KR20190073248A - Method for controlling driving of environmentally friendly vehicle using front driving environment information - Google Patents

Abstract

A driving control method of an eco-friendly vehicle using front driving environment information comprises: a step in which a controller receives front driving environment information of an eco-friendly vehicle; a step in which the controller predicts the occurrence of a control update event for driving the eco-friendly vehicle based on the driving environment information; a step in which the controller determines a target speed profile for driving the eco-friendly vehicle based on the control update event; a step in which the controller predicts the control torque of the eco-friendly vehicle corresponding to the target speed profile; and a step in which the controller drives the eco-friendly vehicle by operating a driving device including a driving motor for at least one sampling time using the control torque.

Description

BACKGROUND OF THE INVENTION 1. Field of the Invention [0001] The present invention relates to a control method for an environmentally friendly vehicle,

BACKGROUND OF THE INVENTION 1. Field of the Invention [0001] The present invention relates to a vehicle control method, and more particularly, to a driving control method of an environmentally friendly vehicle using forward driving environment information.

The eco-friendly automobile encompasses a fuel cell automobile, an electric automobile, a plug-in electric automobile, and a hybrid automobile, and usually has a motor for generating a driving force.

An example of such an environment-friendly automobile is a hybrid vehicle, which uses an internal combustion engine and battery power. That is, the hybrid vehicle efficiently combines the power of the internal combustion engine and the power of the motor.

The hybrid vehicle may be comprised of an engine, a motor, an engine clutch that powers the engine between the engine and the motor, a transmission, a differential gear device, a battery, a starting generator that starts the engine or generates power by the output of the engine, have.

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, A transmission control unit for controlling the operation of the transmission, and a battery control unit for controlling and managing the battery.

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

The hybrid vehicle includes an EV (Electric Vehicle Mode), which is a pure electric vehicle mode using only the power of the motor, a hybrid electric vehicle (HEV) mode, which uses the rotational power of the engine as the main power and the rotational power of the motor as auxiliary power, And a regenerative braking mode in which braking and inertia energy is recovered through power generation of the motor to charge the battery when the vehicle is driven by inertia, and the like.

US Pat. No. 9,070,305, which is a related art, can provide a method of calculating the position information of a traffic light by detecting information of the driving information (position, direction, height) of the vehicle and information of the traffic light with images and colors.

US Patent No. 7,825,825, a related art, discloses a method of providing and guiding traffic light information to a vehicle.

The matters described in the background section are intended to enhance the understanding of the background of the invention and may include matters not previously known to those skilled in the art.

The object of the present invention is to determine the occurrence of a control update event for driving an eco-friendly vehicle using driving environment information (or traffic information) in front of the environmentally friendly vehicle, A driving control method of an eco-friendly vehicle using forward travel environment information capable of predicting a control torque by correcting a speed and driving an environmentally friendly vehicle based on the control torque.

In order to solve the above problems, a driving control method of an environmentally friendly vehicle using forward driving environment information according to an embodiment of the present invention includes: a step of the controller receiving driving environment information in front of the environmentally friendly vehicle; The controller estimating occurrence of a control update event for driving the environmentally friendly vehicle based on the driving environment information; and controlling the controller to generate the control update event based on the target for driving the environmentally friendly vehicle Determining a speed profile; predicting a control torque of the environmentally friendly vehicle corresponding to the target speed profile; and using the control torque to calculate at least one sampling time ) Driving the eco-friendly vehicle by operating a drive device including a drive motor It may contain.

The travel environment information may include static traffic information and dynamic traffic information.

Wherein the step of predicting the occurrence of a control update event for driving the environmentally friendly vehicle includes the step of changing the speed limit of the environmentally friendly vehicle included in the static traffic information, And a step of predicting occurrence of the control update event based on a signal change or a traffic situation information change included in the dynamic traffic information.

The controller can predict occurrence of the control update event by comparing the previous limit speed of the environmentally friendly vehicle included in the static traffic information and the current limit speed of the environmentally friendly vehicle included in the static traffic information.

The controller calculates a minimum speed value and a maximum speed value based on the remaining distance to the traffic light approaching the environmentally friendly vehicle, the red signal remaining time of the traffic light, and the green signal time of the traffic light, Is less than the minimum speed value and exceeds the maximum speed value, the controller can predict occurrence of the control update event.

The controller calculates a minimum speed value and a maximum speed value based on the remaining distance to the traffic light approaching the environmentally friendly vehicle, the remaining time of the green signal of the traffic light, and the red signal time of the traffic light, Is less than the minimum speed value and exceeds the maximum speed value, the controller can predict occurrence of the control update event.

Wherein the controller calculates a degree of congestion of a road including a signal light approaching the environmentally friendly vehicle based on the number of vehicles per road section, the distance per road section, and the average speed of the vehicle in the road section included in the traffic situation information, The occurrence of the control update event can be predicted by comparing the previous congestion and the current congestion among the calculated congestion.

 Wherein the step of determining a target speed profile for driving the environmentally friendly vehicle comprises the steps of: when the controller receives the control update event, Wherein said control unit determines the control target speed for running the vehicle and controls said environmentally friendly vehicle to a position where said limit speed according to the current speed of said environmentally friendly vehicle, said control target speed, And determining a deceleration time of the environmentally friendly vehicle included in the target speed profile when the limit speed reaches a required position based on the target acceleration of the environmentally friendly vehicle.

Wherein the step of determining a target speed profile for driving the environmentally friendly vehicle comprises the steps of: determining whether or not the controller determines that the environmentally friendly vehicle is running, based on the information of the traffic lights disposed on the road including the position where the speed limit is required, And the traffic light information and the traffic situation information may be included in the travel environment information.

Wherein the step of correcting the target speed profile comprises the step of the controller correcting the target speed profile based on the access time required for the environmentally friendly vehicle to approach the traffic light and the red signal remaining time of the traffic light information, When the access time is less than or equal to the red signal remaining time, the controller can adjust the control target speed of the target speed profile to zero.

The step of correcting the target speed profile may further include a step of correcting the target speed profile based on the access time required for the environmentally friendly vehicle to approach the traffic light, the red signal remaining time of the traffic light information, Wherein the controller can decrease the control target velocity of the target velocity profile when the approach time exceeds the red signal remaining time and the stagnation is greater than a reference value.

Wherein the step of predicting the control torque of the environmentally friendly vehicle comprises the steps of: extracting an acceleration profile based on the target speed profile; calculating, based on the acceleration profile and the running load of the environmentally friendly vehicle, And determining a wheel axis drive torque of the wheel.

The driving control method of the eco-friendly vehicle using the driving environment information of the front according to the embodiment of the present invention increases the driving efficiency of the eco-friendly vehicle according to the driving environment information of the front (e.g., The fuel consumption of the vehicle can be improved.

In addition, the embodiment of the present invention determines the generation of a control update event for driving the environmentally friendly vehicle by utilizing the driving environment information in front of the environmentally friendly vehicle, corrects the control target speed in accordance with the control update event, The eco-friendly vehicle can be driven based on the control torque. Therefore, the embodiment of the present invention can be used for an autonomous driving technique of a vehicle.

BRIEF DESCRIPTION OF THE DRAWINGS For a more complete understanding of the drawings used in the detailed description of the present invention, a brief description of each drawing is provided.
1 is a flowchart illustrating a driving control method of an environmentally friendly vehicle using forward driving environment information according to an embodiment of the present invention.
2 is a block diagram illustrating an environmentally friendly vehicle to which a driving control method of an environmentally friendly vehicle using forward driving environment information according to an embodiment of the present invention is applied.
FIGS. 3 to 5 are diagrams for explaining the step of predicting the control update event shown in FIG. 1. FIG.
Figs. 6 to 8 are diagrams for explaining the steps of determining the control target speed shown in Fig. 1. Fig.
9 is a view for explaining a step of driving an environmentally friendly vehicle based on the control torque shown in Fig.

BRIEF DESCRIPTION OF THE DRAWINGS For a better understanding of the present invention, and the objects attained by the practice of the invention, reference should be made to the accompanying drawings, which illustrate embodiments of the invention, and to the description in the accompanying drawings.

BEST MODE FOR CARRYING OUT THE INVENTION Hereinafter, the present invention will be described in detail with reference to embodiments of the present invention with reference to the accompanying drawings. In the following description of the present invention, a detailed description of known functions and configurations incorporated herein will be omitted when it may make the subject matter of the present invention rather unclear. Like reference numerals in the drawings denote like elements.

The terminology used herein is for the purpose of describing particular embodiments only and is not intended to be limiting of the invention. The singular expressions include plural expressions unless the context clearly dictates otherwise. In this specification, the terms "comprises" or "having", etc., are used to specify that a feature, a number, a step, an operation, an element, a component, or a combination thereof, But do not preclude the presence or addition of one or more other features, integers, steps, operations, elements, components, or combinations thereof.

Throughout the specification, when a part is referred to as being "connected" to another part, it is not necessarily the case that it is "directly connected", but also "electrically or mechanically connected" .

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 this invention belongs. Terms such as those defined in commonly used dictionaries are to be interpreted as having a meaning consistent with the contextual meaning of the related art and, unless expressly defined herein, are to be construed as either ideal or overly formal Do not.

(Information and Communications Technology) such as high-precision maps, connectivity, or Internet of Things (IoT) have been developed, technologies that can improve fuel efficiency by increasing vehicle driving efficiency are essential.

1 is a flowchart illustrating a driving control method of an environmentally friendly vehicle using forward driving environment information according to an embodiment of the present invention. 2 is a block diagram illustrating an environmentally friendly vehicle to which a driving control method of an environmentally friendly vehicle using forward driving environment information according to an embodiment of the present invention is applied. FIGS. 3 to 5 are diagrams for explaining the step of predicting the control update event shown in FIG. 1. FIG. Figs. 6 to 8 are diagrams for explaining the steps of determining the control target speed shown in Fig. 1. Fig. 9 is a view for explaining a step of driving an environmentally friendly vehicle based on the control torque shown in Fig.

1 to 9, the controller 210 included in the environmentally friendly vehicle 200 in the reception step 105 can receive the driving environment information in front of the environmentally friendly vehicle through the receiver 205 . The travel environment information may include static traffic information, dynamic traffic information including traffic light information and traffic situation information.

Static traffic information includes high-precision road information including road gradient and curvature, toll gate position, IC (interchange) position, road speed limit, vehicle left / right rotation information, Map (map) information. The traffic light information may include a signal change period, a green signal time, a red signal time, a red signal remaining time, a green signal remaining time, a remaining distance to a traffic light, or a location information of a traffic light. The traffic condition information may include the number of vehicles by road segment, the distance by road segment, or the average speed of the vehicle by road segment. Based on the traffic situation information, it can be determined whether the yellow signal time is included in the red signal time (t _r ) or in the green signal time (t _g ). For example, when the better the vehicle flow based on the traffic information, and a yellow (yellow) signal time may be included in the green signal time (t _g), when traffic conditions have poor vehicle flow in accordance with the information in yellow (yellow) signal time Can be included in the red signal time (t _r ). For vehicle safety, the yellow signal time can always be included in the red signal time (t _r ).

The static traffic information may be stored in a navigation device included in the receiver 205. The receiver 205 may include a global positioning system (GPS) receiver that generates position information of the vehicle. The driving environment information may be provided to the controller 210 by a server installed outside the environmentally friendly vehicle 200.

The controller 210 may be, for example, one or more microprocessors operated by a program, or hardware including the microprocessor, and the program may be stored in a computer- And a series of instructions for carrying out the driving control method of the environmentally friendly vehicle using the vehicle. The command may be stored in a memory (not shown).

As shown in Fig. 2, the environmentally friendly vehicle 200 includes a receiver 205, a controller 210, and a drive device 215 including an engine or a drive motor.

According to the prediction step 110, as shown in FIG. 3 to FIG. 5, the controller 210 generates a control update event for driving the environmentally friendly vehicle 200 based on the travel environment information a control update event can be determined. For example, the driving of the environmentally friendly vehicle 200 may include accelerating, decelerating, coasting, and cruising of the vehicle. When the coasting drive of the environmentally friendly vehicle 200 is performed, regenerative braking can be performed. The regenerative braking recovers the braking and inertia energy through the generation of a driving motor that drives the driving wheel of the environmentally friendly vehicle 200 when the eco-friendly vehicle is braking or when the bicycle rides due to inertia (coasting) Which may mean charging the battery. In other words, if there is a signal lamp, a curve road ahead, a front vehicle, or other objects in front, it is possible to recover the energy through the other traveling without stepping on the accelerator pedal and the brake pedal (Coasting Control )).

The controller 210 may change the speed limit of the environmentally friendly vehicle 200 included in the static traffic information or change the driving situation included in the dynamic traffic information such as a traffic light Or a change in traffic situation information) of the control update event. The embodiment of the present invention predicts the control update event using only the near information among the traffic information, so that the travel route of the environmentally friendly vehicle 200 may not be used for the control update event.

The controller 210 may predict the occurrence of the control update event by comparing the previous limit speed of the environmentally friendly vehicle included in the static traffic information with the current limit speed of the environmentally friendly vehicle included in the static traffic information. For example, when the absolute value of the previous limit speed minus the current limit speed is equal to or greater than the speed reference value, the controller 210 may determine that the control update event occurs.

), 및 상기 신호등의 녹색신호시간(t_g)에 근거하여 속도 최소값(V_{low _ bdd}) 및 속도 최대값(V_{up_bdd})을 계산할 수 있다.The controller 210 calculates the remaining distance d to the traffic light approaching the environmentally friendly vehicle 200, the red signal remaining time of the traffic light

), And it may be based on the green signal time (t _g) of the light to calculate the minimum speed (V _{low _ bdd)} and maximum speed (V _{up_bdd).}

As shown in Figure 5, when it exceeds the current speed (V) of the environmentally-friendly vehicle 200, the speed minimum value (V _{low_bdd)} less than the velocity maximum (V _{up_bdd),} controller 210 generates the control update event Can be predicted. The speed V of the environmentally friendly vehicle 200 can be detected by a speed sensor of the environmentally friendly vehicle and provided to the controller 210. [ The speed sensor can be mounted on the wheel of an environmentally friendly vehicle.

), 녹색신호 시간(t_g), 및 적색신호 경과시간(t_{r_pass})이 도 3에 도시된다. 도 3은 상기 신호등의 현재 신호가 적색신호일 때 친환경 차량(200)이 신호등에 접근하는 경우를 나타낸다.Remaining distance (d), Red signal remaining time (

), A green signal time (t _g), and the red signal time elapsed (t _{r_pass)} is shown in Fig. 3 shows a case where the environmentally friendly vehicle 200 approaches a traffic light when the current signal of the traffic light is a red color signal.

), 및 상기 신호등의 적색신호 시간(t_r)에 근거하여 아래의 수학식에 기재된 속도 최소값(V_{low _ bdd}) 및 속도 최대값(V_{up_bdd})을 계산할 수 있다.The controller 210 calculates the remaining distance d to the traffic light approaching the environmentally friendly vehicle 200, the green signal remaining time of the traffic light

), And it may be based on the red signal time (t _r) of the light to calculate the minimum speed (V _{low _ bdd)} and maximum speed (V _{up_bdd)} according to equation below.

As shown in FIG. 5, when in excess of the current speed of the eco-friendly vehicle 200 speed minimum value (V _{low _ bdd)} less than the velocity maximum (V _{up_bdd),} controller 210 for generating the control update event Can be predicted.

), 적색신호 시간(t_r), 및 녹색신호 경과시간(t_{g_pass})이 도 4에 도시된다. 도 4는 상기 신호등의 현재 신호가 녹색신호일 때 친환경 차량(200)이 신호등에 접근하는 경우를 나타낸다.Remaining distance (d), green signal remaining time (

), The red signal time (t _r ), and the green signal elapsed time (t _{g_pass} ) are shown in Fig. 4 shows a case where the environmentally friendly vehicle 200 approaches the traffic light when the current signal of the traffic light is a green signal.

The controller 210 calculates a traffic congestion degree of the road including a traffic light to which the environmentally friendly vehicle 200 approaches based on the number of vehicles per road section, the distance per road section, And the occurrence of the control update event can be predicted by comparing the current congestion degree with the current congestion degree among the calculated congestion degree. For example, when the absolute value of the previous congestion degree minus the current congestion degree is equal to or greater than the congestion degree reference value, the controller 210 may determine that the control update event occurs.

According to the decision step 115, the controller 210 may determine a target speed profile for driving (e.g., traveling along) the environmentally friendly vehicle 200 based on the control update event. The target speed profile may mean a speed predicted value according to time until the environmentally friendly vehicle 200 reaches the control target speed. For example, as shown in FIG. 6, when the control update event is generated, the controller 210 determines whether or not the control target speed for driving the environmentally friendly vehicle, which corresponds to the speed limit of the vehicle, (V _tgt ). The controller 210 calculates the target acceleration of the environmentally friendly vehicle 200 up to the position where the limit speed is required according to the current speed V of the environmentally friendly vehicle 200, the control target speed, and the driving propensity of the driver of the environmentally friendly vehicle 200 and a deceleration time (t ₂ ) of the environmentally friendly vehicle included in the target speed profile is determined when the limit speed reaches a required position based on the target speed profile a _tgt .

For example, the deceleration time t ₂ may be determined by the following equation.

The magnitude of the target acceleration of the environmentally friendly vehicle 200 increases when the propensity of the driver is aggressive (aggressive or aggressive driving) and decreases when the driving behavior of the driver is economical (economical or economical driving) have. The target acceleration of the environmentally friendly vehicle according to the driving behavior of the driver may be determined by a test and stored in the memory of the environmentally friendly vehicle 200 and then provided to the controller 210. [

In another embodiment of the present invention, the controller 210 determines whether or not the target speed is higher than the target speed based on the information of the traffic lights disposed on the road including the position where the speed limit is required, The speed profile can be corrected.

The controller 210 may correct the target velocity profile based on the access time t _appr necessary for the environmentally friendly vehicle 200 to approach the traffic light and the red signal remaining time t _{r_res} of the traffic light information.

7, when the current signal of the traffic light is a red signal and the access time t _appr is less than or equal to the red signal remaining time t _{r_res} , the environmentally friendly vehicle 200 can not pass through the traffic light, 210 can adjust the control target speed V _tgt of the target speed profile to 0 and adjust the acceleration a _tgt of the target speed profile to a value smaller than zero. The access time t _appr may be a value obtained by dividing the remaining distance d by the speed of the environmentally friendly vehicle 200. [

The controller 210 determines the target velocity profile based on the approach time t _appr required for the environmentally friendly vehicle 200 to approach the traffic light, the red signal remaining time t _{r_res} of the traffic light information, Can be corrected.

8, when the current signal of the traffic light is a red signal and the access time t _appr exceeds the red signal remaining time t _{r_res} and the congestion degree is larger than the reference value, The control target speed of the target speed profile can be reduced.

According to the prediction step 120, the controller 210 can predict the control torque of the environmentally friendly vehicle 200 corresponding to the target velocity profile. The controller 210 extracts an acceleration profile (or a predicted value of acceleration) a _prof on the basis of the target speed profile and calculates an acceleration profile and a driving load of the environmentally friendly vehicle 200 based on the acceleration profile and the running load F _R of the environmentally- Wheel-drive torque (or wheel-shaft required torque) T _{whl_dmd} of the environmentally friendly vehicle 200, which is the control torque, can be determined.

For example, hwilchuk drive torque (T _{whl _ dmd)} The controller 200 may be used when it is determined the equation below.

In the equation, m is the mass (weight) of the environmentally-friendly vehicle wheel r _whl is environmentally friendly vehicle (wheel) radius and F _dmd may be a driving force provided to the hwilchuk of environmentally friendly vehicles.

For example, the controller 210 may calculate the driving load F _R using the static traffic information and the following equations according to the longitudinal driving load model of the environmentally friendly vehicle.

Running load = load due to air resistance + load due to rolling resistance + load due to slope resistance

는 저항 계수이고, β는 친환경 차량이 주행하는 도로의 경사각(기울기)일 수 있다.In the equation, ρ is the air density (kg / m ³⁾ of air, C _d is a negative sign as the air resistance coefficient, A is the frontal area (m ²⁾ of the environmentally-friendly vehicle, V is the velocity of the environment-friendly vehicle, and , m is the weight of the environmentally friendly vehicle, g is the gravitational acceleration,

Is the resistance coefficient, and? Can be the inclination angle (slope) of the road on which the environment-friendly vehicle travels.

According to the driving step 125, as shown in FIG. 9, the controller 210 drives the driving device (not shown) including the driving motor for at least one sampling time 215 can be operated to drive the environmentally friendly vehicle 200.

The components or " units " or blocks or modules used in the embodiments of the present invention may be implemented in software, such as a task, a class, a subroutine, a process, an object, an execution thread, ), A hardware such as an FPGA (field-programmable gate array) or an application-specific integrated circuit (ASIC), or a combination of the above software and hardware. The components or parts may be included in a computer-readable storage medium, or a part of the components may be dispersed in a plurality of computers.

As described above, the embodiments have been disclosed in the drawings and specification. Although specific terms are used herein, they are used for the purpose of describing the present invention only and are not used to limit the scope of the present invention described in the claims or the claims. It is therefore to be understood by those skilled in the art that various modifications and equivalent embodiments may be made without departing from the scope of the present invention. Accordingly, the true scope of the present invention should be determined by the technical idea of the appended claims.

205: receiver
210:
215: Driving device

Claims (12)

A driving control method for an environmentally friendly vehicle using forward driving environment information,
The controller receiving driving environment information in front of the environmentally friendly vehicle;
Predicting occurrence of a control update event for driving the environmentally friendly vehicle based on the driving environment information;
The controller determining a target velocity profile for driving the environmentally friendly vehicle based on the control update event;
Estimating a control torque of the environmentally friendly vehicle corresponding to the target speed profile; And
Driving the eco-friendly vehicle by operating a drive device including a drive motor for at least one sampling time using the control torque;
And the driving environment information of the environmentally friendly vehicle. The method according to claim 1,
Wherein the driving environment information includes static traffic information and dynamic traffic information. The method of claim 2, wherein the step of predicting occurrence of a control update event for driving the environmentally friendly vehicle comprises:
Wherein said controller generates said control update event based on a change in the speed limit of said environmentally friendly vehicle included in said static traffic information or a signal change of a traffic light included in said dynamic traffic information or a traffic situation information change included in said dynamic traffic information And estimating the driving environment information of the environmentally friendly vehicle based on the forward driving environment information. The method of claim 3,
Wherein the controller predicts occurrence of the control update event by comparing the previous limit speed of the environmentally friendly vehicle included in the static traffic information with the current limit speed of the environmentally friendly vehicle included in the static traffic information Driving control method of eco - friendly vehicle using driving environment information. The method of claim 3,
The controller calculates a minimum speed value and a maximum speed value based on the remaining distance to the traffic light approaching the environmentally friendly vehicle, the red signal remaining time of the traffic light, and the green signal time of the traffic light,
Wherein the controller predicts occurrence of the control update event when the current speed of the environmentally friendly vehicle is less than the speed minimum value and exceeds the maximum speed value. . The method of claim 3,
The controller calculates a minimum speed value and a maximum speed value based on the remaining distance to the traffic light approaching the environmentally friendly vehicle, the remaining time of the green signal of the traffic light, and the red signal time of the traffic light,
Wherein the controller predicts occurrence of the control update event when the current speed of the environmentally friendly vehicle is less than the speed minimum value and exceeds the maximum speed value. . The method of claim 3,
Wherein the controller calculates a degree of congestion of a road including a signal light approaching the environmentally friendly vehicle based on the number of vehicles per road section, the distance per road section, and the average speed of the vehicle in the road section included in the traffic situation information, And comparing the previous congestion and the current congestion among the calculated congestion levels to predict the occurrence of the control update event. 2. The method of claim 1, wherein the step of determining a target velocity profile for driving the environmentally-
Wherein the controller determines a control target speed for driving the environmentally friendly vehicle using the speed limit of the environmentally friendly vehicle received when the control update event is generated and included in the travel environment information, When the limit speed reaches a required position based on the current speed, the control target speed, and the target acceleration of the environmentally friendly vehicle up to the position where the limit speed is required according to the driving behavior of the driver of the environmentally friendly vehicle And determining a deceleration time of the environmentally friendly vehicle included in the target speed profile. 9. The method of claim 8, wherein the step of determining a target velocity profile for driving the environmentally-
Further comprising the step of correcting the target velocity profile based on the information of a traffic light disposed on the road including the position where the limit speed is required and the degree of congestion included in the traffic situation information of the road,
Wherein the traffic light information and the traffic situation information are included in the travel environment information. 10. The method of claim 9, wherein correcting the target velocity profile comprises:
And the controller corrects the target speed profile based on the access time required for the environmentally friendly vehicle to access the traffic light and the red signal remaining time of the traffic light information,
Wherein the controller adjusts the control target speed of the target speed profile to zero when the approach time is equal to or less than the red signal remaining time. 10. The method of claim 9, wherein correcting the target velocity profile comprises:
The controller corrects the target speed profile based on the access time required for the environmentally friendly vehicle to access the traffic light, the red signal remaining time of the traffic light information, and the congestion degree,
Wherein the controller decreases the control target speed of the target speed profile when the approach time exceeds the red signal remaining time and the congestion degree is larger than the reference value. Control method. The method of claim 1, wherein the step of predicting the control torque of the environmentally-
And the controller extracting an acceleration profile based on the target speed profile and determining a wheel shaft drive torque of the environmentally friendly vehicle that is the control torque based on the acceleration profile and the running load of the environmentally friendly vehicle A method for controlling a running of an environmentally friendly vehicle using the forward running environment information.

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