CN-114516330-B - Device and method for controlling a drive train of an autonomous vehicle

Abstract

The present invention relates to an apparatus and method for controlling a driveline of an autonomous vehicle. The apparatus includes an autopilot controller that controls autopilot of the vehicle and a transmission controller that determines whether a pulse coast (P & G) driving condition is satisfied by the vehicle during autopilot. When the vehicle satisfies the P & G driving condition, the transmission controller alternately performs pulse driving and freewheeling in conjunction with the automatic driving controller. The transmission controller maintains the transmission in a neutral state during freewheeling.

Inventors

• Tian Bingyu
• Cai Minzai
• SHEN RONGXU
• Zheng Tongxun

Assignees

• 现代自动车株式会社
• 起亚株式会社

Dates

Publication Date

20260505

Application Date

20210728

Priority Date

20201116

Claims (18)

1. 1. An apparatus for controlling a driveline of an autonomous vehicle, the apparatus comprising: An autopilot controller configured to control autopilot of the vehicle, and A transmission controller configured to determine whether the vehicle satisfies a pulse coast driving condition during the automatic driving, and alternately perform the pulse driving and the freewheeling in conjunction with the automatic driving controller when the vehicle satisfies the pulse coast driving condition, Wherein the transmission controller is configured to: maintaining the transmission in a neutral state during freewheeling; The clutch is engaged before the vehicle speed reaches a minimum speed.
2. 2. The apparatus for controlling a drive train of an autonomous vehicle according to claim 1, wherein the transmission controller receives information on a front road from the navigation apparatus, receives a speed of a front vehicle from the front radar, and determines whether the vehicle satisfies a pulse taxi driving condition based on the information on the front road and the speed of the front vehicle.
3. 3. The apparatus for controlling a drive train of an autonomous vehicle of claim 2, wherein the transmission controller determines whether the vehicle satisfies a pulse coast driving condition taking into account a current running speed of the vehicle and whether pulse coast driving is prohibited.
4. 4. The apparatus for controlling a driveline of an autonomous vehicle of claim 1, wherein the transmission controller receives a target travel speed from the autonomous controller, and determines the pulse taxi drive speed range based on the target travel speed.
5. 5. The apparatus for controlling a power train of an autonomous vehicle according to claim 4, wherein the transmission controller engages a clutch and then requests an engine controller to output an engine torque, the autonomous controller performing a pulse driving by an acceleration running control.
6. 6. The apparatus for controlling a driveline of an autonomous vehicle of claim 5, wherein the transmission controller performs freewheeling by requesting the engine controller to stop the output of engine torque and disengaging the clutch when the vehicle speed reaches a maximum speed within a pulse-coast driving speed range during pulse-driving.
7. 7. The apparatus for controlling a drive train of an autonomous vehicle according to claim 6, wherein the transmission controller performs the pulse driving again when the vehicle speed falls within a predetermined range from a minimum speed of the pulse-coast driving speed range during the freewheeling.
8. 8. The apparatus for controlling a driveline of an autonomous vehicle of claim 1, wherein the transmission controller inhibits transmission from being in neutral during pulsed driving.
9. 9. The apparatus for controlling a driveline of an autonomous vehicle of claim 1, wherein the transmission controller requests that the autonomous controller inhibit acceleration maneuvers during freewheeling and requests that the engine controller inhibit acceleration during freewheeling.
10. 10. A method for controlling a driveline of an autonomous vehicle, the method comprising: a step of determining whether the vehicle satisfies a pulse coasting driving condition during the automatic driving; executing pulse driving when the vehicle meets the pulse sliding driving condition; Executing freewheeling in neutral by the transmission when the vehicle satisfies a condition for ending the pulse driving; Returning to the step of performing the pulse driving when the vehicle satisfies a condition for ending freewheeling; Wherein the step of performing freewheeling includes engaging the clutch before the vehicle speed reaches a minimum speed.
11. 11. The method of claim 10, wherein determining whether the vehicle satisfies the pulse taxi driving condition comprises: a step of receiving information on a road ahead from a navigation device; A step of receiving a speed of a preceding vehicle from a preceding radar; a step of determining whether the vehicle satisfies a pulse coasting driving condition based on the information on the road ahead and the speed of the preceding vehicle.
12. 12. The method of claim 11, wherein determining whether the vehicle satisfies the pulse taxi driving condition further comprises: And determining whether the vehicle satisfies the pulse coasting driving condition, taking into consideration the current running speed of the vehicle and whether the pulse coasting driving is prohibited.
13. 13. The method of claim 10, wherein the step of performing pulsed driving comprises: a step of receiving a target travel speed from an automatic driving controller; And determining a pulse taxi driving speed range based on the target running speed.
14. 14. The method of claim 13, wherein the step of performing pulsed driving further comprises: A step of engaging a clutch, requesting an engine controller to output an engine torque, and causing an automatic driving controller to execute acceleration driving control; and determining whether the vehicle speed reaches a maximum speed within the pulse taxi driving speed range.
15. 15. The method of claim 14, wherein the step of performing freewheeling includes: Requesting an engine controller to stop an output of an engine torque when a vehicle speed reaches the maximum speed; a step of performing freewheeling by disengaging the clutch after the output of the engine torque is stopped; and determining whether the vehicle speed falls within a predetermined range from a minimum speed of the pulse taxi driving speed range.
16. 16. The method of claim 15, wherein the step of returning to the step of performing pulsed driving comprises: a step of engaging the clutch when the vehicle speed falls within a predetermined range from the minimum speed; And a step of requesting the engine controller to output the engine torque after the clutch is engaged.
17. 17. The method as recited in claim 10, further comprising: and prohibiting the transmission from being in neutral while performing the pulse driving.
18. 18. The method as recited in claim 10, further comprising: A step of requesting the autopilot controller to inhibit acceleration maneuvers during freewheeling and a step of requesting the engine controller to inhibit acceleration during freewheeling.

Description

Device and method for controlling a drive train of an autonomous vehicle Cross Reference to Related Applications The present application claims priority from korean patent application No.10-2020-0153116 filed at korean intellectual property office on 11/16 th year 2020, the entire contents of which are incorporated herein by reference. Technical Field The present invention relates to an apparatus and method for controlling a driveline of an autonomous vehicle. Background In the case of an internal combustion engine, there is a condition of highest fuel efficiency (engine torque versus engine speed) in the running region. The highest energy efficiency can be achieved when the engine is operating in this region. When determining the engine torque and the engine speed, the speed of the vehicle is determined according to the running resistance. Therefore, when the driver does not want to drive the vehicle at the determined speed, it is difficult to reach the condition of the highest fuel efficiency even if there is an optimum efficiency point of the engine. Therefore, fuel consumption can be reduced by a pulse and glide (P & G) driving method, that is, accelerating the vehicle to the upper limit of the target speed range at the optimum efficiency point of the engine, decelerating the vehicle, and accelerating the vehicle again to the upper limit of the target speed range at the optimum efficiency point when the vehicle speed reaches the lower limit of the target speed range. When the transmission shifts to a neutral state under freewheeling deceleration conditions of the vehicle, the freewheeling distance increases. Therefore, when the travel distance is the same, the frequency of re-acceleration can be reduced, and thus fuel consumption can be additionally reduced. However, when the vehicle accelerates again during neutral travel, an acceleration feeling is generated after the clutch is engaged. Therefore, there is inevitably an acceleration response delay of about 0.3 seconds to about 0.4 seconds. Disclosure of Invention The present invention has been made to solve the above-mentioned problems occurring in the prior art, while maintaining the advantages achieved by the prior art. An aspect of the present invention provides a control apparatus and method of a transmission system of an autonomous vehicle for improving fuel economy through cooperative control of an engine and a clutch during autonomous driving. The technical problem to be solved by the present invention is not limited to the above-mentioned problems. Any other technical problems not mentioned herein should be clearly understood by one of ordinary skill in the art to which the present invention pertains from the following description. According to one aspect of the present invention, an apparatus for controlling a driveline of an autonomous vehicle includes an autonomous controller that controls autonomous driving of the vehicle and a transmission controller that determines whether a pulse coast (P & G) driving condition is satisfied by the vehicle during autonomous driving. When the vehicle satisfies a pulse-coast (P & G) driving condition, the transmission controller alternately performs pulse-drive and freewheeling in conjunction with the automatic driving controller. The transmission controller maintains the transmission in a neutral state during freewheeling. The transmission controller may receive information about a road ahead from the navigation device, and may receive a speed of a lead vehicle from the front radar. The transmission controller may determine whether the vehicle satisfies the pulse coast driving condition based on the information about the road ahead and the speed of the preceding vehicle. The transmission controller may determine whether the vehicle satisfies the P & G driving condition in consideration of the current running speed of the vehicle and whether P & G driving is prohibited by the automatic driving controller. The transmission controller may receive a target travel speed from the autopilot controller and may determine a pulse coast drive speed range based on the target travel speed. The transmission controller may engage the clutch and may then request the engine controller to output engine torque. The automatic driving controller may perform the pulse driving by the acceleration running control. When the vehicle speed reaches a maximum speed within the pulse-coast driving speed range during pulse-driving, the transmission controller may perform freewheeling by requesting the engine controller to stop the output of the engine torque and disengaging the clutch. The transmission controller may perform the pulse driving again when the vehicle speed falls within a predetermined range from a minimum speed of the pulse-coast driving speed range during freewheeling. The transmission controller may inhibit the transmission from being in neutral during pulsed driving. The transmission controller may request that the aut