Cruise control system, vehicle including the same, method of controlling the cruise control system

• US 10,336,328 B2
• Filed: 05/11/2017
• Issued: 07/02/2019
• Est. Priority Date: 01/16/2017
• Status: Active Grant

• Current Assignee: Hyundai Motor Company (Hyundai Motor Group), Kia Motors Corporation (Kia Corp.)
• Original Assignee: Hyundai Motor Company (Hyundai Motor Group)
• Inventors: Yoon, Dong Pil, Seo, Howon, Kim, Jungwook
• Primary Examiner(s): Young, Edwin A
• Application Number:
  US15/592,748
• Publication Number:
  US 20180201262A1
• Time in Patent Office: 782 Days
• CPC Class Codes: B60W 10/06 including control of combustion engines
• CPC Class Codes: B60W 10/10 including control of change-speed gearings
• CPC Class Codes: B60W 2552/15 Road slope, i.e. the inclination of a road segment in the longitudinal direction
• CPC Class Codes: B60W 2556/50 of positioning data, e.g. GPS [Global Positioning System] data
• CPC Class Codes: B60W 2710/0661 Speed change rate
• CPC Class Codes: B60W 2710/1005 Transmission ratio engaged
• CPC Class Codes: B60W 2710/105 Output torque
• CPC Class Codes: B60W 2720/106 Longitudinal acceleration
• CPC Class Codes: B60W 30/143 Speed control B60W30/16 takes precedence

Abstract

A cruise control system, the vehicle including the same, and the method of controlling the cruise control system are provided to improve fuel efficiency by changing control target vehicle speeds by continuously predicting vehicle speeds and variations in required driving forces on roads with various slope variations. Additionally, driving performance is improved by using kinetic energies and preventing unnecessary acceleration and deceleration in comparison with conventional vehicles. Driver convenience and satisfaction is also improved by preventing an unintended operation stop of the cruise control system caused by frequent acceleration and deceleration on roads with substantial slope variations in advance and by preventing unintended acceleration/deceleration on roads with frequent slope variations.

Claims

1. A cruise control system, comprising:

a road model transmission unit configured to analyze map information of a driving route and output a slope model of three consecutive forward sections;

a vehicle speed controller configured to set a control target vehicle speed using slopes of the three consecutive forward sections and section distances received from the road model transmission unit; and

a speed-following controller configured to receive a request for acceleration or deceleration and gear-shifting from the vehicle speed controller and maintain the set control target vehicle speed.

2. The cruise control system according to claim 1, wherein the road model transmission unit is a navigation device configured to calculate a linearly simplified road model using information regarding a geometric structure of a road of an advanced driver assistance system (ADAS) map on a driving route and output a road model of the three consecutive forward sections.

3. The cruise control system according to claim 2, wherein the vehicle speed controller is configured to set a control target vehicle speed of an (n+1)th section based on a slope variation (Δ

Slope__{n+1, n}) between an nth section and the (n+1) section and a control target vehicle speed of an (n+2)th section based on a slope variation (Δ

Slope__{n+2, n+1}) between the (n+1)th section and the (n+2)th section using information regarding the three consecutive forward sections (nth section, (n+1)th section, and (n+2)th section) received from the road model transmission unit.

4. The cruise control system according to claim 3, wherein the vehicle speed controller is configured to set the control target vehicle speed to be less than that of a previous section when a slope variation between two sections is positive (+) and the control target vehicle speed to be greater than that of the previous section when the slope variation between the two sections is negative (−

).

5. The cruise control system according to claim 2, wherein the vehicle speed controller is configured to calculate a slope variation (Δ

Slope__{n+1, n}) between an nth section and an (n+1) section using information regarding three consecutive forward sections received from the road model transmission unit and decrease the control target vehicle speed of the (n+1)th section by setting the control target vehicle speed of the (n+1)th section to be less than a target vehicle speed of the nth section when the calculated slope variation (Δ

Slope__{n+1, n}) is greater than 0.

6. The cruise control system according to claim 5, wherein the vehicle speed controller is configured to compensate the control target vehicle speed of the (n+1)th section when a negative (−

) slope variation (Δ

Slope__{n+1, n}) of the (n+1)th section is less than a predetermined value.

7. The cruise control system according to claim 2, wherein the vehicle speed controller is configured to calculate a slope variation (Δ

Slope__{n+1, n}) between an nth section and an (n+1) section using information regarding the three consecutive forward sections (nth section, (n+1)th section, and (n+2)th section) received from the road model transmission unit and maintain the control target vehicle speed of the (n+1)th section by setting the control target vehicle speed of the (n+1)th section to be the same as a target vehicle speed of the nth section when the calculated slope variation (Δ

Slope__{n+1, n}) is 0.

8. The cruise control system according to claim 2, wherein the vehicle speed controller is configured to calculate a slope variation (Δ

Slope__{n+1, n}) between an nth section and an (n+1) section using information regarding the three consecutive forward sections (nth section, (n+1)th section, and (n+2)th section) received from the road model transmission unit and increase the control target vehicle speed of the (n+1)th section by setting the control target vehicle speed of the (n+1)th section to be greater than a target vehicle speed of the nth section when the calculated slope variation (Δ

Slope__{n+1, n}) is less than 0.

9. The cruise control system according to claim 8, wherein the vehicle speed controller is configured to compensate the control target vehicle speed of the (n+1)th section when a positive (+) slope variation (Δ

Slope__{n+1, n}) of the (n+1)th section is greater than a predetermined value.

10. The cruise control system according to claim 2, wherein the vehicle speed controller is configured to calculate a slope variation (Δ

Slope__{n+2, n+1}) between an (n+1)th section and an (n+2)th section using information regarding the three consecutive forward sections (nth section, (n+1)th section, and (n+2)th section) received from the road model transmission unit and decrease the control target vehicle speed of the (n+2)th section by setting the control target vehicle speed of the (n+2)th section to be less than a target vehicle speed of the (n+1)th section when the calculated slope variation (Δ

Slope__{n+2, n+1}) is greater than 0.

11. The cruise control system according to claim 2, wherein the vehicle speed controller is configured to calculate a slope variation (Δ

Slope__n+2,n+1) between an (n+1)th section and an (n+2)th section using information regarding three consecutive forward sections (nth section, (n+1)th section, and (n+2)th section) received from the road model transmission unit and maintain the control target vehicle speed of the (n+2)th section by setting the control target vehicle speed of the (n+2)th section to be the same as a target vehicle speed of the (n+1)th section when the calculated slope variation (Δ

Slope__{n+2, n+1}) is 0.

12. The cruise control system according to claim 2, wherein the vehicle speed controller is configured to calculate a slope variation (Δ

Slope__n+2,n+1) between an (n+1)th section and an (n+2)th section using information regarding the three consecutive forward sections (nth section, (n+1)th section, and (n+2)th section) received from the road model transmission unit and increase the control target vehicle speed of the (n+2)th section by setting the control target vehicle speed of the (n+2)th section to be greater than a target vehicle speed of the (n+1)th section when the calculated slope variation (Δ

Slope__{n+2, n+1}) is less than 0.

13. The cruise control system according to claim 1, wherein the vehicle speed controller is configured to transmit a signal to execute and adjust acceleration or deceleration and gear-shifting to the speed-following controller to maintain the set control target vehicle speed.

14. A cruise control system, comprising:

a road model transmission unit configured to calculate a linearly simplified road model using map information of a driving route and output a slope model of three consecutive forward sections (nth section, (n+1)th section, and (n+2)th section);

a vehicle speed controller configured to calculate a slope variation (Δ

Slope__{n+1, n}) between the nth section and the (n+1) section and a slope variation (Δ

Slope__{n+2, n+1}) between the (n+1)th section and the (n+2)th section using slope information regarding the three consecutive forward sections received from the road model transmission unit and to set control target vehicle speeds of the (n+1)th section and the (n+2)th section based on the calculated slope variations ((Δ

Slope__{n+1, n}) and (Δ

Slope__{n+2, n+1})); and

a speed-following controller configured to receive a request for acceleration or deceleration and gear-shifting from the vehicle speed controller and maintain the set control target vehicle speeds of the (n+1)th section and the (n+2)th section.

15. The cruise control system according to claim 14, wherein the vehicle speed controller is configured to calculate an acceleration torque and a deceleration torque based on the set control target vehicle speeds of the (n+1)th section and the (n+2)th section and transmit an acceleration control request (EMS), an upshifting control request (TCU), a coasting operation control request (EMS/TCU), a downshifting control request (TCU), and a deceleration control request (ESC) to the speed-following controller.

16. A vehicle comprising a cruise control system, wherein the cruise control system comprises:

a road model transmission unit configured to analyze map information of a driving route and output a slope model of three consecutive forward sections;

a vehicle speed controller configured to set a control target vehicle speed using slopes of the three consecutive forward sections and section distances received from the road model transmission unit; and

a speed-following controller configured to receive a request for acceleration or deceleration and gear-shifting from the vehicle speed controller and maintain the set control target vehicle speed.

17. A method of controlling a cruise control system, comprising:

outputting, by a controller, a slope model of three consecutive forward sections (nth section, (n+1)th section, and (n+2)th section) by calculating a linearly simplified road model using map information of a driving route;

calculating, by the controller, a slope variation (Δ

Slope__{n+1, n}) between the nth section and the (n+1) section and a slope variation (Δ

Slope__{n+2, n+1}) between the (n+1)th section and the (n+2)th section using slope information of the three consecutive forward sections;

setting, by the controller, control target vehicle speeds of the (n+1)th section and the (n+2)th section based on the calculated slope variations ((Δ

Slope__{n+1, n}) and (Δ

Slope__{n+2, n+1}));

requesting, by the controller, acceleration or deceleration and gear-shifting by calculating acceleration/deceleration torques based on the set control target vehicle speeds of the (n+1)th section and the (n+2)th section; and

outputting, by the controller, the acceleration torque or the deceleration torque and gear levels in response to receiving the request for acceleration or deceleration and gear-shifting.

18. The method according to claim 17, wherein the setting of the control target vehicle speed of the (n+1)th section is performed by increasing the control target vehicle speed of the (n+1)th section by setting the control target vehicle speed of the (n+1)th section to be greater than a target vehicle speed of the nth section when the calculated slope variation (Δ

Slope__{n+1, n}) is less than an allowable lower limit.

19. The method according to claim 17, wherein the setting of the control target vehicle speed of the (n+1)th section is performed by decreasing the control target vehicle speed of the (n+1)th section by setting the control target vehicle speed of the (n+1)th section to be less than a target vehicle speed of the nth section when the calculated slope variation (Δ

Slope__{n+1, n}) is greater than an allowable upper limit.

20. The method according to claim 17, wherein the setting of the control target vehicle speed of the (n+1)th section is performed by maintaining the control target vehicle speed of the (n+1)th section to be the same as a target vehicle speed of the nth section when the calculated slope variation (Δ

Slope__{n+1, n}) is greater than an allowable lower limit and less than an allowable upper limit.