Method and system for operating an electric vehicle in off-road conditions

Abstract

An operating system for a vehicle having an electric vehicle (EV) drivetrain and a plurality of electrically powered accessories is described. A controller determines a target off-road path segment via a navigation system and characterizes the target vehicle, environmental conditions, and the target off-road path segment to determine an estimated electrical energy consumption for operating the vehicle on the target off-road path segment. The EV drivetrain and electrically powered accessories are controlled during operation of the vehicle on the off-road path segment based on the estimated electrical energy consumption of the target vehicle. This is done to minimize the likelihood of low SOC events for the DC power source for the path segment and to avoid low battery state at locations remote from a charging station.

Description

[0001] INTRODUCTION

[0002] Commercially available vehicles capable of off-road operation are introducing electric vehicle (EV) drivetrains. Vehicles with EV drivetrains can operate in off-road conditions where access to charging systems can be limited. Operating an EV on unpaved tracks presents new challenges in terms of electrical energy consumption and management. There can be fewer charging stations in off-road environments compared to urban or highway environments and there is a higher likelihood of not having mobile connectivity. Furthermore, road conditions can require drivetrain operating characteristics that consume a large amount of electrical energy, such as in terrain modes. There is a risk that the charge on the EV’s battery can reach a low battery state at a location away from a charging station and without communication capabilities.

[0003] There is a need for an EV control system that can learn off-road path characteristics based on sensor data from other vehicles that have driven on the same path to dynamically control off-road path navigation for efficient energy consumption. There is a need for an EV control system that can dynamically control the operation of an EV drivetrain and other on-board systems in the context of off-road road segments to achieve efficient energy consumption. There is a need for an EV control system that takes into account factors such as off-road driving style and environmental weather conditions. There is a need for a system that can propose on-line route changes along a path related to battery state of charge to manage energy to avoid a low battery state at a location away from a charging station. SUMMARY

[0004] The concepts described herein include a method and system for dynamically controlling a vehicle including an electric vehicle (EV) drivetrain operating on off-road path segments in a manner that achieves efficient energy consumption and dynamically controlling off-road path navigation to achieve efficient electrical energy consumption.

[0005] In one embodiment, this includes an operating system for a target vehicle including an electric vehicle (EV) drivetrain electrically coupled to a rechargeable DC power source and a plurality of electrically powered accessories, a navigation system including a global navigation satellite system (GNSS) sensor, and a controller. The controller includes a set of instructions in the form of an encoded data file stored in a non-transitory digital data storage medium. The set of instructions is executable to determine a target off-road path segment via the navigation system and to characterize the target vehicle, environmental conditions, and the target off-road path segment to determine an estimated electrical energy consumption of the target vehicle operating on the target off-road path segment. The EV drivetrain and the plurality of electrically powered accessories are controlled during operation of the target vehicle on the off-road path segment based on the estimated electrical energy consumption of the target vehicle. This is done to minimize the likelihood of low state of charge (SOC) events of the DC power source of the path segment and to avoid a low battery state at a location away from a charging station.

[0006] One aspect of the present disclosure includes a set of instructions executable to control power consumption of the vehicle to avoid low SOC events of the DC power source during operation of the target vehicle on the target off-road trail segment.

[0007] Another aspect of the present disclosure includes operating parameters of the EV drivetrain, the operating parameters being a transmission gear state, a locking differential state, and a 2WD / 4WD transfer case state. The set of instructions are executable to control power consumption associated with at least one of the transmission gear state, the locking differential state, and the 2WD / 4WD transfer case state during operation of the target vehicle on the off-road trail segment.

[0008] Another aspect of the present disclosure includes operating parameters of a plurality of electrically powered accessories, the operating parameters being control parameters for at least one of an electric power steering system, an HVAC system, and a stability control system. The set of instructions are executable to control the plurality of electrically powered accessories to control power consumption of at least one of the electric power steering system, the HVAC system, and the stability control system during operation of the target vehicle on the off-road trail segment.

[0009] Another aspect of the present disclosure includes a set of instructions executable to characterize the terrain, the topography, the surface conditions, the trail grade, and the accessibility of the target off-road trail segment.

[0010] Another aspect of the present disclosure includes a set of instructions executable to characterize the terrain, the topography, the surface conditions, the trail grade, and the accessibility of the target off-road trail segment based on information previously communicated from other vehicles that have traversed the trail segment.

[0011] Another aspect of the present disclosure includes a set of instructions executable to locate a communication site proximate to the target off-road trail segment.

[0012] Another aspect of the present disclosure includes a set of instructions executable to locate a recharging location proximate to the target off-road trail segment.

[0013] Another aspect of the present disclosure includes a set of instructions executable to determine current ambient temperature, precipitation, and other factors likely to affect wheel slip on the target off-road trail segment.

[0014] Another aspect of the present disclosure includes a set of instructions executable to characterize the vehicle operator and estimate the electrical energy consumption of the target vehicle operating on the target off-road trail segment, wherein the estimated electrical energy consumption is determined based on the operating parameters of the EV drivetrain and the plurality of electrically powered accessories, the environmental conditions, the characterization of the target off-road trail segment, and the characterization of the vehicle operator.

[0015] Another aspect of the present disclosure includes a set of instructions executable to determine vehicle mass, tire inflation pressure, and presence of a towed vehicle and other dynamic factors affecting power consumption.

[0016] Another aspect of the present disclosure includes a set of instructions executable to control the EV drivetrain and the plurality of electrically powered accessories based on the estimated electrical energy consumption of the target vehicle during operation of the target vehicle on the off-road path segment.

[0017] Another aspect of the present disclosure includes a set of instructions executable to suggest an alternative route based on the estimated electrical energy consumption for the target vehicle to avoid a low SOC event from occurring during operation of the vehicle.

[0018] Another aspect of the present disclosure includes a set of instructions executable to identify and suggest an intermediate route exit from the target off-road path segment to find a charging station based on the estimated electrical energy consumption of the target vehicle to avoid a low SOC event from occurring during operation of the vehicle on the target off-road path segment.

[0019] Another aspect of the present disclosure includes a set of instructions executable to suggest an alternative driving route based on the estimated electrical energy consumption for the target vehicle to avoid a low SOC event from occurring during operation of the vehicle on the target off-road path segment.

[0020] Another aspect of the present disclosure includes a method for controlling operation of a target vehicle, the target vehicle including an electric vehicle (EV) drivetrain and a plurality of electrically powered accessories electrically coupled to a rechargeable DC power source, and a navigation system including a GNSS sensor. The method includes determining, via the navigation system, a target off-road path segment, determining operating parameters of the EV drivetrain and the plurality of electrically powered accessories, characterizing environmental conditions of the target off-road path segment, and characterizing the target off-road path segment. Estimating electrical energy consumption for operation of the target vehicle on the target off-road path segment, wherein the estimated electrical energy consumption is determined based on the operating parameters of the EV drivetrain and the plurality of electrically powered accessories, the environmental conditions, and the target off-road path segment. Controlling the EV drivetrain and the plurality of electrically powered accessories during operation of the target vehicle on the target off-road path segment based on the estimated electrical energy consumption of the target vehicle.

[0021] The present invention also includes the following aspects:

[0022] Aspect 1. An operating system for a target vehicle, the operating system comprising:

[0023] an electric vehicle (EV) drivetrain and a plurality of electrically powered accessories electrically coupled to a rechargeable DC power source;

[0024] a navigation system including a global navigation satellite system (GNSS) sensor; and

[0025] a controller comprising a set of instructions stored in a non-transitory digital data storage medium as an encoded data file, the set of instructions executable to:

[0026] determine a target off-road path segment via the navigation system;

[0027] determine operating parameters of the EV drivetrain and the plurality of electrically powered accessories;

[0028] characterize environmental conditions of the target off-road path segment;

[0029] characterize the target off-road path segment;

[0030] estimate an electrical energy consumption of the target vehicle operating on the target off-road path segment, wherein the estimated electrical energy consumption is determined based on the operating parameters of the EV drivetrain and the plurality of electrically powered accessories, the environmental conditions, and the target off-road path segment; and

[0031] control the EV drivetrain and the plurality of electrically powered accessories during operation of the target vehicle on the target off-road path segment based on the estimated electrical energy consumption of the target vehicle.

[0032] Scheme 2. The operating system of Scheme 1, wherein the set of instructions executable to control the EV drivetrain includes the set of instructions executable to control electrical power consumption of the target vehicle to avoid low state of charge (SOC) events of the DC power source during operation of the target vehicle on the target off-road path segment.

[0033] Scheme 3. The operating system of Scheme 1, wherein the operating parameters of the EV drivetrain include transmission gear state, locker state, and 2WD / 4WD transfer case state; and wherein the set of instructions executable to control the EV drivetrain includes the set of instructions executable to control electrical power consumption associated with at least one of the transmission gear state, the locker state, and the 2WD / 4WD transfer case state during operation of the target vehicle on the target off-road path segment.

[0034] Scheme 4. The operating system of Scheme 1, wherein the operating parameters of the plurality of electrically powered accessories include control parameters for at least one of an electric power steering system, an HVAC system, and a stability control system; and wherein the set of instructions is executable to control electrical power consumption of at least one of the electric power steering system, the HVAC system, and the stability control system during operation of the target vehicle on the target off-road path segment.

[0035] Scheme 5. The operating system of Scheme 1, wherein the set of instructions executable to characterize the target off-road path segment includes a set of instructions executable to characterize the topography, terrain, surface conditions, path grade, and accessibility of the target off-road path segment.

[0036] Scheme 6. The operating system of Scheme 5, wherein the set of instructions executable to characterize the target off-road path segment further includes a set of instructions executable to characterize the topography, terrain, surface conditions, path grade, and accessibility of the target off-road path segment based on information previously communicated from other vehicles that have traversed the target off-road path segment.

[0037] Scheme 7. The operating system of Scheme 1, wherein the set of instructions executable to characterize the target off-road path segment includes the set of instructions executable to locate a communication site proximate to the target off-road path segment.

[0038] Scheme 8. The operating system of Scheme 1, wherein the set of instructions executable to characterize the target off-road path segment includes the set of instructions executable to locate a recharging location proximate to the target off-road path segment.

[0039] Scheme 9. The operating system of Scheme 1, wherein the set of instructions executable to characterize the environmental conditions includes the set of instructions executable to determine a current ambient temperature and precipitation associated with the target off-road path segment.

[0040] Scheme 10. The operating system of Scheme 1, further comprising the set of instructions executable to characterize a vehicle operator; and

[0041] estimating an electrical energy consumption of the target vehicle operating on the target off-road path segment, wherein the estimated electrical energy consumption is determined based on the characterization of the EV drivetrain and the plurality of electrically powered accessories, the environmental conditions, the target off-road path segment, and the vehicle operator.

[0042] Scheme 11. The operating system of Scheme 1, wherein the set of instructions executable to characterize the target vehicle includes a set of instructions executable to determine a vehicle mass, tire inflation pressure, and presence of a towed vehicle.

[0043] Scheme 12. The operating system of Scheme 1, wherein the set of instructions is executable to control the EV drivetrain and the plurality of electrically powered accessories based on the estimated electrical energy consumption of the target vehicle on the target off-road path segment during operation of the target vehicle on the target off-road path segment.

[0044] Scheme 13. The operating system of Scheme 1, further comprising the set of instructions executable to suggest an alternate route based on the estimated electrical energy consumption of the target vehicle to avoid a low SOC event of the DC power source occurring during operation of the target vehicle.

[0045] Scheme 14. The operating system of Scheme 1, further comprising the set of instructions executable to identify and suggest an intermediate route exit from the target off-road path segment based on the estimated electrical energy consumption of the target vehicle to find a charging station to avoid a low SOC event of the DC power source occurring during operation of the target vehicle on the target off-road path segment.

[0046] Scheme 15. The operating system of Scheme 1, further comprising the set of instructions executable to suggest an alternate driving route based on the estimated electrical energy consumption of the target vehicle to avoid a low SOC event of the DC power source occurring during operation of the target vehicle on the target off-road path segment.

[0047] Scheme 16. A method for controlling operation of a target vehicle, the target vehicle comprising an electric vehicle (EV) drivetrain electrically coupled to a rechargeable DC power source and a plurality of electrically powered accessories and a navigation system comprising a global navigation satellite system (GNSS) sensor, the method comprising:

[0048] determining a target off-road path segment via the navigation system;

[0049] determining operating parameters of the EV drivetrain and the plurality of electrically powered accessories;

[0050] characterizing environmental conditions of the target off-road path segment;

[0051] characterizing the target off-road path segment;

[0052] estimating electrical energy consumption of the target vehicle operating on the target off-road path segment, wherein the estimated electrical energy consumption is determined based on the operating parameters of the EV drivetrain and the plurality of electrically powered accessories, the environmental conditions, and the target off-road path segment; and

[0053] controlling the EV drivetrain and the plurality of electrically powered accessories during operation of the target vehicle on the target off-road path segment based on the estimated electrical energy consumption of the target vehicle.

[0054] Scheme 17. The method of Scheme 16, wherein controlling the EV drivetrain comprises controlling electrical power consumption of the target vehicle to avoid a low state of charge (SOC) event of the DC power source occurring during operation of the target vehicle on the target off-road path segment.

[0055] Scheme 18. The method according to Scheme 16, wherein the operating parameters of the EV drivetrain include transmission gear state, locker state, and 2WD / 4WD transfer case state; and wherein controlling the EV drivetrain includes controlling electrical power consumption associated with at least one of the transmission gear state, the locker state, and the 2WD / 4WD transfer case state during operation of the target vehicle on the target off-road path segment.

[0056] Scheme 19. The method according to Scheme 16, wherein the operating parameters of the plurality of electrically powered accessories include control parameters for at least one of an electric power steering system, an HVAC system, and a stability control system; and controlling electrical power consumption of at least one of the electric power steering system, the HVAC system, and the stability control system during operation of the target vehicle on the target off-road path segment.

[0057] Scheme 20. The method according to Scheme 16, wherein characterizing the target off-road path segment includes characterizing the target off-road path segment for terrain, topography, surface conditions, path slope, and accessibility.

[0058] The foregoing summary is not intended to represent every possible embodiment or aspect of the present disclosure. Instead, the foregoing summary is intended to exemplify some of the novel aspects and features disclosed herein. The foregoing features and advantages, as well as others, will be apparent from the following detailed description, taken in conjunction with the accompanying drawings and claims, wherein: BRIEF DESCRIPTION OF DRAWINGS

[0059] One or more embodiments will now be described, by way of example only, with reference to the accompanying drawings in which:

[0060] Figure 1 A target vehicle having an electrified (EV) drivetrain according to the present disclosure is schematically illustrated.

[0061] Figure 2 A process for operating a target vehicle on a target off-road path according to embodiments of the present disclosure is schematically illustrated.

[0062] Figure 3 An off-road path characterization process according to the present disclosure that can be used to characterize an off-road path using information from a terrain map and vehicle-specific information collected by one or more vehicles that have traversed the off-road path is schematically illustrated.

[0063] Figure 4 A map illustrating an example target off-road path including a starting point, a plurality of path segments, an alternative path segment, and an end point according to the present disclosure is graphically illustrated.

[0064] Figure 5 A process for dynamically controlling operation of a vehicle including an EV drivetrain and a plurality of electrically powered accessories as the vehicle traverses a plurality of path segments of a target off-road path is illustratively shown in accordance with the present disclosure.

[0065] Figure 6 A process for evaluating and characterizing operator behavior in the context of energy consumption in an off-road environment is illustratively shown in accordance with the present disclosure.

[0066] The drawings are not necessarily to scale and can present a somewhat simplified representation of various preferred features of the present disclosure as disclosed herein including, for example, specific dimensions, orientations, locations and shapes. Details associated with these features will depend, in part, on the particular intended applications and use environments. DETAILED DESCRIPTION

[0067] As described and illustrated herein, components of the disclosed embodiments can be arranged and designed in a wide variety of different configurations. Therefore, the following detailed description is not intended to limit the scope of the present disclosure as claimed but is merely representative of possible embodiments. Additionally, while numerous specific details are set forth in the following description to provide a thorough understanding of the embodiments disclosed herein, some embodiments can be practiced without some or all of these details. Moreover, for the purpose of clarity, certain technical material is not described in detail in order to avoid obscuring the present disclosure. Directional terms, such as top, bottom, left, right, upper, over, up, down, below, under, rear and front, can be used with respect to the figures to provide context for certain operations. Such and similar directional terms should not be interpreted strictly in terms of the specific figures. In addition, the disclosure as shown and described herein can be practiced in the absence of elements not specifically disclosed herein.

[0068] As used herein, the term "system" can refer to one or a combination of mechanical and electrical actuators, sensors, controllers, application specific integrated circuits (ASICs), combinational logic circuits, software, firmware, and / or other components arranged to provide the described functionality. Exemplary embodiments can be described herein in terms of functional and / or logical block components and various processing steps. It should be appreciated that such block components can be realized by any number of mechanical and electrical hardware, software and / or firmware components, combinations thereof, or subsets thereof, configured to perform the specified functions. For example, an embodiment can employ various combinations of mechanical and electrical components, integrated circuit components, memory elements, digital signal processing elements, logic elements, look-up tables, or the like, which can be located in one or more microprocessors or other control devices. Further, those skilled in the art will appreciate that exemplary embodiments can be practiced with one or more mechanical and / or electrical systems, and that the vehicle systems described herein are merely exemplary embodiments of which can be practiced.

[0069] The use of ordinal numbers such as first, second, and third does not necessarily imply an ordering sense, but can merely distinguish between multiple instances of an action or structure.

[0070] Referring to the drawings, wherein like numerals refer to like components throughout the several figures, Figure 1 An embodiment of a vehicle 100 is schematically illustrated that includes an electrified vehicle (EV) driveline 15 arranged to deliver propulsion torque to one or more wheels that employ an electrified drive unit (hereinafter referred to as "drive unit") that employs an electric machine as a prime mover.

[0071] The EV driveline 15 of the vehicle 100 is capable of two-wheel drive (2WD) operation, four-wheel drive (4WD) operation, all-wheel drive (AWD) operation, and / or another driveline operation within the concepts described herein.

[0072] The vehicle 100 can include, but is not limited to, a mobile platform in the form of a commercial vehicle, an industrial vehicle, an agricultural vehicle, a passenger vehicle, an aircraft, a watercraft, a train, an all-terrain vehicle, a personal mobility device, a robot, or the like to achieve the purposes of the present disclosure.

[0073] In one embodiment, the EV driveline 15 includes a first drive unit 20, a second drive unit 30, and a third drive unit 40. The controller 14 is arranged to control operation of the EV driveline 15. Operation of this embodiment of the vehicle 100 that includes the EV driveline 15 is controlled as described herein.

[0074] The illustrated drive wheels are non-limiting examples and include a first front axle 11 having steerable front wheels 17 and a second rear axle 13 having fixed position rear wheels 18.

[0075] The front wheels 17 are mechanically coupled to a first drive unit 20 that includes a first electric machine 22 coupled to the front wheels 17 via a first drive train 25, which in one embodiment includes a transaxle 26 and half shafts 28. A first inverter 24 is coupled to the first electric machine 22 and is electrically connected to the rechargeable high voltage direct current power source (battery) 10 via the high voltage bus 12. The controller 14 controls the operation of the first drive unit 20 by controlling the first inverter 24. In one embodiment, the front wheels 17 are coupled to an electric power assisted steering system 29.

[0076] In one embodiment, the rear wheels 18 are mechanically coupled to a second drive unit 30 and a third drive unit 40. The second drive unit 30 includes a second electric machine 32 coupled to a first one of the rear wheels 18 via a second drive train 35, which in one embodiment includes a differential 36 and half shafts 37. A second inverter 34 is coupled to the second electric machine 32 and is electrically connected to the battery 10 via the high voltage bus 12. The controller 14 controls the operation of the second drive unit 30 by controlling the second inverter 34. The third drive unit 40 includes a third electric machine 42 coupled to a second one of the rear wheels 18 via a third drive train 45, which in one embodiment includes a differential 46 and half shafts 47. A third inverter 44 is coupled to the third electric machine 42 and is electrically connected to the battery 10 via the high voltage bus 12. The controller 14 controls the operation of the third drive unit 40 by controlling the third inverter 44.

[0077] The battery 10 is coupled to the first, second, and third drive units 20, 30, 40 via the high voltage bus 12. In one embodiment, the battery 10 is a multi-cell lithium ion device capable of repeated charging and discharging over a range of conditions.

[0078] The illustrated arrangement of the EV drive train 15 is shown for purposes of illustration and the arrangement of the wheels and drive units is a non-limiting embodiment. It should be understood that the concepts described herein are also applicable to EV drive train configurations that include one, two, three, or four electric machines and corresponding drive trains and inverters. The concepts described herein are applicable to various configurations of EV drive trains and systems having one or more electric drive units that are operable to deliver propulsion torque to the front wheels 17 and rear wheels 18 that employ electric power as a source of motive power.

[0079] The vehicle 100 includes an electric power steering system 29 for controlling steerable wheels, such as the front wheels 17.

[0080] The EV driveline 15 can include one or more of a transmission, a locking differential, and a 2WD / 4WD transfer case, and has an electrically hydraulically pumped. Operation of the EV driveline 15 includes controlling one or more of a transmission gear state, a locking differential state, and a 2WD / 4WD transfer case state.

[0081] The vehicle 100 has a climate control system 29 including an electrically heated-ventilation-air conditioning (HVAC) compressor and fan system.

[0082] The vehicle 100 includes an electrically stability control system 23 including controllable suspension actuators 27 arranged at the corners of the vehicle 100. Vehicle parameters can be determined from sensor measurements, estimates, and perceptions received by a sensor system in the form of an inertial measurement unit (IMU) 51 in communication with the stability control system 23, non-limiting examples of which include longitudinal acceleration, lateral acceleration, yaw rate, steering wheel angle, individual wheel speeds, longitudinal velocity, lateral velocity, tire forces (lateral, normal), vehicle mass, road surface coefficients, upcoming road curvatures, and / or upcoming road obstacles. The vehicle stability control system 23 controls the suspension actuators 27 arranged at each corner of the vehicle 100 in a manner that maintains vehicle stability on the road and vehicle stability during off-road travel.

[0083] The vehicle 100 has a telematics device 48 including a wireless telematics communication system capable of vehicle-external communication, including communication with a communication network system having wireless and wired communication capabilities. The telematics device 48 is capable of vehicle-external communication, including short-range ad hoc vehicle-to-vehicle (V2V) and / or vehicle-to-anything (V2x) communication, which can include communication with infrastructure monitors (e.g., traffic cameras) and ad hoc vehicles. Alternatively, or additionally, the telematics device 48 has a wireless telematics communication system capable of short-range wireless communication with a handheld device 49, such as a cellular telephone, satellite telephone, or another telephonic device. In one embodiment, the handheld device 49 is loaded with a software application that includes a wireless protocol to communicate with the telematics device 48 to enable identification of the vehicle operator. In one embodiment, the handheld device 49 performs vehicle-external communication, including communication with a vehicle-external server 95 via a communication network 90 including a satellite 80, antenna 85, and / or another communication mode. Alternatively, or additionally, the telematics device 48 directly performs vehicle-external communication by communicating with the vehicle-external server 95 via the communication network 90. In one embodiment, the vehicle-external server 95 is cloud-based.

[0084] The vehicle 100 has a navigation system 55 that includes a computer readable storage device or medium (memory) that includes a digitized road map, a global navigation satellite system (GNSS) sensor 53, and a human machine interface (HMI) device for interacting with and operating the navigation system 55. The GNSS sensor 53 generates a set of parameters corresponding to vehicle speed, geospatial position, and vehicle heading.

[0085] The concepts described herein can be employed on a variety of systems that can benefit from information determined from embodiments of the spatial monitoring system 41 in the manner described herein.

[0086] The vehicle 100 has a first plurality of sensors 50 that include sensors arranged to dynamically monitor on-board operating conditions including, for example, vehicle speed, acceleration, braking, steering angle, yaw rate, tire pressure, vehicle mass, presence of a trailer, state of charge (SOC) of a battery, operator requests, etc. The first plurality of sensors 50 includes a GNSS sensor 53 and an inertial measurement unit (IMU) 51. The IMU 51 is an electronic device that employs one or more of a combination of accelerometers, gyroscopes, and magnetometers arranged to measure and report vehicle dynamics parameters of the vehicle 100 such as specific force, angular rate, yaw, and orientation.

[0087] The vehicle 100 has a second plurality of sensors 52 that include sensors arranged to dynamically monitor ambient environmental conditions including, for example, altitude, ambient pressure, ambient temperature, humidity (dew point), amount of precipitation, time of day, solar load, etc. Alternatively or in addition, a portion of the ambient environmental conditions can be obtained by connecting to proximate weather stations or other vehicles using V2X communications via a telematics system 60.

[0088] The vehicle 100 has a third plurality of sensors 54 associated with the spatial monitoring system 41 that are arranged to provide spatial monitoring of proximate to the target vehicle 100. The spatial monitoring system 41 can be an element of an advanced driver assistance system (ADAS) 39. The third plurality of sensors 54 can include, for example, video cameras, radar sensors, lidar sensors, etc. Parameters associated with spatial monitoring include the presence and location of other proximate vehicles, the presence and location of stationary objects (e.g., rocks, trees, fences, guard rails, etc.) that can act as obstacles, the presence and location of pedestrians, bicyclists, animals, etc.

[0089] The term "controller" and related terms, such as microcontroller, control, control unit, processor, etc., refer to one or a combination of application specific integrated circuits (ASICs), field programmable gate arrays (FPGAs), electronic circuits, central processing units (e.g., microprocessors), and related non-transitory memory components in the form of digital data storage media (including memory and storage devices (read only, programmable read only, random access, hard drives, etc.)). The non-transitory memory components are capable of storing machine readable instructions in the form of one or more software or firmware programs or routines, combinational logic circuits, input / output circuits and devices, signal conditioning, buffering circuits, and other components that are accessible and executable by one or more processors to provide the described functionality. The input / output circuits and devices include analog / digital converters and related devices that monitor inputs from sensors, where such inputs are monitored at a preset sampling frequency or in response to a triggering event. Software, firmware, programs, instructions, control routines, code, algorithms, and like terms refer to sets of instructions executable by the controller including calibration and lookup tables. Each controller executes control routines to provide the desired functionality. The routines can be executed at regular intervals, such as once every 100 microseconds during an ongoing operation. Alternatively, the routines can be executed in response to the occurrence of a triggering event. Communication between controllers, actuators, and / or sensors can be implemented using direct wired point-to-point links, networked communication bus links, wireless links, or another communication link. Communication includes the exchange of data signals including, for example, electrical signals via conductive media; electromagnetic signals via air; optical signals via optical waveguides; and the like. The data signals can include discrete, analog, and / or digitized analog signals representing inputs from sensors, actuator commands, and communication between controllers.

[0090] The term "signal" refers to a physically discernible indicator that conveys information and can be a suitable waveform (e.g., electrical, optical, magnetic, mechanical, or electromagnetic) capable of traveling through a medium, such as DC, AC, sine wave, triangle wave, square wave, vibration, etc.

[0091] The term "model" refers to a physically existing processor- or processor-executable code and associated calibration based simulation of a device or physical process.

[0092] As used herein, the terms "dynamic," "dynamically," and related terms describe steps or processes performed in real-time and are characterized by monitoring or otherwise determining a state of a parameter and updating the state of the parameter periodically or periodically during execution of a routine or between iterations of execution of a routine.

[0093] The terms“calibration,”“calibrated,” and related terms refer to the result or process of associating a desired parameter of a device or system with one or more perceived or observed parameters. Calibration as described herein can be reduced to a table of storable parameters, a plurality of executable equations, or another suitable form that can be used as part of a measurement or control routine.

[0094] A parameter is defined as a measurable quantity that represents a physical property of a device or other element that is discernible using one or more sensors and / or physical models. A parameter can have discrete values, such as“1” or“0,” or can be infinitely variable in value.

[0095] Figure 2 A reference off-road path 210 is schematically illustrated for operation of a target vehicle 100. Figure 1 A process 200 is described for the embodiment of the target vehicle 100. The process 200 includes dynamically controlling the EV drivetrain 15 and the plurality of electrically powered accessories to minimize or optimize the electrical energy consumption of the target vehicle 100 when operating on a target off-road path 210. The target off-road path 210 can be comprised of one or more path segments 212, 213, 214, etc. Non-limiting examples of the target off-road path 210 and the plurality of path segments 212, 213, 214, etc. are referenced to Figure 4 are graphically illustrated and described.

[0096] The process 200 includes identifying the target off-road path 210 (step 205); characterizing the target off-road path 210 (step 220); capturing and evaluating one or more characteristics of the target off-road path 210 to determine optimal control states for the EV drivetrain 15 and the plurality of electrically powered accessories of the target vehicle 100 based on energy consumption (steps 230, 235); and dynamically controlling operation of the EV drivetrain 15 and the plurality of electrically powered accessories as the target vehicle 100 traverses the plurality of path segments 212, 213, 214, etc. of the target off-road path 210 in a manner that optimizes the electrical energy consumption of the target vehicle 100 (step 240).

[0097] The process 200 for operating the target vehicle 100 to dynamically control the EV drivetrain 15 and the plurality of electrically powered accessories includes identifying the target off-road path 210 (step 205) based on the characterization of the target off-road path 210 (step 220).

[0098] The process 200 can be implemented by a computer algorithm, machine executable code, non-transitory computer readable medium, or software instructions programmed into a suitable programmable logic device(s) of the target vehicle 100, such as the controller 14, an off-board server 95 in communication with the controller 14, a mobile device in communication with the controller 14 and / or the off-board server 95, another controller in the target vehicle 100, or a combination thereof. Although the individual steps shown in the flowchart appear to occur in a chronological sequence, at least some of the steps can occur in a different order, and some of the steps can be executed concurrently or not at all.

[0099] In operation, the controller 14 identifies or otherwise determines a target off-road path 210 that includes a plurality of path segments 212, 213, 214, etc. (step 205). The target off-road path 210 can be identified when an operator directs the target vehicle 100 onto the target off-road path 210, or when the operator inputs the target off-road path 210 into the on-board navigation system 55, or through other mechanisms.

[0100] Information related to operation of the target vehicle 100 on the target off-road path 210 is collected for each of the plurality of path segments 212, 213, 214, etc. (step 220). The collected information includes information related to or affecting an estimated electrical energy consumption of the target vehicle 100 as it traverses the target off-road path 210.

[0101] The information collection process (step 220) includes collecting trip data (step 222), collecting context data associated with vehicle operation on the target off-road path 210 (step 224), collecting terrain data for the plurality of path segments 212, 213, 214, etc. of the target off-road path 210 (step 226), and collecting on-board sensor data for the plurality of path segments 212, 213, 214, etc. of the target off-road path 210 (step 228). The steps of the information collection process (step 220) are performed periodically, such as once per second, to collect data for storage, analysis, and transmission.

[0102] The trip data (step 222) includes a distance traveled, an elapsed time, and an electrical power consumption (kW-h) for each of the plurality of path segments 212, 213, 214, etc. of the target off-road path 210. The trip data is collected each time the target vehicle 100 traverses the target off-road path 210, and each time another connected vehicle traverses the target off-road path 210.

[0103] Environmental data associated with vehicle operation on the target off-road route 210 (step 224) includes environmental weather conditions, such as precipitation, temperature, snow depth, ice, standing water, etc., and other factors that affect vehicle traction and vehicle energy expended traversing the target off-road route 210. Environmental data also includes vehicle information, such as vehicle mass, HVAC load, presence of a trailer, and other factors that affect vehicle energy expended traversing the target off-road route 210. Environmental data also includes wireless connectivity for communication, and location and accessibility to nearby charging stations relative to the target off-road route 210.

[0104] Topographical data for the plurality of route segments 212, 213, 214, etc. of the target off-road route 210 includes data related to the terrain, topography, surface conditions, route grade, and other factors that can affect the estimated electrical energy consumption of the target vehicle 100 in traversing the target off-road route 210 (step 226).

[0105] Sensor data for the plurality of route segments 212, 213, 214, etc. of the target off-road route 210 includes data captured from the third plurality of sensors 54 that detect the presence and location of other nearby vehicles, the presence and location of stationary objects that can act as obstacles (e.g., rocks, trees, fences, guardrails, etc.), the presence and location of pedestrians, bicyclists, animals, etc. (step 228).

[0106] The information including trip data, environmental data, topographical data, and sensor data for the target off-road route 210 collected by the information collection process (step 220) during each trip is transmitted to a database 232 via the communication network 90, which can be disposed at an off-vehicle server 95 (step 225).

[0107] The information including trip data, environmental data, topographical data, and sensor data for the target off-road route 210 is used to characterize the target off-road route 210, as described with reference to Figure 3 .

[0108] Figure 3 An off-road route characterization process 300 is illustratively shown that can be used to characterize an off-road route using information from a topographical map and vehicle-specific information collected by one or more vehicles that have traversed the off-road route. Reference is made to the embodiments of the target vehicle 100 described with reference to Figure 1 and to the Figure 2 and Figure 4The described target off-road path 210 to describe the off-road path characterization process 300. Information including trip data, environmental data, terrain data, and sensor data for the target off-road path 210 is acquired via a first plurality of sensors 50 arranged to dynamically monitor on-board operating conditions, a second plurality of sensors 52 arranged to dynamically monitor surrounding environmental conditions, and a third plurality of sensors 54 arranged to provide spatial monitoring proximate to the target vehicle 100.

[0109] The off-road path characterization process 300 performs end-to-end training to characterize off-road segments using consecutive frames of all available data, training the complete system end-to-end. Each sensor frame from all available sensors is passed through a convolutional neural network (CNN) 305 as a feature extraction backbone (e.g., Resnet), and the model 330 uses a recurrent neural network (RNN) to consider temporal information.

[0110] Inputs to the off-road path characterization process 300 include inputs from each of the first plurality of sensors 50 and each of the third plurality of sensors 54, as well as the respective position from the GNSS sensor 53. The inputs also include a topography map 301, vehicle dynamics information from the IMU 51, and environmental weather conditions obtained from the second plurality of sensors 52, the inputs from each of the first plurality of sensors 50 and each of the third plurality of sensors 54 are individually passed through a convolutional neural network (CNN) 305 as a feature extraction backbone (e.g., Resnet) for each time step.

[0111] The above inputs are subjected to an integration process 320 to determine an integration 325. The integration 325 is subjected to a recurrent neural network (RNN) (step 330) to consider temporal information, resulting in a characterization score 335 of the target off-road path 210. The characterization score 335 of the target off-road path 210 represents the energy expenditure for each data point on the target off-road path 210. This information can be used to find a drivetrain configuration that minimizes energy expenditure based on segment characteristics. This can be achieved using a regression (predicting continuous variables) method, for example, a decision tree for regression, linear regression, random forest for regression, neural network, etc. The input data includes details of the drivetrain configuration, for example, as described with reference to Figure 1 The output is the energy expenditure. The values (weights) in the model are the parameters that should be assigned to the drivetrain elements.

[0112] Referring again to Figure 2The characteristic score 335 of the target off-road path 210 is input to an optimization routine 234 which determines an optimal drivetrain configuration for each path segment (step 235) to achieve efficient energy consumption. The optimal drivetrain configuration determined by step 235 for each path segment is communicated to the target vehicle 100.

[0113] The target vehicle 100 employs the optimal drivetrain configuration for each path segment (step 235) to achieve efficient energy consumption, thereby determining optimal control states of the EV drivetrain 15 and the plurality of electrically powered accessories of the target vehicle 100. The optimal drivetrain configuration (step 235) is communicated to the target vehicle 100 which dynamically controls operation of the EV drivetrain 15 and the plurality of electrically powered accessories in a manner that optimizes electrical energy consumption (step 240) as the target vehicle 100 traverses the plurality of path segments 212, 213, 214, etc. of the target off-road path 210. Reference is made to Figure 5 The elements of this operation are described in additional detail.

[0114] Figure 4 A map of an example target off-road path 210 is shown graphically, including a start point 211, a plurality of path segments 212, 213, 214, 215, and 216, alternative path segments 213A and 215A, and an end point 219. Also shown is an ejection point 217 including an ejection path segment 218 leading to a charging station 218A. The target off-road path 210 can include the topography map 301 described with reference to Figure 3

[0115] The alternative path segments 213A and 215A are alternative paths available along the off-road path 210 which provide lower or more efficient energy consumption when needed. Based on the battery SOC and predicted power consumption, the vehicle controller 14 can suggest operating on one of the alternative path segments (e.g. alternative path segments 213A and 215A) during the off-road haul, which can be suboptimal in terms of connectivity and sightseeing, but will change the drivetrain configuration to reduce energy consumption such that the available battery power will be sufficient to traverse the off-road path 210 from the start point 211 to the end point 219.

[0116] Figure 5 ​The process 500 for dynamically controlling operation of the EV drivetrain 15 and the plurality of electrically powered accessories as the target vehicle 100 traverses the plurality of path segments 212, 213, 214, etc. of the target off-road path 210 is illustratively shown. During operation of the target vehicle 100 on the target off-road path 210 (502), on-path monitoring (504) is performed to determine actual energy consumption of the target vehicle 100. For the path segments 212, 213, 214, etc. of the target off-road path 210, the actual energy consumption of the target vehicle 100 is compared to the expected energy consumption of the target vehicle 100. The actual energy consumption of the target vehicle 100 for one or more of the path segments 212, 213, 214, etc. of the target off-road path 210 can differ from the expected energy consumption of the target vehicle 100 due to variations in ambient weather conditions, operator behavior, and other factors.

[0117] The low energy risk assessment is updated (506) based on the actual energy consumption of the target vehicle 100 for the respective path segment and the expected energy consumption of the target vehicle 100 due to variations in ambient weather conditions, operator behavior, and other factors, and compared (508) to the initial low energy risk assessment determined prior to actual operation of the target vehicle 100 on the target off-road path 210.

[0118] When the updated low energy risk assessment is greater than the initial low energy risk assessment (510), it indicates an increased likelihood that the target vehicle 100 will experience a low energy event in the form of a low SOC event of the battery 10 on the path, thereby posing an increased risk to the vehicle operator. In this case, a recommendation can be generated and submitted to the vehicle operator to reduce the risk of a low energy event on the path, including a recommendation for a change in operator driving behavior (less aggressive), a recommendation for an alternative path route, such as reference to Figure 4 the described alternative path segments 213A and 215A, and / or a recommendation to change to a pull-off point, such as a recommendation for the pull-off point 217, which includes a route to reference Figure 4The described off-path segments 218 of the charging station 218A. In this way, alternative paths along the route can be suggested for more efficient energy consumption based on the battery SOC and predicted energy consumption when needed. Off-road traction can not be optimal in terms of connectivity and sightseeing, but will reduce energy consumption based on changes in the driveline configuration, and will ensure that there will be enough energy to operate the vehicle 100 throughout the path. If there is greater energy consumption than expected, which increases the risk of a low SOC event for the battery 10, the system can suggest off-ramps along the route to charge the vehicle. If the vehicle is near these off-ramps, the operator can drive to a charging location that should be within a reasonable distance, and then choose whether to return to the path. The risk of a low SOC event for the battery 10 due to energy consumption in off-road areas can be amplified by factors such as lack of nearby charging stations, poor connectivity (i.e., if a tow service is needed and no one is found), muddy surfaces due to weather, etc. Acceptable low battery boundary states can be determined by the user in some cases, and limited by an absolute level of low battery boundary states associated with causing irreversible damage to the battery 10.

[0119] When the updated low energy risk assessment is less than the initial low energy risk assessment (512), it indicates a reduced likelihood that the target vehicle 100 will experience a low SOC event for the battery 10 on the path. This information can be provided as feedback to the vehicle operator.

[0120] Figure 6The process 600 of evaluating and characterizing operator behavior in the context of energy consumption in off-road environments is illustrated schematically. The process 600 includes capturing operator behavior of an identified operator when operating multiple trips in off-road conditions in a target vehicle 100 (602). The captured operator behavior includes off-road driving techniques related to handling various conditions (e.g., uphill / downhill, rock crawling, snow, sand, mud, rivers / creeks, etc.), where the monitored operator behavior includes inputs to the accelerator pedal, brake pedal, gear selection, driveline selection, steering commands, etc. (604). The characterization process generates a driving score (606) that reflects the degree to which the operator behavior contributes to energy consumption. As a non-limiting example, a positive score can reflect operator behavior that reduces energy consumption compared to expected energy consumption for a typical off-road path, where an increase in the magnitude of the positive score reflects a greater reduction in energy consumption due to the operator behavior. In a similar manner, a negative score can reflect operator behavior that increases energy consumption compared to expected energy consumption for a typical off-road path, where an increase in the magnitude of the negative score reflects a greater increase in energy consumption due to the operator behavior. Providing a score of off-road driving quality related to energy consumption can be implemented with a regression method. This is characterized by ordering the model inputs and understanding which off-road driving technique elements contribute more to energy consumption. This is to provide feedback and hints to the driver on how to improve energy consumption.

[0121] The driving score generated by step 606 can be used to adjust the estimated path energy consumption during subsequent operations of the operator when operating on off-road paths (610).

[0122] The driving score generated by step 606 can also be used to generate and suggest to the operator driving techniques that can be used to reduce energy consumption and improve operational efficiency (608). This includes developing an understanding of which off-road driving technique elements contribute more to energy consumption. This is to provide feedback and hints to the driver on how to improve energy consumption.

[0123] The diagrams and flow charts in the drawings illustrate the architecture, functionality, and operations of possible implementations of systems, methods and computer program products according to various embodiments of the present disclosure. In this regard, each block in the flow charts or diagrams can represent a module, segment, or portion of code, which comprises one or more executable instructions for implementing the specified logical function(s). It should also be noted that each block in the block diagrams and / or flow chart illustrations, and combinations of blocks in the block diagrams and / or flow chart illustrations, can be implemented by special purpose hardware-based systems that perform the specified functions or actions, or combinations of special purpose hardware and computer instructions. These computer program instructions can also be stored in a computer readable medium that can direct a computer or other programmable data processing apparatus to function in a particular manner, such that the instructions stored in the computer readable medium produce an article of manufacture including instructions which implement the functions / acts specified in the flow charts and / or block diagrams block or blocks.

[0124] The detailed description and the accompanying drawings or diagrams are supportive and descriptive of the present teachings, but the scope of the present teachings is defined solely by the claims. While some of the best modes and other embodiments for carrying out the present teachings have been described in detail, various alternative designs and embodiments exist for practicing the present teachings defined in the claims.

Claims

1. An operating system for a target vehicle, the operating system comprising: an electric vehicle drivetrain and a plurality of electric accessories electrically coupled to a rechargeable DC power source; a navigation system including a global navigation satellite system sensor; and a controller including a set of instructions stored as an encoded data file in a non-transitory digital data storage medium, the set of instructions executable to: determine, via the navigation system, a target off-road path, the target off-road path comprised of a plurality of target off-road path segments; determine operating parameters of the electric vehicle drivetrain and the plurality of electric accessories; characterize environmental conditions of the target off-road path segments; characterize the target off-road path segments; generate a feature score for the target off-road path based on the operating parameters of the electric vehicle drivetrain and the plurality of electric accessories, the environmental conditions, and the target off-road path segments; determine an optimal drivetrain configuration for each target off-road path segment based on the feature score to achieve efficient electric energy consumption; and control the electric vehicle drivetrain and the plurality of electric accessories based on the optimal drivetrain configuration during operation of the target vehicle on each target off-road path segment. The set of instructions executable to control the electric vehicle drivetrain includes the set of instructions executable to control electric power consumption of the target vehicle to avoid low state of charge events of the DC power source during operation of the target vehicle on the target off-road path segments.

2. The operating system of claim 1, wherein, The operating parameters of the electric vehicle drivetrain include transmission gear state, locker state, and 2WD / 4WD transfer case state; and wherein the set of instructions executable to control the electric vehicle drivetrain includes the set of instructions executable to control electric power consumption associated with at least one of the transmission gear state, the locker state, and the 2WD / 4WD transfer case state during operation of the target vehicle on the target off-road path segments.

3. The operating system of claim 1, wherein, The operating parameters of the plurality of electric accessories include control parameters for at least one of an electric power steering system, a heating-ventilation-air conditioning system, and a stability control system; and wherein the set of instructions executable to control the electric power consumption of at least one of the electric power steering system, the heating-ventilation-air conditioning system, and the stability control system during operation of the target vehicle on the target off-road path segments.

4. The operating system of claim 1, wherein, The set of instructions executable to characterize the target off-road path segments includes the set of instructions executable to characterize the target off-road path segments for terrain, topography, surface conditions, path grade, and accessibility.

5. The operating system of claim 1, wherein, The set of instructions executable to characterize the target off-road path segments further includes the set of instructions executable to characterize the target off-road path segments for terrain, topography, surface conditions, path grade, and accessibility based on information previously communicated from other vehicles that have traversed the target off-road path segments.

6. The operating system of claim 5, wherein, The set of instructions executable to characterize the target off-road path segments includes the set of instructions executable to locate communication sites proximate the target off-road path segments.

7. The operating system of claim 1, wherein, ​ 8. The operating system of claim 1, wherein, The set of instructions executable to characterize the target off-road path segment includes the set of instructions executable to locate a recharging location proximate to the target off-road path segment.

9. The operating system of claim 1, wherein, The set of instructions executable to characterize the environmental conditions includes the set of instructions executable to determine a current ambient temperature and precipitation associated with the target off-road path segment.

10. The operating system of claim 1, further comprising the set of instructions executable to characterize a vehicle operator; and estimating an electrical energy consumption of the target vehicle operating on the target off-road path segment, wherein, The estimated electrical energy consumption is determined based on the operating parameters of the electric vehicle drivetrain and the plurality of electric accessories, the environmental conditions, the target off-road path segment, and the characterization of the vehicle operator.

11. The operating system of claim 1, wherein the set of instructions executable to characterize the target vehicle includes a set of instructions executable to determine a vehicle mass, tire inflation pressure, and presence of a towed vehicle.

12. The operating system of claim 1, wherein, The set of instructions executable to control the electric vehicle drivetrain and the plurality of electric accessories during operation of the target vehicle on the target off-road path segment based on the estimated electrical energy consumption of the target vehicle.

13. The operating system of claim 1, further comprising the set of instructions executable to suggest an alternate route to avoid occurrence of a low state of charge event of the DC power source during operation of the target vehicle based on the estimated electrical energy consumption of the target vehicle.

14. The operating system of claim 1, further comprising the set of instructions executable to identify and suggest an intermediate route exit from the target off-road path segment to find a charging station to avoid occurrence of a low state of charge event of the DC power source during operation of the target vehicle on the target off-road path segment based on the estimated electrical energy consumption of the target vehicle.

15. The operating system of claim 1, further comprising the set of instructions executable to suggest an alternate driving route to avoid occurrence of a low state of charge event of the DC power source during operation of the target vehicle on the target off-road path segment based on the estimated electrical energy consumption of the target vehicle.

16. A method for controlling operation of a target vehicle, the target vehicle including an electric vehicle drivetrain and a plurality of electric accessories electrically coupled to a rechargeable DC power source and a navigation system including a global navigation satellite system sensor, the method comprising: determining a target off-road path via the navigation system, the target off-road path consisting of a plurality of target off-road path segments; determining operating parameters of the electric vehicle drivetrain and the plurality of electric accessories; characterizing environmental conditions of the target off-road path segments; characterizing the target off-road path segments; generating a feature score of the target off-road path based on the operating parameters of the electric vehicle drivetrain and the plurality of electric accessories, the environmental conditions, and the target off-road path segments; determining an optimal drivetrain configuration for each target off-road path segment to achieve efficient electrical energy consumption based on the feature score; and controlling the electric vehicle drivetrain and the plurality of electric accessories during operation of the target vehicle on each target off-road path segment based on the optimal drivetrain configuration.

17. The method of claim 16, wherein, Controlling the electric vehicle drivetrain includes controlling electric power consumption of the target vehicle to avoid low state of charge events of the DC power source during operation of the target vehicle on the target off-road path segment.

18. The method of claim 16, wherein the operating parameters of the electrically motorized vehicle driveline include transmission gear state, locker state, and 2WD / 4WD transfer case state; and wherein, Controlling the electric vehicle drivetrain includes controlling electric power consumption associated with at least one of the transmission gear state, the locking differential state, and the 2WD / 4WD transfer case state during operation of the target vehicle on the target off-road path segment.

19. The method of claim 16, wherein, The operating parameters of the plurality of electric accessories include control parameters for at least one of an electric power steering system, a heating-ventilation-air conditioning system, and a stability control system; and controlling electric power consumption of at least one of the electric power steering system, the heating-ventilation-air conditioning system, and the stability control system during operation of the target vehicle on the target off-road path segment.

20. The method of claim 16, wherein, Characterizing the target off-road path segment includes characterizing a terrain, a topography, a surface condition, a path grade, and an accessibility of the target off-road path segment.

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