KR101533884B1 - Optimal fuel economy driving device with 3d map - Google Patents

Abstract

The fuel-economy optimum traveling apparatus using the 3D map according to an embodiment of the present invention provides an autonomous mode that travels according to an optimal fuel mileage trajectory as a vehicle driving mode, A mode management unit for managing the switching of the vehicle running mode; And an acceleration control unit for controlling the acceleration of the vehicle according to an inclination of the road so as to follow the optimal fuel mileage trajectory when the vehicle running mode is switched from the driver mode to the autonomous mode during driving of the vehicle.

Description

TECHNICAL FIELD [0001] The present invention relates to a fuel economy optimal driving apparatus using a 3D map,

Embodiments of the present invention relate to a fuel efficiency optimum driving apparatus using a 3D map capable of providing optimal fuel mileage.

Cruise control systems are becoming increasingly popular as one of the conveniences of vehicles. The cruise control device, which is an automatic speed control device of a car, is a device that allows the vehicle to travel while maintaining the vehicle speed even when the vehicle speed reaches a desired level, even if the accelerator pedal is not pressed continuously.

That is, the cruise control device controls the opening degree of the throttle valve by the operation of only the switch when the speed of the vehicle is accelerated to the desired vehicle speed during traveling, thereby allowing the vehicle to travel at a constant speed.

When the driver wishes to increase his / her vehicle speed while driving the cruise control, the driver continuously operates the acceleration switch of the cruise control switch or increases the speed of the cruise control to the desired speed by depressing the accelerator pedal. When you want to control the cruise control switch, you can set it back to the current vehicle speed by pressing the setting switch.

However, since such a crane control device maintains only the speed set by the driver irrespective of the road conditions, the driver must operate the brake pedal (BP) directly in a curved road or a ramp in order to reduce the speed, Lt; / RTI >

A related prior art is disclosed in Japanese Patent Application Laid-Open No. 10-2007-0060567 entitled AUTO CRUZE CONTROL SYSTEM FOR AUTOMOBILE, published on June 13, 2007.

In the embodiment of the present invention, when entering a curved road or a ramp, acceleration is controlled to follow the optimal fuel consumption driving trajectory without operating the driver's accelerator pedal AP and brake pedal BP, To thereby improve the fuel efficiency of the vehicle.

The problems to be solved by the present invention are not limited to the above-mentioned problem (s), and another problem (s) not mentioned can be clearly understood by those skilled in the art from the following description.

The fuel-economy optimum traveling apparatus using the 3D map according to an embodiment of the present invention provides an autonomous mode that travels according to an optimal fuel mileage trajectory as a vehicle driving mode, A mode management unit for managing the switching of the vehicle running mode; And an acceleration control unit for controlling the acceleration of the vehicle according to an inclination of the road so as to follow the optimal fuel mileage trajectory when the vehicle running mode is switched from the driver mode to the autonomous mode during driving of the vehicle.

The acceleration control unit may control the acceleration of the vehicle to be in inverse proportion to the inclination of the road.

The fuel economy optimal driving apparatus using the 3D map according to an embodiment of the present invention may further include an information obtaining unit for obtaining information on the inclination of the road through a 3D map.

The fuel economy optimum traveling apparatus using the 3D map according to an embodiment of the present invention further includes a sensor unit for sensing an operation of an accelerator pedal AP or a brake pedal BP of the vehicle traveling in the autonomous mode, May switch the vehicle running mode from the autonomous mode to the driver mode when the sensor unit detects the operation of the accelerator pedal AP or the brake pedal BP.

In the case where the road is a continuous curve road, the fuel efficiency optimum driving apparatus using the 3D map according to an embodiment of the present invention calculates the curved road entry limit speed V using the following equation, To calculate the optimal fuel consumption running locus based on the running locus calculated by the running locus calculating unit.

g _tm : gear ratio

g _fd : final reduction ratio

η _t : Conduction efficiency

r _w : Wheel radius

T _turbine : Torque converter output torque

The travel locus calculating unit may calculate the limit speed v _safe in the curved road through the following equation and calculate the optimal fuel mileage locus based on the calculated limit speed in the curved road.

α _h : design parameters describing the driver's driving capability

g: gravitational acceleration

| R _rd |: Absolute value of road turning radius

μ _{max _ lat, long} μ _{_ max:} maximum available road surface friction coefficient (the horizontal direction, vertical direction)

θ _slope : road gradient

L: Vehicle weight center height

d: Distance between the vehicle front axle and the center of gravity of the vehicle

θ _bank :

The details of other embodiments are included in the detailed description and the accompanying drawings.

According to the embodiment of the present invention, when the vehicle enters the curved road or the ramp, the acceleration for controlling the optimal fuel mileage trajectory is controlled without operating the AP or BP of the driver, thereby reducing unnecessary AP and BP operations of the driver, You can contribute.

According to the embodiment of the present invention, it is not necessary for the driver to perform the AP and BP operations at normal times, thereby providing convenience to the driver.

FIG. 1 is a block diagram illustrating a fuel efficiency optimal driving apparatus using a 3D map according to an embodiment of the present invention. Referring to FIG.
Figs. 2 and 3 are diagrams showing speed limits in straight and curved roads. Fig.
FIG. 4 is a flowchart illustrating a method of controlling a fuel efficiency optimal driving apparatus using a 3D map according to an embodiment of the present invention. Referring to FIG.

BRIEF DESCRIPTION OF THE DRAWINGS The advantages and / or features of the present invention, and how to accomplish them, will become apparent with reference to the embodiments described in detail below with reference to the accompanying drawings. It should be understood, however, that the invention is not limited to the disclosed embodiments, but is capable of many different forms and should not be construed as limited to the embodiments set forth herein. Rather, these embodiments are provided so that this disclosure will be thorough and complete, To fully disclose the scope of the invention to those skilled in the art, and the invention is only defined by the scope of the claims. Like reference numerals refer to like elements throughout the specification.

Hereinafter, embodiments of the present invention will be described in detail with reference to the accompanying drawings.

FIG. 1 is a block diagram illustrating a fuel efficiency optimal driving apparatus using a 3D map according to an embodiment of the present invention. Referring to FIG.

Referring to FIG. 1, a fuel economy optimal driving apparatus 100 using a 3D map according to an embodiment of the present invention includes a mode management unit 110, an information obtaining unit 120, an acceleration control unit 130, a sensor unit 140, A travel locus calculation unit 150, and a central control unit 160. [0034]

The mode management unit 110 provides a driver mode that runs according to the driver's operation and an autonomous mode that runs according to an optimal fuel mileage profile as a vehicle running mode.

The mode management unit 110 also manages switching of the vehicle driving mode. That is, when the vehicle driving mode is switched, the mode management unit 110 senses the driving mode, generates a sensing signal, and transmits the sensed signal to the acceleration control unit 130.

The acceleration control unit 130 may receive the sensing signal and may drive the sensing signal. The acceleration control unit 130 will be described in detail later.

The information obtaining unit 120 may obtain information on the inclination of the road through a 3D map. The 3D map is stored in a map database (not shown). When the detection signal is generated by the mode manager 110, the information obtaining unit 120 obtains the 3D map from the 3D map stored in the map database, It is possible to obtain information on the inclination of the road during running or running.

As another example, the information obtaining unit 120 may obtain information on the inclination of the road through a tilt sensor (not shown) mounted on the vehicle. That is, when the tilt value of the road on which the vehicle is traveling is measured through the tilt sensor, the information obtaining unit 120 may receive the measured tilt value and obtain the tilt value as information on the tilt of the road.

The acceleration control unit 130 controls the acceleration of the vehicle to follow the optimal fuel mileage trajectory differently according to the inclination of the road when the vehicle running mode is switched from the driver mode to the autonomous mode during vehicle running .

Specifically, the driver can operate the vehicle in the driver mode by stepping on the accelerator pedal AP or the brake pedal BP of the vehicle. At this time, if the vehicle runs for a predetermined time without using the accelerator pedal AP or the brake pedal BP, the vehicle driving mode of the vehicle can be switched from the driver mode to the autonomous mode.

When the vehicle running mode is changed from the driver mode to the autonomous mode, the acceleration controller 130 uses the information about the inclination of the road obtained by the information obtaining unit 120, The acceleration data of the vehicle can be calculated. The acceleration controller 130 may control the acceleration of the vehicle according to the gradient of the road based on the calculated acceleration data.

At this time, the acceleration controller 130 preferably controls the acceleration of the vehicle in inverse proportion to the inclination of the road. That is, the acceleration controller 130 controls the acceleration of the vehicle to be low when the inclination of the road is large, but can control the acceleration of the vehicle to be high if the inclination of the road is small.

In other words, the acceleration control unit 130 can control the acceleration of the vehicle to be lower as the gradient of the road becomes larger, and the acceleration of the vehicle can be controlled to be higher as the gradient of the road is smaller.

The sensor unit 140 may sense the operation of the accelerator pedal AP or the brake pedal BP of the vehicle traveling in the autonomous mode.

That is, when the driver depresses the accelerator pedal AP or the brake pedal BP of the vehicle, the sensor unit 140 senses the accelerator pedal AP and generates a sensing signal. The sensed signal thus generated is transmitted to the mode management unit 110 and can be used to control the switching operation of the vehicle driving mode.

Specifically, when the operation of the accelerator pedal AP or the brake pedal BP is detected by the sensor unit 140, the mode managing unit 110 switches the vehicle running mode from the autonomous mode to the driver mode can do.

When the road is a continuous curve road, the travel locus calculating unit 150 calculates a curve road entry speed V using the following equation (1), and calculates the optimal fuel mileage based on the calculated curve road entry speed limit The driving trajectory can be calculated.

[ Equation 1 ]

Where g _tm is the gear ratio, g _fd is the final reduction ratio, η _t is the conduction efficiency, r _w is the wheel radius, and T _turbine is the torque converter output torque.

Accordingly, when the vehicle enters the continuous curve road while traveling in the autonomous mode according to the optimal fuel mileage trajectory, the vehicle can travel according to the curved road entry limit speed V calculated through Equation (1).

Also, the travel locus calculating unit 150 may calculate the limit speed v _safe in the curved road through the following equation (2) and calculate the optimal fuel economy locus based on the calculated limit speed in the curved road .

& Quot; (2 ) & quot ;

Where α _h is the design parameter describing the driver's driving capability, g is the acceleration of gravity, | R _rd | is the absolute value of the road radius, μ _{lat_max} , μ _{long_max} is the maximum available road surface friction coefficient (transverse, _Slope is the _slope of the road, L is the height of the center of gravity of the vehicle, d is the distance between the center of gravity of the vehicle and the center of gravity of the vehicle, and θ _bank is the crossing angle.

Accordingly, when the vehicle travels in the autonomous mode within the continuous curve road in accordance with the optimal fuel mileage trajectory, the vehicle can travel according to the limited speed (v _safe ) in the curve road calculated through Equation (2).

Figs. 2 and 3 are diagrams showing speed limits in straight and curved roads. Fig. As shown in Figs. 2 and 3, when the vehicle enters the straight road from the straight road to the continuous road, the trajectory in which the limit speed continuously decreases from the straight line section to the curve section 1 and the trajectory which does not decrease any more in the curve section 2 . However, the limit speed of the curved road is not decreased any more in the curve 1 section.

The central control unit 160 may control the fuel consumption of the fuel consumption of the fuel consumption control system based on the 3D map of the fuel consumption driving system 100, The operation of the sensor unit 140, the travel locus calculation unit 150, and the like can be generally controlled.

FIG. 4 is a flowchart illustrating a method of controlling a fuel efficiency optimal driving apparatus using a 3D map according to an embodiment of the present invention. Referring to FIG.

Referring to FIGS. 1 and 4, in step 410, the fuel economy optimizing travel apparatus 100 checks whether an operation of an accelerator pedal AP or a brake pedal BP mounted on the vehicle is sensed.

If the operation of the accelerator pedal AP or the brake pedal BP is not sensed as a result of the check in step 410, the fuel economy optimal driving device 100 determines the vehicle driving mode in step 420 Set to autonomous mode.

At this time, the fuel economy-optimum driving device 100 switches to the autonomous mode if the vehicle driving mode was previously the driver mode, and remains as it is.

Next, in step 430, the fuel economy-best driving device 100 acquires information on the degree of tilt of the road through the 3D map.

Next, in step 440, the fuel economy optimal traveling device 100 controls the acceleration for following the optimal fuel mileage trajectory according to the degree of tilt.

That is, the fuel-economy-optimum driving apparatus 100 may be configured such that when the vehicle driving mode is switched from the driver mode to the autonomous mode during driving, the acceleration of the vehicle for following the optimal fuel- Control differently.

More specifically, the driver can operate the vehicle in the driver mode by stepping on the accelerator pedal AP or the brake pedal BP of the vehicle. At this time, if the vehicle runs for a predetermined time without using the accelerator pedal AP or the brake pedal BP, the vehicle driving mode of the vehicle can be switched from the driver mode to the autonomous mode.

When the vehicle driving mode is switched from the driver mode to the autonomous mode, the fuel economy-optimal driving device 100 uses the information about the inclination of the road obtained in the step 430, Can be calculated. The fuel economy optimal traveling device 100 can control the acceleration of the vehicle differently according to the inclination of the road based on the calculated acceleration data.

At this time, it is preferable that the fuel economy optimal traveling device 100 controls the acceleration of the vehicle in inverse proportion to the inclination of the road. That is, the fuel-economy-optimal driving device 100 controls the acceleration of the vehicle to be low when the inclination of the road is large, while the acceleration of the vehicle can be controlled to be high if the inclination of the road is small.

In other words, the fuel economy optimum traveling device 100 can control the acceleration of the vehicle to be lower as the inclination of the road becomes larger, and as the slope of the road becomes smaller, the acceleration of the vehicle can be controlled to be higher have.

Next, in step 450, the fuel-economy optimum traveling device 100 runs the vehicle in the autonomous mode based on the control of the acceleration.

Accordingly, the vehicle can follow the optimal fuel mileage trajectory while minimizing fuel consumption.

If it is determined in step 410 that the accelerator pedal AP or the brake pedal BP mounted on the vehicle is sensed, the operation of the accelerator pedal AP or the brake pedal BP is detected (YES in step 410), the fuel economy optimal driving device 100 sets the vehicle driving mode to the driver mode in step 460.

At this time, the fuel economy-optimal driving apparatus 100 switches to the driver mode if the vehicle driving mode was previously the autonomous mode, and remains as it is in the driver mode.

Next, in step 470, the fuel economy-optimum driving device 100 drives the vehicle driving mode to the driver mode based on the driving operation of the driver.

As described above, according to the embodiment of the present invention, by controlling the acceleration to follow the optimum fuel mileage trajectory without operating the AP or BP when the driver enters the curved road or the ramp, unnecessary AP and BP operations are reduced, . ≪ / RTI >

Embodiments of the present invention include computer readable media including program instructions for performing various computer implemented operations. The computer-readable medium may include program instructions, local data files, local data structures, etc., alone or in combination. The media may be those specially designed and constructed for the present invention or may be those known to those skilled in the computer software. Examples of computer-readable media include magnetic media such as hard disks, floppy disks and magnetic tape, optical recording media such as CD-ROMs and DVDs, magneto-optical media such as floppy disks, and ROMs, And hardware devices specifically configured to store and execute the same program instructions. Examples of program instructions include machine language code such as those produced by a compiler, as well as high-level language code that can be executed by a computer using an interpreter or the like.

While the present invention has been described in connection with what is presently considered to be practical exemplary embodiments, it is to be understood that the invention is not limited to the disclosed embodiments. Therefore, the scope of the present invention should not be limited to the described embodiments, but should be determined by the scope of the appended claims and equivalents thereof.

While the present invention has been particularly shown and described with reference to exemplary embodiments thereof, it is to be understood that the invention is not limited to the disclosed exemplary embodiments, but, on the contrary, Modification is possible. Accordingly, the spirit of the present invention should be understood only in accordance with the following claims, and all equivalents or equivalent variations thereof are included in the scope of the present invention.

110:
120: Information obtaining unit
130: Acceleration control section
140:
150: running locus calculating section
160:

Claims (6)

A mode manager for providing an autonomous mode that runs according to an optimal fuel mileage profile as a vehicle running mode and manages the switching of the vehicle running mode;
An acceleration control unit for controlling the acceleration of the vehicle according to an inclination of the road to follow the optimal fuel mileage trajectory when the vehicle running mode is switched from the driver mode to the autonomous mode during driving of the vehicle; And
And a travel locus calculating section for calculating the curve entry limit speed V when the road is a continuous curve road and calculating the optimal fuel mileage trajectory based on the calculated curve road entry limit speed,
The travel locus calculation unit
Calculates a limit speed (v _safe ) in the curved road through the following equation, and calculates the optimal fuel mileage trajectory based on the calculated limit speed in the curved road.

α _h : design parameters describing the driver's driving capability
g: gravitational acceleration
| R _rd |: Absolute value of road turning radius
μ _{lat_max} , μ _{long_max} : Maximum available surface friction coefficient (transverse direction, longitudinal direction)
θ _slope : road gradient
L: Vehicle weight center height
d: Distance between the vehicle front axle and the center of gravity of the vehicle
θ _bank :
The method according to claim 1,
The acceleration control unit
Wherein the control unit controls the acceleration of the vehicle in inverse proportion to the degree of inclination of the road.
The method according to claim 1,
An information acquiring unit for acquiring information on the inclination of the road through a 3D map,
Further comprising a 3D map.
The method according to claim 1,
A sensor unit for sensing an operation of an accelerator pedal AP or a brake pedal BP of the vehicle traveling in the autonomous mode;
Further comprising:
The mode management unit
Wherein the control unit switches the vehicle driving mode from the autonomous mode to the driver mode when the sensor unit detects the operation of the accelerator pedal AP or the brake pedal BP. .
The method according to claim 1,
The travel locus calculating section calculates,
And calculates the curved road entry limit speed (V) through the following equation.

g _tm : gear ratio
g _fd : final reduction ratio
η _t : Conduction efficiency
r _w : Wheel radius
T _turbine : Torque converter output torque
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