System and method for improving fuel economy for autonomous driving vehicles

• US 10,518,764 B2
• Filed: 01/18/2018
• Issued: 12/31/2019
• Est. Priority Date: 12/20/2017
• Status: Active Grant

• Current Assignee: Tula Technology, Incorporated
• Original Assignee: Tula Technology, Incorporated
• Inventors: Cao, Yongyan, Ren, Ying, Serrano, Louis J., Bailey, Robert Scott, Subramanian, Ram
• Primary Examiner(s): Dang, Tinh
• Application Number:
  US15/874,656
• Publication Number:
  US 20190184959A1
• Time in Patent Office: 712 Days
• CPC Class Codes: B60W 10/06 including control of combustion engines
• CPC Class Codes: B60W 10/08 including control of electric propulsion units, e.g. motors or generators
• CPC Class Codes: B60W 10/18 including control of braking systems
• CPC Class Codes: B60W 10/22 including control of suspension systems
• CPC Class Codes: B60W 2510/0638 Engine speed
• CPC Class Codes: B60W 2510/1005 Transmission ratio engaged
• CPC Class Codes: B60W 2540/049 Number of occupants
• CPC Class Codes: B60W 2710/0666 Engine torque
• CPC Class Codes: B60W 30/18127 Regenerative braking
• CPC Class Codes: B60W 30/182 Selecting between different operative modes, e.g. comfort and performance modes
• CPC Class Codes: B60W 30/1882 characterised by the working point of the engine, e.g. by using engine output chart
• CPC Class Codes: B60W 30/20 Reducing vibrations in the driveline
• CPC Class Codes: B60W 40/04 Traffic conditions
• CPC Class Codes: B60W 40/06 Road conditions
• CPC Class Codes: F02D 2200/101 Engine speed
• CPC Class Codes: F02D 2200/701 Information about vehicle position, e.g. from navigation system or GPS signal
• CPC Class Codes: F02D 2200/702 Road conditions
• CPC Class Codes: F02D 35/02 on interior conditions
• CPC Class Codes: F02D 41/0087 Selective cylinder activation, i.e. partial cylinder operation deceleration cut-off F02D41/123
• CPC Class Codes: F02D 41/1497 With detection of the mechanical response of the engine
• CPC Class Codes: F02D 41/1498 : measuring engine roughness
• CPC Class Codes: G05D 1/0088 : characterized by the autonomous decision making process, e.g. artificial intelligence, predefined behaviours using knowledge based models G06N5/00
• CPC Class Codes: G06V 40/10 : Human or animal bodies, e.g. vehicle occupants or pedestrians; Body parts, e.g. hands

Abstract

The present invention relates generally to improving the fuel efficiency of autonomous vehicles by operating either (1) at a first effective engine displacement that takes into account noise, vibration and harshness (NVH) when the vehicle is occupied or (2) at a second effective engine displacement, without concern for occupant NVH, when the vehicle is not occupied. The second effective engine displacement is typically more fuel efficient than the first effective engine displacement, but result in a higher level of NVH compared to the first effective engine displacement.

Claims

1. A vehicle capable of autonomous operation, comprising:

an engine having a plurality of working chambers;

an autonomous driving unit arranged to coordinate autonomous driving of the vehicle, including defining a requested torque demand for the engine; and

a controller, responsive to the autonomous driving unit, for controlling the operation of the engine to deliver the requested torque demand by either;

operating the engine at a first firing fraction that defines a first effective displacement of the engine when an occupant is present in the vehicle;

or

operating the engine at a second firing fraction that defines a second effective displacement of the engine when an occupant is not present in the vehicle,

wherein the second effective displacement is more fuel efficient than the first engine displacement,

wherein the controller is further arranged to operate the engine at the first effective displacement by operating the working chambers of the engine at the first effective firing fraction and operate the engine at the second effective displacement by operating the working chambers of the engine at the second effective firing fraction.

2. The vehicle of claim 1, wherein the second effective displacement has a higher level of noise, vibration and harshness (NVH) compared to the first effective displacement.

3. The vehicle of claim 1 wherein the controller is further arranged to operate the plurality of working chambers of the engine under dynamic firing level modulation control.

4. The vehicle of claim 1, wherein the controller is further arranged to operate the working chambers of the engine such that some firing opportunities are skipped, some firing opportunities produce a low torque output, and some firing opportunities produce a high torque output.

5. The vehicle of claim 1, wherein the controller is further configured to:

operate the engine in a skip fire manner; and

when no occupant is present in the vehicle, define the second effective firing fraction for operating the working chambers of the engine to meet the requested torque demand without occupant NVH considerations.

6. The vehicle of claim 5, wherein the controller is further configured to operate the fired working chambers, in accordance with the defined second effective firing fraction, with a working chamber load optimized for fuel efficiency.

7. The vehicle of claim 1, wherein the controller is further configured to:

operate the engine in a skip fire manner; and

when an occupant is present in the vehicle, define the first effective firing fraction for operating the working chambers of the engine to meet the requested torque demand while providing an acceptable NVH level to the occupant.

8. The vehicle of claim 1, wherein the controller includes a firing fraction determination unit capable of accessing:

a first look up table for selecting the first effective displacement; and

a second look up table for selecting the second effective displacement.

9. The vehicle of claim 1, further comprising a look up table that is accessible by the controller, the look up table defining a plurality of engine torque values for various combinations of:

(a) engine speeds, and

(b) firing fractions.

10. The vehicle of claim 1, further comprising a look up table that is accessible by the controller, the look up table defining a plurality engine torque values for various combinations of:

(a) engine speeds;

(b) firing fractions; and

(c) different transmission gears.

11. The vehicle of claim 1, wherein the controller is further configured to:

(a) when the requested torque demand is zero, operate the engine in a cylinder cut off mode where fuel is not delivered to the working chambers and no air is pumped through the chambers of the engine; and

(b) when the requested torque demand transitions to non-zero, transition operation of the engine from the cylinder cut off mode to a torque generation mode without taking mitigating action to reduce intake manifold absolute pressure if no occupant is present in the vehicle.

12. The vehicle of claim 1, wherein the controller is further configured to control a degree of reduction or elimination of mechanical slippage between the engine and a transmission of the vehicle at least partially depending on if an occupant is present in the vehicle or not.

13. The vehicle of claim 1, wherein the engine controller, in cooperation with a transmission on the vehicle, coordinate more gear shifting during driving of the vehicle when the vehicle is not occupied relative to when the vehicle is occupied.

14. The vehicle of claim 1, further comprising:

a regenerative braking system arranged to store energy while the vehicle is braking; and

an electric motor/generator arranged to cooperate with the engine to deliver the requested torque demand, the electric motor/generator using the stored energy from the regenerative braking system;

wherein the engine controller and the regenerative braking system cooperate to increase the amount of stored energy from regenerative braking when the vehicle is not occupied relative to when the vehicle is occupied.

15. The vehicle of claim 1, further comprising:

a suspension system having a plurality of operational modes; and

a suspension controller responsible for selecting one operational mode, among the plurality of operational modes, during driving of the vehicle,

wherein the controller and the suspension control system cooperate to select the most fuel efficient operational mode, among the plurality of operational modes, when the vehicle is not occupied.

16. The vehicle of claim 1, further comprising a route calculation unit configured to map a route from a first location to a second location, the route calculation unit arranged to map a most fuel-efficient route to the second location when the vehicle is not occupied without one or more constraints imposed by an occupant, the constraints selected from the group consisting of:

(a) driving time to the second location;

(b) traffic enroute to the second location;

(c) scenery enroute to the second location;

(d) point(s) of interest enroute to the second location;

(e) road quality enroute to the second location; and

(f) preferences for freeways or surface streets enroute to the second location.

17. The vehicle of claim 1, further including a configurable input that enables over-riding of the operation of the engine in the second effective displacement when no occupant is present in the vehicle.

18. The vehicle of claim 1, wherein the controller is further configured to, when no occupant is present, to transition between multiple second effective displacement levels during autonomous driving of the vehicle to meet changing requested torque demands without occupant NVH considerations.

19. An autonomous vehicle having an internal combustion engine with a plurality of working chambers arranged to meet a torque request demand while autonomously driving, the engine further arrange to:

meet the torque request demand by selecting a first operational firing fraction from a first set of firing fractions when the autonomous vehicle is occupied; and

meet the torque request demand by selecting a second operational firing fraction, when the autonomous vehicle is unoccupied,

wherein the second operation firing fraction is smaller than the first operation firing fraction.

20. The autonomous vehicle of claim 19, wherein the second operation firing fraction results in a higher level of noise, vibration and harshness (NVH) compared to the first operational firing fraction.

21. The autonomous vehicle of claim 19, wherein at least partially due to the second operational firing fraction being smaller than the first operational firing fraction, the autonomous vehicle operates in a more fuel-efficient manner when operating unoccupied compared to when the vehicle is occupied.

22. The autonomous vehicle of claim 19, further comprising a second set of firing fractions, wherein the second operational firing fraction is selected from the second set of firing fractions.

23. The autonomous vehicle of claim 19, further configured to implement one or more fuel-saving measures when occupants are not present and the engine is operating at the second operational firing fraction, the one or more fuel-saving measures comprising:

(a) eliminate or minimize slippage of a torque clutch converter mechanically coupling the engine and transmission of the vehicle;

(b) implement regenerative braking without regard to NVH concerns for occupants; and

(c) operate a suspension system of the vehicle having a plurality of modes in a most fuel-efficient mode among the plurality of modes.

24. An autonomous vehicle, comprising;

an autonomous driving unit arrange to control driving of the vehicle in response to one or more inputs from sensors that sense the driving environment, the autonomous driving unit generating varying requested torque demands in response to changes in the driving environment; and

an engine controller, responsive to the varying engine torque demands received from the autonomous driving unit, the engine controller configured to;

selectively operate a plurality of working chambers of the engine at varying first operational firing fractions selected to meet the varying engine torque demands when the vehicle is occupied; and

selectively operate the plurality of working chambers of the engine at varying second operational firing fractions selected to meet the varying engine torque demands when the vehicle is not occupied,

wherein the autonomous vehicle operates in a more fuel efficient manner when not occupied compared to when occupied.

25. The autonomous vehicle of claim 24, wherein the number of firing fractions in the second set of firing fractions is larger than the number of firing fractions in the first set of firing fractions.

26. A method of operating an autonomous vehicle, the autonomous vehicle having an internal combustion engine providing motive power, the internal combustion engine having a working chamber, the working chamber having a torque output level, the method comprising:

determining whether an occupant is in the vehicle;

determining the torque output level of the working chamber to operate at either a first firing fraction or a second firing fraction based on the determination of the vehicle occupancy;

operating the working chamber of the internal combustion engine at the first firing fraction when occupied; and

operating the working chamber of the internal combustion engine at the second firing fraction when not occupied;

wherein the determined torque output level at the first firing fraction when the vehicle is occupied is different compared to the second firing fraction when the vehicle is not occupied.

27. The method of claim 26, wherein the internal combustion engine has a plurality of working chambers and one or more of the working chambers is/are capable of being deactivated so that torque output level(s) is zero.

28. The method of claim 26, wherein the engine operates with a different effective displacement when operating at either the first firing fraction or the second firing fraction depending on whether the occupant is in the vehicle.

29. The method of claim 26, wherein effective displacement of the internal combustion engine at the first firing fraction when the vehicle is occupied is larger than at the second firing fraction when the vehicle is not occupied.

30. The method of claim 26, wherein engine NVH is relatively smaller when the vehicle is occupied and operating at the first firing fraction compared to when the vehicle is not occupied and operating at the second firing fraction.

31. The method of claim 26, wherein the internal combustion engine has a plurality of working chambers and one or more of the working chambers is/are capable of being operated at a high torque output or a low torque output.

32. The method of claim 26, wherein the determined torque firing level is modulated on a firing opportunity by firing opportunity basis.

33. A vehicle capable of autonomous operation, comprising:

an engine having a plurality of working chambers;

an autonomous driving unit arranged to coordinate autonomous driving of the vehicle; and

a firing fraction controller for controlling skip fire operation of the engine to deliver a requested torque demand as defined by the autonomous driving unit, the firing fraction controller either;

operating the engine at a first effective firing fraction defining a first effective displacement of the engine when an occupant is present in the vehicle;

or

operating the engine at a second effective firing fraction defining a second effective displacement of the engine when an occupant is not present in the vehicle,

wherein the engine;

(a) generates less Noise Vibration and harshness (NVH) at the first effective firing fraction compared to the second effective firing fraction; and

(b) is more fuel efficient when operating at the second effective firing fraction compared to second effective firing fraction.

34. The vehicle of claim 33, wherein the firing fraction controller is further configured to, when no occupant is present, to transition between multiple second effective firing fractions defining multiple second effective displacement levels of the engine during autonomous driving to meet changing requested torque demands without occupant NVH considerations.

35. The vehicle of claim 33, wherein the firing fraction controller is further configured to control a degree of reduction or elimination of mechanical slippage between the engine and a transmission of the vehicle at least partially depending on if an occupant is present in the vehicle or not.

36. The vehicle of claim 33, wherein the firing fraction controller, in cooperation with a transmission on the vehicle, coordinate more gear shifting during driving of the vehicle when the vehicle is not occupied relative to when the vehicle is occupied.

37. The vehicle of claim 33, further comprising:

a regenerative braking system arranged to store energy while the vehicle is braking; and

an electric motor/generator arranged to cooperate with the engine to deliver the requested torque demand, the electric motor/generator using the stored energy from the regenerative braking system;

wherein the firing fraction controller and the regenerative braking system cooperate to increase the amount of stored energy from regenerative braking when the vehicle is not occupied relative to when the vehicle is occupied.

38. The vehicle of claim 33 wherein the firing fraction controller is further arranged to operate the plurality of working chambers of the engine under dynamic firing level modulation control.

39. The vehicle of claim 33, wherein the firing fraction controller is further arranged to operate the working chambers of the engine such that some firing opportunities are skipped, some firing opportunities produce a low torque output, and some firing opportunities produce a high torque output.

40. The vehicle of claim 33, further comprising a look up table that is accessible by the firing fraction controller, the look up table defining a plurality firing fractions for a range of engine torque values that can be generated by the autonomous driving unit.

41. The vehicle of claim 33, wherein the firing fraction controller is further configured, during skip fire operation of the engine, to direct at least one working chamber to be selectively fired, skipped and either fired or skipped over successive firing opportunities.