Coasting control apparatus and method, and eco-friendly vehicle using same

Abstract

An apparatus includes: a communication interface configured to: receive necessary operation information required for coasting control of a vehicle; a processor configured to: identify whether or not a deceleration event is to occur based on road curvature information included in the necessary operation information; identifying a target vehicle speed, a coasting control time, and a control torque for coasting control based on the road curvature information identified as including the presence of the deceleration event; and controlling an actuator to perform coasting control on the deceleration event based on the recognition result.

Description

Technical Field

[0001] This disclosure relates to techniques for controlling inertial driving, and more particularly to a device for performing inertial driving control based on road curvature information, a method for controlling inertial driving therefrom, and an environmentally friendly vehicle including the device. Background Technology

[0002] Environmentally friendly vehicles, such as fuel cell vehicles, electric vehicles, plug-in electric vehicles, and hybrid vehicles, typically include an electric motor to generate driving force.

[0003] Environmentally friendly vehicles powered by electric motors expand the area for energy efficiency improvement and control, thereby pursuing improved energy efficiency.

[0004] Vehicle inertial control refers to the active deceleration control of a vehicle without the driver operating the brake pedal. Inertial control can help improve energy efficiency.

[0005] Therefore, there is a need for a method to improve vehicle energy efficiency by allowing or controlling vehicle deceleration based on inertial driving control or using inertial driving control for deceleration under deceleration conditions.

[0006] The foregoing description of prior art is intended only to enhance understanding of the background of this disclosure. The existence of the foregoing description in the background section should not be construed as an admission that the foregoing description is prior art known to those skilled in the art. Summary of the Invention

[0007] To meet the above requirements, embodiments of the present disclosure are proposed. One aspect of the present disclosure provides an apparatus for performing inertial driving control based on the curvature information of the road on which the environmentally friendly vehicle travels (i.e., based on road curvature information), an inertial driving control method thereof, and an environmentally friendly vehicle including the apparatus.

[0008] One aspect of this disclosure provides an apparatus for performing inertial driving control based on vehicle position and road curvature information obtained through a Global Positioning System (GPS), an inertial driving control method thereof, and an environmentally friendly vehicle including the apparatus.

[0009] One aspect of this disclosure provides an apparatus for performing inertial driving control based on road curvature information, an inertial driving control method thereof, and an environmentally friendly vehicle including the apparatus, wherein inertial driving control is performed even in situations other than road intersections, thereby expanding the scope of inertial driving control and further improving energy efficiency.

[0010] It should be noted that the aspects of this disclosure are not limited to those described above. Those skilled in the art should be able to understand other aspects not mentioned above based on the following description.

[0011] According to embodiments of this disclosure, an apparatus for controlling inertial driving may include: a communication interface configured to receive necessary operational information required for vehicle inertial driving control; and a processor configured to: determine whether a deceleration event is about to occur based on road curvature information contained in the necessary operational information; determine a target vehicle speed, inertial driving control time, and control torque for inertial driving control based on the road curvature information indicating the deceleration event; and control an actuator to perform inertial driving control in response to the deceleration event based on the determination result.

[0012] According to embodiments of this disclosure, road curvature information may include: a radius of curvature containing a curvature symbol, the length of a curved road segment, and a first distance corresponding to the distance between the starting point of the curved road segment and the vehicle. The processor may determine that a deceleration event is about to occur based on the road curvature information, wherein this determination is made based on the radius of curvature being less than a first reference value, the length of the curved road segment being greater than a second reference value, and the first distance being less than a third reference value.

[0013] According to embodiments of this disclosure, road curvature information may include: a radius of curvature containing a curvature sign, the length of a curved road segment, and a first distance corresponding to the distance between the starting point of the curved road segment and the vehicle. The processor may determine an impending deceleration event based on the road curvature information, wherein this determination is based on the radius of curvature being less than a first reference value, the length of the curved road segment being greater than a second reference value, and the presence of a change in the curvature sign.

[0014] According to embodiments of this disclosure, road curvature information may include: a radius of curvature containing a curvature symbol, the length of a curved road segment, and a first distance corresponding to the distance between the starting point of the curved road segment and the vehicle. The processor may also identify whether the curvature symbol has changed based on the radius of curvature being less than a first reference value, the length of the curved road segment being greater than a second reference value, and the first distance being greater than or equal to a third reference value. Furthermore, when a change in the curvature symbol exists, the processor identifies an impending deceleration event based on the road curvature information.

[0015] According to embodiments of this disclosure, road curvature information may include: a radius of curvature containing a curvature sign. The processor may determine the absolute value of the radius of curvature, search for a speed corresponding to that absolute value in the information about speeds corresponding to the radius of curvature, and determine the searched speed as the target vehicle speed.

[0016] According to embodiments of this disclosure, the processor can also determine the remaining distance from the vehicle's current position to the origin of the deceleration event.

[0017] According to embodiments of this disclosure, road curvature information may include a first distance corresponding to the distance between the starting point of the curved road segment and the vehicle, necessary operational information may include the vehicle speed, and the processor may determine the remaining distance by subtracting the vehicle speed integral value from the first distance.

[0018] According to embodiments of this disclosure, necessary operational information may include the vehicle's current location information, and the processor may determine the remaining distance based on the vehicle's current location information.

[0019] According to embodiments of this disclosure, based on the existence of multiple deceleration events, the processor can determine the remaining distance for each of the multiple deceleration events, and among the multiple deceleration events, when the difference in the remaining distance between the multiple deceleration events is less than or equal to a preset threshold, these deceleration events are determined as one deceleration event.

[0020] According to embodiments of this disclosure, the processor can determine the minimum of the target vehicle speeds determined for the same deceleration event as the target vehicle speed for that deceleration event.

[0021] According to embodiments of this disclosure, the processor can determine the inertial driving control time in response to a deceleration event based on the target vehicle speed and remaining distance.

[0022] According to embodiments of this disclosure, the processor can determine the inertial driving control time based on the fact that the distance required to reach the target vehicle speed by inertial driving is greater than or equal to a first preset distance value, and the remaining distance is greater than or equal to a second preset distance value.

[0023] According to embodiments of this disclosure, when more than a preset number of road curvature information are received within a preset distance, the processor can determine the priority of the deceleration event based on the road curvature information and selectively perform inertial driving control on the road curvature information with the highest priority.

[0024] According to embodiments of this disclosure, a method for controlling inertial driving may include: determining whether a deceleration event is about to occur based on road curvature information contained in received necessary operational information; determining a target vehicle speed, inertial driving control time, and control torque for inertial driving control based on road curvature information indicating the presence of a deceleration event; and controlling an actuator to perform inertial driving control in response to the deceleration event based on the determination result.

[0025] According to embodiments of this disclosure, a vehicle may include: an information providing device configured to: provide necessary operational information required for vehicle inertial driving control; and an inertial driving control device configured to: determine whether a deceleration event exists based on road curvature information contained in the necessary operational information; determine a target vehicle speed, inertial driving control time, and control torque for inertial driving control based on road curvature information indicating the existence of a deceleration event; and control an actuator to perform inertial driving control in response to the deceleration event based on the determination result.

[0026] According to embodiments of this disclosure, road curvature information may include: a radius of curvature containing a curvature symbol; the length of the curved road segment; and a first distance corresponding to the distance between the starting point of the curved road segment and the vehicle.

[0027] According to embodiments of this disclosure, the inertial driving control device can be configured to: determine an impending deceleration event based on road curvature information, wherein the determination is based on the curvature radius being less than a first reference value, the length of the curved road segment being greater than a second reference value, and a first distance being less than a third reference value.

[0028] According to embodiments of this disclosure, the inertial driving control device can be configured to: determine an impending deceleration event based on road curvature information, wherein the determination is based on the curvature radius being less than a first reference value, the length of the curved road segment being greater than a second reference value, and the presence of a change in the curvature sign.

[0029] According to embodiments of this disclosure, the inertial driving control device can be configured to: determine whether the curvature sign has changed based on the curvature radius being less than a first reference value, the length of the curved road segment being greater than a second reference value, and the first distance being greater than or equal to a third reference value; and when there is a change in the curvature sign, determine that a deceleration event will occur in the road curvature information.

[0030] According to embodiments of this disclosure, road curvature information may include: a radius of curvature containing a curvature sign. The inertial driving control device may be configured to: determine the absolute value of the radius of curvature; search for a speed corresponding to the absolute value from information on speeds corresponding to the radius of curvature; and determine the searched speed as the target vehicle speed.

[0031] According to embodiments of this disclosure, an apparatus for performing inertial driving control based on curvature information of the road on which an environmentally friendly vehicle travels (i.e., based on road curvature information), an inertial driving control method thereof, and an environmentally friendly vehicle including the apparatus are provided.

[0032] According to embodiments of this disclosure, an apparatus and method for controlling inertial driving is provided, which performs inertial driving control based on road curvature information, thereby enabling inertial driving control even in situations other than road intersections. Therefore, the scope of inertial driving control is expanded, thereby further improving the energy efficiency of environmentally friendly vehicles.

[0033] It should be noted that the effects of this disclosure are not limited to those described above, and those skilled in the art should be able to understand other effects not mentioned above through the following description. Attached Figure Description

[0034] The accompanying drawings are intended to enhance understanding of the embodiments of this disclosure and to provide a detailed description and examples. However, the technical features of the embodiments are not limited to the specific drawings, and the features disclosed in the drawings can be combined to form new embodiments.

[0035] Figure 1 A schematic diagram of a vehicle 1 including an inertial driving control device for controlling inertial driving according to an embodiment of the present disclosure is shown.

[0036] Figure 2 A schematic diagram of the configuration of an inertial driving control device for controlling inertial driving according to an embodiment of the present disclosure is shown.

[0037] Figure 3 A schematic diagram is shown to describe an inertial driving control method implemented by an inertial driving control device for controlling inertial driving according to an embodiment of the present disclosure.

[0038] Figure 4 A detailed description is shown. Figure 3 A schematic diagram of step S310 for identifying deceleration events. Detailed Implementation

[0039] In describing several embodiments of this disclosure, detailed descriptions of prior art have been omitted as they may obscure the subject matter of the embodiments. Furthermore, the accompanying drawings are provided only to enhance or improve understanding of the embodiments of this disclosure and are not intended to limit the technical concept of this disclosure. Therefore, it should be understood that the drawings include all modifications, equivalents, and substitutions within the scope and spirit of this disclosure.

[0040] Terms such as “first” and “second” can be used to describe various components, but components should not be limited by these terms. Furthermore, the terms are used only to distinguish one component from another.

[0041] Unless the context clearly indicates otherwise, the singular form also includes the plural form.

[0042] In this disclosure, it should be understood that the terms "comprising" or "having" indicate the presence of the features, numbers, steps, operations, elements, components or combinations thereof described in the embodiments, but do not preclude the possibility of having or adding one or more other features, numbers, steps, operations, elements, components or combinations thereof.

[0043] In the following description, the suffixes “module” and “unit” are added after component terms for ease of description only and do not have any meaning or function of distinguishing them from each other.

[0044] When a component is described as being "connected" or "joined" to another component, it should be understood that the component may be directly connected or joined to the other component, but additional components may be present in between. However, when a component is described as being "directly connected" or "directly coupled" to another component, it should be understood that no additional components may exist between the two components. When components, devices, elements, etc., of this disclosure are described as having a certain purpose or performing a certain operation or function, the component, device, or element should be considered herein as being "configured" to satisfy that purpose or perform that operation or function.

[0045] The embodiments of this disclosure will now be described in detail with reference to the accompanying drawings, wherein the same or similar elements are denoted by the same reference numerals even if shown in different drawings, and repeated descriptions thereof are omitted.

[0046] Figure 1 This is a schematic diagram showing a vehicle 1 including an inertial driving control device 100 for controlling inertial driving according to an embodiment of the present disclosure.

[0047] Reference Figure 1 According to embodiments of the present disclosure, the vehicle 1 may include an inertial driving control device 100 (or an inertial driving control device or controller) for controlling inertial driving.

[0048] For example, the inertial driving control device 100 used to control inertial driving can be called an inertial driving control device (or controller), an inertial driving guidance device, an inertial driving guide, etc.

[0049] In addition, vehicle 1 may include: an information providing device 200 for providing information required to operate the inertial driving control device 100 (hereinafter referred to as "necessary operating information"); a user interface 300 for outputting information under the control of the inertial driving control device 100; and an actuator 400 for operating under the control of the inertial driving control device 100.

[0050] Vehicle 1 can refer to an environmentally friendly vehicle equipped with an electric motor as its power source. For example, Vehicle 1 can include electric vehicles (EVs), hybrid electric vehicles (HEVs), plug-in hybrid electric vehicles (PHEVs), fuel cell electric vehicles (FCEVs), etc.

[0051] According to one embodiment, the inertial driving control device 100 operates based on necessary operational information provided by the information providing device 200, through an inertial driving control algorithm, and is used to control the inertial driving of the vehicle 1.

[0052] For example, the inertial driving control device 100 can receive information such as road curvature of the route traveled by the vehicle 1, current position information of the vehicle 1, and vehicle speed information from the information providing device 200.

[0053] According to one embodiment, when a deceleration event (or deceleration condition) is identified based on necessary operational information, the inertial driving control device 100 can display inertial driving guidance through the user interface 300 and control the actuator 400 to perform inertial driving control.

[0054] The configuration and operation of the inertial travel control device 100 will be described in detail below.

[0055] The information providing device 200 can obtain the information required to operate the inertial driving control device 100 (i.e., necessary operating information) and provide the necessary operating information to the inertial driving control device 100.

[0056] According to one embodiment, the information providing device 200 may refer to a Global Positioning System (GPS), which can provide the inertial driving control device 100 with road curvature information of the driving route, current location information of vehicle 1, vehicle speed information, etc.

[0057] For example, road curvature information may include the curvature radius / symbol of the curved road segment, the length of the curved road segment, and the distance between the starting point of the curved road segment and vehicle 1 when the road curvature information is generated (or provided).

[0058] For example, the information providing device 200 can provide information on all curved road sections within a preset distance of vehicle 1 to the inertial driving control device 100.

[0059] For example, when the preset distance is 2km and there are four curved road sections within 2km ahead of the vehicle 1's driving route, the information providing device 200 provides the curvature information of these four curved road sections to the inertial driving control device 100.

[0060] Of course, the information providing device 200 is not limited to GPS, and can include any device as long as it can provide information such as road curvature information of the driving route, current location information and speed information of vehicle 1.

[0061] User interface 300 can display inertial driving guidance under the control of inertial driving control device 100.

[0062] For example, user interface 300 can be implemented as an audio-visual navigation (AVN), a dashboard (cluster), or a head-up display; the type of user interface 300 is not limited to these examples.

[0063] The actuator 400 operates under the control of the inertial driving control device 100, thereby actuating the vehicle 1 based on inertial driving.

[0064] For example, actuator 400 may include an electric motor, a transmission, etc., and the type of actuator 400 is not limited to this example.

[0065] Figure 2 This is a schematic diagram illustrating the configuration of an inertial driving control device 100 according to an embodiment of the present disclosure.

[0066] The inertial driving control device 100 can identify whether a deceleration event (or deceleration situation) has occurred or is about to occur based on the necessary operation information received. When a deceleration event is identified, the user interface 300 is controlled to display inertial driving guidance, and the actuator 400 is controlled to perform inertial driving control.

[0067] For example, the inertial driving control device 100 can be implemented by a hybrid power control unit (HCU), a vehicle control unit (VCU), an electric motor control unit (MCU), and an electronic control unit (ECU), and can include any control unit capable of performing inertial driving guidance and control.

[0068] Reference Figure 2 The inertial driving control device 100 may include, but is not limited to, a communication unit or communication interface 110, a memory 120, a storage device 130, and a processor 140.

[0069] The communication unit or communication interface 110 can be used for communication between the inertial driving control device 100 and other equipment of the vehicle 1. For example, the communication unit or communication interface 110 can be an electronic control unit (ECU) for controlling one or more operations related to vehicle driving and receiving information from one or more components of the vehicle (e.g., engine, transmission, etc.).

[0070] For example, the communication unit or communication interface 110 can communicate with the information providing device 200, the user interface 300, and the actuator 400, and send and receive information, data, or control signals (or instructions) through communication.

[0071] The communication unit or communication interface 110 may include one or more communication modules (or communication circuits). The one or more communication modules may communicate with the information providing device 200, the user interface 300, and the actuator 400 based on a preset vehicle communication protocol.

[0072] For example, vehicle communication protocols may include, but are not limited to, Local Interconnect Network (LIN), Controller Area Network (CAN), FlexRay, Ethernet, etc.

[0073] The memory 120 can be configured to store algorithms (or programs or software), data, etc., used to perform the operation of the inertial driving control device 100.

[0074] The storage device 130 can be configured to store information acquired or generated during the operation of the inertial driving control device 100.

[0075] For example, memory 120 and storage device 130 may be implemented by at least one storage medium (or recording medium), such as flash memory, hard disk, secure digital card (SD card), random access memory (RAM), static random access memory (SRAM), read-only memory (ROM), programmable read-only memory (PROM), electrically erasable programmable ROM (EEPROM), erasable programmable ROM (EPROM), register, removable disk and network storage.

[0076] The processor 140 can perform inertial driving control based on the algorithms / data stored in the memory 120 and the necessary operating information provided by the information providing device 200.

[0077] Processor 140 may refer to a data processing device implemented in hardware, having circuitry with physical structures for performing desired operations. For example, the desired operations may include code or instructions contained in a program.

[0078] For example, data processing devices implemented in hardware may include microprocessors, central processing units, processor cores, multi-core processors, multiprocessors, application-specific integrated circuits (ASICs), and field-programmable gate arrays (FPGAs).

[0079] According to one embodiment, the processor 140 can identify the existence of a deceleration event based on the necessary operational information provided by the information providing device 200.

[0080] Here, the necessary operational information may include road curvature information of the route traveled by vehicle 1, current position information of vehicle 1, and speed information, etc.

[0081] For example, road curvature information may include the radius of curvature of the curved road segment, the length of the curved road segment, and the distance between the starting point of the curved road segment and vehicle 1, and the radius of curvature may have a curvature sign (+, -) to indicate the direction of the curve.

[0082] The processor 140 can identify whether a deceleration event exists based on information such as the radius of curvature, the length of the curved section, the distance between the starting point of the curved section and the vehicle 1, and whether the curvature sign changes within the curved section, in association with the road curvature information.

[0083] For example, when the radius of curvature is less than the first reference value, the length of the curved road segment is greater than the second reference value, and the distance between the starting point of the curved road segment and vehicle 1 is less than the third reference value, the processor 140 can identify that there is (e.g., a deceleration event based on the corresponding road curvature information).

[0084] Here, the first reference value, the second reference value, and the third reference value can be stored in the memory 120 and can be set based on various tests (or experiments) in real road environments and / or virtual environments.

[0085] For example, when the radius of curvature is less than the first reference value, the length of the curved road segment is greater than the second reference value, and the curvature sign changes within the curved road segment, the processor 140 can identify a deceleration event based on the corresponding road curvature information.

[0086] According to one embodiment, the processor 140 can identify the presence of deceleration events based on multiple road curvature information.

[0087] According to one embodiment, processor 140 may store road curvature information used to identify the presence of deceleration events in a storage device (e.g., memory 120 or storage device 130).

[0088] The details of identifying the presence of deceleration events will be described below.

[0089] According to one embodiment, when a deceleration event is detected, the processor 140 can determine or identify (or set) the target vehicle speed for the corresponding deceleration event based on the radius of curvature information.

[0090] For example, processor 140 can calculate the absolute value of the radius of curvature, search for the speed corresponding to that absolute value in a previously stored table of speeds by radius of curvature, and set (e.g., determine, identify) the searched speed as the target vehicle speed for the corresponding curved road segment.

[0091] For example, a table of speeds based on the radius of curvature can be stored in memory 120 and can be generated based on various tests (or experiments) in real road environments and / or virtual environments.

[0092] The processor 140 can store the deceleration event information and the target vehicle speed in at least one of the memory 120 or storage device 130 by mapping.

[0093] According to one embodiment, processor 140 can determine or identify the remaining distance from the current position of vehicle 1 to the starting point of the deceleration event.

[0094] For example, the processor 140 can identify the remaining distance from the starting point of the deceleration event by subtracting the integral value of the vehicle speed from the vehicle position based on the vehicle position information and vehicle speed information contained in the necessary operation information.

[0095] For example, processor 140 can identify the remaining distance from the starting point of the deceleration event based on vehicle location information provided from information providing device 200.

[0096] Here, vehicle location information can be provided separately from road curvature information.

[0097] According to one embodiment, when vehicle 1 passes a deceleration event point, when navigation searches for a driving route again, or when the curvature sign contained in the road curvature information changes, processor 140 can reset the remaining distance associated with the corresponding deceleration event.

[0098] According to one embodiment, the information providing device 200 can provide multiple road curvature information to the inertial driving control device 100 within one operating cycle.

[0099] Therefore, the processor 140 can identify a deceleration event as a deceleration event if the difference between the remaining distances identified by each piece of information is less than or equal to a preset threshold.

[0100] For example, a threshold for determining or identifying whether deceleration events are the same can be stored in memory 120 and can be set based on various tests (or experiments) in real road environments and / or virtual environments.

[0101] The processor 140 can set the minimum of the target vehicle speeds set for the same deceleration event as the target vehicle speed for the corresponding deceleration event.

[0102] According to one embodiment, processor 140 can determine or identify the inertial driving control time based on the target vehicle speed and remaining distance in response to a deceleration event.

[0103] Inertial control may not be suitable when the distance required to reach the target vehicle speed by inertial travel and the remaining distance from the current position of vehicle 1 to the starting point of the deceleration event are short.

[0104] For example, when the distance required to reach the target vehicle speed by inertial driving is greater than or equal to a set distance value (or a first set distance value), and the remaining distance from the current position of vehicle 1 to the starting point of the deceleration event is greater than or equal to a set distance value (or a second set distance value), the processor 140 can determine or identify the inertial driving control time.

[0105] For example, the first set distance value and the second set distance value can be set differently based on the target vehicle speed, and can be set based on various tests (or experiments) in real road environments and / or virtual environments.

[0106] According to one embodiment, processor 140 can determine or identify feedback control torque and feedforward control torque, and perform inertial driving control based on the identified control torque.

[0107] For example, processor 140 can perform proportional-integral-derivative (PID) control from the current position of vehicle 1 to the start of the deceleration event, while identifying feedback control torque by multiplying the proportional-integral (PI) gain by the difference between the current vehicle speed and the target vehicle speed.

[0108] For example, processor 140 can determine or identify feedforward control torque based on the expected vehicle speed when it reaches the starting point of the deceleration event through coasting.

[0109] Figure 3 This is a schematic diagram illustrating a method for controlling inertial driving implemented by an inertial driving control device 100 according to an embodiment of the present disclosure.

[0110] Figure 3 The operations shown can be referenced Figure 1 and Figure 2 The inertial driving control device 100 described herein is used to perform this action.

[0111] Reference Figure 1-3 The inertial driving control method according to an embodiment of the present disclosure is described, assuming that the inertial driving control device 100 receives necessary operating information provided by the information providing device 200.

[0112] When the necessary operation information is received (S300), the inertial driving control device 100 can identify whether there is a deceleration event on the driving route of the vehicle 1 based on the necessary operation information (S310).

[0113] According to one embodiment, the necessary operational information may include road curvature information related to all curved road segments within a preset distance of vehicle 1, as well as the current position and speed of vehicle 1.

[0114] Here, road curvature information may include the curvature radius / symbol of the curved road segment, the length of the curved road segment, the distance between the starting point (or event starting point) of the curved road segment and vehicle 1, etc.

[0115] See below for reference Figure 4 Describe the detailed operations in step S310.

[0116] When it is determined that a deceleration event does not exist or will not occur (S310 - No), the inertial driving control device 100 can receive necessary operation information (S300). In other words, the inertial driving control device 100 can continuously receive necessary operation information in the active state.

[0117] When a deceleration event is detected (e.g., a deceleration event is about to occur) (S310 - Yes), the inertial driving control device 100 can set a target vehicle speed for the deceleration event based on the radius of curvature information in the road curvature information (S320).

[0118] In step S320, the inertial driving control device 100 can calculate the absolute value of the radius of curvature, search for the speed corresponding to the absolute value in the speed information corresponding to the radius of curvature, and set the searched speed as the target vehicle speed for the corresponding deceleration event.

[0119] According to one embodiment, when multiple deceleration events are identified in S310, the inertial driving control device 100 can set a target vehicle speed for each deceleration time in the multiple deceleration events.

[0120] Next, the inertial driving control device 100 can identify the remaining distance from the current position of vehicle 1 to the starting point of the deceleration event (S330).

[0121] In step S330, the inertial driving control device 100 can identify the remaining distance from the starting point of the deceleration event by subtracting the integral value of the vehicle speed from the vehicle position based on the vehicle position information and vehicle speed information contained in the necessary operation information.

[0122] In step S330, the inertial driving control device 100 can identify the remaining distance from the starting point of the deceleration event based on the current position information of the vehicle 1 provided by the information providing device 200.

[0123] According to one embodiment, when multiple deceleration events are identified in step S330, the inertial driving control device 100 can identify the remaining distance for each of the multiple deceleration events.

[0124] In addition, the inertial driving control device 100 can compare the remaining distances identified for multiple deceleration events and identify deceleration events whose difference in remaining distance is less than or equal to a preset threshold as a single deceleration event.

[0125] The inertial driving control device 100 can compare the target vehicle speeds set for the same deceleration event and set the minimum of the target vehicle speeds as the target vehicle speed for that deceleration event.

[0126] After step S330, the inertial driving control device 100 can determine or identify the inertial driving control time based on the target vehicle speed and remaining distance of the deceleration event (S340).

[0127] For example, when the distance required to reach the target vehicle speed by inertial driving is greater than or equal to a set distance value (or a first set distance value), and the remaining distance from the current position of vehicle 1 to the starting point of the deceleration event is greater than or equal to a set distance value (or a second set distance value), the inertial driving control device 100 can identify the inertial driving control time.

[0128] After step S340, the inertial driving control device 100 can identify the control torque (feedback torque and feedforward torque) used to control inertial driving (S350).

[0129] After step S350, when the inertial driving control time is reached, the inertial driving control device 100 can perform inertial driving control based on the control torque (S360).

[0130] Figure 4 It is used for specific description Figure 3 The diagram shows the identification step S310 for the deceleration event.

[0131] Reference Figure 4 The inertial driving control device 100 can identify whether a deceleration event exists on the driving route of the vehicle 1 based on the necessary operating information provided by the information providing device 200.

[0132] Specifically, the inertial driving control device 100 can compare the radius of curvature contained in the road curvature information with the reference value α, and identify whether the radius of curvature is less than the reference value α (first reference value) (S311).

[0133] When the radius of curvature is greater than or equal to the first reference value (α) (S311-No), the inertial driving control device 100 can identify whether there is other road curvature information in the necessary operation information (S312). When there is no other road curvature information (S312-No), the inertial driving control device 100 can receive the necessary operation information for the next operation cycle (S300).

[0134] When other road curvature information exists (S312-Yes), the inertial driving control device 100 can execute step S311 for the curvature radius information contained in the other road curvature information.

[0135] On the other hand, when it is identified in step S311 that the radius of curvature is less than the first reference value α (S311-Yes), the inertial driving control device 100 can identify whether the length of the curved road segment contained in the road curvature information is greater than the reference value β (second reference value) (S313).

[0136] When the length of the curved road segment is less than or equal to the second reference value β (S313-No), the inertial driving control device 100 can proceed to step S312 to identify whether there is other road curvature information.

[0137] When the length of the curved road segment is greater than the second reference value β (S313-Yes), the inertial driving control device 100 can identify whether the distance between the vehicle 1 and the starting point of the curved road segment contained in the road curvature information is less than the reference value γ (the third reference value) (S314).

[0138] When the distance between the starting point of the curved road segment and vehicle 1 is greater than or equal to the third reference value γ (S314-No), the inertial driving control device 100 can enter step S312 to identify whether there is other road curvature information.

[0139] When the distance between the starting point of the curved road segment and vehicle 1 is less than the third reference value γ (S314-Yes), the inertial driving control device 100 can identify that there is a deceleration event based on the corresponding road curvature information (S310-Yes).

[0140] In addition, the inertial driving control device 100 can store road curvature information related to deceleration events (S315).

[0141] According to one embodiment, when the distance between the starting point of the curved road segment and the vehicle 1 is greater than or equal to the third reference value γ (S314-No), the inertial driving control device 100 can identify whether the curvature sign has changed within the curved road segment based on the information of the curvature sign of the curved road segment contained in the road curvature information (S316).

[0142] When the curvature sign does not change within the curved road section (S316-No), the inertial driving control device 100 can proceed to step S312 to identify whether there is other road curvature information.

[0143] When the curvature sign changes within a curved road section (S316 - Yes), the inertial driving control device 100 can identify a deceleration event based on the corresponding road curvature information (S310 - Yes).

[0144] In addition, the inertial driving control device 100 can store road curvature information related to deceleration events (S315).

[0145] According to one embodiment, when more than a preset number of road curvature information are received within a preset distance, the inertial driving control device 100 can identify the priority of deceleration events based on the comparison between road curvature information, and selectively perform inertial driving control on the road curvature information with the highest priority.

[0146] For example, priorities can be determined based on factors such as the size of the radius of curvature, whether the sign of curvature changes, the number of times the sign of curvature changes, and the length of the curved road segment.

[0147] Although some embodiments of this disclosure have been described in more detail with reference to the accompanying drawings, this disclosure is not necessarily limited to these embodiments, and various modifications can be made without departing from the scope of this disclosure. Therefore, the embodiments disclosed herein are not intended to limit the technical concept of this disclosure, but rather to illustrate it, and the scope of this disclosure is not limited by these embodiments. Therefore, it should be understood that the above embodiments are not restrictive in any way, but rather illustrative. The scope of this disclosure should be interpreted by the appended claims, and all technical ideas within the equivalent scope should be interpreted as falling within the scope of this disclosure.

Claims

1. A device for controlling inertial travel, the device comprising: The communication interface is configured to receive the necessary operational information required for the vehicle's inertial driving control. and The processor is configured as follows: Based on the road curvature information contained in the necessary operational information, determine whether a deceleration event is about to occur; Based on road curvature information indicating deceleration events, the target vehicle speed, inertial control time, and control torque for inertial driving control are determined. as well as Based on the determined result, the control actuator performs inertial driving control in response to the deceleration event.

2. The apparatus according to claim 1, wherein: The road curvature information includes: the radius of curvature containing a curvature symbol, the length of the curved road segment, and a first distance corresponding to the distance between the starting point of the curved road segment and the vehicle; and The processor is configured to: Based on the fact that the radius of curvature is less than the first reference value, the length of the curved road segment is greater than the second reference value, and the first distance is less than the third reference value, a deceleration event is determined to occur.

3. The apparatus according to claim 1, wherein: The road curvature information includes: the radius of curvature containing a curvature symbol, the length of the curved road segment, and a first distance corresponding to the distance between the starting point of the curved road segment and the vehicle; and The processor is configured to: Based on the fact that the radius of curvature is less than the first reference value, the length of the curved section is greater than the second reference value, and there is a change in the sign of curvature, a deceleration event is determined to occur.

4. The apparatus according to claim 1, wherein: The road curvature information includes: the radius of curvature containing a curvature symbol, the length of the curved road segment, and a first distance corresponding to the distance between the starting point of the curved road segment and the vehicle; and The processor is configured to: Based on the curvature radius being less than the first reference value, the length of the curved section being greater than the second reference value, and the first distance being greater than or equal to the third reference value, it is determined whether the curvature sign has changed; and When there is a change in the curvature sign, a deceleration event is determined to occur in the road curvature information.

5. The apparatus according to claim 1, wherein: The road curvature information includes: the radius of curvature containing the curvature sign; and The processor is configured to: Determine the absolute value of the radius of curvature; Search for the velocity corresponding to the absolute value from the information on velocities corresponding to the radius of curvature; and The speed found is determined as the speed of the target vehicle.

6. The apparatus according to claim 1, wherein, The processor is configured to: Determine the remaining distance from the vehicle's current position to the origin of the deceleration event.

7. The apparatus according to claim 6, wherein: The road curvature information includes a first distance corresponding to the distance between the starting point of the curved road segment and the vehicle; The necessary operational information includes the vehicle's speed; and The processor is configured to: The remaining distance is determined by subtracting the vehicle speed integral from the first distance.

8. The apparatus according to claim 6, wherein, The necessary operational information includes the vehicle's current location information, and The processor is configured to: The remaining distance is determined based on the vehicle's current location information.

9. The apparatus according to claim 6, wherein, Based on the existence of multiple deceleration events, the processor is configured to: For each of the plurality of deceleration events, determine the remaining distance; as well as Among the multiple deceleration events, when the difference in the remaining distance between the multiple deceleration events is less than or equal to a preset threshold, these deceleration events are determined as a single deceleration event.

10. The apparatus according to claim 9, wherein, The processor is configured to: The minimum of the target vehicle speeds identified for the same deceleration event is determined as the target vehicle speed for that deceleration event.

11. The apparatus according to claim 6, wherein, The processor is configured to: Based on the target vehicle speed and remaining distance, determine the inertial driving control time in response to the deceleration event.

12. The apparatus according to claim 11, wherein, The processor is configured to: The inertial driving control time is determined based on the fact that the distance required to reach the target vehicle speed through inertial driving is greater than or equal to a first preset distance value, and the remaining distance is greater than or equal to a second preset distance value.

13. The apparatus according to claim 1, wherein, The processor is configured to: When more than a preset number of road curvature information are received within a preset distance, the priority of the deceleration event is determined based on the road curvature information; as well as Inertial driving control is selectively applied to road curvature information with the highest priority. The priority is determined based on at least one of the following: the size of the radius of curvature of the corresponding road curvature information, the existence of a change in the curvature sign, the number of times the curvature sign changes, and the length of the curved road segment.

14. A method for controlling inertial movement, the method comprising the following steps: Based on the road curvature information contained in the received necessary operational information, determine whether a deceleration event is about to occur; Based on road curvature information indicating the presence of deceleration events, the target vehicle speed, inertial control time, and control torque for inertial driving control are determined. as well as Based on the determined result, the control actuator performs inertial driving control in response to the deceleration event.

15. An environmentally friendly vehicle, comprising: The information providing device is configured to provide the necessary operational information required for the inertial driving control of the vehicle; and The inertial driving control device is configured as follows: Based on the road curvature information contained in the necessary operational information, determine whether a deceleration event exists; Based on road curvature information indicating a deceleration event, the target vehicle speed, inertial control time, and control torque for inertial driving control are determined; and Based on the determined result, the control actuator performs inertial driving control in response to the deceleration event.

16. The environmentally friendly vehicle according to claim 15, wherein: The road curvature information includes: the radius of curvature containing the curvature symbol, the length of the curved road segment, and a first distance corresponding to the distance between the starting point of the curved road segment and the vehicle.

17. The environmentally friendly vehicle according to claim 16, wherein, The inertial driving control device is configured as follows: Based on the fact that the radius of curvature is less than the first reference value, the length of the curved road segment is greater than the second reference value, and the first distance is less than the third reference value, a deceleration event is determined to occur.

18. The environmentally friendly vehicle according to claim 16, wherein, The inertial driving control device is configured as follows: Based on the fact that the radius of curvature is less than the first reference value, the length of the curved section is greater than the second reference value, and there is a change in the sign of curvature, a deceleration event is determined to occur.

19. The environmentally friendly vehicle according to claim 16, wherein, The inertial driving control device is configured as follows: Based on the curvature radius being less than the first reference value, the length of the curved road segment being greater than the second reference value, and the first distance being greater than or equal to the third reference value, it is determined whether the curvature sign has changed; as well as When there is a change in the curvature sign, a deceleration event is determined to occur in the road curvature information.

20. The environmentally friendly vehicle according to claim 15, wherein: The road curvature information includes: the radius of curvature containing the curvature sign; and The inertial driving control device is configured as follows: Determine the absolute value of the radius of curvature; Search for the velocity corresponding to the absolute value from the information on velocities corresponding to the radius of curvature; and The speed found is determined as the speed of the target vehicle.

Images