Environmentally friendly vehicles and their coasting control methods

Abstract

This disclosure provides a coasting control method for an environmentally friendly vehicle. The method includes: determining at least one valid event among deceleration events on the forward driving path that set a target speed; setting the valid event closest to the current position among the at least one valid event as a first candidate event; determining whether there is at least one second candidate event corresponding to the event to be followed among the remaining valid events other than the first candidate event; and when there is at least one second candidate event, determining the target event among the first candidate event and the second candidate event by considering the control start point.

Description

Technical Field

[0001] This disclosure relates to an environmentally friendly vehicle that is convenient and effective in guiding coasting and a coasting control method thereof. Background Technology

[0002] Vehicles with internal combustion engines that use fossil fuels such as gasoline or diesel inevitably emit exhaust gases. These exhaust gases include carbon dioxide, fine particulate matter, and other substances harmful to human health, all major contributors to global warming. To reduce these emissions, vehicle manufacturers have developed various types of vehicles. Typical examples of environmentally friendly vehicles include electric vehicles (EVs) that use only batteries and motors, hybrid / plug-in hybrid vehicles (HEVs / PHEVs) that use both an engine and a motor, or fuel cell electric vehicles (FCEVs) that use electricity generated by hydrogen fuel cells to operate a motor.

[0003] Unlike traditional vehicles that only include internal combustion engines, environmentally friendly vehicles can generate the energy needed for propulsion using a motor, and can also recover kinetic energy through the motor. Energy recovery through the motor is achieved by the motor outputting the deceleration force required for braking based on the driver's brake pedal operation or for coasting based on the vehicle's inertia.

[0004] The energy recovery method using a motor can be called regenerative braking. The energy gained through regenerative braking is stored in a battery and then used to accelerate the motor, saving the fuel needed to drive the engine.

[0005] In many situations, environmentally friendly vehicles can recover energy through regenerative braking while driving. This is particularly true when there are deceleration events ahead, such as intersections, traffic lights, slip roads, or hazardous guidance zones for recommended speeds, requiring the vehicle to slow down. Drivers can visually identify these deceleration events and can either remove their foot from the accelerator pedal or depress the brake pedal to slow the vehicle to the target speed. During this process, environmentally friendly vehicles can also recover energy through the motor. However, in reality, most drivers remove their foot from the accelerator pedal later than the appropriate time to release it, and then operate the brake pedal to slow the vehicle down. Therefore, a significant amount of energy can be consumed due to friction braking through the hydraulic braking system. (See reference...) Figure 1 This will be described.

[0006] Figure 1 This is a diagram illustrating the deceleration pattern of a typical deceleration event.

[0007] Reference Figure 1When a vehicle is traveling at a higher current speed than the target speed on a path where a deceleration event with a set target speed is anticipated, a typical environmentally friendly vehicle can perform regenerative braking based on the speed at which the accelerator pedal is released, using a coasting torque with a preset trajectory. Therefore, the accelerator pedal needs to be released at a point where the driver cannot visually identify the target speed (i.e., the APS OFF point for coasting) to meet the target speed at that point. In this scenario, when the driver actually visually identifies the target speed after passing the APS OFF point, they tend to release the accelerator pedal. Therefore, the problem is that energy cannot be absorbed solely through coasting torque, and friction braking intervenes, reducing efficiency. In other words, when a vehicle relies on passive coasting control—achieving deceleration forces similar to those of a conventional internal combustion engine vehicle by controlling the motor torque to be negative—it is disadvantageous in terms of fuel efficiency.

[0008] Furthermore, when applying motor torque control to simulate the deceleration force of an internal combustion engine vehicle coasting, if the target speed corresponds to a relatively low speed when the current road speed limit and average speed are relatively high, a longer control distance is required to correspond to the target speed. Therefore, the vehicle decelerates a predetermined distance at a speed lower than the average speed of the current road, which may also impede the flow of surrounding vehicles.

[0009] Of course, a technique is disclosed that pre-senses a deceleration event ahead and notifies the timing of accelerator pedal release, taking into account the target speed of the event and the current vehicle speed. Therefore, even when the distance to the target point of the event cannot be visually identified, coasting can begin, referring to… Figure 2A and Figure 2B This will be described.

[0010] Figure 2A An example showing the road conditions ahead. Figure 2B Shown in Figure 2A Examples of guiding the general gliding time format in this case.

[0011] Reference Figure 2A To guide the timing of accelerator pedal release, the vehicle checks for a deceleration event ahead on its path. Typically, the vehicle determines if a deceleration event exists within a preset distance—the effective distance used to obtain forward data. Figure 2A Within the effective distance used to obtain data from the front, there are two events, event 1 and event 2.

[0012] In this scenario, the vehicle can calculate the control entry point by considering the remaining distance from its current position to each event target point, its current speed, and the target speed corresponding to each event. In this case, for event 1, the vehicle has already passed the control entry point and therefore cannot respond, while for event 2, the vehicle can be guided to release the accelerator pedal at the control entry point.

[0013] When applying the above method, it is also possible to appropriately guide invisible event target points. However, this method may still not match the flow of surrounding vehicles.

[0014] Furthermore, techniques are known that consider the remaining distance to each individual deceleration event, the target speed, and the current speed when multiple deceleration events occur ahead of the vehicle. However, in this approach, the event requiring accelerator pedal release can be set as the target event without considering the remaining distance to the actual event target point, and guidance can be implemented. The problem in this case is that the flow of surrounding vehicles or the nearest event target point is not considered, leading to driver discomfort and anxiety. Additionally, the type of deceleration event can be disregarded; therefore, when the deceleration event that first reaches the control entry point is set as the target event, the vehicle cannot respond to deceleration events that are located before and after the corresponding deceleration event and have different target speeds. Summary of the Invention

[0015] Therefore, this disclosure relates to an environmentally friendly vehicle and a coasting control method thereof, for providing guidance to effectively respond to a deceleration event ahead, i.e., a deceleration event in front of the vehicle.

[0016] The technical problems solved by the embodiments are not limited to those described above. Other technical problems not described herein should become apparent to those skilled in the art from the following description.

[0017] To achieve these objectives and other advantages, and in accordance with the purposes of this disclosure, as implemented and broadly described herein, a coasting control method for an environmentally friendly vehicle is disclosed. The method includes determining at least one valid event among deceleration events on the forward travel path that sets a target speed. The method further includes setting the valid event closest to the current position among the at least one valid event as a first candidate event. The method further includes setting at least one valid event corresponding to the event to be followed among the remaining valid events other than the first candidate event as a second candidate event. The method further includes determining whether a second candidate event exists. The method further includes determining a target event among the first and second candidate events, considering a control start point. At the control start point, when the accelerator pedal is released for each of the first and second candidate events, the corresponding target speed can be satisfied by coasting torque control of an electric motor.

[0018] In another aspect of this disclosure, an environmentally friendly vehicle includes a controller comprising a deceleration event determiner configured to determine at least one valid event among deceleration events on the forward driving path that set a target speed. The controller further includes a candidate event setting unit configured to set the valid event closest to the current position among the at least one valid event as a first candidate event, and to set at least one valid event corresponding to the event to be followed among the remaining valid events besides the first candidate event as a second candidate event. The candidate event setting unit further determines whether a second candidate event exists. The controller further includes a target event determiner configured to determine a target event among the first and second candidate events, considering a control start point. At the control start point, when the accelerator pedal is released for each of the first and second candidate events, the corresponding target speed can be satisfied by controlling the coasting torque of an electric motor.

[0019] In another aspect of this disclosure, a coasting control method for an environmentally friendly vehicle includes determining at least one valid event among deceleration events on the forward travel path that set a target speed. The method further includes setting the valid event closest to the current position among the at least one valid event as a first candidate event. The method also includes determining whether there exists at least one second candidate event corresponding to an event that needs to be followed among the remaining valid events besides the first candidate event. The method further includes, when at least one second candidate event exists, determining a target event among the first and second candidate events considering a control start point, wherein at the control start point, when the accelerator pedal is released for each of the first and second candidate events, the corresponding target speed can be satisfied by coasting torque control of an electric motor.

[0020] In another aspect of this disclosure, an environmentally friendly vehicle includes a controller comprising a deceleration event determiner configured to determine at least one valid event among deceleration events on a forward driving path that sets a target speed. The environmentally friendly vehicle also includes a candidate event setting unit configured to set the valid event closest to the current position among the at least one valid event as a first candidate event. The candidate event setting unit further determines whether there exists at least one second candidate event corresponding to an event that needs to be followed among the remaining valid events besides the first candidate event. The environmentally friendly vehicle also includes a target event determiner configured to, when at least one second candidate event exists, determine a target event among the first and second candidate events considering a control start point, wherein at the control start point, when the accelerator pedal is released for each of the first and second candidate events, the corresponding target speed can be satisfied by controlling the coasting torque of an electric motor. Attached Figure Description

[0021] Embodiments of this disclosure are illustrated in the accompanying drawings, which are included to provide a further understanding of this disclosure and are incorporated in and constitute a part of this application. The drawings, together with the description, serve to explain the principles of this disclosure. In the drawings:

[0022] Figure 1 This is a diagram illustrating the deceleration pattern of a typical deceleration event;

[0023] Figure 2A An example showing the road conditions ahead. Figure 2B Shown in Figure 2A An example of guiding the general taxiing time format in this situation;

[0024] Figure 3 This is a diagram illustrating an example of the structure of a vehicle for performing coasting control according to an embodiment of the present disclosure;

[0025] Figure 4 This is a diagram illustrating the concept of active coasting control to which embodiments of the present disclosure may be applied;

[0026] Figure 5 This is a diagram illustrating the concept of control target candidate events according to embodiments of the present disclosure;

[0027] Figure 6 This is a flowchart illustrating an example of a gliding control process according to an embodiment of the present disclosure;

[0028] Figure 7 This is a diagram illustrating an example of the form obtained by applying a sliding control according to an embodiment of the present disclosure;

[0029] Figure 8This is a diagram illustrating an example of another form obtained by applying gliding control according to embodiments of the present disclosure; and

[0030] Figure 9 This is a diagram illustrating an example of another form of gliding control obtained by applying embodiments of the present disclosure. Detailed Implementation

[0031] Specific embodiments of this disclosure will be described in detail with reference to the accompanying drawings to facilitate implementation by those skilled in the art. However, this disclosure may be implemented in various different forms and is not limited to these embodiments. For clarity of description, any components that do not affect the description have been omitted from the drawings.

[0032] Furthermore, when a component “includes” a part, it indicates that the component may further include another part rather than exclude another part, unless specifically stated in this disclosure. Throughout the drawings and specification, the same reference numerals are used to indicate identical or equivalent parts. When components, devices, elements, etc., of this disclosure are described as having a purpose or performing an operation, function, etc., the component, device, or element should be considered herein as being “configured” to achieve that purpose or perform that operation or function. Further, the controllers and other such units and determiners described herein may include a processor programmed to perform the said operations, functions, calculations, etc.

[0033] According to the embodiments of this disclosure, an environmentally friendly vehicle can determine a controllable valid event in a forward deceleration event that can provide a start time for coasting, can classify the types of controllable valid events, can set at least one control target candidate event, can guide the time of release of the accelerator pedal (i.e., the start time for coasting), and can perform coasting torque control.

[0034] First, refer to Figure 3 Describe the structure of an environmentally friendly vehicle according to an embodiment.

[0035] Figure 3 This is a diagram illustrating an example of the structure of a vehicle for performing coasting control according to an embodiment of the present disclosure.

[0036] Reference Figure 3 The environmentally friendly vehicle 300 according to the embodiment may include a coasting controller 310. The environmentally friendly vehicle may also include a notification output unit 320 for outputting a notification indicating the time of release of the accelerator pedal corresponding to a target event determined by the coasting controller 310.

[0037] The coasting controller 310 can take deceleration event information and accelerator pedal sensor (APS) values ​​as input information, and can take information about the time of accelerator pedal release as output value.

[0038] The notification output unit 320 can output information about the timing of accelerator pedal release in a specific form recognizable to the driver. For this purpose, the notification output unit 320 may include a display or indicator for visually outputting the timing of accelerator pedal release. For example, the notification output unit 320 may include a head-up display (HUD), a cluster display, a host computer display, etc., but this disclosure is not limited thereto. The notification output unit 320 may also include a speaker for audibly outputting the notification indicating the timing of accelerator pedal release.

[0039] The coasting controller 310 may include a deceleration event determiner 311, a candidate event setting unit 313, a target event determiner 315, and a power system controller 317. The functions of each component included in the coasting controller 310 are described below.

[0040] First, the deceleration event determiner 311 can determine whether a deceleration event exists within the effective distance used to obtain forward data based on the deceleration event information. When at least one deceleration event is identified, the deceleration event determiner 311 can determine whether the vehicle is able to respond to each deceleration event.

[0041] For example, deceleration event information can be obtained through navigation systems, mobile vehicle information systems, etc. Furthermore, deceleration event information may include GPS-based location information and information from high-precision maps of navigation systems, such as the type and location of the deceleration event, road type, number of lanes, gradient at the corresponding location, and real-time traffic information. However, this disclosure is not limited to these.

[0042] Deceleration events can include any type of event that sets a target speed, such as toll booths, interchange (IC) entrances and exits, points guiding safe driving, speed cameras, or speed bumps.

[0043] The effective distance for obtaining data ahead can be a preset distance, but it can also be set differently depending on factors such as current vehicle speed and road type.

[0044] The deceleration event determiner 311 determines whether the vehicle can respond to an event by considering the target vehicle speed, remaining distance, current vehicle speed, etc., for each identified event to determine whether the control entry point (i.e., the point that guides the release of the accelerator pedal) for each event is in front of or behind the vehicle's current position. Therefore, the deceleration event determiner 311 can set responsive deceleration events as controllable valid events. In this embodiment, when the deceleration event determiner 311 determines whether the vehicle can respond, active coasting control can be considered. (Refer to...) Figure 4 Describe the concept of active coasting control.

[0045] Figure 4 This is a diagram illustrating the concept of active coasting control to which embodiments of the present disclosure may be applied.

[0046] Reference Figure 4 When applying general coasting control (i.e., passive coasting control), a preset coasting trajectory can be applied based on the vehicle speed. Therefore, deceleration corresponding only to the coasting characteristics of internal combustion engine vehicles is possible. Conversely, when applying active coasting control, deceleration force can be maximized by adding additional deceleration force to the coasting deceleration force to maximize the regenerative braking torque of the motor when the vehicle approaches the target event. Therefore, the time of releasing the accelerator pedal can be closer to the deceleration event. Therefore, when applying active coasting control, the deceleration range can be significantly reduced compared to general coasting control. Therefore, the obstruction of surrounding vehicle flow and the driver's discomfort caused by long coasting distances can be minimized. In this embodiment, the coasting torque when applying active coasting control can be determined by considering the capacity of the electric motor, the state of charge (SoC) of the battery, etc.

[0047] Therefore, in the case of active coasting control, when determining whether the vehicle can respond to each deceleration event, the deceleration event determiner 311 according to the embodiment can also consider the control entry point.

[0048] Then, the candidate event setting unit 313 can set one or more candidate events from at least one controllable valid event (hereinafter, "valid event") determined by the deceleration event determiner 311. To this end, the candidate event setting unit 313 can first set the most recent valid event among the valid events as the control target candidate event (or "candidate event"). When there are other valid events besides the most recent valid event, the candidate event setting unit 313 can further set the events among the remaining valid events that need to follow the target speed as candidate events.

[0049] Reference Figure 5 Describe the concept of selecting valid events and candidate events.

[0050] Figure 5 This is a diagram illustrating the concept of a control target candidate event according to embodiments of the present disclosure.

[0051] Reference Figure 5According to the embodiment, the environmentally friendly vehicle 300 can determine, based on deceleration event information, whether the vehicle can respond to each of the deceleration events 521, 522, 523, and 524 present within the effective distance 510 for obtaining forward data. A responsive deceleration event can be a controllable valid event 530. An event 521 that cannot follow the target speed even through active coasting control can be treated as an invalid event, such as event 525 outside the effective distance for obtaining forward data. The event 522, which is closest to the vehicle 300 among the valid events 530, can first become a candidate event. Depending on whether following the target speed is required, the remaining valid events 523 and 524 can be further set as candidate events, or they can be left unset as candidate events.

[0052] Return to reference Figure 3 The event requiring adherence to the target speed can be an event that directly imposes a penalty when a speed camera or similar device fails to adhere to the target speed. However, this disclosure is not limited to this. The event requiring adherence to the target speed can be variably set according to the vehicle manufacturer's or driver's criteria. The number of events requiring adherence to the target speed can be one, two, or more. Thus, events requiring adherence to the target speed can be added as control target candidate events. This is because when there is a large difference between the target speed of the most recent event and the target speed of the target event, and an event requiring adherence to the target speed exists immediately after the most recent event is set as the target event, the vehicle may have difficulty responding to that event.

[0053] When the candidate event setting unit 313 sets at least one candidate event, the target event determiner 315 can determine any one of the candidate events as the target event. To do this, the target event determiner 315 can determine the target event by considering the type of each candidate event (i.e., the most recent candidate event and the event that needs to follow the target speed) and the control entry point. For example, when there is no candidate event that needs to follow the target speed, the target event determiner 315 can determine the most recent candidate event as the target event. The target event determiner 315 can determine the candidate event whose control entry (start) point is closest to the current position among the most recent candidate events and the events that need to follow the target speed as the target event. The target event determiner 315 can also determine the most recent event among the most recent candidate events and the events that need to follow the target speed as the target event. (See reference...) Figures 7 to 9 Each case will be described in more detail.

[0054] When a target event is determined, the target event determiner 315 can output a notification indicating the release of the accelerator pedal via the notification output unit 320 when the vehicle reaches the control entry point of the determined target event. The target event determiner 315 can also notify the powertrain controller 317 of the target speed and remaining distance of the target event.

[0055] When the accelerator pedal is released after the target event determiner 315 outputs a notification, the powertrain controller 317 can control the coasting torque of the electric motor to meet the target speed at the target point of the target event. In this embodiment, the coasting torque control may include the active coasting control described above.

[0056] In this embodiment, controller 310 is associated with the control of the powertrain. Therefore, controller 310 can be implemented as a hybrid control unit (HCU) in the case of a hybrid electric vehicle (HEV) and as a vehicle control unit (VCU) in the case of an electric vehicle (EV). However, this disclosure is not limited thereto. For example, other controllers 311, 313, and 315 besides powertrain controller 317 can be implemented as separate controllers, and only powertrain controller 317 can be implemented as an HCU or a motor controller.

[0057] exist Figure 6 The flowchart summarizes the coasting control process of the environmentally friendly vehicle according to the embodiments described so far.

[0058] Figure 6 This is a flowchart illustrating an example of a gliding control process according to an embodiment of the present disclosure.

[0059] Reference Figure 6 First, the deceleration event determiner 311 can identify forward deceleration events within the effective distance for obtaining forward data based on deceleration event information (S610).

[0060] The deceleration event determiner 311 can determine the target vehicle speed and remaining distance for each identified event (S620), and can determine whether each event is a valid event (S630).

[0061] The candidate event setting unit 313 can set the most recent valid event among the events judged as valid events as a control target candidate event (S640A). When there is at least one event among the remaining valid events that needs to follow the target speed (i.e., a must-follow event), the candidate event setting unit 313 can further set that event as a candidate event (S640B).

[0062] The target event determiner 315 can determine the target event among the candidate events by considering the control start point (S650) of each target candidate event (S660). Of course, as mentioned above, the target event determiner 315 can set the most recent event as the target event when there is no event that must be followed, and can consider the control start point of each candidate event when there is an event that must be followed.

[0063] The target event determiner 315 can execute control to output guidance for releasing the accelerator pedal at the control start point of the target event via the notification output unit 320. When the accelerator pedal is released at the control start point, the powertrain controller 317 can execute coasting torque control to meet the target speed (S670).

[0064] In the following text, refer to Figures 7 to 9 The various forms in which the target event determiner determines the target event are described in detail above. Figures 7 to 9 In the diagram, the upper part represents the shape of the road the vehicle is currently traveling on, and the lower part represents the glide trajectory based on the event target point and control start point for each event.

[0065] Figure 7 This is a diagram illustrating an example of a form obtained by applying a sliding control according to an embodiment of the present disclosure.

[0066] exist Figure 7 In this embodiment, it can be assumed that there are three valid events ahead of vehicle 300 with different target speeds and different control entry points, namely events 1 to 3, and there is no event that must be followed. In this embodiment, the candidate event setting unit 313 can set event 1, which is the most recent valid event, as a candidate event, and the target event determiner 315 can determine event 1, which is the most recent event, as the target event. Therefore, the vehicle can follow event 2, which has the earliest control entry point, thereby preventing obstruction of the flow of surrounding vehicles on the current driving path or preventing discomfort caused by the vehicle following a point that is not visually recognizable to the driver.

[0067] Figure 8 This is an illustration of an example of another form obtained by applying gliding control according to an embodiment of the present disclosure.

[0068] exist Figure 8 In this embodiment, it can be assumed that there are two events ahead of vehicle 300 with different target speeds and different control entry points, namely, event 1 and event 2, and event 2 is the mandatory event. In this embodiment, the candidate event setting unit 313 can set both event 1 (the most recent valid event) and event 2 (the mandatory event) as candidate events. The target event determiner 315 can determine event 2 (the mandatory event) as the target event. Therefore, the mandatory event can be followed completely.

[0069] Figure 9 This is a diagram illustrating an example of another form of gliding control obtained by applying embodiments of the present disclosure.

[0070] exist Figure 9In this embodiment, it can be assumed that there are two valid events ahead of vehicle 300 with different target speeds and different control entry points, namely, event 1 and event 2, and event 2 is the event that must be followed. Similar to this, in this embodiment... Figure 8 In this case, the candidate event setting unit 313 can set both event 1, which is the most recent valid event, and event 2, which is an event that must be followed, as candidate events. However, with Figure 8 Unlike other events, the target event determiner 315 can determine the control start point of each of the two candidate events, and can determine event 2, which is the event with the closest control start point, as the target event.

[0071] In some embodiments, when multiple mandatory events exist, the most recent mandatory event can be set as the target event. In some embodiments, the mandatory event with the most recent control start point can also be set as the target event.

[0072] The environmentally friendly vehicle configured as described above, in relation to at least one embodiment of this disclosure, can effectively set targeted deceleration events and provide guidance.

[0073] Specifically, according to embodiments of this disclosure, when multiple deceleration events occur ahead of the vehicle, the target deceleration event can be determined by considering the location and type of the deceleration events, and the coasting torque can be actively set. This reduces driver discomfort and improves efficiency during coasting.

[0074] It will be understood by those skilled in the art that the effects achievable using this disclosure are not limited to those specifically described above. Other advantages of this disclosure will become clearer from the detailed description.

[0075] The above disclosure can also be implemented as computer-readable code stored on a computer-readable recording medium. Such a computer-readable recording medium is any data storage device capable of storing data that can be read by a computer. Examples of computer-readable recording media include hard disk drives (HDDs), solid-state drives (SSDs), silicon disk drives (SDDs), read-only memory (ROM), random access memory (RAM), CD-ROMs, magnetic tapes, floppy disks, optical data storage devices, etc.

[0076] It will be apparent to those skilled in the art that various modifications and variations can be made to this disclosure without departing from its spirit or scope. Therefore, this disclosure is intended to cover modifications and variations thereof, provided they fall within the scope of the appended claims and their equivalents.

Claims

1. A coasting control method of an environmental vehicle, comprising: judging at least one valid event of deceleration events in which a target speed is set on a front travel path; setting a valid event closest to a current position among the at least one valid event as a first candidate event; judging whether at least one second candidate event corresponding to an event to be followed exists among the remaining valid events except for the first candidate event among the at least one valid event; and when the at least one second candidate event exists, determining a target event among the first candidate event and the second candidate event in consideration of a control entry point, wherein at the control entry point, a coasting torque control by an electric motor can satisfy a corresponding target speed when an accelerator pedal is released for each of the first candidate event and the second candidate event.

2. The method according to claim 1, wherein the deceleration events in which a target speed is set include at least one deceleration event existing within an effective distance for obtaining front data from the current position.

3. The method according to claim 2, wherein judging at least one valid event includes: judging the control entry point of each of at least one deceleration event existing within an effective distance for obtaining front data; and judging a deceleration event not passing through the control entry point among at least one deceleration event existing within an effective distance for obtaining front data as the at least one valid event.

4. The method according to claim 1, wherein when the second candidate event does not exist, determining a target event includes: determining the first candidate event as the target event.

5. The method according to claim 1, wherein when the second candidate event exists, determining a target event includes: determining a candidate event closest to a control entry point among the first candidate event and the second candidate event as the target event.

6. The method according to claim 1, wherein when a plurality of the second candidate events exist, determining a target event includes: determining a candidate event closest to a control entry point among the second candidate events as the target event.

7. The method according to claim 1, further comprising: outputting a notification indicating that an accelerator pedal is released at a control entry point corresponding to the target event.

8. The method according to claim 7, further comprising: when an operation of releasing the accelerator pedal according to the notification indicating that the accelerator pedal is released, performing a coasting torque control of the electric motor to satisfy a target speed corresponding to the target event.

9. The method according to claim 8, wherein the coasting torque control includes an active coasting control that changes a coasting torque in response to a remaining distance.

10. A non-transitory computer-readable recording medium on which a program for executing the method according to claim 1 is recorded.

11. An environmental vehicle including a controller, the controller comprising: a deceleration event judger that judges at least one valid event of deceleration events in which a target speed is set on a front travel path; ​ a candidate event setting unit sets an effective event closest to a current position among the at least one effective event as a first candidate event, and judges whether or not there is at least one second candidate event corresponding to an event to be followed among the remaining effective events other than the first candidate event among the at least one effective event; and a target event determiner determines a target event among the first candidate event and the second candidate event in consideration of a control entry point when there is the at least one second candidate event, wherein at the control entry point, it is possible to satisfy a corresponding target speed by the coasting torque control of the electric motor when an accelerator pedal is released for each of the first candidate event and the second candidate event.

12. The eco-friendly vehicle according to claim 11, wherein the deceleration event for which the target speed is set includes at least one deceleration event existing within an effective distance for obtaining front data from the current position.

13. The eco-friendly vehicle according to claim 12, wherein the deceleration event judging unit judges the control entry point of each of the at least one deceleration event existing within the effective distance for obtaining front data, and judges a deceleration event not passing through the control entry point among the at least one deceleration event existing within the effective distance for obtaining front data as the at least one effective event.

14. The eco-friendly vehicle according to claim 11, wherein the target event determiner determines the first candidate event as the target event when there is no second candidate event.

15. The eco-friendly vehicle according to claim 11, wherein the target event determiner determines a candidate event closest to the control entry point among the first candidate event and the second candidate event as the target event when there is the second candidate event.

16. The eco-friendly vehicle according to claim 11, wherein the target event determiner determines a candidate event closest to the control entry point among the second candidate events as the target event when there are a plurality of second candidate events.

17. The eco-friendly vehicle according to claim 11, further comprising: a notification output unit that outputs a notification indicating release of an accelerator pedal at a control entry point corresponding to the target event.

18. The eco-friendly vehicle according to claim 17, wherein the controller further comprises: a powertrain controller that performs the coasting torque control of the electric motor to satisfy a target speed corresponding to the target event when an operation of releasing the accelerator pedal according to the notification indicating release of the accelerator pedal.

19. The eco-friendly vehicle according to claim 18, wherein the coasting torque control includes active coasting control that changes a coasting torque in response to a remaining distance.

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