Cooling system control method for autonomous driving controller

Abstract

The present invention relates to a cooling system control method for an automatic driving controller, which may include: when a vehicle is driving, the controller detects the temperature of the automatic driving controller; the controller determines whether the current temperature of the automatic driving controller is lower than a target temperature; when determining whether the current temperature of the automatic driving controller is lower than the target temperature, if a condition is met, terminating the control of the cooling system.

Description

[0001] CROSS-REFERENCE TO RELATED APPLICATIONS

[0002] This application claims priority to Korean Patent Application No. 10-2020-0051402 filed on Apr. 28, 2020, which is incorporated herein in its entirety for all purposes by this reference. Technical Field

[0003] The present invention relates to a cooling system control method for an autonomous driving controller. More particularly, the present invention relates to a cooling system control method for an autonomous driving controller configured to effectively control an autonomous driving controller that communicates with an air conditioning system in an autonomous driving vehicle. Background Art

[0004] Typically, a vehicle is provided with an air conditioning system for controlling the temperature inside the vehicle.

[0005] The air conditioning system maintains the interior temperature of the vehicle at an appropriate temperature and maintains a comfortable interior environment regardless of changes in the outside temperature, and the air conditioning system is configured to heat or cool the interior space of the vehicle through heat exchange in the evaporator as the refrigerant discharged from the compressor is driven through the condenser, the receiver-drier, the expansion valve, and the evaporator, and then circulated back to the compressor.

[0006] That is, in the cooling mode in summer, in the air conditioning system, the high-temperature and high-pressure gas-phase refrigerant compressed by the compressor is condensed through the condenser, and then evaporated in the evaporator through the receiver-drier and the expansion valve to reduce the internal temperature and humidity.

[0007] On the other hand, there is a recent demand for the development of autonomous driving vehicles, and radar, LiDAR, GPS, etc., various sensors required for autonomous driving, and control devices that control them are installed in the trunk of the vehicle.

[0008] However, in the above-mentioned autonomous driving vehicle, since a separate cooling system is required for cooling the control device with large heat generation and an air-conditioning system is required for cooling or heating the interior of the vehicle, there are disadvantages in that the cost is increased and it is difficult to ensure that the cooling system is installed in the narrow interior space of the vehicle.

[0009] Furthermore, the size and weight of the cooling module mounted at the front of the vehicle are increased, and there is a problem in that the arrangement of connection lines supplying refrigerant or coolant to the air conditioning system, the control device cooling system, and the battery cooling system in the engine compartment is very complicated.

[0010] Moreover, when the cooling system for the autonomous driving controller is connected in series with the cooling system for the battery module, even if only one of the autonomous driving controller and the battery module needs cooling, there is a disadvantage that the autonomous driving controller or the battery module that needs cooling cannot be properly cooled because the autonomous driving controller and the battery module are cooled at the same time.

[0011] Furthermore, the guaranteed temperature of the coolant used to cool each cooling system is different from each other, but when simultaneously cooling each cooling system connected in series, since cooling may be performed based on the system with the lower guaranteed temperature, there is a disadvantage in terms of power consumption.

[0012] When the cooling performance of the cooling system for the autonomous driving controller deteriorates, the autonomous driving controller may not be properly cooled, causing malfunctions or errors in operating performance, and there are also risks directly related to the safety of drivers and pedestrians.

[0013] The information included in this background section of the present invention is only intended to deepen understanding of the general background of the present invention and should not be regarded as an admission or any form of suggestion that the information constitutes prior art already known to those skilled in the art. Summary of the Invention

[0014] Various aspects of the present invention are directed to providing a cooling system control method for an autonomous driving controller, the method being configured to heat exchange the coolant in an air conditioning system in an autonomous driving vehicle, and effectively cooling the autonomous driving controller by utilizing the low-temperature coolant after heat exchange.

[0015] A cooling system control method for an autonomous driving controller according to various exemplary embodiments of the present invention is configured to adjust the temperature of the autonomous driving controller, the method comprising: in a cooling system for the autonomous driving controller, the cooling system includes a cooler, a reservoir, a water pump, a secondary expansion valve, and an autonomous driving controller; the cooler is connected to an air conditioning system via a refrigerant connecting line, the air conditioning system including a compressor, a condenser, an expansion valve, and an evaporator interconnected by the refrigerant line; the reservoir stores coolant and is connected to the cooler via the coolant line; the water pump is provided on the coolant line between the reservoir and the cooler; the secondary expansion valve is provided on the refrigerant connecting line to selectively expand the refrigerant supplied to the refrigerant connecting line; the autonomous driving controller is connected between the water pump and the cooler via the coolant line; the cooling system is controlled by a controller: while a vehicle is traveling, the controller detects the temperature of the autonomous driving controller; the controller determines whether the current temperature of the autonomous driving controller is lower than a target temperature; when determining whether the current temperature of the autonomous driving controller is lower than the target temperature, if a condition is satisfied, the control of the cooling system is terminated.

[0016] When the vehicle is traveling, when the temperature of the autonomous driving controller is detected by the controller, the controller may detect the current temperature of the autonomous driving controller through an output signal output from a temperature sensor connected to the autonomous driving controller.

[0017] When determining whether the current temperature of the automatic driving controller is lower than the target temperature, if the conditions are not met, the controller determines whether the air-conditioning system is running; when determining whether the air-conditioning system is running, if the conditions are met, the water pump is operated; the controller determines whether the current temperature of the automatic driving controller is higher than the target temperature; when determining whether the current temperature of the automatic driving controller is higher than the target temperature, if the conditions are not met, it may further include terminating the control of the cooling system.

[0018] When determining whether the air-conditioning system is in operation, if the condition is not satisfied, the method may further include operating the air-conditioning system and adjusting the opening degree of the sub-expansion valve by the controller.

[0019] When the operation of the air conditioning system and the adjustment of the opening of the sub-expansion valve are completed, the controller operates the water pump.

[0020] When the controller operates the air conditioning system and adjusts the opening degree of the sub-expansion valve, the sub-expansion valve may expand the refrigerant supplied to the refrigerant connection line to supply the refrigerant to the cooler.

[0021] When determining whether the current temperature of the automatic driving controller is higher than the target temperature, if the conditions are met, it may further include adjusting the RPM of the compressor and adjusting the opening of the secondary expansion valve by the controller.

[0022] When adjusting the RPM of the compressor and adjusting the opening of the sub-expansion valve, the controller may increase the RPM of the compressor and increase the opening of the sub-expansion valve.

[0023] When adjusting the RPM of the compressor and adjusting the opening degree of the sub-expansion valve are completed, the controller may return to the step of determining whether the current temperature of the automatic driving controller is higher than the target temperature.

[0024] When the water pump is operated by the controller, the coolant supplied from the reservoir tank may be supplied to the automatic driving controller in a state of being cooled by heat exchange with the refrigerant in the cooler.

[0025] As described above, according to the cooling system control method for an autonomous driving controller according to an exemplary embodiment of the present invention, the method can perform heat exchange between refrigerant and coolant in cooperation with the air-conditioning system in a vehicle configured for autonomous driving, and utilize the low-temperature coolant after heat exchange to effectively cool the autonomous driving controller.

[0026] In addition, since the present invention performs independent cooling according to the cooling requirements of the autonomous driving controller, the autonomous driving controller can be stably cooled through an independent loop configuration, and power consumption can be minimized.

[0027] In addition, since the present invention ensures the cooling performance of the cooling system for the automatic driving controller, failure of the automatic driving controller or abnormality in operability can be prevented in advance, thereby ensuring the safety of drivers and pedestrians.

[0028] The methods and apparatus of the present invention have other features and advantages that will be apparent from or will be described in detail in the accompanying drawings and subsequent detailed descriptions incorporated herein, which together serve to explain the specific principles of the invention. BRIEF DESCRIPTION OF THE DRAWINGS

[0029] Figure 1 is a schematic diagram of a cooling system for an autonomous driving controller according to various exemplary embodiments of the present invention.

[0030] Figure 2 is a control flowchart illustrating a control method of a cooling system for an autonomous driving controller according to various exemplary embodiments of the present invention.

[0031] It should be understood that the accompanying drawings are not drawn to scale, but are merely simplified drawings for illustrating various features of the basic principles of the present invention. The specific design features of the present invention contained herein (including, for example, specific dimensions, directions, positions and shapes) will be determined in part by the specific environment in which it is to be applied and used.

[0032] In the drawings, like or equivalent parts of the present invention are labeled with like reference numerals throughout the several figures of the drawing. DETAILED DESCRIPTION

[0033] Reference will now be made in detail to various embodiments of the present invention, examples of which are shown in the accompanying drawings and are described below. Although the present invention will be described in conjunction with exemplary embodiments of the present invention, it will be understood that this specification is not intended to limit the present invention to those exemplary embodiments. On the other hand, the present invention is intended to cover not only exemplary embodiments of the present invention, but also various alternatives, modifications, equivalents, and other embodiments that may be included within the spirit and scope of the present invention as defined by the appended claims.

[0034] Various exemplary embodiments of the present invention will be described in detail hereinafter with reference to the accompanying drawings.

[0035] The exemplary embodiments described in the various exemplary embodiments of the present invention and the configurations shown in the accompanying drawings are only the most preferred exemplary embodiments of the present invention, but do not limit the spirit and scope of the present invention. Therefore, it should be understood that when submitting this application, there may be various equivalent solutions and modifications that can replace those embodiments.

[0036] In order to clarify the present invention, parts not related to the description will be omitted, and the same elements or equivalents are denoted by the same reference numerals throughout the specification.

[0037] The size and thickness of each element is arbitrarily shown in the drawings, and the present invention is not necessarily limited thereto, and in the drawings, the thickness of layers, films, panels, regions, etc., are exaggerated for clarity.

[0038] Throughout the specification and the appended claims, unless explicitly described to the contrary, the word “comprise” or variations such as “comprises” or “comprising” will be understood to imply the inclusion of stated elements but not the exclusion of any other elements.

[0039] Furthermore, the terms “unit,” “mechanism,” “portion,” “member,” etc. used herein refer to a unit of an inclusive component that performs one or more functions or operations.

[0040] Figure 1 is a schematic diagram of a cooling system for an autonomous driving controller according to various exemplary embodiments of the present invention.

[0041] Reference Figure 1 , a control method for a cooling system of an autonomous driving controller according to various exemplary embodiments of the present invention is applied to an autonomous driving vehicle.

[0042] The vehicle is basically equipped with an air conditioning system 10 for cooling or heating the interior of the vehicle.

[0043] Here, the air conditioning system 10 may include a compressor 12 , a condenser 14 , an expansion valve 16 , and an evaporator 18 , which are connected through a refrigerant line 11 to cool or heat the vehicle interior using heat energy generated when the refrigerant changes phase.

[0044] The compressor 12 compresses the refrigerant, and the condenser 14 condenses the refrigerant compressed in the compressor 12 .

[0045] The expansion valve 16 expands the refrigerant condensed in the condenser 14 , and the evaporator 18 evaporates the expanded refrigerant.

[0046] The evaporator 18 is provided inside a heating, ventilation, and air conditioning (HVAC) module provided in the vehicle.

[0047] The vehicle including the air conditioning system 10 configured as described above is provided with radar, LiDAR, GPS (Global Positioning System), and various sensors for autonomous driving, and is provided with an autonomous driving controller 30 for controlling these devices.

[0048] That is, the cooling system control method for the automatic driving controller is controlled by the controller 200 and can be applied to the cooling system 100 for the automatic driving controller linked with the air conditioning system 10.

[0049] The controller 200 may be electrically connected to the temperature sensor 210 to confirm the temperature of the autonomous driving controller 30 .

[0050] The temperature sensor 210 may detect the temperature of the automatic driving controller 30 to output to the controller 200 .

[0051] Here, a cooling system 100 for an automatic driving controller according to various exemplary embodiments of the present invention includes a cooler 110 , a liquid storage tank 120 , a water pump 130 , and a sub-expansion valve 140 .

[0052] First, the cooler 110 is connected to the air-conditioning system 10 through the refrigerant connecting line 20 so that the refrigerant circulating in the air-conditioning system 10 flows into the cooler 110 .

[0053] The cooler 110 exchanges heat between the inflowing refrigerant and the coolant supplied from the liquid storage tank 120. That is, the cooler 110 may be a water-cooled heat exchanger.

[0054] The reservoir tank 120 stores coolant and is connected to the cooler 110 through the coolant line 102 .

[0055] The water pump 130 is provided on the coolant line 102 between the reservoir 120 and the cooler 110 .

[0056] The automatic driving controller 30 may be disposed on the coolant line 102 between the water pump 130 and the cooler 110 .

[0057] That is, the coolant line 102 connected to the water pump 130 and the cooler 110 may be connected to the automatic driving controller 30 .

[0058] The automatic driving controller 30 configured as described above includes a water-cooling type controller that is cooled by the inflowing coolant.

[0059] On the other hand, in an exemplary embodiment of the present invention, the sub-expansion valve 140 is provided in the refrigerant connection line 20, and the refrigerant supplied through the refrigerant line 11 may be selectively expanded to be supplied to the cooler 110. The sub-expansion valve 140 may be configured mechanically or electronically.

[0060] In the cooling system 100 for the automatic driving controller configured as described above, while cooling the coolant supplied from the storage tank 120 by heat exchange with the refrigerant, the cooler 110 can selectively supply the coolant to the automatic driving controller 30 to prevent the automatic driving controller 30 from overheating.

[0061] That is, the cooler 110 exchanges heat between the refrigerant supplied in an expanded state from the sub-expansion valve 140 and the coolant supplied from the receiver tank 120 by the operation of the water pump 130 .

[0062] The low-temperature coolant cooled by heat-exchanging with the refrigerant in the cooler 110 may be supplied to the automatic driving controller 30 by operation of the water pump 130 to cool the automatic driving controller 30 .

[0063] That is, the coolant circulated along the coolant line 102 by the operation of the water pump 130 is supplied to the automatic driving controller 30 in a cooled state while passing through the cooler 110 , thereby cooling the automatic driving controller 30 .

[0064] Therefore, the automatic driving controller 30 can be effectively cooled by the cooling system 100 for the automatic driving controller.

[0065] In the following, reference Figure 2 A control method of the cooling system 100 according to the automatic driving controller configured as described above is described.

[0066] Figure 2 is a control flowchart illustrating a control method of a cooling system for an autonomous driving controller according to various exemplary embodiments of the present invention.

[0067] Reference Figure 2 , a cooling system control method for an automatic driving controller according to various exemplary embodiments of the present invention is applied to adjust the temperature of the automatic driving controller 30 .

[0068] In the present cooling system control method for the automatic driving controller, first, when the vehicle is traveling, the controller 200 detects the temperature of the automatic driving controller 30 ( S1 ).

[0069] Here, the controller 200 may detect the current temperature of the automatic driving controller 30 through an output signal output from a temperature sensor 210 connected to the automatic driving controller 30 .

[0070] Thereafter, the controller 200 determines whether the current temperature of the automatic driving controller 30 is lower than a predetermined target temperature of the automatic driving controller 30 ( S2 ).

[0071] In the step ( S2 ) of determining whether the current temperature of the automatic driving controller 30 is lower than the target temperature, if the condition is satisfied, the control is terminated.

[0072] That is, when the current temperature of the automatic driving controller 30 detected by the temperature sensor 210 is lower than the target temperature of the automatic driving controller 30 while the vehicle is traveling, the controller 200 causes the cooling system 100 to not operate.

[0073] On the other hand, in the step of determining whether the current temperature of the automatic driving controller 30 is lower than the target temperature ( S2 ), if the condition is not satisfied, the controller 200 determines whether the air conditioning system 10 is operating ( S3 ).

[0074] Here, in the step of determining whether the air conditioning system 10 is operated ( S3 ), if the condition is satisfied, the controller 200 operates the water pump 130 ( S4 ).

[0075] Therefore, in the cooling system 100 , the coolant stored in the reservoir tank 120 is supplied to the automatic driving controller 30 along the coolant line 102 through the cooler 110 .

[0076] In this case, the refrigerant passing through the cooler 110 is supplied from the air-conditioning system 10 to the refrigerant connection line 20 , is expanded by the operation of the sub-expansion valve 140 , and is cooled while exchanging heat with the coolant supplied to the cooler 110 .

[0077] That is, in the step ( S4 ) of operating the water pump, the coolant supplied from the storage tank 120 may be supplied to the automatic driving controller 30 in a cooled state by exchanging heat with the refrigerant in the cooler 110 .

[0078] Therefore, the coolant cooled in the cooler 110 can effectively cool the automatic driving controller 30 while being effectively supplied to the automatic driving controller 30 .

[0079] On the other hand, in the step of determining whether the air conditioning system 10 is operating ( S3 ), if the condition is not satisfied, the controller 200 operates the air conditioning system 10 and adjusts the opening degree of the sub-expansion valve 140 ( S5 ).

[0080] Here, in the step ( S5 ) of operating the air conditioning system 10 and adjusting the opening degree of the sub-expansion valve 140 , the sub-expansion valve 140 may expand the refrigerant supplied to the refrigerant connection line 20 to be supplied to the cooler 110 .

[0081] Therefore, the refrigerant expanded by the operation of the sub-expansion valve 140 flows into the cooler 110 .

[0082] If the step ( S5 ) of operating the air conditioning system 10 and adjusting the opening degree of the sub-expansion valve 140 is completed, the controller 200 may perform the step ( S4 ) of operating the water pump 130 again.

[0083] Therefore, the controller 200 determines whether the current temperature of the automatic driving controller 30 is higher than the target temperature ( S6 ).

[0084] In the step ( S6 ) of determining whether the current temperature of the automatic driving controller 30 is higher than the target temperature, if the condition is not satisfied, the controller 200 may terminate the control.

[0085] That is, when the current temperature of the automatic driving controller 30 is lower than the target temperature, since cooling of the automatic driving controller 30 is not required, the controller 200 may stop the operation of the water pump 130 and terminate the control.

[0086] On the other hand, in the step of determining whether the current temperature of the automatic driving controller 30 is higher than the target temperature ( S6 ), if the conditions are met, the controller 200 adjusts the RPM of the compressor 12 and adjusts the opening of the sub-expansion valve 140 ( S7 ).

[0087] Here, the controller 200 may increase the RPM of the compressor 12 and increase the opening degree of the sub-expansion valve 140 .

[0088] Therefore, the flow rate of the refrigerant supplied to the cooler 110 is increased. Therefore, the temperature of the cooling liquid that performs heat transfer with the refrigerant in the cooler 110 can be further lowered.

[0089] Therefore, when the step (S7) of adjusting the RPM of the compressor 12 and adjusting the opening of the sub-expansion valve 140 is completed, the controller 200 may return to the step (S6) of determining whether the current temperature of the automatic driving controller 30 is higher than the target temperature.

[0090] That is, while repeating the above steps, the controller 200 can detect the temperature of the automatic driving controller 30 in real time when the vehicle is driving, and can effectively cool the automatic driving controller 30 by operating the cooling system 100 and the air-conditioning system 10 according to the current temperature of the automatic driving controller 30.

[0091] Therefore, when the cooling system control method for an automatic driving controller according to an exemplary embodiment of the present invention configured as described above is applied, the method can cooperate with the air-conditioning system 10 in a vehicle configured for automatic driving to perform heat exchange between the refrigerant and the coolant, and use the low-temperature coolant after heat exchange to effectively cool the automatic driving controller 30.

[0092] Furthermore, by performing independent cooling using the refrigerant circulating in the air conditioning system 10 according to the temperature of the automatic driving controller 30 , the automatic driving controller 30 can be stably cooled by an independent circuit configuration, and power consumption can be minimized.

[0093] Furthermore, since the cooling performance of the cooling system 100 for the automatic driving controller is ensured, malfunction or abnormality in operability of the automatic driving controller 30 can be prevented in advance, thereby ensuring the safety of the driver and pedestrians.

[0094] In addition, the term "controller" refers to a hardware device including a memory and a processor, wherein the processor is configured to execute one or more steps interpreted as an algorithmic structure. The memory stores the algorithmic steps, and the processor executes the algorithmic steps to perform one or more processes of the method according to various exemplary embodiments of the present invention. The controller according to the exemplary embodiment of the present invention can be implemented by a non-volatile memory and a processor, wherein the non-volatile memory is configured to store algorithms for controlling the operation of various components of the vehicle or data about software commands for executing the algorithms; the processor is configured to perform the operations described above using the data stored in the memory. The memory and the processor can be separate chips. Alternatively, the memory and the processor can be integrated into a single chip. The processor can be implemented as one or more processors.

[0095] The controller may be at least one microprocessor operated by a predetermined program that may include a series of commands for executing the method according to various exemplary embodiments of the present invention.

[0096] The aforementioned invention can also be implemented as computer-readable code in a computer-readable recording medium. A computer-readable recording medium is any data storage device that can store data that can then be read by a computer system. Examples of computer-readable recording media include hard disk drives (HDDs), solid-state disks (SSDs), silicon disk drives (SDDs), read-only memories (ROMs), random-access memories (RAMs), CD-ROMs, magnetic tapes, floppy disks, optical data storage devices, and the like, and can be implemented as carrier waves (e.g., for transmission over the Internet).

[0097] For ease of interpretation and precise definition in the appended claims, the terms "upper," "lower," "inner," "outer," "upward," "downwardly," "upwardly," "front," "back," "backside," "inside," "outside," "inwardly," "outwardly," "interior," "exterior," "inner," "exterior," "forward," and "rearward" are used to describe features of the exemplary embodiments with reference to their positions as shown in the figures. It will also be understood that the term "connect" or its derivatives refers to both direct and indirect connections.

[0098] Furthermore, the term "fixedly connected" means that fixedly connected members always rotate at the same speed. Furthermore, the term "selectively connectable" means that "when the selectively connectable members are not engaged with each other, the selectively connectable members rotate separately; when the selectively connectable members are engaged with each other, they rotate at the same speed; and when at least one of the selectively connectable members is a fixed member and the remaining selectively connectable members are engaged with the fixed member, the selectively connectable members are fixed."

[0099] The foregoing description of specific exemplary embodiments of the present invention is for the purpose of illustration and description. The foregoing description is not intended to be exhaustive or to limit the invention to the precise form disclosed, and it is apparent that many modifications and variations can be made in light of the above teachings. The exemplary embodiments have been selected and described in order to explain the specific principles of the present invention and its practical application, thereby enabling others skilled in the art to realize and utilize the various exemplary embodiments of the present invention and its different selected forms and modifications. The scope of the present invention is intended to be defined by the appended claims and their equivalents.

Claims

1. A method for controlling a cooling system for an autonomous driving controller, wherein the cooling system is used to regulate the temperature of the autonomous driving controller, the method comprising: The cooling system includes a cooler, a liquid storage tank, a pump and a secondary expansion valve; The cooler is connected to an air conditioning system via a refrigerant connecting line, the air conditioning system having a compressor, a condenser, an expansion valve, and an evaporator interconnected by the refrigerant line; The liquid storage tank stores coolant and is connected to the cooler via a coolant line; The pump is installed on the coolant pipeline between the liquid storage tank and the cooler; The auxiliary expansion valve is installed on the refrigerant connecting line to selectively expand the refrigerant supplied to the refrigerant connecting line; The autopilot controller is connected between the pump and the cooler via a coolant line, and the cooling system is controlled by the controller as follows: The controller detects the temperature of the automatic driving controller when determining that the vehicle is moving; The controller determines whether the current temperature of the automatic driving controller is lower than the target temperature; When it is determined that the current temperature of the automatic driving controller is higher than the target temperature, the controller determines whether the air conditioning system is operating; When it is determined that the air conditioning system is not operating, the controller operates the air conditioning system and adjusts the opening of the auxiliary expansion valve; After determining that the operation of the air conditioning system is completed and the opening of the secondary expansion valve is adjusted, the controller is configured to operate the pump; After the pump is running, the controller determines whether the current temperature of the autopilot controller is higher than the target temperature; When it is determined that the current temperature of the automatic driving controller is higher than the target temperature, the controller adjusts the revolutions per minute of the compressor and adjusts the opening degree of the sub-expansion valve.

2. The method according to claim 1, further comprising: When it is determined that the current temperature of the automatic driving controller is lower than the target temperature, control of the cooling system is terminated.

3. The method according to claim 1, wherein When the controller detects the temperature of the automatic driving controller when it is determined that the vehicle is traveling, the controller is configured to detect the current temperature of the automatic driving controller through an output signal output from a temperature sensor connected to the automatic driving controller.

4. The method according to claim 1, further comprising: When determining whether the air conditioning system is operating, the pump is operated when it is determined that the air conditioning system is operating; After the pump is running, the controller determines whether the current temperature of the autopilot controller is higher than the target temperature; When it is determined that the current temperature of the automatic driving controller is lower than the target temperature, control of the cooling system is terminated.

5. The method according to claim 1, wherein When the air conditioning system is operated by a controller and the opening degree of the sub-expansion valve is adjusted, the sub-expansion valve expands the refrigerant supplied to the refrigerant connection line to supply the refrigerant to the cooler.

6. The method according to claim 1, wherein When adjusting the revolutions per minute of the compressor and adjusting the opening degree of the sub-expansion valve, the controller is configured to increase the revolutions per minute of the compressor and increase the opening degree of the sub-expansion valve.

7. The method according to claim 1, wherein After determining that the adjustment of the rpm of the compressor and the adjustment of the opening degree of the sub-expansion valve are completed, the controller is configured to determine whether a current temperature of the automatic driving controller is higher than a target temperature.

8. The method according to claim 4, wherein When the controller operates the pump, the coolant supplied from the reservoir tank is supplied to the automatic driving controller in a state of being cooled by heat exchange with the refrigerant in the cooler.

9. The method according to claim 1, wherein The controller includes: processor; and A non-volatile storage medium having recorded thereon a program for executing the method according to claim 1, wherein the program is executed by a processor. 10 . A non-volatile computer-readable medium having recorded thereon a program for executing the method according to claim 1 .

11. A cooling device comprising: Autopilot controller; A cooling system for an autopilot controller, configured to regulate the temperature of the autopilot controller, wherein the cooling system comprises: a cooler, a reservoir, a pump, and a secondary expansion valve; the cooler is connected to an air conditioning system via a refrigerant connecting line, the air conditioning system having a compressor, a condenser, an expansion valve, and an evaporator interconnected by the refrigerant line; the reservoir stores coolant and is connected to the cooler via the coolant line; the pump is mounted on the coolant line between the reservoir and the cooler; the secondary expansion valve is mounted on the refrigerant connecting line to selectively expand refrigerant supplied to the refrigerant connecting line; wherein the autopilot controller is connected between the pump and the cooler via the coolant line; a temperature sensor that detects the temperature of the autonomous driving controller; and A controller connected to the temperature sensor and configured to control the cooling system and perform the following operations: When it is determined that the vehicle is moving, the temperature of the automatic driving controller is detected by a temperature sensor; Determine whether the current temperature of the autopilot controller is lower than the target temperature; When it is determined that the current temperature of the automatic driving controller is higher than the target temperature, determining whether the air conditioning system is operating; When it is determined that the air conditioning system is not operating, the air conditioning system is operated and the opening of the auxiliary expansion valve is adjusted; After determining that the air conditioning system is completely operated and adjusting the opening of the auxiliary expansion valve, the pump is operated; After the pump is running, determining whether the current temperature of the autopilot controller is higher than the target temperature; When it is determined that the current temperature of the automatic driving controller is higher than the target temperature, the revolutions per minute of the compressor are adjusted and the opening degree of the secondary expansion valve is adjusted.

12. The cooling device according to claim 11, wherein The controller is configured to terminate control of the cooling system when it is determined that the current temperature of the automatic driving controller is lower than the target temperature.

13. The cooling device according to claim 11, wherein: The controller is configured as follows: When determining whether the air conditioning system is operating, the pump is operated when it is determined that the air conditioning system is operating; After the pump is running, determining whether the current temperature of the autopilot controller is higher than the target temperature; When it is determined that the current temperature of the automatic driving controller is lower than the target temperature, control of the cooling system is terminated.

14. The cooling device according to claim 11, wherein After determining that the adjustment of the rpm of the compressor and the adjustment of the opening degree of the sub-expansion valve are completed, the controller is configured to determine whether a current temperature of the automatic driving controller is higher than a target temperature.

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