Vehicle control system
A vehicle control system is provided to maintain an SOC level of the battery during autonomous operation of the vehicle. The control system is applied to a vehicle that can be operated autonomously by controlling an engine, a motor, a steering system, a brake system etc. autonomously by a controller, and the vehicle is allowed to coast by manipulating a clutch. During autonomous operation of the vehicle, a first coasting mode in which the engine is stopped and the clutch is disengaged is selected if the SOC level is higher than a threshold level, and a second coasting mode in which the engine is activated and the clutch is disengaged is selected if the SOC level is lower than the threshold level.
1. A control system for an autonomous vehicle, comprising:
an engine that generates a drive force by burning fuel;
a motor having a generating function;
a battery that is charged by electricity delivered from the motor;
a state of charge detector that detects a state of charge level of the battery;
a first clutch that selectively interrupts power transmission between the engine and the motor;
a second clutch that selectively interrupts power transmission between the motor and the drive wheels;
a road grade detector that estimates a grade of a road on which the vehicle travels;
a brake system that applies braking torque to wheels;
a steering system that turns the wheels; and
a controller that controls the engine, the first clutch and the second clutch,
wherein the vehicle is adapted to be operated autonomously without requiring a driver by controlling at least the engine, the battery, the motor, the first clutch, the second clutch, the brake system and the steering system,
wherein the vehicle is allowed to coast by manipulating the first clutch and the second clutch, and
wherein the controller is configured to:
determine execution of autonomous operation of the vehicle, satisfaction of a predetermined condition to allow the vehicle to coast, the state of charge level of the battery, and the grade of the road on which the vehicle travels;
select a fourth coasting mode in which the engine is stopped and the first clutch and the second clutch are engaged, in a case that the predetermined condition is satisfied during autonomous operation of the vehicle, that the state of charge level of the battery is lower than a first threshold level, and that a downhill grade of the road is steeper than a first threshold grade;
select a fifth coasting mode in which the engine is stopped and the first clutch and the second clutch are disengaged, in a case that the predetermined condition is satisfied during autonomous operation of the vehicle, that the state of charge level of the battery is higher than the first threshold level, and that the downhill grade of the road is milder than the first threshold grade; and
select a sixth coasting mode in which the engine is stopped, the first clutch is disengaged, and the second clutch is engaged, in a case that the predetermined condition is satisfied during autonomous operation of the vehicle, that the state of charge level of the battery is higher than the first threshold level but lower than a second threshold level, and that the downhill grade of the road is milder than the first threshold grade.
2. The control system as claimed in claim 1 , further comprising:
a fuel level detector that detects a fuel level in a fuel tank,
wherein the controller is further configured to
determine the fuel level in a fuel tank,
select a seventh coasting mode in which the engine is activated, the first clutch is disengaged, and the second clutch is engaged, in a case that the predetermined condition is satisfied during autonomous operation of the vehicle, that the downhill grade of the road is milder than the first threshold grade but steeper than a second threshold grade, and that the that the fuel level is higher than a threshold fuel level, and
select an eighth coasting mode in which the engine is activated, the first clutch is engaged and the second clutch is disengaged, in a case that the predetermined condition is satisfied during autonomous operation of the vehicle, that the downhill grade of the road is milder than the second threshold grade, and that the that the fuel level is higher than the threshold fuel level.
3. The control system as claimed in claim 2 , further comprising:
a generator that is rotated by an output power of the engine to generate electricity,
wherein the battery includes a first battery that is charged with the electricity generated by the generator and that supplies electricity to an auxiliary activated by low-voltage, and a second battery that is charged with the electricity generated by the motor and that supplies electricity to an auxiliary activated by high-voltage.
4. The control system as claimed in claim 2 , further comprising:
a passenger sensor that detects an existence of a passenger who can operate the vehicle manually,
wherein the controller is further configured to
determine the existence of the passenger in the vehicle, and
terminate the autonomous operation of the vehicle in a case that the predetermined condition is satisfied during autonomous operation of the vehicle, that the state of charge level of the battery is lower than the first threshold level, that the downhill grade of the road is milder than the first threshold grade, that the fuel level is lower than the threshold fuel level, and that the vehicle carries the passenger.
5. The control system as claimed in claim 2 , further comprising:
a passenger sensor that detects an existence of a passenger who can operate the vehicle manually,
wherein the controller is further configured to
determine the existence of the passenger in the vehicle, and
set a destination of the vehicle to at least one of a gas station and a charging station in a case that the predetermined condition is satisfied during autonomous operation of the vehicle, that the state of charge level of the battery is lower than the first threshold level, that the downhill grade of the road is milder than the first threshold grade, that the fuel level is lower than the threshold fuel level, and that the vehicle is operated without carrying a passenger.
6. The control system as claimed in claim 3 , further comprising:
a passenger sensor that detects an existence of a passenger who can operate the vehicle manually,
wherein the controller is further configured to
determine the existence of the passenger in the vehicle, and
terminate the autonomous operation of the vehicle in a case that the predetermined condition is satisfied during autonomous operation of the vehicle, that the state of charge level of the battery is lower than the first threshold level, that the downhill grade of the road is milder than the first threshold grade, that the fuel level is lower than the threshold fuel level, and that the vehicle carries the passenger.
7. The control system as claimed in claim 3 , further comprising:
a passenger sensor that detects an existence of a passenger who can operate the vehicle manually,
wherein the controller is further configured to
determine the existence of the passenger in the vehicle, and
set a destination of the vehicle to at least one of a gas station and a charging station in a case that the predetermined condition is satisfied during autonomous operation of the vehicle, that the state of charge level of the battery is lower than the first threshold level, that the downhill grade of the road is milder than the first threshold grade, that the fuel level is lower than the threshold fuel level, and that the vehicle is operated without carrying a passenger.
8. A vehicle control system that is applied to a vehicle comprising:
an engine that generates a drive force by burning fuel;
a motor having a generating function;
a battery that is charged by electricity delivered from the motor;
a first clutch that selectively interrupts power transmission between the engine and the motor;
a second clutch that selectively interrupts power transmission between the motor and the drive wheels;
a brake system that apples braking torque to wheels;
wherein the vehicle is allowed to coast while controlling at least the engine, the battery, the motor, the first clutch, the second clutch, and the brake system,
the vehicle control system comprising:
a controller that controls the engine, the first clutch and the second clutch;
a state of charge detector that detects a state of charge level of the battery;
a road grade detector that estimates a grade of a road on which the vehicle travels;
wherein the controller is configured to:
determine satisfaction of a predetermined condition to allow the vehicle to coast, the state of charge level of the battery, and the grade of the road on which the vehicle travels;
select a fourth coasting mode in which the engine is stopped and the first clutch and the second clutch are engaged, in a case that the predetermined condition is satisfied, that the state of charge level of the battery is lower than a first threshold level, and that a downhill grade of the road is steeper than a first threshold grade;
select a fifth coasting mode in which the engine is stopped and the first clutch and the second clutch are disengaged, in a case that the predetermined condition is satisfied, that the state of charge level of the battery is higher than the first threshold level, and that the downhill grade of the road is milder than the first threshold grade; and
select a sixth coasting mode in which the engine is stopped, the first clutch is disengaged, and the second clutch is engaged, in a case that the predetermined condition is satisfied, that the state of charge level of the battery is higher than the first threshold level but lower than a second threshold level, and that the downhill grade of the road is milder than the first threshold grade.
9. The vehicle control system as claimed in claim 8 , further comprising:
a fuel level detector that detects a fuel level in a fuel tank,
wherein the controller is further configured to
determine the fuel level in a fuel tank,
select a seventh coasting mode in which the engine is activated, the first clutch is disengaged, and the second clutch is engaged, in a case that the predetermined condition is satisfied, that the downhill grade of the road is milder than the first threshold grade but steeper than a second threshold grade, and that the that the fuel level is higher than a threshold fuel level, and
select an eighth coasting mode in which the engine is activated, the first clutch is engaged and the second clutch is disengaged, in a case that the predetermined condition is satisfied, that the downhill grade of the road is milder than the second threshold grade, and that the that the fuel level is higher than the threshold fuel level.
10. The control system as claimed in claim 9 , further comprising:
a generator that is rotated by an output power of the engine to generate electricity,
wherein the battery includes a first battery that is charged with the electricity generated by the generator and that supplies electricity to an auxiliary activated by low-voltage, and a second battery that is charged with the electricity generated by the motor and that supplies electricity to an auxiliary activated by high-voltage.