connector  120  in the vertical direction. The structure of the connector moving unit  110  illustrated in  FIG. 2  is an example Other structures may be employed as long as the connector  120  is movable in the lateral direction and the vertical direction. 
       FIG. 4  schematically illustrates an example of a rotating area  130  of the connector  120 . The power receiving and feeding equipment control unit  200  may cause the connector moving unit  110  to rotate the connector  120 . The power receiving and feeding equipment control unit  200  may cause the connector moving unit  110  to move the connector  120  in consideration of the rotating area  130  of the connector  120 . 
       FIGS. 5 and 6  schematically illustrate another example of the power receiving and feeding equipment  100 .  FIG. 5  is a diagram of the power receiving and feeding equipment  100  viewed from above, and  FIG. 6  is a diagram of the power receiving and feeding equipment  100  viewed from the horizontal direction indicated by an arrow A as illustrated in  FIG. 5 . In  FIGS. 1 and 2 , the power receiving and feeding equipment  100  has been described as an example having a space for one vehicle, but the power receiving and feeding equipment  100  may have spaces for any number of vehicles. In  FIGS. 5 and 6 , the power receiving and feeding equipment  100  is illustrated to have spaces for three vehicles. The power receiving and feeding area is the range indicated by  102 . In this case, two or more connector moving units  110  and two or more connectors  120  may be provided. 
       FIGS. 7 and 8  schematically illustrate another example of the power receiving and feeding equipment  100 .  FIG. 7  is a diagram of the power receiving and feeding equipment  100  viewed from above, and  FIG. 8  is a diagram of the power receiving and feeding equipment  100  viewed from the horizontal direction indicated by an arrow A as illustrated in  FIG. 7 . In  FIGS. 7 and 8 , the power receiving and feeding equipment  100  is illustrated to have spaces for four vehicles. The power receiving and feeding area is the range indicated by  102 . In this case, two or more connector moving units  110  and two or more connectors  120  may be provided. 
       FIG. 9  schematically illustrates another example of the power receiving and feeding equipment  100 . As illustrated in  FIG. 9 , as long as the power receiving and feeding outlet is disposed in the power receiving and feeding area  102 , a plurality of vehicles  300  may be disposed at any angle in the power receiving and feeding equipment  100 . The power receiving and feeding area is the range indicated by  102 . In this case, two or more connector moving units  110  and two or more connectors  120  may be provided. Parking vehicles with respect to the power receiving and feeding equipment in such a manner greatly improve the flexibility of parking of vehicles. Further, since the power receiving and feeding outlets of more vehicles can be disposed in the power receiving and feeding area  102 , the control of the power receiving and feeding of more vehicles is possible, and the power receiving and feeding equipment  100  can be utilized with efficiency. 
       FIGS. 10 and 11  schematically illustrate another example of the power receiving and feeding equipment  100 .  FIG. 10  is a diagram of the power receiving and feeding equipment  100  viewed from above, and  FIG. 11  is a diagram of the power receiving and feeding equipment  100  viewed from the horizontal direction indicated by an arrow A as illustrated in  FIG. 10 . Although the above embodiment has been described by giving an example in which the connector  120  is moved in the lateral direction by the traveling rails  112 , the saddles  114 , and the garter  116 , the invention is not limited thereto. The connector moving unit  110  may move the connector  120  in the lateral direction, for example, by rotational movement about a strut  124  as illustrated in  FIGS. 10 and 11 . In this case, the X coordinate and the Y coordinate defining the position in the horizontal direction illustrated in the above embodiment can be replaced with an R coordinate and a rotating angle θ, respectively. The power receiving and feeding area is the range indicated by  102 . In this case, two or more connector moving units  110  and two or more connectors  120  may be provided. In such a power receiving and feeding equipment, the flexibility of parking of vehicles is greatly improved. Further, since the power receiving and feeding outlets of more vehicles can be disposed in the power receiving and feeding area  102 , the control of the power receiving and feeding of more vehicles is possible, and the power receiving and feeding equipment  100  can be utilized with efficiency. 
       FIG. 12  schematically illustrates an example of the communication environment of the power receiving and feeding equipment control unit  200 . The power receiving and feeding equipment control unit  200  may be able to communicate with the power receiving and feeding equipment  100 , the vehicle  300 , a power source line  400 , an external server  500 , and a portable terminal  600 . 
     The power receiving and feeding equipment control unit  200  transmits and receives various types of information to and from the power receiving and feeding equipment  100 . For example, the power receiving and feeding equipment control unit  200  receives image information of the vehicle  300  captured by an image capturing apparatus provided in the power receiving and feeding equipment  100 , obstacle information indicating an obstacle existing around the vehicle  300  which is detected by the power receiving and feeding equipment  100 , information of a biological object existing around the vehicle  300  which is detected by the power receiving and feeding equipment  100 , connector image information captured by the image capturing apparatus of the connector  120 , and the like from the power receiving and feeding equipment  100 . In addition, the power receiving and feeding equipment control unit  200  communicates with a connector actuator which moves the connector  120  of the power receiving and feeding equipment  100 . 
     The power receiving and feeding equipment control unit  200  transmits and receives various types of information to and from the vehicle  300 . For example, the power receiving and feeding equipment control unit  200  receives vehicle type information indicating the type of the vehicle  300 , vehicle information containing the dimension of the vehicle  300 , the position of the power receiving and feeding outlet, and the like, power receiving and feeding information containing a power receiving and feeding request and the like, vehicle position information indicating the position of the vehicle  300 , and the like. 
     The power receiving and feeding equipment control unit  200  transmits and receives various types of information to and from the power source line  400 . For example, the power receiving and feeding equipment control unit  200  receives power feeding information containing information such as an amount of power feeding, power unit price information indicating a unit price of power, the power receiving and feeding request, a facility reservation status indicating a status of reservation of the power receiving and feeding equipment  100 , and the like from the power source line  400 . 
     The power receiving and feeding equipment control unit  200  transmits and receives various types of information to and from the external server  500 . For example, if the power is supplied to the vehicle  300 , the power receiving and feeding equipment control unit  200  communicates with the external server  500  information of power, information of charging, and the like to charge the owner of the vehicle  300  or the like. 
     The power receiving and feeding equipment control unit  200  transmits and receives various types of information to and from the portable terminal  600 . The portable terminal  600  is, for example, a terminal used by the owner of the vehicle  300 . The portable terminal  600  may be, for example, a portable phone such as a smart phone, a tablet terminal, or the like. The power receiving and feeding equipment control unit  200  transmits, for example, a status of charging of the vehicle  300  to the portable terminal  600 . As a specific example, the power receiving and feeding equipment control unit  200  transmits information such as the degree of completion of charging a battery of the vehicle  300 , the time to be taken for fully charging the vehicle  300  to the portable terminal  600 . 
       FIG. 13  schematically illustrates an example of a connection determination process  710  of the connector  120 . The process illustrated in  FIG. 13  may be mainly performed by a controller of the power receiving and feeding equipment control unit  200 . Each process step may be performed at a period of 200 msec. Each process step may be performed at a period other than 200 msec, or may be performed in synchronization with another signal. Each decision in the flow is basically proceeds downwards when affirmative. 
     In Step (hereinafter, step may be abbreviated to S)  7102 , it is determined whether there is a vehicle  300  which can communicate with the power receiving and feeding equipment  100 . If there is the vehicle  300  capable of communicating so, the process proceeds to S 7106 . In a case where there is no vehicle  300  capable of communicating so, the process proceeds to S 7104 , and F_CCOK is set to 0 and the process ends. F_CCOK is a flag indicating whether the movement and connection of the connector  120  is possible, in which 1 corresponds to possible and 0 to impossible. In S 7106 , it is determined whether F_CCOK is 0. In a case where the result is denied, the process is already completed in the previous routine. Since the flag is set to 1 in S 7118  described later, and the movement and connection of the connector  120  is possible (=1), the connection determination process  710  ends. 
     In S 7108 , the communication with the vehicle is performed. The information of the power receiving and feeding area  102  of the power receiving and feeding equipment  100 , charging cost, waiting status, predicted charging time, probability of participation of power feeding to the power grid, the position information of the vehicle recognized from the power receiving and feeding equipment  100  side, and the like are transmitted from the power receiving and feeding equipment control unit  200  to the vehicle. For example, the power receiving and feeding equipment control unit  200  may identify the position of the vehicle by referring to the image captured by the image capturing apparatus which monitors the space for parking the vehicle. The information (vehicle type, power receiving and feeding request, determination of parking (stop) intention, the position information, etc.) from the vehicle, the image information containing the image of the captured vehicle, and the like are transmitted from the vehicle to the power receiving and feeding equipment control unit  200 . 
     In S 7110 , the probability of power receiving and feeding is determined from the probability of parking the vehicle into the power receiving and feeding area  102 . In this case, it does not necessarily require an indication of the intention of power receiving and feeding from the vehicle side. In the case of no probability of power receiving and feeding, the connection determination process  710  ends. In S 7112 , it is determined whether the vehicle is in a stopped state. This is because the movement and connection of the connector  120  cannot be started if the vehicle is not in the stopped state. In a case where the vehicle is not in the stopped state, the connection determination process  710  ends. 
     In S 7114 , it is checked whether a space required to connect the connector to the vicinity of the power receiving and feeding outlet of the stopped vehicle is secured. At this time, a positional relationship between the rotating area  130  and other parked vehicles or the like may be considered. For example, in a case where there is caused an influence on getting in and out other vehicles even though the connector  120  is possible to rotate, it may be further determined including consideration for parking of other vehicles which may park later and the like. 
     In S 7116 , it is determined whether the position of the power receiving and feeding outlet allows the connection of the connector. In the case of the state where the connection of the connector is possible, the process proceeds to S 7118 . In the case of the state where the connection of the connector is not possible, the process proceeds to S 7120 . In S 7118 , F_CCOK is set to 1. F_CCOK may be reset to 0 according to parking situations of other vehicles and the like after the vehicle has parked. For example, there is a case where the following vehicle is parked to obstruct the power receiving and feeding outlet of the own vehicle. 
     In S 7120 , the vehicle is notified that a parking position change is required for the connection to the power receiving and feeding equipment. The power receiving and feeding equipment control unit  200  transmits, for example, data indicating that the parking position change is required to the vehicle. The power receiving and feeding equipment control unit  200  may also notify the vehicle of the position information which indicates the position where the connection of the connector  120  is possible. It is notified that the movement and connection of the connector  120  is not possible to start at the current parking position to the vehicle  300 . If there is an intention of power receiving and feeding, the change of the parking position may be prompted. In addition, the change of the parking position may be instructed to an automatic driving device if the vehicle includes the automatic driving device capable of automatically changing the parking position. 
     In a case where parking is completed in the state of F_CCOK=0, the connection of the connector  120  is left impossible in the automatic mode. Therefore, the subsequent control is not performed. In a case where parking is completed in the state of F_CCOK=1, the subsequent control including the automatic connection of the connector  120  is performed in response to the power receiving and feeding request. 
       FIG. 14  schematically illustrates an example of a connection control process  720  of the connector  120 . The process illustrated in  FIG. 14  may be mainly performed by the controller of the power receiving and feeding equipment control unit  200 . 
     In S 7202 , it is determined whether F_CCOK is 1. In the case of denial, the connection control process  720  of the connector  120  ends. In the case of affirmative, the process proceeds to S 7204 . In S 7204 , it is determined whether F_CHRQ is 1. F_CHRQ is a flag for determining whether there is a power receiving and feeding request, and is set in a process (not illustrated). The flag “0” indicates “no request”, and “1” indicates “requested”. F_CHRQ is usually a charging request. These flags may be set by a request from the vehicle, a request which is input to the vehicle from a vehicle administrator, or the like, and determined by indexes such as a charging amount, a charging end time, and a charging cost. In addition, it is also conceivable a schedule change such as a case where a situation of waiting in line in a crowded condition or the like of the power receiving and feeding equipment  100  is changed. Further, F_CHRQ may be set from the portable terminal  600  or the like with which the vehicle administrator or the like communicates with the vehicle or the power receiving and feeding equipment  100 . It is possible to instruct the charging by operating the portable terminal  600  even in a case where there is no charging schedule. F_CHRQ is set according to the determination of the vehicle administrator like the charging request even in a case where there is a request of V2G for exchanging power and the power source line  400 . In a case where it is determined that F_CHRQ is zero (0), it can be determined that there is no power receiving and feeding request. Therefore, the connection control process  720  of the connector  120  ends. 
     In S 7206 , it is determined whether F_CCFN is zero (0). F_CCFN is a flag for determining whether the connector  120  is connected to a target vehicle. “0” indicates an unconnected state, and “1” indicates a connected state. In a case where F_CCFN=0 is denied, F_CCFN is 1 indicating that the connector  120  is already connected to the target vehicle. Therefore, the connection control process  720  of the connector  120  ends. In a case where F_CCFN=0 is affirmed, the process proceeds next to S 7208 . 
     In S 7208 , the vehicle type information is acquired, and the connector type, the connector connection position, and the like are identified from the vehicle type information. In S 7210 , the vehicle position information is acquired. The vehicle position information includes a parking state and an orientation of the vehicle, a presence and absence of the obstacle, and the like. Then, the power receiving and feeding equipment control unit  200  calculates the position and the orientation of the power receiving and feeding outlet. In S 7212 , a lid opening instruction is transmitted, to the vehicle, to open the lid portion that covers the power receiving and feeding outlet. In a case where the vehicle is a vehicle of the type in which the lid portion of the power receiving and feeding outlet is manually opened, the power receiving and feeding equipment control unit  200  may determine, by the image or communication information, whether the lid portion is opened. Then, the process proceeds to the connector connection control of  5730 . 
       FIG. 15  schematically illustrates an example of a connection control process  730  of the connector  120 . The process illustrated in  FIG. 11  may be mainly performed by the controller of the power receiving and feeding equipment control unit  200 . 
     In S 7302 , it is determined whether F_CCM is zero (0). F_CCM is a flag for determining whether the connector  120  is under the connection control. “1” indicates that the connector under in the connection control, and “0” indicates that the connector is not under the connection control. In a case where the connection control process  730  is performed for the first time, the flag is set to “0”. Thus, the process proceeds to S 7304  to acquire a target coordinate of the connector  120 . Further, X, Y, and Z correspond to the coordinates illustrated in  FIGS. 1 and 2 . XTG is a target value of the coordinate to which the connector  120  moves, XO is a coordinate of the calculated position of the power receiving and feeding outlet, and Xa is a modified value of the target value which is obtained from the vehicle position and the orientation to move the connector before connection. YTG is a target value of the coordinate to which the connector  120  moves, Y 0  is a coordinate of the calculated position of the power receiving and feeding outlet, and Ya is a modified value of the target value which is obtained from the vehicle position and the orientation to move the connector before connection. ZTG is a target value of the coordinate to which the connector  120  moves, Z 0  is a coordinate of the calculated position of the power receiving and feeding outlet, and Za is a modified value of the target value which is obtained from the vehicle position and the orientation to move the connector before connection. 
     The reason for modification at Xa and Ya is to move the connector to the position where the connection control starts in consideration of the size of the single connector  120 . ω indicates a rotating angle at which the connector faces the power receiving and feeding outlet. ω corresponds to the rotating angle illustrated in  FIG. 3 . ωTG is a target value of the rotating angle of the connector, and ω 0  is a calculated rotating angle of the connector. In S 7306 , a target value of each coordinate is determined and the connector  120  is in a state of connection control. Thus, F_CCM is set to 1. 
     In S 7308 , it is determined whether the current Z coordinate is equal to or more than a predetermined height Zh. In the case of NO, the Z coordinate is controlled to be Zh in S 7310 , and the process proceeds to S 7324 . In S 7324 , F_CCFN, which is a flag for determining whether the connector  120  is connected to a target vehicle, is set to “0” corresponding to the unconnected state, and the routine ends. Zh is desirable to be a value higher than the height of the vehicle  300  to which the connector connection is performed, and may be set according to the acquired vehicle type information or the like. In addition, Zh may be set to a fixed value equal to or more (for example, Zh=2.5 m) than a predetermined height in consideration of an obstacle or the like which may exist in the vicinity of the power receiving and feeding equipment. In the case of Z≥Zh, the process proceeds to S 7312 , and the control is performed toward the X and Y coordinates XTG and YTG. In addition, the connector  120  is rotated toward ωTG to make the connector face the power receiving and feeding outlet. Moving the Z coordinate to be equal to or more than Zh before these processes is to prevent interference between the vehicle and other obstacles when the X and Y coordinates of the connector  120  are moved or rotated. Further, rotating toward ωTG is not performed in S 7312 , but may be performed in conjunction with the process of S 7320  to be described later. 
     In S 7314 , it is determined whether the X and Y coordinates of the connector  120  have been XTG and YTG respectively, and whether the rotating angle of the connector  120  has become ωTG. In the case of denial, the process proceeds to S 7324 , and the process continues until each value reaches a target value by repeating the connection control process  730  of the connector  120 . If it is determined that each value reaches the target value, the process proceeds to S 7316 , and the Z axis is controlled to the target value. In this case, the connector  120  is always controlled to descend from above the vehicle toward the power receiving and feeding outlet. During descent of the connector  120 , it is detected whether there is an obstacle using a camera, a sensor, or the like provided in the connector  120 . In a case where there is a concern of contact, the descent is stopped. In addition, even in a case where contact with an obstacle is detected, the descent is similarly stopped. In addition, the moving in the Z direction may continue while appropriately adjusting the X direction, the Y direction, and the rotating angle ω to avoid the contact. 
     In S 7318 , it is determined whether the coordinate of the Z axis is controlled to ZTG. In the case of denial, the process proceeds to S 7324 , and the process continues until the coordinate of the Z axis reaches a target value by repeating the connection control process  730  of the connector  120 . In the case of affirmative, all of X, Y, ω, and Z are controlled to the target value. Therefore, the process proceeds to S 7320  to finally connect to the power receiving and feeding outlet. The control is performed by controlling an actuator based on information such as a camera, a radar, or the like provided at the end of the connector. Further, a plurality of connectors may be provided according to the vehicle type to be charged. In S 7322 , it is determined whether the connector connection is completed. In the case of denial, the process proceeds to S 7324 . On the other hand, in the case of affirmative in S 7322 , the connector connection is completed. Thus, the flag F_CCFN for determining whether the connector  120  is connected to a target vehicle is set to 1 in S 7326 . Thereafter, in S 7328 , the flag F_CCM for determining whether the connector  120  is in the connection control is set to 0. 
     Further, in a case where the power receiving and feeding equipment is controlled as illustrated in  FIGS. 10 and 11 , the same control as the flow illustrated in  FIG. 15  can be performed by replacing the X and Y coordinates with the R coordinate and the rotating angle θ respectively. 
       FIG. 16  schematically illustrates an example of a power receiving and feeding control process  740 . The process illustrated in  FIG. 16  may be mainly performed by the controller of the power receiving and feeding equipment control unit  200 . 
     In S 7402 , it is determined whether F_CCOK is 1. In the case of denial, the vehicle is in a state where the communication with the power receiving and feeding equipment  100  is not performed. Therefore, the process of the power receiving and feeding control process  740  ends. In the case of affirmative, the process proceeds to S 7404  to check the value of the flag F_CHRQ indicating whether there is a power receiving and feeding request. In the case of denial, it can be determined that there is no power receiving and feeding request. Therefore, the process of the power receiving and feeding control process  740  ends. In the case of affirmative, it is determined that there is a power receiving and feeding request, and the process proceeds to S 7406  to determine whether the connector is connected to a target vehicle by “F_CCFN=1?”. In the case of denial, the connector is not connected to a target vehicle. Therefore, the process proceeds to S 7408  to perform the connector connection control. In the case of affirmative, it is determined that power receiving and feeding is possible, and the process proceeds to S 7410  to perform the power receiving and feeding control. The control content of the power receiving and feeding may be set in process of determining F_CHRQ=1. Predetermined values of a charging power amount or a battery capacity, a power receiving and feeding control necessity by V2G, a control time, and the like may be set. 
     In S 7412 , it is determined whether the current request content is achieved. If the power receiving and feeding request is not satisfied, the process proceeds to S 7414  to set “0” indicating the power receiving and feeding end to F_CHFN which is a flag indicating the power receiving and feeding end. In a case where, upon a determination that the current request content is achieved, the power receiving and feeding ends, the process proceeds to S 7416  to set F_CHFN to 1. Thereafter, the process proceeds to S 7418 . Since the power receiving and feeding request at this time is achieved, F_CHRQ is reset to 0. 
       FIG. 17  schematically illustrates an example of a connector release control process  750 . The process illustrated in  FIG. 15  may be mainly performed by the controller of the power receiving and feeding equipment control unit  200 . 
     In S 7502 , it is determined whether F_CCFN is 1. If F_CCFN is zero (0), the connector  120  is disconnected and thus the process ends. In the case of affirmative, the process proceeds to S 7504  to determine whether F_CHFN is 1. The power receiving and feeding end is determined by F_CHFN. In the case of denial, it is determined that the control of the power receiving and feeding continues, and the connector release control process  750  ends. On the other hand, in the case of affirmative, it is determined that the power receiving and feeding ends, a connector release control process  760  is performed. 
       FIG. 18  schematically illustrates an example of the connector release control process  760 . The process illustrated in  FIG. 18  may be mainly performed by the controller of the power receiving and feeding equipment control unit  200 . 
     In S 7602 , it is determined whether F_CCM is zero (0). F_CCM is a flag for determining whether the connector  120  is under a movement control. “1” indicates that the connector under in the movement control, and “0” indicates that the connector is not under the movement control. In the case of denial, the process proceeds to S 7606 . On the other hand, in the case of affirmative, the process proceeds to S 7604  to set the target coordinate at the time of releasing the connector  120 . XTG and YTG each are the target values of the X and Y coordinates to move the connector. Xb and Yb are the coordinates to store the connector. ZTG is the target value of the Z coordinate, and Zb is the Z coordinate to store the connector. Zb is desirable the same or higher position as Zh of the previous, and Zh may be set to a maximum movable value in the Z coordinates. Xb and Yb may be predetermined positions such as the end of each coordinate, the central portion of the power receiving and feeding equipment  100 , or the like, but may be set by learning the coordinate near the vicinity where the power receiving and feeding outlet is frequently placed. In addition, a target value ωTG of the rotating angle of the connector  120  is also set to a predetermined angle cob. 
     If XTG, YTG, ZTG, and ωTG are all set, the process proceeds to S 7606 . In S 7606 , a target value of each coordinate is determined and the connector  120  is in a state of connection control. Thus, F_CCM is set to 1. In S 7608 , the connector  120  is moved for the Z coordinate in the height direction to be ZTG initially. In S 7610 , it is determined whether Z is ZTG. In the case of denial, the process continues until the value of Z reaches ZTG by repeating the connection control process of the connector  120 . On the other hand, in the case where Z=ZTG is affirmative, the connector  120  has reached the target height. Therefore, the process proceeds to S 7612 . In S 7612 , the control is performed for the X coordinate, the Y coordinate, and the rotating angle ω of the connector  120  to be the target values, respectively. In S 7614 , it is determined whether the X coordinate, the Y coordinate, and the rotating angle ω of the connector  120  have reached the target values, respectively. In the case of denial, the process continues until each value of the X coordinate, the Y coordinate, and the rotating angle ω reaches the target value by repeating the connection control process of the connector  120 . In the case of affirmative, the process proceeds to S 7616 . Since the disconnection of the connector  120  ends, F_CCFN is set to 0. Subsequently, the movement control of the connector  120  ends in S 7618 , and thus F_CCM is set to 0. Then, the process proceeds to S 7620 , and a lid closing instruction is transmitted, to the vehicle, to close the lid portion of the power receiving and feeding outlet, and the connector release control process  760  ends. 
     Further, in a case where the power receiving and feeding equipment is controlled as illustrated in  FIGS. 10 and 11 , the same control as the flow illustrated in  FIG. 18  can be performed by replacing the X and Y coordinates with the R coordinate and the rotating angle θ respectively. 
       FIG. 19  schematically illustrates an example of the functional configuration of the power receiving and feeding equipment control unit  200 . The power receiving and feeding equipment control unit  200  includes a position information acquisition unit  202 , a vehicle information acquisition unit  204 , a connector setting unit  206 , a position determination unit  208 , an performance determination unit  212 , a movement instruction transmission unit  214 , a movement control unit  218 , an obstacle detection unit  220 , a warning generation unit  222 , a lid opening instruction transmission unit  224 , a lid closing instruction transmission unit  226 , a range determination unit  230 , a history storage unit  232 , and an arrangement determination unit  234 . Further, it is not necessarily essential that the power receiving and feeding equipment control unit  200  includes all of these configurations. 
     The position information acquisition unit  202  acquires the position information indicating the position of the vehicle  300 . The position information acquisition unit  202  acquires the position information indicating the position of the vehicle  300 , for example, by analyzing the image captured by the image capturing apparatus of the power receiving and feeding equipment  100 . The position information acquisition unit  202  may receive the vehicle position information from the vehicle  300 . 
     The vehicle information acquisition unit  204  acquires the vehicle information of the vehicle  300 . The vehicle information acquisition unit  204  may receive the vehicle information from the vehicle  300 . 
     The connector setting unit  206  sets the connector  120  based on the vehicle information acquired by the vehicle information acquisition unit  204 . The connector setting unit  206  may set the connector  120  according to the type of the vehicle  300 . For example, the connector setting unit  206  stores the setting of the connector  120  for each type of the vehicle  300 , and reads the settings of the connector  120  corresponding to the type of the vehicle  300  indicated by the vehicle information acquired by the vehicle information acquisition unit  204  to set the connector  120  according to the setting. 
     The position determination unit  208  determines the position of the power receiving and feeding outlet of the vehicle  300  based on the position information acquired by the position information acquisition unit  202  and the vehicle information acquired by the vehicle information acquisition unit  204 . 
     The performance determination unit  212  determines whether to perform the power receiving and feeding of the vehicle  300  by communicating with the vehicle  300 . The performance determination unit  212  determines whether to perform the power receiving and feeding of the vehicle  300 , for example, based on the position of the power receiving and feeding outlet determined by the position determination unit  208  and the situation around the vehicle  300 . For example, in a case where it is determined that there is another vehicle in the vicinity of the power receiving and feeding outlet and thus the path of the connector  120  is blocked, the performance determination unit  212  determines that the power receiving and feeding of the vehicle  300  is not performed. 
     In a case where the performance determination unit  212  determines that the power receiving and feeding of the vehicle  300  is not possible to perform, the movement instruction transmission unit  214  transmits a movement instruction to the vehicle  300 . For example, the movement instruction transmission unit  214  transmits data, which indicates that the parking position change is required to couple the connector  120 , to the vehicle  300 . The movement instruction transmission unit  214  generates the position information indicating the position of the vehicle  300  where the connector  120  can be coupled to the power receiving and feeding outlet based on the position of the power receiving and feeding outlet and the situation around the vehicle  300 , and may transmit the position information to the vehicle  300 . 
     The movement control unit  218  couples the connector  120  to the power receiving and feeding outlet by causing the connector moving unit  110  to move the connector  120  in the vertical direction after moving in the lateral direction at a position higher than a predetermined height, and aligning the connector  120  to the position of the power receiving and feeding outlet of the vehicle  300 . In a case where the performance determination unit  212  determines to perform the power receiving and feeding of the vehicle  300 , the movement control unit  218  may align the connector  120  to the position of the power receiving and feeding outlet so as to couple the connector  120  thereto. After aligning the connector  120  to the position of the power receiving and feeding outlet, the movement control unit  218  may couple the connector  120  to the power receiving and feeding outlet by causing the connector moving unit  110  to move the connector  120  in the lateral direction. After the power receiving and feeding of the vehicle  300  via the connector  120  is completed, the movement control unit  218  may move the connector  120  to a position higher than a predetermined height. 
     The obstacle detection unit  220  detects an obstacle against the movement of the connector  120 . The obstacle detection unit  220  detects an obstacle, for example, by analyzing the image captured by the image capturing apparatus of the power receiving and feeding equipment  100 . In addition, the obstacle detection unit  220  may detect an obstacle against the movement of the connector  120  based on the obstacle information received from the power receiving and feeding equipment  100 . In a case where the obstacle detection unit  220  detects an obstacle, the movement control unit  218  may cause the connector moving unit  110  to stop the movement of the connector  120 . 
     The warning generation unit  222  issues a warning when an obstacle is detected by the obstacle detection unit  220 . The warning generation unit  222  issues a warning, for example, in a case where the obstacle detected by the obstacle detection unit  220  is a biological object such as a dog or a cat. In a case where the obstacle detected by the obstacle detection unit  220  is a human, the warning generation unit  222  may issue a voice warning about that the connector  120  is prevented from movement. 
     The lid opening instruction transmission unit  224  transmits the lid opening instruction to the vehicle  300  to open the lid portion of the power receiving and feeding outlet. For example, the movement control unit  218  may cause the lid opening instruction transmission unit  224  to transmit the lid opening instruction to the vehicle  300  before the connector moving unit  110  starts to move the connector  120 . In a case where the vehicle  300  does not include a means for performing an automatic opening, a display or a voice guidance may be issued to urge a driver or the like to open the lid. 
     The lid closing instruction transmission unit  226  transmits the lid closing instruction to the vehicle  300  to close the lid portion of the power receiving and feeding outlet. For example, the lid closing instruction transmission unit  226  transmits the lid closing instruction to the vehicle  300  after the coupling of the connector  120  to the power receiving and feeding outlet is released and the connector  120  is moved. In a case where the vehicle  300  does not include a means for performing an automatic closing, a display or a voice guidance may be issued to urge a driver or the like to close the lid. 
     Before the connector  120  is coupled to the power receiving and feeding outlet, the range determination unit  230  determines whether the connector  120  is within a range of movement of the door of another vehicle when the connector  120  is coupled to the power receiving and feeding outlet. The range determination unit  230  performs determination, for example, based on the image information of the vehicle which is received from the power receiving and feeding equipment  100 . The movement control unit  218  may cause the connector moving unit  110  to stop the movement of the connector  120  in a case where the range determination unit  230  determines that the connector  120  is within the range of movement of the door of another vehicle. Thus, it is possible to prevent contact with the connector  120  due to the door opening of another vehicle during coupling the connector  120  to the power receiving and feeding outlet. 
     The history storage unit  232  stores a history of the position of the power receiving and feeding outlet which is determined by the position determination unit  208 . The arrangement determination unit  234  determines an initial arrangement of the connector  120  by analyzing the history stored in the history storage unit  232 . For example, the arrangement determination unit  234  identifies a region which is highly likely to be the position of the power receiving and feeding outlet from the history stored in the history storage unit  232 , and determines the shortest position to the region as the initial position of the connector  120 . After the power receiving and feeding of the vehicle  300  via the connector  120  is completed, the movement control unit  218  may move the connector  120  to the initial position determined by the arrangement determination unit  234 . Thus, it is possible to lower the amount of movement of the connector  120  in a case where the vehicle  300  is disposed later in the power receiving and feeding area  102 . 
       FIG. 20  schematically illustrates an example of the configuration of a vehicle  300 . The vehicle  300  includes an operation unit  302 , a display unit  304 , a wireless communication unit  306 , an image capturing unit  308 , a GNSS (Global Navigation Satellite System) receiving unit  310 , a sensor unit  312 , a control device  320 , a power storage device  350 , a power receiving and feeding outlet  360 , a lid portion  370 , and a lid portion driving unit  380 . Further, it is not necessarily essential that the vehicle  300  includes all of these configurations. 
     The operation unit  302  receives an operation by the user of the vehicle  300 . The operation unit  302  may include physical operation buttons. The operation unit  302  and the display unit  304  may be a touch panel display. The operation unit  302  may receive a voice operation. The operation unit  302  may include a microphone and a speaker. 
     The wireless communication unit  306  executes wireless communication with the outside. The wireless communication unit  306  communicates with, for example, the power receiving and feeding equipment control unit  200 . 
     The image capturing unit  308  includes one or more cameras. The camera may be a dashcam. When the image capturing unit  308  includes a plurality of cameras, each of the plurality of cameras is disposed at a different position in the vehicle  300 . In addition, each of the plurality of cameras captures an image in a different image capturing direction. 
     The GNSS receiving unit  310  receives radio waves transmitted from a GNSS satellite. The GNSS receiving unit  310  may identify the position of the vehicle  300  based on a signal received from the GNSS satellite. 
     The sensor unit  312  includes one or more sensors. The sensor unit  312  includes, for example, an acceleration sensor. The sensor unit  312  includes, for example, an angular velocity sensor (gyro sensor). The sensor unit  312  includes, for example, a geomagnetic sensor. The sensor unit  312  includes, for example, a vehicle speed sensor. In addition, the sensor unit  312  includes an external sensor. An example of the external sensor includes a radar, an ultrasonic sensor, an infrared sensor, a LIDAR (Light Detection and Ranging), and the like. 
     The radar radiates radio waves such as millimeter waves around the vehicle  300 , and detects radio waves (reflected waves) reflected by an object so as to detect at least the position (distance and direction) of the object. One or more radars are attached to any place of the vehicle  300 . The radar may detect the position and the speed of the object by the FM-CW (Frequency Modulated Continuous Wave) method. 
     The LIDAR radiates light around the vehicle  300  and measures scattered light. The LIDAR detects the distance to the target based on the time from light emission to light reception. The light to be radiated is, for example, a pulse shaped laser beam. One or more LIDARs are attached to any place of the vehicle  300 . 
     The control device  320  controls the operation unit  302 , the display unit  304 , the wireless communication unit  306 , the image capturing unit  308 , the GNSS receiving unit  310 , and the sensor unit  312  so as to execute various types of processes. The control device  320  executes, for example, a navigation process. The control device  320  may execute a navigation process similar to a navigation process executed by a known car navigation system. For example, the control device  320  identifies the current position of the vehicle  300  based on outputs from the GNSS receiving unit  310  and the sensor unit  312 , and reads map data corresponding to the current position so as to cause the display unit  304  to display the data. In addition, the control device  320  receives an input of a destination via the operation unit  302 , and identifies a recommended route from the current position of the vehicle  300  to the destination so as to cause the display unit  304  to display the route. When the control device  320  receives selection of the route, the control device  320  gives guidance on a path for the vehicle  300  to travel via the display unit  304  and the speaker according to the selected route. 
     In addition, the control device  320  executes an information transmitting and receiving process of transmitting and receiving various types of information to and from the power receiving and feeding equipment control unit  200 . For example, the control device  320  transmits, to the power receiving and feeding equipment control unit  200  via the wireless communication unit  306 , vehicle type information indicating the vehicle type of the vehicle  300 , vehicle information containing the dimension of the vehicle  300 , the position of the power receiving and feeding outlet, and the like, power receiving and feeding information containing a power receiving and feeding request and the like, vehicle position information indicating the position of the vehicle  300 , and the like. 
     In addition, the control device  320  receives, for example, the movement instruction, the lid opening instruction, the lid closing instruction, and the like, from the power receiving and feeding equipment control unit  200  via the wireless communication unit  306 . In addition, the control device  320  receives, for example, the image captured by the image capturing apparatus of the power receiving and feeding equipment  100 , from the power receiving and feeding equipment control unit  200  via the wireless communication unit  306 . In addition, the control device  320  receives, for example, the obstacle information indicating the position, the type, and the like of the obstacle detected by the obstacle detection unit  220 , from the power receiving and feeding equipment control unit  200  via the wireless communication unit  306 . 
     In addition, the control device  320  executes, for example, an automatic driving process of the vehicle  300 . The control device  320  recognizes the positions, the types, the speeds, and the like of objects in the vicinity based on outputs of the image capturing unit  308  and the sensor unit  312 . Then, a recognition result is used to control traveling, stopping, rotating, and the like of the own vehicle without depending on driver&#39;s steering, accelerator operating, brake pedal operating, speed change steering, and the like. The control device  320  causes, for example, the vehicle  300  to move by automatic driving according to the movement instruction received from the power receiving and feeding equipment control unit  200 . 
     The power storage device  350  may be a so-called in-vehicle battery. The power storage device  350  stores, for example, power supplied from the power receiving and feeding equipment  100  via the power receiving and feeding outlet  360 . In addition, the power storage device  350  supplies drive power to the vehicle  300 , and supplies power to each component of the vehicle  300 . 
     The lid portion driving unit  380  drives the lid portion  370  of the power receiving and feeding outlet  360 . The control device  320  causes, for example, the lid portion driving unit  380  to open the lid portion  370  when a lid opening instruction to open the lid portion  370  is received from the power receiving and feeding equipment control unit  200 . In addition, the control device  320  causes, for example, the lid portion driving unit  380  to close the lid portion  370  when a lid closing instruction to close the lid portion  370  is received from the power receiving and feeding equipment control unit  200 . 
       FIG. 21  schematically illustrates an example of a functional configuration of a control device  320 . The control device  320  includes a power receiving and feeding request transmission unit  322 , an instruction receiving unit  324 , a driving unit control unit  326 , a movement instruction receiving unit  328 , and a movement control unit  330 . Further, it is not necessarily essential that the control device  320  includes all of these configurations. 
     The power receiving and feeding request transmission unit  322  transmits a power receiving and feeding request to the power receiving and feeding equipment  100 . The power receiving and feeding request transmission unit  322  may transmit the power receiving and feeding request to the power receiving and feeding equipment control unit  200  of the power receiving and feeding equipment  100 . 
     The instruction receiving unit  324  receives an instruction from the power receiving and feeding equipment control unit  200  that has received the power receiving and feeding request transmitted by the power receiving and feeding request transmission unit  322 . The instruction receiving unit  324  receives, for example, a lid opening instruction to open the lid portion  370  of the power receiving and feeding outlet  360 . The instruction receiving unit  324  may be an example of the lid opening instruction receiving unit. In addition, the instruction receiving unit  324  receives, for example, a lid closing instruction to close the lid portion  370  of the power receiving and feeding outlet  360 . The instruction receiving unit  324  may be an example of the lid closing instruction receiving unit. 
     The driving unit control unit  326  controls the lid portion driving unit  380 . The driving unit control unit  326  causes the lid portion driving unit  380  to open the lid portion  370  in response to the instruction receiving unit  324  receiving the lid opening instruction. In addition, the driving unit control unit  326  causes the lid portion driving unit  380  to close the lid portion  370  in response to the instruction receiving unit  324  receiving the lid closing instruction. 
     The movement instruction receiving unit  328  receives a movement instruction from the power receiving and feeding equipment control unit  200  that has received the power receiving and feeding request transmitted by the power receiving and feeding request transmission unit  322 . For example, when the power receiving and feeding equipment control unit  200  determines that the power receiving and feeding of the vehicle  300  is not possible to perform based on the position of the power receiving and feeding outlet  360  of the vehicle  300 , and the situation around the vehicle  300 , the power receiving and feeding equipment control unit  200  transmits the movement instruction to the vehicle  300 . The movement instruction receiving unit  328  receives the movement instruction. The movement instruction includes, for example, a movement destination position indicating a movement destination for a situation in which the power receiving and feeding of the vehicle  300  is possible to perform. In addition, the movement instruction may include a movement path to the movement destination for the situation in which the power receiving and feeding of the vehicle  300  is possible to perform. The movement path may include a movement direction, the amount of movement, the amount of rotation, and the like. 
     The movement control unit  330  causes the vehicle  300  to move according to the movement instruction received by the movement instruction receiving unit  328 . The movement control unit  330  causes the vehicle  300  to move to the movement destination position included in the movement instruction while referring to the positions, the types, the speeds, and the like of the objects in the vicinity which are recognized based on the outputs of the image capturing unit  308  and the sensor unit  312 . In addition, the movement control unit  330  causes the vehicle  300  to move according to the movement path included in the movement instruction. 
       FIG. 22  schematically illustrates an arrangement example of a power receiving and feeding outlet and an external sensor of a vehicle  800 . The vehicle  800  is an electric motor vehicle. The vehicle  800  may function as the vehicle  300  described above. The vehicle  800  enables power receiving and feeding of any power receiving and feeding apparatus to be performed without being limited to the power receiving and feeding equipment  100  described above. 
     A position  901  and a position  902  indicate the positions of the power receiving and feeding outlets of the vehicle  800 . The vehicle  800  may include the power receiving and feeding outlet at either the position  901  or the position  902 . The vehicle  800  may include the power receiving and feeding outlet at both of the position  901  and the position  902 . The position  901  and the position  902  illustrated in  FIG. 22  are examples, and the vehicle  800  may include the power receiving and feeding outlet at a position other than the position  901  and the position  902 . 
     A position  903 , a position  904 , a position  905 , a position  906 , and a position  907  indicate the positions of external sensors of the vehicle  800 . An example of the external sensor includes an image capturing unit, a radar, an infrared sensor, an ultrasonic sensor, and the like. The position  903  and the position  904  may be below side-view mirrors. The position  905  may be inside a windshield. The position  906  and the position  907  may be below bumpers. 
     The vehicle  800  may include the external sensor at at least any position of the position  903 , the position  904 , the position  905 , the position  906 , and the position  907 . The vehicle  800  may include the external sensor at all positions of the position  903 , the position  904 , the position  905 , the position  906 , and the position  907 . The position  903 , the position  904 , the position  905 , the position  906 , and the position  907  illustrated in  FIG. 22  are examples, and the number of external sensors may be any number, or the vehicle  800  may include the external sensor at a position other than the position  903 , the position  904 , the position  905 , the position  906 , and the position  907 . 
     When the position of the power receiving and feeding outlet is the position  901 , the state of the power receiving and feeding outlet, and the lid portion of the power receiving and feeding outlet can be monitored mainly based on information obtained by the external sensor at the position  903 . When the position of the power receiving and feeding outlet is the position  902 , the states of the power receiving and feeding outlet, and the lid portion of the power receiving and feeding outlet can be monitored mainly based on information obtained by the external sensor at the position  906 . In addition, the lid portion of the power receiving and feeding outlet may be monitored in the system for monitoring the vicinity of the vehicle  800  from information of a plurality of external sensors. This case may be premised on a system that composites images of the vicinity of the vehicle viewed from above, based on the information from a plurality of cameras. The external sensor included in the vehicle  800  may be an example of a monitoring unit that monitors the power receiving and feeding outlet and the lid portion of the power receiving and feeding outlet. 
     The vehicle  800  may communicate with the power receiving and feeding apparatus that performs the power receiving and feeding of the vehicle  800  so as to monitor the states of the power receiving and feeding outlet, and the lid portion of the power receiving and feeding outlet based on information obtained by the external sensor included in the power receiving and feeding apparatus. The external sensor included in the power receiving and feeding apparatus may be an example of a monitoring unit that monitors the power receiving and feeding outlet and the lid portion of the power receiving and feeding outlet. 
       FIG. 23  schematically illustrates an example of a configuration of the vehicle  800 . The vehicle  800  includes an operation unit  802 , a display unit  804 , a wireless communication unit  806 , an image capturing unit  808 , a GNSS receiving unit  810 , a sensor unit  812 , a control device  820 , a power storage device  850 , a power receiving and feeding outlet  860 , a lid portion  870 , and a lid portion driving unit  880 . The operation unit  802 , the display unit  804 , the wireless communication unit  806 , the image capturing unit  808 , the GNSS receiving unit  810 , the sensor unit  812 , the power storage device  850 , the power receiving and feeding outlet  860 , the lid portion  870 , and the lid portion driving unit may be similar to the operation unit  302 , the display unit  304 , the wireless communication unit  306 , the image capturing unit  308 , the GNSS receiving unit  310 , the sensor unit  312 , the power storage device  350 , the power receiving and feeding outlet  360 , the lid portion  370 , and the lid portion driving unit  380 . 
     The control device  820  may execute a navigation process similarly to the control device  320 . The control device  820  may execute, similarly to the control device  320 , an information transmitting and receiving process of transmitting and receiving various types of information to and from the power receiving and feeding equipment control unit  200 . The control device  820  may execute an automatic driving process of the vehicle  800  similarly to the control device  320 . 
     The control device  820  has a charging and discharging control unit  830 . The charging and discharging control unit  830  controls, for example, a drive of the lid portion driving unit  880  in response to a signal from the power receiving and feeding apparatus. The charging and discharging control unit  830  causes, for example, the lid portion driving unit  880  to open the lid portion  870  in response to receiving a lid opening instruction to open the lid portion  870  from the power receiving and feeding apparatus. In addition, the charging and discharging control unit  830  causes, for example, the lid portion driving unit  880  to close the lid portion  870  in response to receiving a lid closing instruction to close the lid portion  870  from the power receiving and feeding apparatus. 
     The charging and discharging control unit  830  may control the drive of the lid portion  870  by the lid portion driving unit  880  according to a monitoring result of the power receiving and feeding outlet  860  and the lid portion  870  obtained by the external sensor. The charging and discharging control unit  830  may acquire a monitoring result of an external sensor included in the vehicle  800 . In addition, the charging and discharging control unit  830  may receive a monitoring result of an external sensor included in the power receiving and feeding apparatus from the power receiving and feeding apparatus. 
     For example, in a case where an obstacle exists around the lid portion  870  when the charging and discharging control unit  830  causes the lid portion  870  to be opened, the charging and discharging control unit  830  causes opening of the lid portion  870  by the lid portion driving unit  880  to be stopped. Then, the charging and discharging control unit  830  executes an obstacle removing process of removing the obstacle. 
     When the obstacle is a power receiving and feeding connector of the power receiving and feeding apparatus, the charging and discharging control unit  830  may instruct the power receiving and feeding apparatus to move the power receiving and feeding connector. When the obstacle is a person, the charging and discharging control unit  830  may output a warning. In addition, when the obstacle is a vehicle, the charging and discharging control unit  830  may transmit a movement instruction to the vehicle. When the type of obstacle cannot be identified, the charging and discharging control unit  830  outputs, for example, the warning. After the obstacle removal process is executed, in a case where it is confirmed that the obstacle has been removed, the charging and discharging control unit  830  causes the lid portion driving unit  880  to open the lid portion  870 . 
     In addition, for example, in a case where an obstacle exists around the lid portion  870  when the charging and discharging control unit  830  causes the lid portion  870  to be closed, the charging and discharging control unit  830  causes closing of the lid portion  870  by the lid portion driving unit  880  to be stopped. Then, the charging and discharging control unit  830  executes an obstacle removing process of removing the obstacle. After the obstacle removal process is executed, in a case where it is confirmed that the obstacle has been removed, the charging and discharging control unit  830  causes the lid portion driving unit  880  to close the lid portion  870 . 
       FIG. 24  schematically illustrates an example of a communication environment of a charging and discharging control unit  830 . The charging and discharging control unit  830  may acquire various types of information relating to the vehicle  800  from various components included in the vehicle  800 . 
     For example, the charging and discharging control unit  830  acquires charging amount information indicating a charging amount of the power storage device  850 , vehicle usage information indicating a status of use of the vehicle  800 , power receiving and feeding information indicating a status of the power receiving and feeding of the power storage device  850 , vehicle position information indicating the position of the vehicle  800 , and in-vehicle camera image information including an image captured by the image capturing unit  808 . In addition, the vehicle  800  acquires information indicating a status of the lid portion  870  and a status of an actuator that functions as the lid portion driving unit  880 . 
     In addition, the charging and discharging control unit  830  transmits and receives various types of information to and from equipment outside the vehicle. The charging and discharging control unit  830  transmits, for example, various types of information about the vehicle  800  to the power receiving and feeding equipment control unit  200 , and receives various types of information relating to the power receiving and feeding equipment control unit  200  from the power receiving and feeding equipment control unit  200 . The charging and discharging control unit  830  receives, from the power receiving and feeding equipment control unit  200  for example, power receiving and feeding performance information indicating a status of power receiving and feeding performed, obstacle information on the vicinity of the power receiving and feeding outlet  860  detected by the power receiving and feeding equipment control unit  200 , and the like. 
     In addition, the charging and discharging control unit  830  transmits and receives various types of information to and from the portable terminal  600 . The portable terminal  600  is, for example, a terminal used by the owner of the vehicle  800 . The charging and discharging control unit  830  transmits, for example, a status of charging of the vehicle  800  to the portable terminal  600 . As a specific example, the charging and discharging control unit  830  transmits information such as the degree of completion of charging the power storage device  850  of the vehicle  800 , the time to be taken for fully charging the vehicle  800 , and the like to the portable terminal  600 . 
       FIG. 25  schematically illustrates an example of an appearance of a power receiving and feeding outlet  860  and a lid portion  870 .  FIG. 26  illustrates an example of a cross-sectional view A-A of the power receiving and feeding outlet  860  and the lid portion  870 . 
     In the example illustrated in  FIG. 26 , the lid portion  870  has a lid  872  and an arm  874 . The lid portion driving unit  880  moves, for example, the lid  872  by driving the arm  874  by the actuator so as to open and close the lid  872 . In the example illustrated in  FIG. 26 , the lid portion driving unit  880  has a stroke sensor  882  that detects a movement of the arm  874 . The charging and discharging control unit  830  detects, for example, the opening and closing of the lid  872  by acquiring a detection result obtained by the stroke sensor  882 . 
       FIG. 27  illustrates another example of a cross-sectional view A-A of the power receiving and feeding outlet  860  and the lid portion  870 . Here, differences from  FIG. 26  will be mainly described. In the example illustrated in  FIG. 27 , the lid portion driving unit  880  does not have the stroke sensor  882 , and an opening and closing switch  884  that detects the opening and closing of the lid  872  is set on the power receiving and feeding outlet  860  side. The opening and closing switch  884  issues a signal at at least any of the opening position of the lid  872  and the closing position of the lid  872 . The charging and discharging control unit  830  detects, for example, the opening and closing of the lid  872  by receiving the signal issued by the opening and closing switch  884 . 
     The detections of the opening and closing of the lid  872  illustrated in  FIGS. 26 and 27  are examples, and the charging and discharging control unit  830  may detect the opening and closing of the lid  872  by a method other than these. For example, the charging and discharging control unit  830  detects the opening and closing of the lid  872  based on sensor information obtained by at least any of the external sensor of the vehicle  800  and the external sensor of the power receiving and feeding apparatus. 
       FIG. 28  schematically illustrates an example of a power receiving and feeding outlet lid state determination process  910 . The process illustrated in  FIG. 28  may be mainly performed by a controller of the charging and discharging control unit  830 . 
     In S 9102 , sensor information on the lid portion  870  of the power receiving and feeding outlet  860  is acquired. The charging and discharging control unit  830  acquires, for example, sensor information detected by the stroke sensor  882 . In addition, the charging and discharging control unit  830  acquires, for example, sensor information detected by the opening and closing switch  884 . In addition, the charging and discharging control unit  830  acquires the sensor information obtained by at least any of the external sensor of the vehicle  800  and the external sensor of the power receiving and feeding apparatus. 
     In S 9104 , it is determined whether the lid portion  870  of the power receiving and feeding outlet  860  is in an open state. If the open state is determined, F_CHCOP is set to 1 (S 9106 ), and if the open state is not determined, F_CHCOP is set to 0 (S 9108 ). F_CHCOP is a flag indicating whether the lid portion  870  is in the open state or the closed state, and 1 corresponds to the lid being opened and 0 corresponds to the lid being closed. 
       FIG. 29  schematically illustrates an example of a power receiving and feeding outlet lid opening control process  920 . The process illustrated in  FIG. 29  may be mainly performed by the controller of the charging and discharging control unit  830 . 
     In S 9202 , the state of the lid portion  870  of the power receiving and feeding outlet  860  is acquired. In S 9204 , information around the lid portion  870  of the power receiving and feeding outlet  860  is acquired. The charging and discharging control unit  830  acquires, for example, the information around the lid portion  870  detected by at least any of the external sensor of the vehicle  800  and the external sensor of the power receiving and feeding apparatus. 
     In S 9206 , it is determined whether F_CHCOP is 0. If F_CHCOP is 0, the process proceeds to S 9208 . If F_CHCOP is not 0, the lid portion  870  is already in the open state. Therefore, the process ends. In S 9208 , it is determined whether there is an obstacle around the lid portion  870  of the power receiving and feeding outlet  860 . If it is determined that there is an obstacle, an obstacle removal process is executed (S 9210 ). If it is determined that there is no obstacle, the lid portion driving unit  880  is caused to open the lid portion  870 . Then, the process ends. 
       FIG. 30  schematically illustrates an example of a power receiving and feeding outlet lid closing control process  930 . The process illustrated in  FIG. 30  may be mainly performed by the controller of the charging and discharging control unit  830 . 
     In S 9302 , the state of the lid portion  870  of the power receiving and feeding outlet  860  is acquired. In S 9304 , information around the lid portion  870  of the power receiving and feeding outlet  860  is acquired. The charging and discharging control unit  830  acquires, for example, the information around the lid portion  870  detected by at least any of the external sensor of the vehicle  800  and the external sensor of the power receiving and feeding apparatus. 
     In S 9306 , it is determined whether F_CHCOP is 1. If F_CHCOP is 1, the process proceeds to S 9308 . If F_CHCOP is not 1, the lid portion  870  is already in the closed state. Therefore, the process ends. In S 9308 , it is determined whether there is an obstacle around the lid portion  870  of the power receiving and feeding outlet  860 . If it is determined that there is an obstacle, an obstacle removal process is executed (S 9310 ). If it is determined that there is no obstacle, the lid portion driving unit  880  is caused to close the lid portion  870  (S 9312 ). Then, the process ends. 
     While the embodiments of the present invention have been described, the technical scope of the invention is not limited to the scope described in the above embodiments. It is apparent to persons skilled in the art that various alterations and improvements can be added to the above-described embodiments. It is apparent from the description of the appended claims that embodiments with such changes or improvements can be included in the technical scope of the present invention. 
     The operations, procedures, steps, and stages of each process performed by an apparatus, system, program, and method shown in the claims, embodiments, or diagrams can be performed in any order as long as the order is not indicated by “prior to,” “before,” or the like and as long as the output from a previous process is not used in a later process. Even if the process flow is described using phrases such as “first” or “next” in the claims, embodiments, or diagrams, it does not necessarily mean that the process must be performed in this order. The power receiving and feeding apparatus described in the claims or the embodiments only needs to enable either the power receiving or the power feeding, and does not necessarily refer to an apparatus that bidirectionally performs power receiving and feeding. Accordingly, the power receiving and feeding apparatus may be a charging apparatus in the related art that does not perform the power feeding. 
     EXPLANATION OF REFERENCES 
       100 : power receiving and feeding equipment,  102 : power receiving and feeding area,  110 : connector moving unit,  112 : traveling rail,  114 : saddle,  116 : garter,  120 : connector,  122 : connector support portion,  124 : strut,  130 : rotating area,  200 : power receiving and feeding equipment control unit,  202 : position information acquisition unit,  204 : vehicle information acquisition unit,  206 : connector setting unit,  208 : position determination unit,  212 : performance determination unit,  214 : movement instruction transmission unit,  218 : movement control unit,  220 : obstacle detection unit,  222 : warning generation unit,  224 : lid opening instruction transmission unit,  226 : lid closing instruction transmission unit,  230 : range determination unit,  232 : history storage unit,  234 : arrangement determination unit,  300 : vehicle,  302 : operation unit,  304 : display unit,  306  wireless communication unit,  308 : image capturing unit,  310 : GNSS receiving unit,  312 : sensor unit,  320 : control device,  322 : power receiving and feeding request transmission unit,  324 : instruction receiving unit,  326 : driving unit control unit,  328 : movement instruction receiving unit,  330 : movement control unit,  350 : power storage device,  360 : power receiving and feeding outlet,  370 : lid portion,  380 : lid portion driving unit,  400 : power source line,  500 : external server,  600 : portable terminal,  710 : connection determination process,  720 : connection control process,  730 : connection control process,  740 : power receiving and feeding control process,  750 : connector release control process,  760 : connector release control process,  800 : vehicle,  802 : operation unit,  804 : display unit,  806 : wireless communication unit,  808 : image capturing unit,  810 : GNSS receiving unit,  812 : sensor unit,  820 : control device,  830 : charging and discharging control unit,  850 : power storage device,  860 : power receiving and feeding outlet,  870 : lid portion,  880 : lid portion driving unit,  882 : stroke sensor,  884 : opening and closing switch,  901 ,  902 ,  903 ,  904 ,  905 ,  906 : position,  910 : power receiving and feeding outlet lid state determination process,  920 : power receiving and feeding outlet lid opening control process,  930 : power receiving and feeding outlet lid closing control process