Devices and methods for controlling the drivetrain of autonomous vehicles

Abstract

This invention relates to an apparatus and method for controlling the transmission system of an autonomous vehicle. The apparatus includes an autonomous driving controller and a transmission controller. The autonomous driving controller controls the vehicle's autonomous driving, and the transmission controller determines whether the vehicle meets pulse-and-glide (P&G) driving conditions during autonomous driving. When the vehicle meets the P&G driving conditions, the transmission controller, in conjunction with the autonomous driving controller, alternately performs pulse driving and coasting. During coasting, the transmission controller keeps the transmission in neutral.

Description

[0001] Cross-reference to related applications

[0002] This application claims priority to Korean Patent Application No. 10-2020-0153116, filed on November 16, 2020, with the Korean Intellectual Property Office, the entire contents of which are incorporated herein by reference. Technical Field

[0003] This invention relates to apparatus and methods for controlling the drivetrain of autonomous vehicles. Background Technology

[0004] In the case of internal combustion engines, there exists a condition for maximum fuel efficiency within a certain driving range (engine torque versus engine speed). The engine achieves its highest energy efficiency when operating within this range. When engine torque and engine speed are determined, vehicle speed is determined based on driving resistance. Therefore, even if the engine's optimal efficiency point exists, it's difficult to reach the condition for maximum fuel efficiency when the driver doesn't want to drive at a given speed. Therefore, fuel consumption can be reduced through pulse and glide (P&G) driving techniques: accelerating the vehicle to the upper limit of the target speed range at the engine's optimal efficiency point, decelerating the vehicle, and then accelerating it back to the upper limit of the target speed range when the vehicle reaches the lower limit of the target speed range. When the transmission shifts to neutral under the vehicle's inertial deceleration condition, the inertial glide distance increases. Therefore, for the same driving distance, the frequency of re-acceleration can be reduced, thus further reducing fuel consumption. However, when the vehicle accelerates again while in neutral, the clutch engages, producing a feeling of acceleration. Therefore, an acceleration response delay of approximately 0.3 to 0.4 seconds is unavoidable. Summary of the Invention

[0005] This invention aims to solve the aforementioned problems in the prior art, while retaining the advantages achieved by the prior art.

[0006] One aspect of the present invention provides a control device and method for the transmission system of an autonomous vehicle, which is used to improve fuel economy through coordinated control of the engine and clutch during autonomous driving.

[0007] The technical problems to be solved by this invention are not limited to those mentioned above. Those skilled in the art should clearly understand from the following description any other technical problems not mentioned herein.

[0008] According to one aspect of the present invention, an apparatus for controlling a transmission system of an autonomous vehicle includes an autonomous driving controller and a transmission controller. The autonomous driving controller controls the autonomous driving of the vehicle, and the transmission controller determines whether the vehicle meets pulse coasting (P&G) driving conditions during autonomous driving. When the vehicle meets the P&G driving conditions, the transmission controller, in conjunction with the autonomous driving controller, alternately performs pulse driving and coasting. During coasting, the transmission controller keeps the transmission in neutral.

[0009] The transmission controller can receive information about the road ahead from the navigation system and the speed of the vehicle ahead from the front radar. Based on this information, the transmission controller can determine whether the vehicle meets the conditions for pulse coasting driving.

[0010] The transmission controller can take into account the vehicle's current speed and whether P&G driving is prohibited by the autopilot controller to determine whether the vehicle meets the P&G driving conditions.

[0011] The transmission controller can receive the target driving speed from the automatic driving controller and determine the pulse coasting driving speed range based on the target driving speed.

[0012] The transmission controller can engage the clutch and then request the engine controller to output engine torque. The automatic driving controller can perform pulse driving through acceleration control.

[0013] When the vehicle speed reaches the maximum speed within the pulse coasting speed range during pulse driving, the transmission controller can perform inertial coasting by requesting the engine controller to stop the output of engine torque and disengage the clutch.

[0014] When the vehicle speed falls from the minimum speed of the pulse coasting driving speed range into the predetermined range during inertial coasting, the transmission controller can perform pulse driving again.

[0015] The transmission controller can prevent the transmission from being in neutral during pulse driving.

[0016] The transmission controller can request the autopilot controller to prohibit acceleration during coasting. The transmission controller can also request the engine controller to prohibit acceleration during coasting.

[0017] According to another aspect of the present invention, a method for controlling a transmission system of an autonomous vehicle includes: determining whether the vehicle meets P&G driving conditions during autonomous driving; performing pulse driving when the vehicle meets P&G driving conditions; performing coasting in neutral using the transmission when the vehicle meets conditions for ending pulse driving; and returning to the step of performing pulse driving when the vehicle meets conditions for ending coasting.

[0018] The steps for determining whether a vehicle meets the P&G driving conditions may include: receiving information about the road ahead from a navigation device; receiving the speed of the vehicle ahead from a front radar; and determining whether the vehicle meets the P&G driving conditions based on the information about the road ahead and the speed of the vehicle ahead.

[0019] The steps to determine whether a vehicle meets the P&G driving conditions may further include: considering the vehicle's current speed and whether P&G driving is prohibited, to determine whether the vehicle meets the P&G driving conditions.

[0020] The steps for performing pulse driving may include: receiving a target driving speed from the autopilot controller, and determining the P&G driving speed range based on the target driving speed.

[0021] The steps of performing pulse driving may further include: engaging the clutch, requesting the engine controller to output engine torque, and causing the automatic driving controller to perform acceleration driving control. The steps of performing pulse driving may further include determining whether the vehicle speed has reached the maximum speed within the P&G driving speed range.

[0022] The steps for performing coasting may include: requesting the engine controller to stop the output of engine torque when the vehicle speed reaches its maximum speed; performing coasting by disengaging the clutch after the output of engine torque has stopped; and determining whether the vehicle speed has fallen into a predetermined range from the minimum speed within the P&G driving speed range.

[0023] The steps to return to the pulse driving procedure may include: engaging the clutch when the vehicle speed falls from the minimum speed into a predetermined range, and requesting the engine controller to output engine torque after the clutch is engaged.

[0024] The method may further include the step of preventing the transmission from being in neutral when performing pulse driving.

[0025] The method may further include the steps of requesting the autopilot controller to prohibit acceleration during coasting and requesting the engine controller to prohibit acceleration during coasting. Attached Figure Description

[0026] The above and other objects, features, and advantages of the present invention will become more apparent from the following detailed description taken in conjunction with the accompanying drawings:

[0027] Figure 1 This is a block diagram illustrating a device for controlling a drivetrain system of an autonomous vehicle according to an embodiment of the present invention;

[0028] Figure 2 This is a schematic diagram illustrating the transmission system control process according to an embodiment of the present invention;

[0029] Figure 3 This is a state diagram illustrating the transmission system control process according to an embodiment of the present invention;

[0030] Figure 4 This is a flowchart illustrating a method for controlling a drivetrain system of an autonomous vehicle according to an embodiment of the present invention;

[0031] Figure 5A This is a schematic diagram illustrating the P&G driving effect of an autonomous vehicle according to existing technology; and

[0032] Figure 5B This is a schematic diagram illustrating the P&G driving effect of an autonomous vehicle according to an embodiment of the present invention. Detailed Implementation

[0033] In the following, some embodiments of the invention are described in detail with reference to the accompanying drawings. When adding reference numerals to components in each figure, it should be noted that the same reference numerals designate components even when the same or equivalent components are shown in other figures. Furthermore, in describing embodiments of the invention, detailed descriptions of well-known features or functions have been omitted so as not to unnecessarily obscure the spirit of the invention.

[0034] In describing components according to embodiments of the present invention, terms such as first, second, "A", "B", (a), (b), etc., may be used. These terms are used only to distinguish one component from another, and they do not limit the nature, order, or sequence of the components. When components, devices, elements, etc., of the present invention are described as having a purpose or performing an operation, function, etc., the components, devices, or elements shall be considered as "configured" to satisfy that purpose or perform that operation or function. Unless otherwise defined, all terms used herein (including technical or scientific terms) shall have the same meaning as commonly understood by one of ordinary skill in the art to which this invention pertains. These terms as defined in commonly used dictionaries shall be interpreted as having the same meaning as in the context of the relevant technical field. These terms shall not be interpreted as having an ideal or overly formal meaning unless expressly defined in this application.

[0035] This specification discloses a transmission system control technology that improves fuel economy by applying neutral coasting to Parking and Gear (P&G). Parking and Gear (P&G) is a driving method that involves repeatedly pressing (pulsing) and releasing (coasting) the accelerator pedal to maintain a predetermined speed range. Neutral coasting is a driving method that improves fuel economy by automatically shifting the transmission to neutral during coasting, thereby increasing the coasting distance based on actual road driving. When the pumping load (engine braking effect) of the engine is removed during neutral driving, the vehicle can coast further, thus improving fuel economy.

[0036] Figure 1 This is a block diagram illustrating a device for controlling a drivetrain system of an autonomous vehicle according to an embodiment of the present invention.

[0037] refer to Figure 1 The device 100 for controlling the drivetrain of an autonomous vehicle includes a navigation unit 110, a front radar 120, an autonomous driving controller 130, an engine controller 140, and a transmission controller 150, which are connected using in-vehicle communication technology. Here, Controller Area Network (CAN), System Transmission to Media (MOST) network, Local Interconnect Network (LIN), Ethernet, and / or Flexray can be used as vehicle communication technologies.

[0038] The navigation device 110, front radar 120, autopilot controller 130, engine controller 140, and transmission controller 150 may each include a processor and a memory. The processor can be implemented using at least one of an application-specific integrated circuit (ASIC), a digital signal processor (DSP), a programmable logic device (PLD), a field-programmable gate array (FPGA), a central processing unit (CPU), a microcontroller, or a microprocessor. The memory is a non-volatile storage medium that stores instructions executed by the processor. The memory can be implemented using flash memory, hard disk, solid-state drive (SSD), embedded multimedia card (eMMC), universal flash memory (UFS), random access memory (RAM), static random access memory (SRAM), read-only memory (ROM), programmable read-only memory (PROM), electrically erasable and programmable ROM (EEPROM), erasable and programmable ROM (EPROM), and / or registers.

[0039] When a destination is set, navigation device 110 can search for driving routes to the destination and can perform route guidance. Navigation device 110 can search for the optimal route by reflecting real-time traffic information while searching for driving routes. Navigation device 110 may include a memory (not shown), a Global Positioning System (GPS) receiver, a communication module, and a processor. The memory can store map data. The GPS receiver can determine the vehicle's position. The communication module can receive traffic information from an external source. The processor can search for driving routes and can perform route guidance based on the found driving routes. Navigation device 110 can obtain information about the road ahead on the driving route and can send the road information to transmission controller 150. The road information may include information such as the slope and curvature of the road ahead.

[0040] The front radar 120 can measure the distance between the vehicle and surrounding objects, as well as the direction and height of the surrounding objects, by emitting electromagnetic waves and receiving electromagnetic waves reflected from surrounding objects. Multiple front radars 120 can be installed at different positions on the front of the vehicle. The front radar 120 can measure the speed of the vehicle in front and can send the measured speed to the transmission controller 150.

[0041] The autonomous driving controller 130 can utilize various sensors installed in the vehicle to identify the driving environment and / or vehicle state, and can control vehicle behavior (e.g., acceleration, deceleration, steering, and / or braking) based on the identified driving environment and / or vehicle state. The autonomous driving controller 130 can share the vehicle's target speed with the transmission controller 150. The autonomous driving controller 130 can instruct the transmission controller 150 to disable P&G driving control. Furthermore, the autonomous driving controller 130 can request the engine controller 140 to engage / disengage engine torque.

[0042] Engine controller 140 is an electronic control device that controls the vehicle's engine. Engine controller 140 controls the vehicle's acceleration. Engine controller 140 can be implemented as an engine management system (EMS). Engine controller 140 can control the engine's driving torque (engine torque) based on accelerator pedal position information output from the accelerator pedal position sensor. Furthermore, engine controller 140 can control engine power to follow a target driving speed provided by automatic driving controller 130. Engine controller 140 can output (engage) or deactivate (shut down) engine torque according to instructions from automatic driving controller 130 or transmission controller 150.

[0043] The transmission controller 150 controls the vehicle's transmission (gear shifting). The transmission controller 150 controls gear shifting based on gear position and gear range. The transmission controller 150 can control P&G driving using neutral coasting. The transmission controller 150 may include a P&G driving condition determination device 151, a P&G controller 152, and a clutch controller 153. The P&G driving condition determination device 151, P&G controller 152, and clutch controller 153 can be implemented using software modules. The software modules can be stored in memory and executed by a processor. The transmission controller 150 can share with the automatic driving controller 130 whether to perform P&G driving control.

[0044] The P&G driving condition determination device 151 can receive road information from the navigation device 110 and the speed of the vehicle ahead from the front radar 120. The P&G driving condition determination device 151 can determine whether the vehicle meets the P&G driving conditions based on the road information and / or the speed of the vehicle ahead. In other words, the P&G driving condition determination device 151 can determine whether P&G driving can be performed based on information about the situation ahead (e.g., road information and / or the speed of the vehicle ahead). Furthermore, the P&G driving condition determination device 151 can consider vehicle speed (vehicle speed) information and whether the autopilot controller 130 prohibits P&G driving to determine whether P&G driving can be performed. When the vehicle meets all the conditions of the situation ahead, the vehicle speed, and the P&G driving prohibition condition, the P&G driving condition determination device 151 can determine that P&G driving can be performed. For example, if there are no curves within 500 meters ahead, the gradient is within ±5%, the speed of the vehicle ahead within 150 meters has not decreased by 5 kph or more, the vehicle's current speed is 60 kph or higher, and no P&G driving prohibition command has been received from the autopilot controller 130, the P&G driving condition determination device 151 can determine that P&G driving can be performed. If the vehicle does not meet at least one of the following conditions: the forward condition, the vehicle speed condition, and the P&G driving prohibition condition, the P&G driving condition determination device 151 can determine that P&G driving cannot be performed.

[0045] The P&G controller 152 can control the execution or cessation of P&G driving based on a determination of whether P&G driving is feasible. When the P&G driving condition determining device 151 determines that P&G driving is feasible, the P&G controller 152 can initiate P&G driving. The P&G controller 152 can receive a target driving speed from the autopilot controller 130. The P&G controller 152 can determine the P&G driving speed range based on the target driving speed.

[0046] When the P&G driving speed range is determined, the P&G controller 152 can control pulse driving. The P&G controller 152 can send a clutch engagement signal to the clutch controller 153 and can generate a clutch engagement flag when clutch engagement is complete. The P&G controller 152 can instruct the engine controller 140 to engage engine torque. The engine controller 140 can output engine torque according to the instructions of the P&G controller 152. The P&G controller 152 can accelerate the vehicle by controlling the engine's output torque after clutch engagement.

[0047] The P&G controller 152 can determine whether the vehicle's current speed (vehicle speed) has reached the maximum speed within the P&G driving speed range. In this case, the P&G controller 152 can use wheel speed sensors to detect the vehicle speed.

[0048] When the vehicle reaches its maximum speed, the P&G controller 152 can stop accelerating the vehicle and control coasting in neutral (neutral coasting). The P&G controller 152 can send a command to the engine controller 140 to shut off engine torque and prohibit acceleration. The engine controller 140 can stop (cut off) the engine torque output according to the command from the P&G controller 152. The P&G controller 152 can send a command to the autopilot controller 130 to prohibit acceleration. The autopilot controller 130 can prohibit the vehicle from accelerating during neutral coasting. Furthermore, the P&G controller 152 can send a clutch disengagement signal to the clutch controller 153. The clutch controller 153 can disengage the clutch according to the command from the P&G controller 152.

[0049] P&G controller 152 can determine whether the vehicle speed has reached the minimum speed during coasting in neutral. P&G controller 152 can instruct clutch controller 153 to engage the clutch before the vehicle speed reaches the minimum speed. For example, when the vehicle speed falls from the minimum speed into a predetermined range, P&G controller 152 can request clutch controller 153 to engage the clutch. When the vehicle speed reaches the minimum speed, P&G controller 152 can allow the vehicle to accelerate by switching from neutral coasting mode to pulse driving mode.

[0050] Clutch controller 153 can engage or disengage the clutch according to instructions from P&G controller 152. Clutch controller 153 can share clutch status with P&G controller 152.

[0051] Figure 2 This is a schematic diagram illustrating the transmission system control process according to an embodiment of the present invention.

[0052] refer to Figure 2Following the command to engage the clutch, the transmission controller 150 can generate (output) a clutch engagement flag upon clutch engagement. When clutch engagement is detected via the clutch engagement flag, the automatic driving controller 130 can output an acceleration start flag. The automatic driving controller 130 can request engine torque from the engine controller to control acceleration. When the vehicle speed reaches its maximum speed, the automatic driving controller 130 can request zero engine torque from the engine controller 140. Furthermore, the automatic driving controller 130 can output a deceleration start flag. The transmission controller 150 can prevent the transmission from being in neutral from the moment it receives the acceleration start flag to the moment it receives the deceleration start flag.

[0053] The transmission controller 150 can output an acceleration prohibition sign when it receives a deceleration start sign. The transmission controller 150 can disengage the clutch, allowing the vehicle to coast in neutral. The transmission controller 150 can engage the clutch before the vehicle speed reaches the minimum speed. The transmission controller 150 can output a clutch engagement sign after the vehicle speed reaches the minimum speed. The automatic driving controller 130 can resume acceleration control when it receives the clutch engagement sign. The automatic driving controller 130 can prevent the vehicle from accelerating from the moment it receives the acceleration prohibition sign until the moment it receives the clutch engagement sign.

[0054] Figure 3 This is a state diagram illustrating the transmission system control process according to an embodiment of the present invention.

[0055] refer to Figure 3 The vehicle can accelerate until it reaches its maximum speed, where engine torque is engaged and the clutch is disengaged. When the maximum speed is reached, the autopilot controller 130 can request zero engine torque from the engine controller 140. The engine controller 140 can respond to the request from the autopilot controller 130 by switching the engine torque from engaged to disengaged. The autopilot controller 130 can generate a deceleration start flag after requesting zero engine torque. Upon receiving the deceleration start flag, the transmission controller 150 can output an acceleration prohibition flag and disengage the clutch. The vehicle can then perform neutral coasting (neutral coasting) until the vehicle speed reaches the minimum speed in the clutch disengaged state. The transmission controller 150 can instruct clutch engagement before the minimum speed is reached. When the minimum speed is reached, the transmission controller 150 can request the engine controller 140 to output engine torque and can send a clutch engagement flag. Upon receiving the clutch engagement flag, the autopilot controller 130 can send an engine torque command to the engine controller 140. The engine controller 140 can adjust the engine's output torque according to the command from the autopilot controller 130.

[0056] Figure 4 This is a flowchart illustrating a method for controlling a drivetrain of an autonomous vehicle according to an embodiment of the present invention.

[0057] The transmission controller 150 can determine whether the vehicle meets the P&G driving conditions during autonomous driving (S110). The transmission controller 150 can determine whether the vehicle meets the P&G driving conditions based on information about the road ahead (e.g., curvature and / or slope) provided by the navigation device 110 and the front radar 120 and information about the speed of the vehicle ahead. In addition to the conditions ahead, the transmission controller 150 can consider vehicle speed conditions and P&G driving prohibition conditions to determine whether P&G driving can be performed.

[0058] The transmission controller 150 can determine the maximum and minimum speeds for P&G driving based on the target driving speed (S120). When the vehicle meets the P&G driving conditions, the transmission controller 150 can determine that P&G driving can be performed. The P&G controller 152 can receive the target driving speed from the automatic driving controller 130. The P&G controller 152 can determine the P&G driving speed range based on the target driving speed.

[0059] The transmission controller 150 can request engine torque to be engaged (S130). When the P&G driving speed range is determined, the transmission controller 150 can control pulse driving. The transmission controller 150 can engage the clutch and can request the engine controller 140 to engage engine torque. The engine controller 140 can control the output of engine torque in response to the request from the transmission controller 150. The transmission controller 150 can control the clutch and engine to enable the vehicle to perform pulse driving (acceleration).

[0060] The transmission controller 150 can determine whether the vehicle speed has reached the maximum speed (S140). The transmission controller 150 can identify the vehicle speed through wheel speed sensors and / or the automatic driving controller 130.

[0061] When the vehicle speed reaches its maximum speed, the transmission controller 150 can request zero engine torque and acceleration prohibition from the engine controller 140 (S150). When the vehicle speed reaches its maximum speed, the transmission controller 150 can stop pulse driving and control coasting in neutral (neutral coasting). The transmission controller 150 can send a request to the engine controller 140 to shut off engine torque and prohibit acceleration. The engine controller 140 can respond to the request from the transmission controller 150 by stopping (cutting off) the output of engine torque. Furthermore, the transmission controller 150 can request acceleration prohibition from the automatic driving controller 130 (acceleration control).

[0062] The transmission controller 150 can disengage the clutch (S160). The transmission controller 150 can enable the vehicle to perform neutral coasting (neutral inertial coasting) by disengaging the clutch.

[0063] The transmission controller 150 can determine whether the vehicle speed is just before reaching the minimum speed (S170). The vehicle can perform neutral coasting until the vehicle speed falls from the minimum speed into the predetermined range.

[0064] When the vehicle speed reaches the minimum speed, the transmission controller 150 can engage the clutch (S180).

[0065] When the clutch engagement is complete, the transmission controller 150 can accelerate the vehicle (S190). When the vehicle speed reaches the minimum speed, the transmission controller 150 can request engine torque control from the engine controller 140. The engine controller 140 can control the output of engine torque according to the instructions of the automatic driving controller 130 to accelerate the vehicle.

[0066] Figure 5A This is a schematic diagram illustrating the P&G driving effect of an autonomous vehicle according to existing technology. Figure 5B This is a schematic diagram illustrating the P&G driving effect of an autonomous vehicle according to an embodiment of the present invention.

[0067] refer to Figure 5A and Figure 5B During P&G driving, a pulse range can be used to accelerate the vehicle until it reaches the maximum speed within the P&G driving speed range. In related technologies, this maximum speed can be achieved by engaging the clutch and controlling the engine's torque output.

[0068] Conversely, in the coasting zone, the clutch disengages, and coasting is performed using a neutral inertia coasting method. Therefore, the vehicle can decelerate more slowly than in related technologies. As the vehicle decelerates less, the distance it can travel in the coasting zone increases, leading to improved fuel economy.

[0069] According to the present invention, during autonomous driving, pulse and coasting driving is performed through coordinated control of the engine and clutch. Therefore, fuel economy can be improved even if the driver is unfamiliar with pulse and coasting driving operations.

[0070] Furthermore, according to the present invention, in the coordinated control of the engine and clutch, the inconvenience caused by the delay in acceleration / deceleration response can be solved by the early engagement and disengagement of the clutch.

[0071] In the foregoing description of the invention with reference to several embodiments and accompanying drawings, the invention is not limited thereto. Various modifications and alterations can be made by those skilled in the art without departing from the spirit and scope of the invention as claimed in the appended claims. Therefore, embodiments of the invention are provided to explain the spirit and scope of the invention, but are not limited to these embodiments, so that the spirit and scope of the invention are not limited by the embodiments. The scope of the invention should be interpreted based on the appended claims, and all technical concepts within the scope of the claims should be included within the scope of the invention.

Claims

1. An apparatus for controlling the transmission system of an autonomous vehicle, the apparatus comprising: An autonomous driving controller configured to control the autonomous driving of a vehicle; as well as The transmission controller is configured to determine whether the vehicle meets the conditions for pulse coasting during autonomous driving, and when the vehicle meets the conditions for pulse coasting, to alternately perform pulse driving and inertial coasting in conjunction with the autonomous driving controller. The transmission controller is configured as follows: Keep the transmission in neutral during coasting; Engage the clutch before the vehicle reaches its minimum speed.

2. The apparatus for controlling the transmission system of an autonomous vehicle according to claim 1, wherein, The transmission controller receives information about the road ahead from the navigation system and the speed of the vehicle ahead from the front radar. Based on the information about the road ahead and the speed of the vehicle ahead, it determines whether the vehicle meets the conditions for pulse coasting driving.

3. The apparatus for controlling the transmission system of an autonomous vehicle according to claim 2, wherein, The transmission controller considers the vehicle's current speed and whether pulse coasting is prohibited to determine whether the vehicle meets the conditions for pulse coasting.

4. The apparatus for controlling the transmission system of an autonomous vehicle according to claim 1, wherein, The transmission controller receives the target driving speed from the automatic driving controller and determines the pulse coasting driving speed range based on the target driving speed.

5. The apparatus for controlling the transmission system of an autonomous vehicle according to claim 4, wherein, The transmission controller engages the clutch and then requests the engine controller to output engine torque, while the automatic driving controller performs pulse driving through acceleration control.

6. The apparatus for controlling the transmission system of an autonomous vehicle according to claim 5, wherein, When the vehicle speed reaches the maximum speed within the pulse coasting speed range during pulse driving, the transmission controller performs inertial coasting by requesting the engine controller to stop the output of engine torque and disengage the clutch.

7. The apparatus for controlling the transmission system of an autonomous vehicle according to claim 6, wherein, During coasting, when the vehicle speed falls into a predetermined range from the minimum speed of the pulse coasting driving speed range, the transmission controller performs pulse driving again.

8. The apparatus for controlling the transmission system of an autonomous vehicle according to claim 1, wherein, The transmission controller prevents the transmission from being in neutral during pulse driving.

9. The apparatus for controlling the transmission system of an autonomous vehicle according to claim 1, wherein, The transmission controller requests the autopilot controller to prohibit acceleration during coasting, and also requests the engine controller to prohibit acceleration during coasting.

10. A method for controlling a drivetrain system of an autonomous vehicle, the method comprising: The steps to determine whether a vehicle meets the conditions for pulse coasting during autonomous driving; When the vehicle meets the conditions for pulse coasting driving, execute the pulse driving steps; When the vehicle meets the conditions for ending pulse driving, the transmission is used to perform the inertial coasting step in neutral. When the vehicle meets the conditions to end inertial coasting, return to the step of performing pulse driving; The step of performing coasting includes engaging the clutch before the vehicle reaches its minimum speed.

11. The method according to claim 10, wherein, The steps to determine whether a vehicle meets the conditions for pulse coasting driving include: The steps to receive information about the road ahead from a navigation device; The steps for receiving the speed of the vehicle in front from the front radar; The steps to determine whether a vehicle meets the conditions for pulse coasting driving based on information about the road ahead and the speed of the vehicle in front.

12. The method according to claim 11, wherein, The steps to determine whether a vehicle meets the conditions for pulse coasting driving further include: The steps to determine whether a vehicle meets the conditions for pulse coasting are as follows, taking into account the vehicle's current speed and whether pulse coasting is prohibited.

13. The method according to claim 10, wherein, The steps for performing pulse driving include: The steps to receive the target driving speed from the automatic driving controller; The steps to determine the pulse coasting driving speed range based on the target driving speed.

14. The method according to claim 13, wherein, The steps for performing pulse driving further include: Engage the clutch, request the engine controller to output engine torque, and cause the automatic driving controller to execute the acceleration driving control steps. The steps to determine whether the vehicle speed has reached the maximum speed within the pulse coasting driving speed range.

15. The method according to claim 14, wherein, The steps to perform inertial gliding include: The step of requesting the engine controller to stop the output of engine torque when the vehicle speed reaches the maximum speed; After the engine torque output stops, the inertial coasting step is performed by disengaging the clutch; The step of determining whether the vehicle speed falls within the predetermined range from the minimum speed of the pulse coasting driving speed range.

16. The method according to claim 15, wherein, The steps to return to the pulse driving procedure include: The step of engaging the clutch when the vehicle speed falls from the minimum speed into the predetermined range; The step of requesting the engine controller to output engine torque after the clutch is engaged.

17. The method of claim 10, further comprising: The procedure of prohibiting the transmission from being in neutral when performing pulse driving.

18. The method of claim 10, further comprising: The steps to request the autopilot controller to prohibit acceleration during coasting and the steps to request the engine controller to prohibit acceleration during coasting.

Images