KR102359938B1 - Method for controlling coasting drive of environmentally friendly vehicle using dynamic traffic information - Google Patents

Abstract

A method for controlling driving of an eco-friendly vehicle using dynamic traffic information includes: determining, by a controller, a target speed for out-of-bounds driving of an eco-friendly vehicle that will approach a traffic light corresponding to the traffic light information, based on the traffic light information included in the dynamic traffic information; , calibrating, by the controller, the target speed of the eco-friendly vehicle based on the traffic situation information included in the dynamic traffic information; Including; controlling to output.

Description

A method of controlling driving of an eco-friendly vehicle using dynamic traffic information

The present invention relates to a method for controlling a vehicle, and more particularly, to a method for controlling the driving of an eco-friendly vehicle using dynamic traffic information.

The eco-friendly vehicle includes a fuel cell vehicle, an electric vehicle, a plug-in electric vehicle, and a hybrid vehicle, and typically includes a motor for generating driving force.

A hybrid vehicle, which is an example of such an eco-friendly vehicle, uses an internal combustion engine and battery power together. That is, the hybrid vehicle efficiently combines and uses the power of the internal combustion engine engine and the power of the motor.

A hybrid vehicle may be composed of an engine, a motor, an engine clutch that controls power between the engine and the motor, a transmission, a differential gear device, a battery, a starter generator that starts the engine or generates power by the output of the engine, and wheels have.

In addition, the hybrid vehicle includes a hybrid control unit for controlling the overall operation of the hybrid vehicle, an engine control unit for controlling the operation of the engine, a motor control unit for controlling the operation of the motor, It may be composed of a transmission control unit that controls the operation of the transmission, and a battery control unit that controls and manages the battery.

The battery controller may be referred to as a battery management system. The starter generator is also referred to as an integrated starter & generator (ISG) or a hybrid starter & generator (HSG).

The hybrid vehicle as described above includes an EV mode (electric vehicle mode) that is a pure electric vehicle mode using only the power of the motor, an HEV mode (hybrid electric vehicle mode) that uses the rotational power of the motor as an auxiliary power while using the rotational power of the engine as the main power, the automobile During braking or driving by inertia, the vehicle can be operated in driving modes such as a regenerative braking mode in which braking and inertia energy is recovered through power generation of the motor and charged to the battery.

U.S. Patent No. 9,070,305, which is a related art, may provide a method of calculating the location information of a traffic light by detecting driving information (position, direction, height) of a vehicle and information on a traffic light as images and colors.

US Patent No. 7,825,825, which is a related art, may disclose a method for providing and guiding traffic light information to a vehicle.

Matters described in this background section are prepared to improve understanding of the background of the invention, and may include matters that are not already known to those of ordinary skill in the art to which this technology belongs.

The technical problem (purpose) to be solved by the present invention is an eco-friendly method that can improve the real road fuel efficiency of an eco-friendly vehicle by utilizing dynamic traffic information (eg, traffic light information, traffic condition information) on the road (route) An object of the present invention is to provide a method for controlling driving of a vehicle.

In order to solve (achieve) the above problem, in a method for controlling driving of an eco-friendly vehicle using dynamic traffic information according to an embodiment of the present invention, a controller responds to the traffic light information based on the traffic light information included in the dynamic traffic information determining a target speed for in-vehicle driving of the eco-friendly vehicle to approach a traffic light; correcting, by the controller, the target speed of the eco-friendly vehicle based on the traffic situation information included in the dynamic traffic information; and controlling, by the controller, to output a control torque to a driving motor of the eco-friendly vehicle so that the eco-friendly vehicle travels on the basis of the corrected target speed.

The determining of the target speed of the eco-friendly vehicle includes: determining, by the controller, the target speed of the eco-friendly vehicle based on the remaining distance to the traffic light, the current speed of the eco-friendly vehicle, and the remaining time of the red signal of the traffic light may include

In the step of determining the target speed of the green vehicle, when the current signal of the traffic light to which the green vehicle is to approach is a red signal, the required access time required for the green vehicle to approach the traffic light is the remaining time of the red signal. and determining a target speed of the eco-friendly vehicle when the time is less than or equal to the time, and the target speed may be zero.

In the step of determining the target speed of the green vehicle, when the current signal of the traffic light to which the green vehicle is to approach is a red signal, the required access time required for the green vehicle to approach the traffic light is the remaining time of the red signal. and determining a target speed of the eco-friendly vehicle when the time is exceeded, wherein the target speed may be less than a current speed of the eco-friendly vehicle.

The determining of the target speed of the eco-friendly vehicle may include determining the target speed of the eco-friendly vehicle based on the remaining distance to the traffic light, the current speed of the eco-friendly vehicle, and the remaining time of the green signal of the traffic light. can

The step of determining the target speed of the eco-friendly vehicle may include, when the current signal of the traffic light to which the eco-friendly vehicle is to approach is a green signal, the required access time required for the eco-friendly vehicle to approach the traffic light is the remaining green signal. and determining a target speed of the eco-friendly vehicle when the time is less than or equal to the time, wherein the target speed may be less than a current speed of the eco-friendly vehicle.

The step of determining the target speed of the eco-friendly vehicle may include, when the current signal of the traffic light to which the eco-friendly vehicle is to approach is a green signal, the required access time required for the eco-friendly vehicle to approach the traffic light is the remaining green signal. and determining a target speed of the eco-friendly vehicle when the time is exceeded, wherein the target speed may be zero.

In the step of correcting the target speed of the eco-friendly vehicle, the controller determines the remaining distance to the traffic light, the current speed of the eco-friendly vehicle, the remaining time of the red signal of the traffic light, and the congestion degree of the road included in the traffic condition information. and correcting the target speed of the eco-friendly vehicle based on the expected approach required time for the eco-friendly vehicle to approach the traffic light.

In the step of outputting the control torque to the driving motor of the eco-friendly vehicle, the controller outputs a feed-forward torque to the driving motor of the eco-friendly vehicle so that the eco-friendly vehicle travels on the basis of the corrected target speed, and then provides a feedback torque. It may include the step of controlling the output.

An output transition time between the feed-forward torque and the feedback torque may be determined based on the expected access required time and the remaining time of the red signal.

In the step of correcting the target speed of the eco-friendly vehicle, the controller determines the remaining distance to the traffic light, the current speed of the eco-friendly vehicle, the remaining time of the green signal of the traffic light, and the congestion degree of the road included in the traffic condition information. and correcting the target speed of the eco-friendly vehicle based on the expected approach required time for the eco-friendly vehicle to approach the traffic light.

In the step of outputting the control torque to the driving motor of the eco-friendly vehicle, the controller outputs a feed-forward torque to the driving motor of the eco-friendly vehicle so that the eco-friendly vehicle travels on the basis of the corrected target speed, and then provides a feedback torque. It may include the step of outputting.

An output transition time between the feed-forward torque and the feedback torque may be determined based on the expected access required time and the remaining time of the green signal.

In the method for controlling driving of an eco-friendly vehicle using the dynamic traffic information, it is determined whether a residual distance to a traffic light to be approached by the eco-friendly vehicle is greater than or equal to a reference driving distance that is a minimum value of a distance at which the eco-friendly vehicle can perform regenerative braking. The method may further include determining, and when the remaining distance is equal to or greater than the standard forking distance, the step of determining a target speed for coasting of the eco-friendly vehicle may be performed.

According to the above-described embodiment of the present invention, the driving control method for an eco-friendly vehicle using dynamic traffic information is based on traffic information including traffic light information. Since eco-coasting (fuel economy (economic) driving or coasting) can be performed, the energy of the vehicle can be reduced and fuel efficiency can be improved on the actual road of an eco-friendly vehicle.

In order to more fully understand the drawings used in the detailed description of the invention, a brief description of each drawing is provided.
1 is a view for explaining a system including a traffic information processing system to which an eco-coasting control method (Eco-Coasting) of an eco-friendly vehicle (xEV) using dynamic traffic information according to an embodiment of the present invention is applied.
FIG. 2 is a flowchart illustrating an out-of-bounds driving control method (Eco-Coasting) of an eco-friendly vehicle (xEV) using dynamic traffic information according to an embodiment of the present invention.
3 is a view for explaining an embodiment of a method of determining a target speed of an eco-friendly vehicle when a current signal of a traffic light related to the traffic light system of FIG. 1 is a red signal.
FIG. 4 is a view for explaining another embodiment of a method for determining a target speed of an eco-friendly vehicle when a current signal of a traffic light related to the traffic light system of FIG. 1 is a red signal.
FIG. 5 is a view for explaining a method of correcting a target acceleration of the eco-friendly vehicle shown in FIG. 4 .
FIG. 6 is a view for explaining an embodiment of a method of determining a target speed of an eco-friendly vehicle when a current signal of a traffic light related to the traffic light system of FIG. 1 is a green signal;
FIG. 7 is a view for explaining another embodiment of a method of determining a target speed of an eco-friendly vehicle when a current signal of a traffic light of the traffic light system of FIG. 1 is a green signal;
FIG. 8 is a view for explaining a torque output unit for outputting driving control torque of the eco-friendly vehicle shown in FIG. 1 .
FIG. 9 is a view (table) for explaining the torque output unit shown in FIG. 8 .
FIG. 10 is a view for explaining calibration of the feedforward torque output from the torque output unit shown in FIG. 8 .
11 is a view for explaining a controller for outputting a steering control torque of the eco-friendly vehicle shown in FIG. 1 .
12 is a view for explaining driving control of the eco-friendly vehicle shown in FIG. 1 .

In order to fully understand the present invention and the objects achieved by the practice of the present invention, reference should be made to the accompanying drawings illustrating embodiments of the present invention and the contents described in the accompanying drawings.

Hereinafter, the present invention will be described in detail by describing embodiments of the present invention with reference to the accompanying drawings. In describing the present invention, if it is determined that a detailed description of a related known configuration or function may obscure the gist of the present invention, the detailed description thereof will be omitted. Like reference numerals provided in each drawing may refer to like elements.

The terminology used herein is used only to describe specific embodiments, and is not intended to limit the present invention. The singular expression includes the plural expression unless the context clearly dictates otherwise. In this specification, terms such as “include” or “have” are intended to designate that the features, numbers, steps, operations, components, parts, or combinations thereof described in the specification exist, and one or more other features It should be understood that this does not preclude the existence or addition of numbers, steps, operations, components, parts, or combinations thereof.

Throughout the specification, when a part is said to be “connected” with another part, it is not only “directly connected” but also “electrically or mechanically connected” with another component interposed therebetween. include

Unless defined otherwise, terms used herein, including technical or scientific terms, have the same meaning as commonly understood by one of ordinary skill in the art to which the present invention belongs. Terms such as those defined in a commonly used dictionary should be interpreted as having a meaning consistent with the meaning in the context of the related art, and should not be interpreted in an ideal or excessively formal meaning unless explicitly defined in the present specification. does not

In order to minimize energy consumption while the vehicle is driving on an actual road, information that can be used by a vehicle can be largely divided into static information and dynamic information. Static information may be represented by high-precision map map information including information such as slope and curvature of roads, toll gates, or ICs (interchanges), and dynamic information includes information such as traffic lights or road congestion. It may be represented by vehicle-to-everything (V2X) information.

When the destination and route are determined, static information can be calculated before departure of the vehicle, but dynamic information changes every moment, and the vehicle's driving profile is also sensitive to the driver's disposition or unexpected situations, so it is difficult to fully predict the entire profile. very difficult Therefore, if the dynamic information on the actual road can be updated at an appropriate time, the situation can be very predictable only for a certain section, and by using this, energy reduction control of the vehicle that can minimize energy consumption is possible. .

1 is a view for explaining a system including a traffic information processing system to which an eco-coasting control method (Eco-Coasting) of an eco-friendly vehicle (xEV) using dynamic traffic information according to an embodiment of the present invention is applied.

1, the system is a GPS collection system 10 implemented as a server, a traffic light system 20 implemented as a server, and a traffic information processing system 30 implemented as a server , and an eco-friendly vehicle 40 .

The GPS collection system 10 may collect GPS information (location information) of vehicles that travel on a road and include the eco-friendly vehicle 40 according to an embodiment of the present invention.

The traffic light system 20 may provide the traffic information processing system 30 with traffic light information including the location of the traffic light, the signal time of the traffic light, the lighting information of the traffic light (traffic light), and information on the remaining time for switching the traffic light. have.

The traffic information processing system 30 processes (generates) traffic information (eg, traffic condition information) based on location information and traffic light information of vehicles, and transmits the processed traffic information, which is precise traffic information, to an eco-friendly vehicle ( 40) can be provided (transmitted). The traffic information may include traffic situation information including a degree of road congestion (road congestion information), an average speed of a vehicle for each section of a road, or a traffic volume.

FIG. 2 is a flowchart illustrating a method (Eco-Coasting) of an eco-friendly vehicle (xEV) using dynamic traffic information according to an embodiment of the present invention. 3 is a view for explaining an embodiment of a method of determining a target speed of an eco-friendly vehicle when a current signal of a traffic light related to the traffic light system of FIG. 1 is a red signal. FIG. 4 is a view for explaining another embodiment of a method for determining a target speed of an eco-friendly vehicle when a current signal of a traffic light related to the traffic light system of FIG. 1 is a red signal. FIG. 5 is a view for explaining a method of correcting a target acceleration of the eco-friendly vehicle shown in FIG. 4 . FIG. 6 is a view for explaining an embodiment of a method of determining a target speed of an eco-friendly vehicle when a current signal of a traffic light related to the traffic light system of FIG. 1 is a green signal; FIG. 7 is a view for explaining another embodiment of a method of determining a target speed of an eco-friendly vehicle when a current signal of a traffic light with respect to the traffic light system of FIG. 1 is a green signal. FIG. 8 is a view for explaining a torque output unit for outputting driving control torque of the eco-friendly vehicle shown in FIG. 1 . FIG. 9 is a view (table) for explaining the torque output unit shown in FIG. 8 . FIG. 10 is a view for explaining calibration of the feedforward torque output from the torque output unit shown in FIG. 8 . 11 is a view for explaining a controller for outputting a steering control torque of the eco-friendly vehicle shown in FIG. 1 . 12 is a view for explaining driving control of the eco-friendly vehicle shown in FIG. 1 .

2 to 12 , in the determination step 100 , in the controller 405 included in the eco-friendly vehicle 40, the residual distance d _res to the traffic light through which the eco-friendly vehicle will pass (approach) is the standard. It is possible to determine whether it is more than the other running distance (d _ref ).

The controller 405 illustrated in FIG. 11 may receive the traffic light information included in the traffic information from the traffic information processing system 30 illustrated in FIG. 1 . The eco-friendly vehicle 40 may determine its own location information by including, for example, a global positioning system (GPS) receiver.

The residual distance d _res may be abs (traffic light position - current vehicle position), and the reference driving distance d _ref may mean a minimum value of a distance at which the eco-friendly vehicle 40 can perform regenerative braking. . The abs ( ) may indicate an absolute value function. The regenerative braking recovers braking and inertial energy during braking of the eco-friendly vehicle or driving (coasting) due to inertia through the power generation of a driving motor that drives the driving wheel of the eco-friendly vehicle 40. It could mean charging the battery. In other words, if there is a traffic light, curve, vehicle in front, or other object in front, the driver recognizes this in advance and releases the accelerator pedal in advance (or the accelerator pedal and the brake pedal are not pressed) In), it may be possible to recover energy through coasting (Coasting Control).

The controller 405 may control the overall operation of the eco-friendly vehicle 40 . The controller 405 may be, for example, one or more microprocessors operated by a program or hardware including the microprocessor, and the program is eco-friendly using dynamic traffic information according to an embodiment of the present invention. It may include a series of instructions for performing a vehicle traveling control method.

According to the determination step 105 , when the residual distance d _res is greater than or equal to the reference cruising distance d _ref , the controller 405 indicates that the current signal of the traffic light through which the eco-friendly vehicle 40 will pass (approach) is red. It can be determined whether it is a signal or not. When the current signal is a red signal, the out-of-bounds driving control method of the eco-friendly vehicle (xEV) using dynamic traffic information, which is a process, may proceed to the determination step 115 . When the current signal is not a red signal, the process may proceed to a decision step 122 .

According to the determination step 115 , as shown in the upper diagram of FIG. 3 , the controller 405 determines the access required (required) time t _appr required for the eco-friendly vehicle 40 to access the traffic light 200 . It may be determined whether the red signal is less than or equal to the remaining time (t _{r_res} ). The red signal remaining time t _{r_res} may be a value obtained by subtracting the red signal elapsed time t _{r_pass} from the red signal time (or red signal holding time) t _r . The required approach time t _appr may be a value obtained by dividing the remaining distance d _res by the current speed of the eco-friendly vehicle 40 . When the access required time t _appr is less than or equal to the red signal remaining time t _{r_res} , the process may proceed to a determination step 135 . When the access required time t _appr is not less than the red signal remaining time t _{r_res} , the process may proceed to the determination step 120 .

According to the determination step 120 , as shown in the upper diagram of FIG. 4 , the controller 405 determines whether the access required (required) time t _appr exceeds the red signal remaining time t _{r_res} . can do. When the access required (required) time t _appr exceeds the red signal remaining time t _{r_res} , the process may proceed to a decision step 135 , wherein the access required (required) time t _appr is red When the signal remaining time t _{r_res} is not exceeded, the process may proceed to a decision step 115 .

According to the determination step 122 , the controller 405 may determine whether a current signal of a traffic light through which the eco-friendly vehicle 40 will pass (approach) is a green signal. When the current signal is a green signal, the process may proceed to decision 125 . When the current signal is not a green signal the process may proceed to decision step 105 .

According to the determination step 125 , as shown in the upper diagram of FIG. 6 , the controller 405 may determine whether the access required (required) time t _appr is less than or equal to the green signal remaining time t _{g_res} . have. The green signal remaining time t _{g_res} may be a value obtained by subtracting the green signal elapsed time t _{g_pass} from the green signal time (or green signal holding time) t _g . The required approach time t _appr may be a value obtained by dividing the remaining distance d _res by the current speed of the eco-friendly vehicle 40 . When the access required time t _appr is equal to or less than the green signal remaining time t _{g_res} , the process may proceed to a determination step 135 . When the access required time t _appr is not less than the green signal remaining time t _{g_res} , the process may proceed to the determination step 130 .

According to the determination step 130 , as shown in the upper diagram of FIG. 7 , the controller 405 determines whether the access required (required) time t _appr exceeds the green signal remaining time t _{g_res} . can do. When the access required (required) time t _appr exceeds the green signal remaining time t _{g_res} , the process may proceed to a decision step 135 , wherein the access required (required) time t _appr is green When the signal remaining time t _{g_res} is not exceeded, the process may proceed to a decision step 125 .

According to the determining step 135, the controller 405 controls the environment-friendly vehicle 40 to approach (approach) a traffic light corresponding to (included) the traffic light information based on the traffic light information included in the dynamic traffic information. A target speed or target acceleration for driving may be determined.

When the current signal of the traffic light 200 to be approached by the eco-friendly vehicle 40 is a red signal and the access required (required) time t _appr is less than or equal to the red signal remaining time t _{r_res} , refer to FIG. A method of determining the target speed (or target acceleration) for the other driving of the vehicle 40 will be described as follows.

The controller 405 may determine the target speed V _tgt of the eco-friendly vehicle based on the remaining distance to the traffic light 200 , the current speed of the eco-friendly vehicle 40 , and the remaining time of the red signal of the traffic light 200 . The target speed V _tgt may be zero or a value close to zero. The target acceleration a _tgt may be less than zero.

The controller 405 determines the target acceleration a _tgt (or target deceleration) of the eco-friendly vehicle based on the remaining distance to the traffic light 200 , the current speed of the eco-friendly vehicle 40 , and the remaining time of the red signal of the traffic light 200 . (Deceleration)) can be determined. The target acceleration may be a value for generating the target velocity V _tgt , which is zero or a value close to zero.

When the current signal of the traffic light 200 to be approached by the eco-friendly vehicle 40 is a red signal and the access required (required) time t _appr exceeds the red signal remaining time t _{r_res} , FIGS. 4 and A method of determining the target speed (or target acceleration) for the other driving of the eco-friendly vehicle 40 will be described with reference to 5 .

The controller 405 may determine the target speed V _tgt of the eco-friendly vehicle based on the remaining distance to the traffic light 200 , the current speed of the eco-friendly vehicle 40 , and the remaining time of the red signal of the traffic light 200 . The target speed V _tgt may be a speed smaller than the current speed of the eco-friendly vehicle 40 .

The controller 405 determines the target acceleration a _tgt (or target deceleration) of the eco-friendly vehicle based on the remaining distance to the traffic light 200 , the current speed of the eco-friendly vehicle 40 , and the remaining time of the red signal of the traffic light 200 . ) can be determined. The target acceleration may be a value for generating a target speed V _tgt that is smaller than the current speed of the eco-friendly vehicle 40 .

When the current signal of the traffic light 200 to be approached by the eco-friendly vehicle 40 is a green signal and the access required (required) time (t _appr ) is less than or equal to the green signal remaining time (t _{g_res} ), referring to FIG. 6 , the eco-friendly A method of determining the target speed (or target acceleration) for the other driving of the vehicle 40 will be described as follows.

The controller 405 may determine the target speed V _tgt of the eco-friendly vehicle based on the remaining distance to the traffic light 200 , the current speed of the eco-friendly vehicle 40 , and the remaining time of the green signal of the traffic light 200 . The target speed V _tgt may be a speed smaller than the current speed of the eco-friendly vehicle 40 .

The controller 405 determines the target acceleration a _tgt (or target deceleration) of the eco-friendly vehicle based on the remaining distance to the traffic light 200 , the current speed of the eco-friendly vehicle 40 , and the green signal remaining time of the traffic light 200 . ) can be determined. The target acceleration may be a value for generating a target speed V _tgt that is smaller than the current speed of the eco-friendly vehicle 40 .

_In Fig. 6, _{V tgt_prd} is the predicted target speed profile (predicted target speed change value) of an eco-friendly vehicle calculated based on traffic information (eg, road congestion) and eco-friendly vehicle information (eg, location information), V _{tgt _ prd} is the mean of V _{tgt _ avg} to be. Estimated access time (t _{appr _ prd} ) is from V _{tgt_avg} to traffic light 200 It can be calculated using the residual distance (d _res ) (that is, t _{appr _ prd} = V _{tgt _ avg} /d _res ). Since V _{tgt _ prd} maintains the constant value Vr or more, t _{appr _ prd} is smaller than t _{g_res} , so that the eco-friendly vehicle 40 can pass the traffic light.

When the current signal of the traffic light 200 to be approached by the eco-friendly vehicle 40 is a green signal, and the access required (required) time t _appr exceeds the green signal remaining time t _{g_res} , refer to FIG. 7 . Thus, a method of determining the target speed (or target acceleration) for the other driving of the eco-friendly vehicle 40 will be described as follows.

The controller 405 may determine the target speed V _tgt of the eco-friendly vehicle based on the remaining distance to the traffic light 200 , the current speed of the eco-friendly vehicle 40 , and the remaining time of the green signal of the traffic light 200 . The target speed V _tgt may be zero or a value close to zero. The target acceleration a _tgt may be less than zero.

The controller 405 determines the target acceleration a _tgt (or target deceleration) of the eco-friendly vehicle based on the remaining distance to the traffic light 200 , the current speed of the eco-friendly vehicle 40 , and the green signal remaining time of the traffic light 200 . (Deceleration)) can be determined. The target acceleration may be a value for generating the target velocity V _tgt , which is zero or a value close to zero.

According to the determination step 140, the controller 405 of the eco-friendly vehicle 40 receives dynamic traffic information including the degree of congestion of the road on which the eco-friendly vehicle travels, the average speed of vehicles on the road, or the amount of traffic on the road. It can be determined whether or not

According to the correction step 145, the controller 405 may correct the target speed or target acceleration of the eco-friendly vehicle based on information on traffic condition (eg, road congestion) included in the dynamic traffic information. can

When the current signal of the traffic light 200 to be approached by the eco-friendly vehicle 40 is a red signal and the access required (required) time t _appr is less than or equal to the red signal remaining time t _{r_res} , refer to FIG. A method of correcting the target speed (or target acceleration) of the vehicle 40 will be described as follows.

The controller 405 determines whether the eco-friendly vehicle according to the remaining distance to the traffic light 200, the current speed of the eco-friendly vehicle 40, the remaining time of the red signal of the traffic light 200, and the degree of congestion of the road included in the traffic condition information. The target speed or target acceleration (a _tgt ) (or target deceleration) of the eco-friendly vehicle may be corrected based on the expected approach required time to approach the traffic light. The target acceleration a _tgt may be calibrated according to the degree of congestion of the road.

When the current signal of the traffic light 200 to be approached by the eco-friendly vehicle 40 is a red signal and the access required (required) time t _appr exceeds the red signal remaining time t _{r_res} , FIGS. 4 and A method of correcting the target speed (or target acceleration) for the other driving of the eco-friendly vehicle 40 will be described with reference to 5 .

The controller 405 determines whether the eco-friendly vehicle according to the remaining distance to the traffic light 200, the current speed of the eco-friendly vehicle 40, the remaining time of the red signal of the traffic light 200, and the degree of congestion of the road included in the traffic condition information. The target speed of the eco-friendly vehicle may be corrected based on the estimated time required to approach the traffic light (t _{appr _ prd} ).

The controller 405 determines that congestion has deepened when the expected time required for access (t _{appr _ prd} ) is greater than the time required for access (t _appr ), and lowers the target speed (V _tgt ), and the estimated time required for access is smaller than the required time for access. It is determined that the ground congestion has been alleviated, and the target speed V _tgt may be increased.

The controller 405 is an eco-friendly vehicle according to the remaining distance to the traffic light 200 , the current speed of the eco-friendly vehicle 40 , and the remaining time of the red signal of the traffic light 200 , and the degree of congestion of the road included in the traffic condition information. The target acceleration a _tgt (or target deceleration) of the eco-friendly vehicle may be corrected based on the expected approach required time t _{appr _ prd} to approach the traffic light.

The controller 405 determines that congestion has deepened when the expected access time required (t _{appr _ prd} ) is greater than the access time required and increases the target deceleration (absolute value of the slope of the speed in FIG. 5 ) (a _{tgt_cor,3} ), and the expected When the time required for the approach is smaller than the time required for the approach, it is determined that the congestion has been alleviated and the target deceleration (absolute value of the slope of the speed in FIG. 5 ) can be lowered (a _{tgt_cor,1} ).

When the current signal of the traffic light 200 to be approached by the eco-friendly vehicle 40 is a green signal and the access required (required) time (t _appr ) is less than or equal to the green signal remaining time (t _{g_res} ), referring to FIG. 6 , the eco-friendly A method of correcting the target speed (or target acceleration) for the other driving of the vehicle 40 will be described as follows.

The controller 405 determines whether the eco-friendly vehicle according to the remaining distance to the traffic light 200, the current speed of the eco-friendly vehicle 40, the remaining time of the red signal of the traffic light 200, and the degree of congestion of the road included in the traffic condition information. The target speed or target acceleration (a _tgt ) (or target deceleration) of the eco-friendly vehicle may be corrected based on the expected approach required time to approach the traffic light. The target acceleration a _tgt may be calibrated according to the degree of congestion of the road.

When the current signal of the traffic light 200 to be approached by the eco-friendly vehicle 40 is a green signal, and the access required (required) time t _appr exceeds the green signal remaining time t _{g_res} , refer to FIG. 7 . Thus, a method of correcting the target speed (or target acceleration) for the other driving of the eco-friendly vehicle 40 will be described as follows.

The controller 405 determines whether the eco-friendly vehicle according to the remaining distance to the traffic light 200, the current speed of the eco-friendly vehicle 40, the remaining time of the red signal of the traffic light 200, and the degree of congestion of the road included in the traffic condition information. The target speed or target acceleration a _tgt (or target deceleration) of the eco-friendly vehicle may be corrected based on the expected approach required time t _{appr _ prd} to approach the traffic light. The target acceleration a _tgt may be calibrated according to the degree of congestion of the road (a _{tgt_cor} ). As shown in FIG. 7 , the arrival time of the traffic light of the eco-friendly vehicle 40 may be delayed _{with an} increase in t _{appr_prd} . The controller 405 determines that congestion is aggravated when the expected time required for access (t _{appr _ prd} ) is greater than the time required for access, and increases the target deceleration (absolute value of the slope of the speed in FIG. 7 ) (a _{tgt _ cor, 1} ) , when the estimated time required for the approach is smaller than the time required for the approach, it is determined that congestion has been alleviated and the target deceleration (absolute value of the slope of the speed in FIG. 7 ) can be lowered (a _{tgt_cor,3} ).

According to the determination step 150 , the controller 405 may control to output a control torque to a drive motor included in the eco-friendly vehicle 40 so that the eco-friendly vehicle 40 travels on the basis of the corrected target speed. In another embodiment of the present invention, the controller 405 outputs a feedforward torque to a driving motor that drives the eco-friendly vehicle so that the eco-friendly vehicle 40 travels on the basis of the corrected target speed and then provides feedback. (Feedback) The drive motor can generate torque by controlling it to output (provide) torque. In other words, the controller 405 controls to generate a map-based Feedforward torque to satisfy the initial driving performance of the control of the eco-friendly vehicle 40 , and satisfies the target speed tracking performance of the eco-friendly vehicle 40 . In order to do this, it can be controlled to generate a modeling-based feedback talk.

That is, as shown in FIG. 12 , in the control torque generating method according to the embodiment of the present invention, the feed-forward (FF) torque starts to be generated first, the difference between the target speed and the current speed is reduced, and the eco-friendly vehicle 40 ) requires more precise control as it approaches a traffic light, which is a deceleration event, so a feedback (FB) torque can be generated at a distance near the target point corresponding to the traffic light.

8 and 9 , the controller 405 generates a map table in which the torque output unit 300 is a control torque corresponding to the current speed of the eco-friendly vehicle 40 and the corrected target speed of the eco-friendly vehicle ( Yes, it is possible to control to output the feedforward torque (FF tq.) stored in the memory). The torque output unit 300 may be a feedforward type torque output unit including the map table. The map table may be generated by test.

In another embodiment of the present invention, the corrected target acceleration of the eco-friendly vehicle 40 may be applied or input to the torque output unit 300 instead of the corrected target speed.

8, 9, and 10 , the feedforward torque, which is the control torque stored in the map table, may be corrected (or corrected) by a test in consideration of drivability (deceleration). In other words, the feedforward torque output can be determined relatively easily by calibrating the nonlinear, uncertain, and difficult to model drivability (driver’s feeling) based on tests and experiences.

Referring to FIG. 11 , the controller 405 may output a control torque corresponding to the corrected target speed using a plant model 410 and a subtractor 400 that are control target models. For example, the plant model 410 may be a vehicle model including a motor for driving an eco-friendly vehicle. In more detail, the controller 405 may output a feedback torque FB tq. corresponding to the control torque based on a vehicle speed difference that is a difference between the current speed of the eco-friendly vehicle and the corrected target speed. The controller 405 may be a feedback-type torque output unit. The controller 405 may determine the feedback torque based on the plant model so that the current speed of the vehicle output from the plant model 410 follows the target speed.

An output transition time between the feedforward torque and the feedback torque may be determined based _{on an} expected access required time t _{appr_prd} and a red signal remaining time t _{r_res} . In another embodiment of the present invention, an output transition time between the feedforward torque and the feedback torque may be determined based _{on an} expected access required time (t _{appr_prd} ) and a green signal remaining time (t _{g_res} ).

For example, _the output transition time is abs(t _{appr_prd )} - t _{x_res} ) = α. When α of the above equation has a small value, the feedback FB torque may be generated relatively quickly in order to improve the followability of the target speed. In the above formula, x is r (red) or g (green).

As described above, the controller 405 may adjust (control) the coasting torque (coaching torque) of the eco-friendly vehicle for deceleration or braking of the eco-friendly vehicle 40 according to the traffic light information and the traffic condition information. That is, the controller 405 may control the eco-friendly vehicle 40 to perform active inertia driving.

Therefore, the embodiment of the present invention detects in advance the deceleration or braking situation of the vehicle according to traffic information including traffic light information to prevent fuel (energy) consumption due to unnecessary acceleration of the vehicle and at the same time prevent the motor (electricity) of the eco-friendly vehicle. It is possible to recover energy by utilizing coasting control using a driving motor that is a motor.

A component or “unit” or block or module used in an embodiment of the present invention is a task, class, subroutine, process, object, thread of execution, or software such as a program performed in a predetermined area on a memory. ), may be implemented in hardware such as a field programmable gate array (FPGA) or an application-specific integrated circuit (ASIC), or a combination of the software and hardware. The components or '-parts' may be included in a computer-readable storage medium, or a part thereof may be distributed and distributed among a plurality of computers.

As described above, embodiments have been disclosed in the drawings and specification. Here, although specific terms have been used, these are only used for the purpose of describing the present invention and are not used to limit the meaning or the scope of the present invention described in the claims. Therefore, those skilled in the art will understand that various modifications and equivalent embodiments are possible from the present invention. Therefore, the true technical protection scope of this invention will have to be determined by the technical spirit of the appended claims.

20: traffic light system
30: traffic information processing system
40: eco-friendly vehicle
200: traffic light
300: torque output unit
405: controller
410: plant model

Claims (14)

In a method for controlling driving of an eco-friendly vehicle using dynamic traffic information,
determining, by a controller, a target speed for in-vehicle driving of the eco-friendly vehicle that will approach a traffic light corresponding to the traffic light information based on the traffic light information included in the dynamic traffic information;
correcting, by the controller, the target speed of the eco-friendly vehicle based on the traffic situation information included in the dynamic traffic information; and
controlling, by the controller, to output a control torque to a driving motor of the eco-friendly vehicle so that the eco-friendly vehicle travels on the basis of the corrected target speed;
including,
The step of determining the target speed of the eco-friendly vehicle includes:
determining, by the controller, the target speed of the eco-friendly vehicle based on the remaining distance to the traffic light to be approached by the eco-friendly vehicle, the current speed of the eco-friendly vehicle, and the remaining time of the red signal of the traffic light,
The step of determining the target speed of the eco-friendly vehicle includes:
When the current signal of the traffic light to which the eco-friendly vehicle is to approach is a red signal, the target speed of the eco-friendly vehicle is determined when the required access time required for the eco-friendly vehicle to approach the traffic light is less than or equal to the remaining time of the red signal comprising the steps of
the target speed achieved by the drive motor is zero;
The step of correcting the target speed of the eco-friendly vehicle includes:
The eco-friendly vehicle according to the residual distance to the traffic light to which the eco-friendly vehicle is to be approached by the controller, the current speed of the eco-friendly vehicle, the remaining time of the red signal of the traffic light, and the degree of congestion of the road included in the traffic condition information, is determined by the controller. Comprising the step of correcting the target speed of the eco-friendly vehicle based on the expected approach required time to approach the traffic light,
The step of outputting the control torque to the driving motor of the eco-friendly vehicle comprises:
and controlling, by the controller, to output a feedback torque after outputting a feedforward torque to a drive motor of the eco-friendly vehicle so that the eco-friendly vehicle travels on the basis of the corrected target speed,
The output transition time between the feed-forward torque and the feedback torque is determined based on the expected approach required time and the remaining time of the red signal,
The step of correcting the target speed of the eco-friendly vehicle includes:
The eco-friendly vehicle is determined by the controller according to the remaining distance to the traffic light to be approached by the eco-friendly vehicle, the current speed of the eco-friendly vehicle, the remaining time of the green signal of the traffic light, and the degree of congestion of the road included in the traffic condition information. Comprising the step of correcting the target speed of the eco-friendly vehicle based on the expected approach required time to approach the traffic light,
The step of outputting the control torque to the driving motor of the eco-friendly vehicle comprises:
and outputting, by the controller, a feedback torque after outputting a feed-forward torque to a drive motor of the eco-friendly vehicle so that the eco-friendly vehicle travels on the basis of the corrected target speed,
The output transition time between the feed-forward torque and the feedback torque is determined based on the expected approach required time and the remaining time of the green signal.
delete delete The method of claim 1, wherein the determining of the target speed of the eco-friendly vehicle comprises:
When the current signal of the traffic light to which the eco-friendly vehicle is to approach is a red signal, the target speed of the eco-friendly vehicle when the required access time required for the eco-friendly vehicle to approach the traffic light exceeds the remaining time of the red signal comprising the step of determining
The target speed is a speed smaller than the current speed of the eco-friendly vehicle. A method for controlling driving of an eco-friendly vehicle using dynamic traffic information, characterized in that.
The method of claim 1, wherein the determining of the target speed of the eco-friendly vehicle comprises:
and determining, by the controller, the target speed of the eco-friendly vehicle based on the remaining distance to the traffic light to be approached by the eco-friendly vehicle, the current speed of the eco-friendly vehicle, and the remaining time of the green signal of the traffic light. A method of controlling the driving of an eco-friendly vehicle using dynamic traffic information.
The method of claim 5, wherein the determining of the target speed of the eco-friendly vehicle comprises:
When the current signal of the traffic light to which the eco-friendly vehicle is to approach is a green signal, the target speed of the eco-friendly vehicle is determined when the required access time required for the eco-friendly vehicle to approach the traffic light is less than or equal to the remaining time of the green signal comprising the steps of
The target speed is a speed that is smaller than the current speed of the eco-friendly vehicle.
The method of claim 5, wherein the determining of the target speed of the eco-friendly vehicle comprises:
When the current signal of the traffic light to which the eco-friendly vehicle is to approach is a green signal, the target speed of the eco-friendly vehicle when the required access time required for the eco-friendly vehicle to approach the traffic light exceeds the remaining time of the green signal comprising the step of determining
The target speed is 0, the driving control method of an eco-friendly vehicle using dynamic traffic information, characterized in that.
delete delete delete delete delete delete The method of claim 1 , wherein the method for controlling driving of an eco-friendly vehicle using the dynamic traffic information comprises:
The method further comprising the step of determining whether the remaining distance to a traffic light to be approached by the eco-friendly vehicle is greater than or equal to a reference cruising distance that is a minimum value of a distance at which the eco-friendly vehicle can perform regenerative braking;
When the remaining distance is equal to or greater than the standard cruising distance, the step of determining a target speed for cruising of the eco-friendly vehicle is performed.

Images