KR20230090435A - Control device for driving on slope and Vehicle having the same - Google Patents

Abstract

The present invention relates to a control device for running on a slope and a vehicle having the same.
A control device for driving on a slope provided in a vehicle including a hydraulic braking device, a motor, and a battery, comprising: a communication unit; and the communication unit to obtain necessary braking force information based on the target driving speed information received through the communication unit when driving on a slope, obtain maximum regenerative braking force information based on the required braking force information, and transmit the obtained maximum regenerative braking force information to the motor. and a processor for controlling the communication unit to acquire hydraulic braking force information based on required braking force information and maximum regenerative braking force information and to transmit the obtained hydraulic braking force information to a hydraulic braking device.

Description

Control device for driving on slope and vehicle having the same {Control device for driving on slope and Vehicle having the same}

The present invention relates to a control device for driving on a slope and a vehicle having the same for improving driver's convenience when driving downhill.

A vehicle is a machine that moves on the road by driving wheels. A vehicle burns petroleum fuel such as gasoline or diesel to generate mechanical power and uses this mechanical power to drive an internal combustion engine vehicle (general engine vehicle). and eco-friendly vehicles driven by electricity to reduce fuel consumption and emission of harmful gases.

These vehicles are equipped with a downhill brake control system (DBC). The low-speed driving device on a slope is intended to relieve the driver's inconvenience of having to press the brake pedal frequently when driving downhill, and automatically controls braking so that the vehicle travels at a constant speed when driving downhill.

However, in the case of the existing low-speed driving device on a slope, since all of the vehicle's kinetic energy is consumed as thermal energy during downhill driving, there is a problem in reducing the fuel efficiency of the vehicle. In addition, although it is less than the deceleration by the driver's brake pedal, there is a problem in that durability of the brake device is deteriorated because a strain is applied to the brake device.

One aspect is to control regenerative braking while maintaining a constant driving speed when driving on a downhill slope, stop braking by regenerative braking when the charge level of the battery exceeds a preset charge level, and control deceleration using hydraulic braking force. A control device for use and a vehicle having the same are provided.

Another aspect is a control device for driving on a slope that outputs suggestion information and effect information for a low-speed driving mode when driving on a downhill slope and outputs notification information for deactivation of the low-speed driving mode in response to a can timeout of a battery management device. and a vehicle having the same.

An apparatus for driving on a slope provided in a vehicle including a hydraulic braking device, a motor, and a battery, comprising: a communication unit; and the communication unit to obtain necessary braking force information based on the target driving speed information received through the communication unit when driving on a slope, obtain maximum regenerative braking force information based on the required braking force information, and transmit the obtained maximum regenerative braking force information to the motor. and a processor for controlling the communication unit to acquire hydraulic braking force information based on required braking force information and maximum regenerative braking force information and to transmit the obtained hydraulic braking force information to a hydraulic braking device.

The processor of the slope driving control device according to one aspect controls the performance of the low-speed driving mode when driving on the slope, stops and controls the operation of the hydraulic brake device for a preset time from the start of the low-speed driving mode, and performs regenerative braking. Controls the motor to control braking through

The processor of the slope driving control apparatus according to one aspect periodically checks the driving speed information when a preset time elapses from the start of performing the low-speed driving mode, and whenever the driving speed information is periodically checked, the checked driving speed information. and the maximum regenerative braking force is changed based on the target driving speed information.

The processor of the control device for running on a slope according to an aspect determines whether the required braking force exceeds the reference braking force based on the required braking force information, and controls the communication unit to transmit a command to turn on the braking light when it is determined that the required braking force exceeds the reference braking force. And, if it is determined that the required braking force is less than the reference braking force, the communication unit is controlled to transmit a command to turn off lights such as braking.

The processor of the control device for running on a slope according to an aspect checks charge amount information of the battery by regenerative braking, determines whether the charge amount of the battery is greater than or equal to a preset charge amount based on the charge amount information, and determines whether the charge amount of the battery is the preset charge amount. If it is determined to be abnormal, regenerative braking is turned off and the hydraulic brake system is controlled.

The processor of the ramp driving control device according to one aspect controls deactivation of the low-speed driving mode and outputs notification information about the deactivation of the low-speed driving mode when the relay connected to the battery is turned on by the can time-out.

The processor of the slope driving control apparatus according to one aspect performs a standby mode for the low-speed driving mode when an on command of the low-speed driving mode is received through the communication unit, and when receiving state change information of the brake pedal during the standby mode Target travel speed information is set based on the travel speed information.

The processor of the ramp driving control device according to an aspect ends the low-speed driving mode based on the driving speed information.

The control device for running on a slope according to an aspect further includes a memory for storing map information. According to one aspect, the processor of the control device for running on a ramp determines whether the slope of the road being driven is equal to or greater than the reference slope and the length of the road is greater than or equal to the reference length based on the current location information and map information received from the communication unit, and When it is determined that the slope of is greater than the reference slope and the length of the road is greater than the reference length, the low-speed driving mode is activated.

According to one aspect, the processor of the ramp driving control device determines that the slope of the road being driven is equal to or greater than the reference slope and the length of the road is equal to or greater than the reference length, the processor determines the low-speed driving mode suggestion information and the effect corresponding to the execution of the low-speed driving mode. output information

A vehicle according to another aspect includes a motor generating at least one of driving force and regenerative braking force; a braking device generating hydraulic braking force by hydraulic pressure; a battery that supplies power to the motor and performs charging during regenerative braking; When driving on a slope, required braking force information is obtained based on the target driving speed information, maximum regenerative braking force information is obtained based on the acquired necessary braking force information, and the motor is controlled based on the obtained maximum regenerative braking force information, and the required braking force information and the maximum regenerative braking force information are obtained. and a processor controlling a braking device based on regenerative braking force information.

According to another aspect, the processor of the vehicle controls the performance of the low-speed driving mode when driving on a slope, stops and controls the operation of the braking device for a preset time from the start of performing the low-speed driving mode, and controls the operation of the braking device to be obtained based on necessary braking force information. Controls the motor to perform regenerative braking.

A vehicle according to another aspect further includes a speed detection unit that detects a driving speed and outputs driving speed information about the detected driving speed. According to another aspect, the processor of the vehicle periodically checks driving speed information when a preset time elapses from the start of performing the low-speed driving mode, and whenever the driving speed information is periodically checked, the checked driving speed information and the target driving speed Based on the information, maximum regenerative braking force information is changed.

A vehicle according to another aspect further includes a brake and the like. According to another aspect, the processor of the vehicle determines whether the required braking force exceeds the reference braking force based on the required braking force information, and if it is determined that the required braking force exceeds the reference braking force, controls the lighting of a brake light, and determines that the required braking force is equal to or less than the reference braking force. When judged, control lights off such as braking.

According to another aspect, the processor of the vehicle checks charge amount information of the battery while performing the low-speed driving mode, determines whether the charge amount of the battery is equal to or greater than a preset charge amount based on the charge amount information, and determines that the charge amount of the battery is equal to or greater than the preset charge amount. If determined, regenerative braking is turned off and the braking device is controlled.

A vehicle according to another aspect includes a display unit; and a relay connected to the battery. According to another aspect, the processor of the vehicle controls the deactivation of the low-speed driving mode when the relay is turned on by the can time-out, and controls the display unit to output notification information about the deactivation of the low-speed driving mode.

A vehicle according to another aspect includes a brake pedal; input unit; and a speed detection unit that detects the traveling speed and outputs traveling speed information for the detected traveling speed. The processor of the vehicle according to another aspect performs a standby mode for the low-speed driving mode when an on command of the low-speed driving mode is received through the input unit, and by the speed detector when state change information of the brake pedal is received during the standby mode. Target travel speed information is set based on the detected travel speed information.

The processor of the vehicle according to another aspect controls termination of the low-speed driving mode based on driving speed information, and terminates and controls the low-speed driving mode when a command to turn off the low-speed driving mode is received through the input unit.

A vehicle according to another aspect further includes a memory for storing map information. According to another aspect, the processor of the vehicle determines whether the slope of the road being driven is greater than or equal to the reference slope and the length of the road is greater than or equal to the reference length based on the current location information and map information received from the communication unit, and the slope of the road being driven is determined as the reference value. If it is determined that the slope is greater than the slope and the length of the road is greater than the reference length, the low-speed driving mode is activated.

A vehicle according to another aspect further includes a display unit. According to another aspect, the processor of the vehicle may output suggestion information of the low-speed driving mode and effect information corresponding to the performance of the low-speed driving mode when it is determined that the slope of the road being driven is equal to or greater than the reference slope and the length of the road is greater than or equal to the reference length. control the display.

According to another aspect, the processor of the vehicle performs a standby mode for the low-speed driving mode when a command to turn on the low-speed driving mode is received in a state where the driving speed is equal to or less than the first reference speed based on the driving speed information.

A vehicle according to another aspect includes an accelerator pedal and a brake pedal; a first detection unit detecting a first pressure corresponding to pressing of the accelerator pedal; and a second detection unit that detects a second pressure corresponding to the pressing of the brake pedal. The processor of the vehicle according to another aspect ends the low-speed driving mode when the first pressure is equal to or greater than the first reference pressure, and terminates the low-speed driving mode when the second pressure is greater than or equal to the second reference pressure.

According to the present invention, while driving on a downhill slope while maintaining a constant driving speed according to a low-speed driving mode, fatigue caused by a user's intervention in deceleration can be reduced, thereby improving driving convenience.

The present invention can improve the usability of the low-speed driving mode by outputting suggestion information and effect information for the low-speed driving mode when driving on a downhill slope, and can improve the charging rate of a battery according to the use of the low-speed driving mode. And, as a result, the performance of the vehicle can be improved.

The present invention outputs notification information for deactivation of the low-speed driving mode in response to the can time-out of the battery management device when driving on a downhill slope, so that the user can recognize the unavailability of the low-speed driving mode, and the low-speed driving Overcharging of the battery can be prevented by deactivating the mode.

According to the present invention, regenerative braking is stopped and hydraulic braking is performed when the charge amount of the battery exceeds a preset charge amount during the low-speed driving mode, so that braking or deceleration can be continuously performed while preventing overcharging of the battery. As a result, driving stability can be improved.

According to the present invention, battery failure and fire due to the battery can be prevented by preventing overcharging of the battery.

The present invention can increase the convenience of using a vehicle having a motor, and can increase the amount of charge in a battery by regenerative braking when the vehicle decelerates and brakes, thereby improving fuel efficiency of the vehicle.

That is, the present invention can optimize deceleration and regenerative braking without the user's manipulation of the brake pedal and accelerator pedal, and can continuously perform regenerative braking throughout the entire section while driving, maximizing energy storage through linear regenerative braking. can do.

As described above, the present invention can improve the quality and marketability of an eco-friendly vehicle, further increase user satisfaction, improve user convenience and vehicle safety, and secure product competitiveness.

1 is an exemplary interior view of a body of a vehicle according to an embodiment.
2 is an exemplary diagram of a power unit of a vehicle according to an embodiment.
3 is a control configuration diagram of a vehicle according to an embodiment.
4 is an exemplary view of downhill driving of a vehicle according to an embodiment.
5 is a control flowchart of a vehicle according to an embodiment.

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

Like reference numbers designate like elements throughout the specification. This specification does not describe all elements of the embodiments, and general content or overlapping content between the embodiments in the technical field to which the present invention pertains will be omitted. The term 'unit, device' used in the specification may be implemented as software or hardware, and according to embodiments, a plurality of 'units, devices' may be implemented as a single component, or a single 'unit, device' may be implemented as a plurality of 'units, devices'. It is also possible to include components of

Throughout the specification, when a part is said to be "connected" to another part, this includes not only the case of being directly connected but also the case of being indirectly connected, and indirect connection includes being connected through a wireless communication network. do.

In addition, when a certain component is said to "include", this means that it may further include other components without excluding other components unless otherwise stated.

Throughout the specification, when a member is said to be located “on” another member, this includes not only a case where a member is in contact with another member, but also a case where another member exists between the two members.

Terms such as first, second, and third are used to distinguish one component from another, and the components are not limited by the aforementioned terms.

Expressions in the singular number include plural expressions unless the context clearly dictates otherwise.

In each step, the identification code is used for convenience of description, and the identification code does not explain the order of each step, and each step may be performed in a different order from the specified order unless a specific order is clearly described in context. there is.

Hereinafter, the working principle and embodiments of the present invention will be described with reference to the accompanying drawings.

1 is an exemplary interior view of a body of a vehicle according to an embodiment.

The vehicle of this embodiment is an eco-friendly vehicle, including a battery and a motor that are chargeable power sources, an electric vehicle that rotates the motor with electricity stored in the battery and drives wheels using rotation of the motor, and includes an engine, a battery, and a motor. and a hybrid vehicle that drives by controlling the mechanical power of an engine and the electrical power of a motor, and a hydrogen fuel cell vehicle. This embodiment describes an electric vehicle as an example.

The vehicle 1 of the present embodiment includes a body having exterior and interior parts, and a chassis on which mechanical devices necessary for driving are installed except for the body.

The exterior of the vehicle includes a front panel, a bonnet, a roof panel, a rear panel, and front, rear, left, and right doors, and further includes a side mirror providing a user with a view of the rear of the vehicle 1.

The vehicle includes a plurality of lamps that enable easy viewing of all vehicle information while observing the front sight. The plurality of lamps serve not only a lighting function but also a signal and communication function for other vehicles and pedestrians.

Vehicles use a plurality of lamps for lighting purposes for far, near, and rear lighting, signals for braking, turning direction, and emergency situations, and for displaying vehicle width, body height, license plate lighting, and parking status.

The plurality of lamps include a headlamp that illuminates the road, a fog lamp that illuminates the shoulder by directing the light beam toward the front of the road so that the driver can find the direction when fog is present, and when changing the direction of the vehicle or changing direction. A direction indicator lamp for signaling, a tail lamp (taillight) that is automatically turned on when the head lamp is turned on, a brake lamp that warns the vehicle behind when the driver presses the brake pedal, and a rear includes back-up lamps (i.e. reversing lights) to warn vehicles or pedestrians.

As shown in FIG. 1, the interior of the vehicle body includes a seat 101 on which the occupant sits, a dashboard 102 provided in the first half of the seat 101, and a tachometer, speedometer, and coolant disposed on the dashboard 102. A cluster 103 in which a thermometer, a fuel gauge, a direction change indicator, a high beam indicator, a warning lamp, a seat belt warning lamp, an odometer, an odometer, a shift lever indicator, a door open warning lamp, an engine oil warning lamp, and a fuel shortage warning lamp are disposed; It includes a center fascia 104 in which air vents and control plates of the air conditioner are disposed, and a head unit 105 provided on the center fascia 104 and receiving operation commands of the audio device and the air conditioner.

In the vehicle 1, a shift lever provided on a center fascia 104 and whose operating position is changed by a driver according to driving conditions and receives an input of a shift mode, and an electronic parking brake device located around the shift lever or on the head unit 112 (EPB: Electric Parking Brake System) further includes a parking button (EPB button) that receives an operation command.

The vehicle 1 includes a steering wheel 106 of a steering device for adjusting the driving direction, a brake pedal 107 pressed by the user according to the user's will to brake, and a brake pedal 107 pressed by the user according to the user's will to accelerate. An accelerator pedal 108 may be included.

Vehicle 1 may further include an input unit 120 for receiving operation commands for various functions.

The input unit 120 may be provided in the head unit 105 , the center fascia 104 , and the steering wheel 106 .

The input unit 120 may include at least one physical button, such as an on/off button for operating various functions and a button for changing set values of various functions.

The input unit 120 may further include a jog dial (not shown) or a touch pad (not shown).

The input unit 120 may include a mode button 121 that receives an on command or an off command of the low speed driving mode to perform low speed driving on a downhill slope.

When the mode button 121 is selected by the user in a state in which the low-speed driving mode is deactivated, a command to turn on the low-speed driving mode may be transmitted to the processor (refer to FIG. 3 , 191 ).

When the mode button 121 is selected by the user while the low-speed driving mode is activated, a command to turn off the low-speed driving mode may be transmitted to the processor (see FIG. 3 ).

The mode button 121 may be provided on the center fascia 104, around the shift lever, or on the head unit 105.

The input unit 120 can also receive navigation mode on and off commands, and can also receive destination information for the navigation mode.

The vehicle 1 may further include a display unit 130 provided in the head unit 105 and displaying information on functions being performed in the vehicle and information input by a user.

The display unit 130 may display operation information about functions being performed in the vehicle.

The display unit 130 may display a deactivated state and an activated state of the low-speed driving mode.

The display unit 130 may display the amount of charge of the battery, and may display a shift mode and the number of shift stages corresponding to the position of the shift lever.

Here, the shift modes include a parking mode (P) in which the shift lever is positioned when the transmission is locked and the vehicle is parked or the ignition is to be turned on, a reverse mode (R) in which the shift lever is positioned when the vehicle is reversed, and a vehicle It includes a drive mode (D) in which the shift lever is positioned when driving forward, and a neutral mode (N) in which the shift lever is positioned when performing a neutral state in which the gear of the transmission is not engaged.

The vehicle 1 may further include a user interface 140 that is a vehicle terminal provided inside the vehicle.

The user interface 140 displays an image of at least one mode selected by a user from among an audio mode, a video mode, a navigation mode, a broadcasting mode (DMB function), a radio mode, a content reproduction mode, and an Internet search mode.

2 is an exemplary diagram of a power unit of a vehicle according to an embodiment.

The chassis (Ch) of the vehicle is a frame supporting the body, and the chassis (Ch) has wheels (Wh) disposed on the front, rear, left, and right sides, and generates driving force necessary for driving the vehicle, controls the generated driving force, and transfers the adjusted driving force back and forth A power device 150 for applying to left and right wheels Wh, a steering device, and a suspension device may be provided.

The vehicle 1 may further include a braking device 160 that generates hydraulic pressure based on a control command of the processor 191 and applies braking force to wheels using the generated hydraulic pressure.

As shown in FIG. 2 , a power unit 150 of a vehicle includes a battery 151 , an inverter 152 , a motor 153 , a reduction gear 154 and a charging circuit unit 155 .

The battery 151 may be a main battery that generates high-voltage current and supplies driving force to the vehicle.

The battery 151 may be electrically connected to electronic devices such as convenience devices and additional devices to supply driving power to each electronic device.

The battery 151 may be charged with power supplied from a charger disposed in a parking lot or charging station. That is, the battery 151 may be a battery capable of being charged and discharged.

During regenerative braking of the battery 151, the battery 151 may be charged using power generated by the motor 153 that performs a power generation function.

The vehicle 1 may further include an auxiliary battery provided separately from the battery 151 .

The auxiliary battery may supply power to electronic devices such as user interface 140, lamps, black boxes, and other convenience devices and additional devices provided in the vehicle.

The auxiliary battery may be charged using power charged in the main battery.

The battery 151 may be managed by the battery management unit 170 . The battery management unit will be described later.

The inverter 152 converts the power of the battery 151 into driving power of the motor 153 in response to a control command of the processor 190 and transfers the converted power to the motor 153 .

When outputting driving power of the motor 153, the inverter 152 may output driving power of the motor 153 corresponding to target driving speed information according to a user command. Here, the driving power of the motor 153 may be a switching signal for outputting a current corresponding to the target driving speed information and a switching signal for outputting a voltage corresponding to the target driving speed information. That is, the inverter 152 may include a plurality of switching elements.

The inverter 152 may transfer power generated by the motor 153 to the battery 151 during regenerative braking.

The inverter 152 may also perform a function of changing the direction and output of current between the motor 153 and the battery 151 .

The motor 153 generates rotational force using electric energy of the battery 151 and transfers the generated rotational force to wheels so that the wheels are driven.

The motor 153 converts the electrical energy of the battery 151 into mechanical energy for operating various devices provided in the vehicle.

When the start button (or boot button) is turned on, the maximum current is supplied to the motor 153 to generate maximum torque.

The motor 153 may operate as a generator to charge the battery 151 under energy regeneration conditions such as braking, deceleration, or low-speed driving.

The reducer 154 reduces the speed of the motor 153 and transmits the rotational force obtained by increasing the torque of the motor 153 to the wheels Wh.

The vehicle 1 may further include a charging circuit unit 155 provided on an exterior of the vehicle body, connected to a charging cable, and receiving power for charging the battery.

The charging circuit unit 155 may include a slow charging unit for charging the battery at a slow rate lower than a fast charging rate.

The charging circuit unit 155 rectifies and converts external commercial power (AC) into direct current and transfers it to the battery 151 for slow charging. For example, the charging circuit unit 155 may include an AC rectifier, a Power Factor Correction (PFC) unit, a converter, and a capacitor.

The charging circuit unit 155 converts power supplied from the outside into power for charging the battery and transfers the converted power to the battery 151 .

The charging circuit unit 155 converts battery power into power for driving various electronic devices or converts battery power into power for charging an auxiliary battery.

The charging circuit unit 155 may include a plurality of switching elements that perform an on or off operation in response to a control command of the processor 191, and may perform power conversion through an on-off operation of the plurality of switching elements. , Here, the power conversion may include DC to AC conversion, AC to DC conversion, DC magnitude conversion, and AC magnitude conversion.

In addition, the quick charger may include at least one of a terminal and a cable for directly connecting an external quick charger and the battery 151 .

3 is a control configuration diagram of a vehicle according to an embodiment.

The vehicle 1 includes a first input unit 120, a first display unit 130, a user interface 140, a battery 151, an inverter 152, a motor 153, a charging circuit unit 155, and a braking device 160. ), brake light 165, battery management unit 170, first detection unit 181, second detection unit 182, gradient detection unit 183, speed detection unit 184, position reception unit 185, relay 186, It includes a processor 191, a memory 192 and a communication unit 193.

The first input unit 120 is an input unit provided on at least one of a head unit, a center fascia, or a steering wheel, and to be distinguished from an input unit of a user interface, the first input unit 120 is described.

The first input unit 120 receives user input.

The first input unit 120 may receive an on command or an off command of the low speed driving mode.

The first display unit 130 is a display unit provided on at least one of a head unit, a center fascia, and a cluster, and the first display unit 130 is described to be distinguished from the display unit of the user interface.

The first display unit 130 may display information about the activation state or inactivation state of the low-speed driving mode.

The first display unit 130 can display effect information according to the performance of the low-speed driving mode, display suggestion information suggesting the execution of the low-speed driving mode, and display the current state of charge of the battery.

The user interface 140 may include a second input unit 141 and a second display unit 142 .

The second input unit 141 receives an on/off command for at least one mode among a plurality of functions, and an operation command for the input at least one mode.

The second input unit 141 may receive destination information from the user when the navigation mode is selected.

The second display unit 142 displays operation information on the function being performed.

For example, the second display unit 142 can display information related to a phone call, display content information output through the user interface 140, or display information related to music reproduction, and external broadcasting. display information

When performing the navigation mode, the second display unit 142 displays a route from the current location to a destination and displays road guidance information.

The second display unit 142 may display the gradient of the downhill road and the amount of charge charged during downhill driving.

The second display unit 142 displays charging state information of the battery 151 . Here, the charge state information may include a charge amount of the battery and a charge level corresponding to the charge amount of the battery.

Descriptions of the battery 151, the inverter 152, the motor 153, and the charging circuit unit 155 have been described with reference to FIG. 2, so descriptions thereof will be omitted.

The braking device 160 generates braking force by adjusting hydraulic pressure in response to a control command of the processor 191 .

The braking device 160 may decelerate the vehicle 1 or stop the vehicle 1 through friction with wheels.

The brake device 160 may include an electronic brake control unit. The electronic brake control unit can control the braking force in response to the driver's intention to brake via the brake pedal and/or slip of the wheels.

The brake light 165 may be turned on or off in response to a control command of the processor 191 .

The battery management unit 170 monitors the state of charge of the battery 151, transmits state of charge information on the monitored state of charge to the processor 191, and checks the charge level corresponding to the state of charge of the battery 151. It is also possible. Here, the state of charge of the battery 151 may include the amount of charge of the battery.

The battery management unit 170 includes a detection unit (not shown) for detecting the state of charge of the battery 151 .

The detection unit (not shown) of the battery management unit 170 includes a current detection unit for detecting the current of the battery 151, a voltage detection unit for detecting the voltage of both ends of the battery 151, and a temperature detection unit for detecting the temperature of the battery 151. A temperature detector may optionally be further included.

The battery manager 170 monitors the state of charge of the battery based on the detected current of the battery. The battery management unit 170 may monitor the state of charge of the battery based on the detected current and voltage of the battery. The battery management unit 170 may monitor the state of charge (SOC) of the battery based on the current, voltage, and temperature of each cell of the battery.

The battery management unit 170 may store a charge level corresponding to the amount of charge of the battery 151 or a charge level corresponding to the current of the battery.

The battery management unit 170 may obtain the amount of charge of the battery corresponding to the current, voltage, and temperature of the battery from a pre-stored table. Here, the charged amount of the battery corresponding to the correlation between current, voltage, and temperature of the battery may be matched to the pre-stored table.

The first detection unit 181 detects the pressure applied to the accelerator pedal 108 in response to the user's driving intention and outputs pressure information about the detected pressure.

The second detector 182 detects the pressure applied to the brake pedal 170 in response to the user's driving intention and outputs pressure information about the detected pressure.

The gradient detection unit 183 detects the gradient of the road and outputs gradient information about the detected gradient.

The inclination detector 183 may be an acceleration sensor, or may include at least one of a gyro sensor, an angular velocity sensor, and a gravity sensor. Road gradient information may include navigation information and ADAS map information. Accordingly, the gradient detection unit can be omitted.

The speed detection unit 184 detects the traveling speed of the vehicle and outputs traveling speed information corresponding to the detected traveling speed.

The speed detector 184 may include wheel speed sensors provided on front, rear, left, and right wheels respectively to detect the rotational speed of each wheel, or may include an acceleration detector to detect vehicle acceleration.

The location receiver 185 receives location information about the current location of the vehicle and outputs the received location information.

The location receiver 185 may include a Global Positioning System (GPS) receiver. Here, the GPS (Global Positioning System) receiver includes an antenna module and a signal processor for receiving signals from a plurality of GPS satellites.

The signal processing unit includes software for acquiring a current location using distance and time information corresponding to location signals of a plurality of GPS satellites, and a transmitter for transmitting the obtained vehicle location information.

The processor 191 may check the driving speed based on the detection information detected by the speed detection unit 184 .

The processor 191 operates the inverter 152 and the reducer 154 based on the driving speed information detected by the speed detection unit 184 and the pressure information (ie, the first pressure information) detected by the first detection unit 181. And by controlling the motor 153, the travel speed can be increased.

The processor 191 operates the inverter 152 and the reducer 154 based on the traveling speed information detected by the speed detection unit 184 and the pressure information (ie, the second pressure information) detected by the second detection unit 182. And by controlling the motor 153, the travel speed can be reduced.

The processor 191 may also control the braking device 160 based on the second pressure information detected by the second detection unit 182 .

The processor 191 may check road gradient information among road information based on the detection information detected by the gradient detector 183 . The processor 191 may recognize whether the user is driving on a downhill road, on a flat surface, or on an uphill road based on information on the slope of the road.

When the navigation mode is selected by the second input unit 141 and the destination information is received, the processor 191 checks the current location information of the location receiving unit 185 and determines the destination from the current location based on the checked current location information and the destination information. The second display unit 142 is controlled to search for a route up to and to display route information on the searched route together with map information.

The processor 191 receives SOC information on the SOC of the battery from the battery management unit 170 while driving and uses at least one of the first display unit 130 and the second display unit 142 to output the received battery status information. You can control it.

The state of charge (SOC) information of the battery may include the amount of charge of the battery.

The processor 191 receives charging state information about the state of charge of the battery from the battery management unit 156 during charging, and displays the received battery state information on at least one of the first display unit 130 and the second display unit 142. can control.

When the regenerative braking mode is performed by deceleration or braking, the processor 191 causes the motor 153 to perform the power generation function. That is, the motor operates as a generator. Here, operating the motor 153 as a generator includes controlling the switches of the inverter 152 to operate in the same operating principle as a boost converter by means of counter electromotive force.

For regenerative braking control, the processor 191 sets the torque value of the motor 153 as a negative value but sets it as a negative torque value corresponding to the reference regenerative braking force, and by setting the torque value as a negative value, the current The current flow into the battery 151 is controlled so that the direction is opposite to the current direction during acceleration. At this time, torque is generated in the opposite direction to perform regenerative braking.

That is, during regenerative braking control, the processor 191 blocks power applied to the motor 153 and reversely controls the direction of the torque applied to the motor 153 so that the motor 153 operates as a generator, and the generator The battery 151 is charged by the motor 153 operated by . At this time, the rotation direction of the motor 153 is not changed by the inertial force.

In this way, the processor 191 may allow the motor 153 to be operated as a generator by inertial energy, and the battery 151 to be charged by the motor 153 performing a power generation function.

The processor 191 checks information on the road and the amount of charge due to regenerative braking while driving, and displays at least one of the first display unit 130 and the second display unit 142 to display the information on the checked road and the information on the amount of charge due to regenerative braking. You can control one.

Here, road information may include road gradient and road location information.

Hereinafter, the processor 191 for driving control during downhill driving will be described.

The processor 191 may determine whether the vehicle is driving on a downhill road based on the gradient information detected by the gradient detection unit 183 .

The processor 191 obtains gradient information of the road being driven based on the road information stored in the memory 182 and the current location information received by the location receiving unit 185, and determines whether the road is downhill based on the obtained gradient information. can do.

The processor 191 performs a standby mode for the low-speed driving mode when a command to turn on the low-speed driving mode is received through the first input unit 120 in a state in which it is determined that driving is downhill.

When the low-speed driving mode on command is received through the first input unit 120 in a state in which it is determined that driving is downhill, the processor 191 determines that the driving speed is equal to or less than the first reference speed based on the driving speed information detected by the speed detector. It is also possible to determine whether or not the driving speed is equal to or less than the first reference speed, and to perform a standby mode for the low-speed driving mode.

The processor 191 determines whether the state of the brake pedal 107 has changed based on the second pressure information detected by the second detection unit 182 during the standby mode for the low-speed driving mode, and determines whether the state of the brake pedal 107 is changed. When it is determined that the pressurized state is changed to the released state, the driving speed information detected at the time when the state of the brake pedal 107 is changed is checked, and target driving speed information is set based on the checked driving speed information.

The processor 191 determines whether the state of the accelerator pedal 108 is changed based on the first pressure information detected by the first detection unit 181 in the standby mode for the low-speed driving mode, and determines whether the state of the accelerator pedal 108 is changed. When it is determined that the pressurized state is changed to the release state, it is also possible to check travel speed information detected at the time the state of the accelerator pedal 108 is changed, and set target travel speed information based on the checked travel speed information.

The processor 191 checks the driving speed information during the standby mode for the low-speed driving mode, determines whether the driving speed is a preset driving speed based on the checked driving speed information, and determines that the driving speed is the preset driving speed. It is also possible to set the target travel speed information as the travel speed.

The processor 191 may perform the low-speed driving mode from the time when the state of the accelerator pedal 108 or the state of the brake pedal 107 is changed.

The time point at which the state of the accelerator pedal 108 or the state of the brake pedal 107 is changed may be a time point at which the low-speed driving mode starts to be performed.

The time when the driving speed reaches the preset driving speed may be the starting time of performing the low-speed driving mode.

The processor 191 may control at least one of regenerative braking and hydraulic braking so that the driving speed is maintained at the target driving speed based on the target driving speed information when the low speed driving mode is performed.

The processor 191 may obtain necessary braking force information based on the target driving speed information and road gradient information when performing the low-speed driving mode, perform regenerative braking based on the required braking force information, and generate maximum braking power. When it is determined that the regenerative braking force is less than the required braking force, the braking device 160 may be controlled to generate the braking force through hydraulic braking.

When torque is generated by the motor 153 during regenerative braking, the battery may be charged. Here, the torque corresponds to regenerative braking force by regenerative braking, and may be a data value experimentally obtained.

The processor 191 obtains required braking force information based on the target driving speed information and road gradient information when performing the low-speed driving mode, obtains maximum regenerative braking force information based on the required braking force information, and obtains maximum regenerative braking force information. The motor can be controlled based on

As shown in FIG. 4 , the processor 191 maintains the driving speed at the target driving speed by controlling only regenerative braking for a preset time from the start of the low-speed driving mode. At this time, the processor 191 does not perform braking control of the braking device 160 . That is, the maximum regenerative braking force information for a preset time from the start of the low-speed driving mode may be information corresponding to 100% of the required braking force.

Corresponding to the change of the gradient information of the road, travel speed information may change. Correspondingly, the processor 191 periodically checks the driving speed information when a preset time elapses from the start of the low-speed driving mode, and whenever the driving speed information is checked periodically, the checked driving speed information and the target driving speed information Required braking force information is obtained based on , and maximum regenerative braking force information is changed based on the acquired required braking force information.

When it is determined that the required braking force is greater than the maximum regenerative braking force based on the required braking force information and the maximum regenerative braking force information, the processor 191 obtains the remaining braking force obtained by subtracting the maximum regenerative braking force from the required braking force, and sets the obtained remaining braking force as the hydraulic braking force. there is.

That is, the processor 191 may obtain hydraulic braking force information based on the required braking force information and the maximum regenerative braking force information and control the operation of the braking device 160 based on the obtained hydraulic braking force information.

When the processor 191 determines that the driving speed exceeds the target driving speed based on the checked driving speed information and the target driving speed information during braking based on the maximum regenerative braking force information, the processor 191 operates the braking device 160 to generate hydraulic braking force. You can control it.

The processor 191 determines whether the required braking force exceeds the reference braking force based on the required braking force information, controls the lighting of the braking light 165 when it is determined that the required braking force exceeds the reference braking force, and determines that the required braking force is equal to or less than the reference braking force. It is also possible to control turning off of the brake light 165.

As shown in FIG. 4 , the processor 191 checks the charge amount information of the battery by regenerative braking during the low-speed driving mode, and determines whether the charge amount of the battery is greater than or equal to a preset charge amount (R%) based on the checked charge amount information. , and when it is determined that the charged amount of the battery is equal to or greater than a preset charged amount, regenerative braking may be stopped and controlled, and only hydraulic braking may be performed by controlling the operation of the braking device 160 . This prevents the battery from being overcharged.

The processor 191 controls charging of the battery to be stopped when the charge amount of the battery is equal to or greater than a preset charge amount (R%). The processor 191 may control at least one of the first display unit 130 , the second display unit 142 , and the cluster 103 to display battery charge interruption notification information through the display unit.

The processor 191 determines whether the battery management unit 170 can time out while the low-speed driving mode is running, and if it is determined that the can time out, determines the state of the relay 186 connected to the battery.

The processor 191 may check the voltage applied to the inverter 152 and determine whether the relay 186 is on or off based on the checked voltage.

When it is determined that the relay 186 is turned on, the processor 191 may control at least one of the first display unit and the second display unit to control deactivation of the low-speed driving mode and output notification information about the deactivation of the low-speed driving mode. There is, and it is possible to control the cluster.

As shown in FIG. 4 , the processor 191 obtains gradient information of the road being driven based on the current location information received from the location receiving unit 185, navigation information, and map information stored in the memory 192, and obtains Based on the information on the slope of the road, it is determined whether the slope of the road is greater than or equal to the standard slope (e ) and the length of the road is greater than or equal to the standard length (d), and the slope of the road being driven is greater than or equal to the standard slope and the length of the road is greater than or equal to the standard length. If it is determined that it is, it is also possible to activate the low-speed driving mode.

When the processor 191 determines that the slope of the road being driven is greater than or equal to the reference slope and the length of the road is greater than or equal to the reference length, the processor 191 outputs suggestion information suggesting the execution of the low-speed driving mode through the first display unit 130 and the second display unit 142. ) and at least one of the cluster 103 may be controlled.

The processor 191 may predict a battery charge amount by regenerative braking based on target driving speed information, road length information, and road slope information.

The processor 191 may predict a possible driving distance based on a battery charge amount predicted based on navigation information and road information.

Road information may include elevation difference information, speed limit information, and the like.

The processor 191 may control at least one of the first display unit 130, the second display unit 142, and the cluster 103 to output effect information corresponding to the execution of the low-speed driving mode.

For example, through the second display unit 142, '5km downhill road continues ahead. When performing the low-speed driving mode, 0.2% of the battery is charged, and through this, a driving distance of 5 km can be secured.' can be displayed.

The processor 191 may control the end of the low-speed driving mode when the first pressure is greater than or equal to the first reference pressure based on the first pressure information.

The processor 191 may control termination of the low-speed driving mode when the second pressure is greater than or equal to the second reference pressure based on the second pressure information.

That is, the processor 191 may control the end of the low-speed driving mode when the brake pedal or the accelerator pedal is pressed at a pressure higher than a reference pressure.

The processor 191 may control termination of the low-speed driving mode when it is determined that the driving speed is greater than or equal to the second reference speed based on the driving speed information.

The processor 191 may control termination of the low-speed driving mode when a command to turn off the low-speed driving mode is received through the mode button 121 of the first input unit 120 .

The processor 191 includes a memory (not shown) that stores data for an algorithm or a program that reproduces the algorithm for controlling the operation of components in the vehicle, and a processor that performs the above-described operation using the data stored in the memory ( not shown) may be implemented. In this case, the memory and the processor may be implemented as separate chips. Alternatively, the memory and the processor may be implemented as a single chip.

The memory 192 stores map information.

The map information may include location information, road information, slope information and length information for each link of the road. The link of the road may be divided into a section of the road in which the vehicle drives downhill and a section in which the vehicle does not drive.

The map information may include downhill length information, downhill slope information, and downhill elevation difference information.

The memory 192 may also store energy by regenerative braking force corresponding to gradient information during downhill driving, that is, information on the battery charge amount.

The memory 192 stores various types of information for performing the low-speed driving mode, ie, preset time and reference braking force. Information on the preset filling amount, standard inclination, standard length, first and second standard speeds, and first and second standard pressures is stored.

The memory 192 may be implemented as a separate chip from the processor described above with respect to the processor 191, or may be implemented as a single chip with the processor.

The memory 192 may include a nonvolatile memory device such as a cache, read only memory (ROM), programmable ROM (PROM), erasable programmable ROM (EPROM), electrically erasable programmable ROM (EEPROM), and flash memory, or RAM (RAM). It may be implemented as at least one of a volatile memory device such as Random Access Memory), a hard disk drive (HDD), or a storage medium such as a CD-ROM, but is not limited thereto.

The communication unit 193 may include one or more components enabling communication between components inside the vehicle, and may include, for example, at least one of a short-distance communication module, a wired communication module, and a wireless communication module.

The short-range communication module is a Bluetooth module, an infrared communication module, a radio frequency identification (RFID) communication module, a wireless local access network (WLAN) communication module, a near field communication (NFC) module, and a Zigbee communication module. It may include various short-range communication modules that transmit and receive signals using

Wired communication modules include not only various wired communication modules such as Local Area Network (LAN) modules, Wide Area Network (WAN) modules, or Value Added Network (VAN) modules, but also USB (Universal Serial Bus) , High Definition Multimedia Interface (HDMI), Digital Visual Interface (DVI), recommended standard 232 (RS-232), power line communication, or plain old telephone service (POTS).

The wired communication module may further include a Local Interconnect Network (LIN).

In addition to the WiFi module and the WiBro module, wireless communication modules include global system for mobile communication (GSM), code division multiple access (CDMA), wideband code division multiple access (WCDMA), and universal mobile telecommunications system (UMTS). ), time division multiple access (TDMA), long term evolution (LTE), and ultra wide band (UWB) modules.

The processor 191, the memory 192, and the communication unit 193 may be components of the slope driving control device 190. The slope driving control device 190 communicates with various components of the vehicle and can control low-speed driving on a downhill slope.

At least one component may be added or deleted to correspond to the performance of the components of the slope driving control device 190 . In addition, it will be easily understood by those skilled in the art that the mutual positions of the components may be changed corresponding to the performance or structure of the system.

In addition, the processor 191 may be a processor provided in the vehicle 1 .

Meanwhile, each component shown in FIG. 3 means software and/or hardware components such as a Field Programmable Gate Array (FPGA) and Application Specific Integrated Circuit (ASIC).

At least one component may be added or deleted corresponding to the performance of components of the vehicle shown in FIG. 3 . In addition, it will be easily understood by those skilled in the art that the mutual positions of the components may be changed corresponding to the performance or structure of the system.

5 is a control flowchart of a vehicle according to an embodiment.

The vehicle may determine whether the road is downhill based on the slope of the road, and if it is determined that the road is downhill, start performing the low-speed driving mode (201).

More specifically, the vehicle may determine whether it is driving on a downhill road based on the gradient information detected by the gradient detection unit 183 .

The vehicle may obtain gradient information of the road on which it is driving based on road information stored in the memory 182 and current location information received by the location receiving unit 185, and determine whether the vehicle is driving on a downhill road based on the acquired gradient information. .

When a low-speed driving mode on command is received through the mode button 121 of the first input unit in a state in which it is determined that the vehicle is driving downhill, the vehicle performs the standby mode for the low-speed driving mode.

The vehicle determines whether the state of the brake pedal 107 has changed based on the second pressure information detected by the second detection unit 182 during the standby mode for the low-speed driving mode, and the state of the brake pedal 107 is in the pressurized state. When it is determined that the state has been changed to the release state, the low-speed driving mode starts to be performed.

The vehicle determines whether the state of the accelerator pedal 108 has changed based on the first pressure information detected by the first detection unit 181 in the standby mode for the low-speed driving mode, and the state of the accelerator pedal 108 is in the pressurized state. When it is determined that the state has been changed to the release state, the low-speed driving mode starts to be performed.

The vehicle checks travel speed information detected at the time when the state of the brake pedal 107 is changed, and sets target travel speed information based on the checked travel speed information.

The vehicle may also check driving speed information detected when the state of the accelerator pedal 108 is changed, and set target driving speed information based on the checked driving speed information.

That is, the time when the state of the accelerator pedal 108 or the state of the brake pedal 107 is changed may be the time when the low-speed drive mode starts to be performed.

In addition, it is also possible to set target travel speed information based on preset target speed information.

The vehicle checks road gradient information and target speed information (202) and obtains necessary braking force information based on the road gradient information and target speed information (203).

The vehicle may also obtain maximum regenerative braking force information based on road gradient information and target speed information. Here, the maximum regenerative braking force information corresponding to the slope information of the road and the target speed information may be previously stored in a table.

When performing the low-speed driving mode, the vehicle may control at least one of regenerative braking and hydraulic braking so that the driving speed is maintained at the target driving speed based on the target driving speed information.

More specifically, when the vehicle controls the driving speed in response to the low-speed driving mode, the charge amount information of the battery is checked, and based on the checked charge amount information, it is determined whether the charge amount of the battery is greater than or equal to the preset charge amount (R%) ( 204), and when it is determined that the charged amount of the battery is equal to or greater than the preset charged amount, the operation of the braking device 160 is controlled to perform only hydraulic braking (205). This prevents the battery from being overcharged.

When it is determined that the charge amount of the battery is less than the preset charge amount, the vehicle may control only regenerative braking based on required braking force information and maximum regenerative braking force information or simultaneously control regenerative braking and hydraulic braking.

More specifically, the vehicle maintains the driving speed at the target driving speed by controlling only regenerative braking for a preset time from the start of the low-speed driving mode. At this time, the vehicle does not perform braking control of the braking device 160 . That is, the maximum regenerative braking force information for a preset time from the start of the low-speed driving mode may be information corresponding to 100% of the required braking force.

Corresponding to the change of the gradient information of the road, travel speed information may change. In response to this, the vehicle periodically checks the driving speed information when a preset time elapses from the start of the low-speed driving mode, and whenever the driving speed information is periodically checked, based on the checked driving speed information and the target driving speed information Required braking force information is obtained, and maximum regenerative braking force information is changed based on the acquired required braking force information.

The vehicle determines whether the required braking force is greater than the maximum regenerative braking force based on the required braking force information and the maximum regenerative braking force information (206), and if it is determined that the required braking force is not greater than the maximum regenerative braking force based on the braking force information and the maximum regenerative braking force information, the motor By performing regenerative braking (207) using only the braking force by , the vehicle is driven at a target driving speed. In this case, the vehicle may control braking while periodically adjusting the regenerative braking force based on the current driving speed information and the target driving speed information.

Determining that the required braking force is not greater than the maximum regenerative braking force based on the required braking force information and the maximum regenerative braking force information includes that the required braking force is less than or equal to the maximum regenerative braking force.

When it is determined that the required braking force is greater than the maximum regenerative braking force based on the required braking force information and the maximum regenerative braking force information, the vehicle obtains the remaining braking force obtained by subtracting the maximum regenerative braking force from the required braking force, and obtains the remaining braking force as hydraulic braking force (208). can

That is, the vehicle acquires hydraulic braking force information based on the required braking force information and the maximum regenerative braking force information, controls the operation of the braking device 160 based on the obtained hydraulic braking force information, and controls the operation of the motor 153 based on the maximum regenerative braking force information. can control the operation of

At this time, the vehicle may maintain the driving speed at the target driving speed through hydraulic braking and regenerative braking.

When regenerative braking is performed in this way, the battery may be charged.

More specifically, when performing regenerative braking, the vehicle controls a braking operation to reach a maximum regenerative braking force, and operates a motor as a generator at this time.

Here, operating the motor as a generator includes controlling the switches of the inverter to operate according to the same operating principle as a boost converter by counter electromotive force.

Controlling the braking operation sets the torque value of the motor to a negative value, but sets it to a negative torque value corresponding to the standard regenerative braking amount, and by setting the torque value to a negative value, the current direction changes to the current during acceleration. It involves making current flow into the battery in the opposite direction. As the current flows in the opposite direction, torque is generated in the opposite direction, so that regenerative braking can be performed.

That is, the vehicle cuts off the power applied to the motor 153 and reversely controls the direction of the current applied to the motor 153 so that the motor 153 operates as a generator, and the motor 153 operated as a generator so that the battery 151 is charged by At this time, the rotation direction of the motor 153 is not changed by the inertial force.

In this way, the vehicle enables the motor to be operated as a generator by inertia energy, and the battery 151 to be charged by the motor 153 operated as a generator.

The vehicle checks the charge amount information of the battery during regenerative braking, determines whether the charge amount of the battery is equal to or greater than a preset charge amount (R%) based on the checked charge amount information (204), and determines that the charge amount of the battery is equal to or greater than the preset charge amount (204). Only hydraulic braking may be performed by controlling the operation of the braking device 160 .

The vehicle determines whether the required braking force exceeds the standard braking force based on the required braking force information, turns on the brake light 165 when it is determined that the required braking force exceeds the standard braking force, and if it is determined that the required braking force is less than the standard braking force, the brake light 165 ) can be turned off.

The vehicle may control the end of the low-speed driving mode when the brake pedal or the accelerator pedal is pressed at a pressure higher than a reference pressure.

The vehicle may control termination of the low-speed driving mode when it is determined that the driving speed is greater than or equal to the second reference speed based on the driving speed information.

When a command to turn off the low-speed driving mode is received through the mode button 121 of the first input unit 120, the vehicle may control the end of the low-speed driving mode.

Meanwhile, the disclosed embodiments may be implemented in the form of a recording medium storing instructions executable by a computer. Instructions may be stored in the form of program codes, and when executed by a processor, create program modules to perform operations of the disclosed embodiments. The recording medium may be implemented as a computer-readable recording medium.

Computer-readable recording media include all types of recording media in which instructions that can be decoded by a computer are stored. For example, there may be read only memory (ROM), random access memory (RAM), magnetic tape, magnetic disk, flash memory, optical data storage device, and the like.

As described above, the disclosed embodiments have been described with reference to the accompanying drawings. A person skilled in the art to which the present invention pertains may change the technical spirit or essential features of the present invention in a different form from the disclosed embodiments. It will be understood that the present invention can be practiced with The disclosed embodiments are illustrative and should not be construed as limiting.

1: vehicle 120: input unit
130: display unit 140: user interface
150: power unit 160: brake unit

Claims (22)

In the slope running control device provided in a vehicle including a hydraulic braking device, a motor and a battery,
communications department; and
To obtain required braking force information based on target driving speed information received through the communication unit when driving on a slope, obtain maximum regenerative braking force information based on the required braking force information, and transmit the obtained maximum regenerative braking force information to a motor For driving on a slope including a processor that controls the communication unit, obtains hydraulic braking force information based on the required braking force information and the maximum regenerative braking force information, and controls the communication unit to transmit the obtained hydraulic braking force information to a hydraulic brake system. controller. The method of claim 1, wherein the processor,
Controlling the operation of the low-speed driving mode when driving on the slope, stopping and controlling the operation of the hydraulic brake device for a preset time from the start of performing the low-speed driving mode, and controlling the motor to control braking through regenerative braking Control device for driving on slopes. The method of claim 2, wherein the processor,
When a preset time elapses from the start of the low-speed driving mode, driving speed information is periodically checked, and whenever the driving speed information is periodically checked, the maximum driving speed information is determined based on the checked driving speed information and the target driving speed information. A control device for driving on a slope that changes the regenerative braking force. The method of claim 1, wherein the processor,
Based on the required braking force information, it is determined whether the required braking force exceeds the standard braking force, and if it is determined that the required braking force exceeds the standard braking force, the communication unit is controlled to transmit a command to turn on the brake light, and the required braking force is determined to be less than or equal to the standard braking force. When the determination is made, the control device for driving on a slope controls the communication unit to transmit a command to turn off lights such as braking. The method of claim 1, wherein the processor,
Checking information on the charge amount of the battery due to regenerative braking, determining whether the charge amount of the battery is equal to or greater than a preset charge amount based on the charge amount information, and controlling regenerative braking to be turned off when it is determined that the charge amount of the battery is equal to or greater than the preset charge amount A control device for running on a slope that controls the hydraulic brake device. The method of claim 1, wherein the processor,
A driving control device that controls deactivation of the low-speed driving mode and outputs notification information about the deactivation of the low-speed driving mode when a relay connected to a battery is turned on by a can timeout. The method of claim 1, wherein the processor,
When a command to turn on the low-speed driving mode is received through the communication unit, a standby mode for the low-speed driving mode is performed, and target driving speed information is obtained based on driving speed information when state change information of the brake pedal is received during the standby mode. A control device for driving on a set slope. The method of claim 7, wherein the processor,
A control device for driving on a slope that terminates the low-speed driving mode based on the driving speed information. According to claim 7,
Further comprising a memory for storing map information,
The processor determines whether the slope of the road being driven is greater than or equal to the reference slope and the length of the road is greater than or equal to the reference length, based on the current location information and the map information received from the communication unit, and determines whether the slope of the road being traveled is equal to or greater than the reference slope. and if it is determined that the length of the road is equal to or greater than the reference length, the ramp driving control device activates the low-speed driving mode. The method of claim 9, wherein the processor,
A control device for driving on a slope that outputs suggestion information of a low-speed driving mode and effect information corresponding to the execution of the low-speed driving mode when it is determined that the slope of the road being driven is greater than or equal to the reference slope and the length of the road is greater than or equal to the reference length. a motor generating at least one of a driving force and a regenerative braking force;
a braking device generating hydraulic braking force by hydraulic pressure;
a battery supplying power to the motor and charging during regenerative braking;
When driving on a slope, necessary braking force information is obtained based on target driving speed information, maximum regenerative braking force information is obtained based on the acquired required braking force information, and the motor is controlled based on the obtained maximum regenerative braking force information, and the required braking force is obtained. and a processor controlling the braking device based on information and the maximum regenerative braking force information. The method of claim 11, wherein the processor,
To control the operation of the low-speed driving mode while driving on the slope, stop and control the operation of the braking device for a preset time from the start of performing the low-speed driving mode, and perform regenerative braking based on the necessary braking force information obtained. A vehicle that controls the motor. According to claim 12,
Further comprising a speed detection unit that detects the travel speed and outputs travel speed information for the detected travel speed;
The processor periodically checks the driving speed information when a preset time elapses from the start of the low-speed driving mode, and whenever the driving speed information is checked periodically, the checked driving speed information and the target driving speed A vehicle that changes the maximum regenerative braking force information based on information. According to claim 11,
Including braking, etc.,
The processor determines whether the required braking force exceeds the reference braking force based on the required braking force information, controls the lighting of the braking light when it is determined that the required braking force exceeds the reference braking force, and determines that the required braking force is equal to or less than the reference braking force. A vehicle that controls the turning off of the brake light when the vehicle is turned off. The method of claim 11, wherein the processor,
While the low-speed driving mode is performed, it is checked whether the charge amount information of the battery is checked, based on the charge amount information, it is determined whether the charge amount of the battery is equal to or greater than a preset charge amount, and when it is determined that the charge amount of the battery is greater than or equal to the preset charge amount, regenerative braking is performed. A vehicle that controls off and controls the braking device. According to claim 11,
display unit; and
Further comprising a relay connected to the battery,
The processor controls the display unit to control deactivation of the low-speed driving mode and to output notification information about the deactivation of the low-speed driving mode when the relay is turned on by the can timeout. According to claim 11,
brake pedal;
input unit; and
Further comprising a speed detection unit that detects the travel speed and outputs travel speed information for the detected travel speed;
The processor performs a standby mode for the low-speed driving mode when a command to turn on the low-speed driving mode is received through the input unit, and detects by the speed detection unit when state change information of the brake pedal is received during the standby mode. A vehicle for setting target travel speed information based on the received travel speed information. The method of claim 17, wherein the processor,
A vehicle that terminates and controls the low-speed driving mode based on the driving speed information, and terminates and controls the low-speed driving mode when a command to turn off the low-speed driving mode is received through the input unit. 18. The method of claim 17,
Further comprising a memory for storing map information,
The processor determines whether the gradient of the road being driven is greater than or equal to a reference gradient and the length of the road is greater than or equal to a reference length based on the current location information and the map information received from the communication unit, and the gradient of the road being traveled is determined as a standard. A vehicle that activates the low-speed driving mode when it is determined that the slope is greater than or the length of the road is equal to or greater than the reference length. According to claim 19,
Further comprising a display unit,
When the processor determines that the slope of the road being driven is greater than or equal to the reference slope and the length of the road is greater than or equal to the reference length, the display unit outputs proposal information for a low-speed driving mode and effect information corresponding to the execution of the low-speed driving mode. vehicle to control. The method of claim 19, wherein the processor,
A vehicle configured to perform a standby mode for the low-speed driving mode when a command to turn on the low-speed driving mode is received in a state where the driving speed is equal to or less than the first reference speed based on the driving speed information. According to claim 11,
accelerator pedal and brake pedal;
a first detection unit detecting a first pressure corresponding to the pressing of the accelerator pedal; and
Further comprising a second detection unit for detecting a second pressure corresponding to the pressing of the brake pedal,
wherein the processor terminates the low-speed driving mode when the first pressure is equal to or greater than a first reference pressure, and terminates the low-speed driving mode when the second pressure is greater than or equal to a second reference pressure.

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