# US 10,768,635 B2 · Hybrid electric vehicle and platooning control method therefor

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- Number: US 10,768,635 B2
- Document ID: US10768635B2
- Status: Granted
- Kind: B2
- Application number: 16/204,701
- Filed: 2018-11-29
- Published: 2019-06-13
- Granted: 2020-09-08
- Earliest claimed: 2017-12-07
- Assignees: Hyundai Motor Company; Kia Motors Corporation
- Applicants: Hyundai Motor Company; Kia Motors Corporation
- Inventors: Jung Min Cha; Joon Young Park
- Web page: https://patentgrep.com/patent/US10768635B2

## CPC

- B60K 6/448: Electrical distribution type
- G05D 1/0289: {with means for avoiding collisions between vehicles (vehicle fittings for automatically controlling speed including means for detecting potential obstacles B60K31/0008; avoiding obstacles by action on the steering system B62D; radar, sonar, lidar systems designed for anti-collision purposes G01S13/93, G01S15/93, G01S17/93)}
- B60K 6/48: Parallel type
- B60W 20/10: Controlling the power contribution of each of the prime movers to meet required power demand
- B60W 20/20: Control strategies involving selection of hybrid configuration, e.g. selection between series or parallel configuration
- B60W 30/143: {Speed control (B60W30/16 takes precedence)}
- B60W 30/18: Propelling the vehicle
- B60W 30/18072: {Coasting}
- B60W 30/1882: {characterised by the working point of the engine, e.g. by using engine output chart}
- G05D 1/0005: {with arrangements to save energy}
- G08G 1/22: {Platooning, i.e. convoy of communicating vehicles}
- B60K 6/20: the prime-movers consisting of electric motors and internal combustion engines, e.g. HEVs
- B60K 2006/4825: {Electric machine connected or connectable to gearbox input shaft}
- B60W 20/00: Control systems specially adapted for hybrid vehicles {(hybrid vehicle design, B60K6/00; electric vehicles B60L)}
- B60W 2030/1809: {Without torque flow between driveshaft and engine, e.g. with clutch disengaged or transmission in neutral}
- B60W 2510/0638: Engine speed
- B60W 2510/0652: Speed change rate
- B60W 2554/80: Spatial relation or speed relative to objects
- B60W 2556/65: Data transmitted between vehicles
- B60Y 2200/92: Hybrid vehicles
- Y02T 10/40: Engine management systems
- Y02T 10/62: Hybrid vehicles
- B60K: ARRANGEMENT OR MOUNTING OF PROPULSION UNITS OR OF TRANSMISSIONS IN VEHICLES; ARRANGEMENT OR MOUNTING OF PLURAL DIVERSE PRIME-MOVERS IN VEHICLES; AUXILIARY DRIVES FOR VEHICLES; INSTRUMENTATION OR DASHBOARDS FOR VEHICLES; ARRANGEMENTS IN CONNECTION WITH COOLING, AIR INTAKE, GAS EXHAUST OR FUEL SUPPLY OF PROPULSION UNITS IN VEHICLES
- G05D: SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- B60W: CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
- G08G: TRAFFIC CONTROL SYSTEMS (guiding railway traffic, ensuring the safety of railway traffic B61L; arrangement of road signs or traffic signals E01F9/00; radar or analogous systems, sonar systems, lidar systems specially adapted for traffic control G01S13/91, G01S15/88, G01S17/88; {radar or analogous systems, sonar systems, lidar systems specially adapted for anti-collision purposes G01S13/93, G01S15/93, G01S17/93})
- B60Y: INDEXING SCHEME RELATING TO ASPECTS CROSS-CUTTING VEHICLE TECHNOLOGY
- Y02T: CLIMATE CHANGE MITIGATION TECHNOLOGIES RELATED TO TRANSPORTATION

## Abstract

A hybrid electric vehicle is capable of maximizing energy efficiency during platooning, and a platooning control method is carried out on the hybrid electric vehicle. The method includes acquiring acceleration information and deceleration information of each of a plurality of vehicles traveling in a platoon form for platooning so as to realize a pulse-and-gliding traveling mode, determining a traveling order of the vehicles during the platooning based on the acceleration information, and determining a time at which to start a glide phase of a following vehicle in the determined traveling order based on a time at which a glide phase of a preceding vehicle starts using the acceleration information and the deceleration information.

## Claims

### Claim 1

A platooning control method for a hybrid electric vehicle, the method comprising:
acquiring, by a wireless communication unit, acceleration information and deceleration information of each of a plurality of vehicles traveling in a platoon form for platooning so as to realize a pulse-and-gliding traveling mode;
determining, by a hybrid control unit, a traveling order of the vehicles during the platooning based on the acceleration information; and
determining, by the hybrid control unit, a time at which to start a glide phase of a following vehicle in the determined traveling order based on a time at which a glide phase of a preceding vehicle starts using the acceleration information and the deceleration information.

### Claim 2 (depends on 1)

The platooning control method according to claim 1, wherein the acceleration information and the deceleration information of each of the plurality of vehicles are calculated based on angular acceleration and angular deceleration of an engine of a corresponding vehicle.

### Claim 3 (depends on 2)

The platooning control method according to claim 2, wherein the angular acceleration and the angular deceleration of the engine are calculated based on engine torque in an optimal operating line, traveling load torque and coasting torque corresponding to the engine torque, and equivalent rotational inertia.

### Claim 4 (depends on 3)

The platooning control method according to claim 3, wherein the equivalent rotational inertia is calculated based on a weight, a dynamic radius of a wheel and a gear ratio of the corresponding vehicle.

### Claim 5 (depends on 1)

The platooning control method according to claim 1, wherein determining the traveling order of the vehicles during the platooning based on the acceleration information comprises determining the traveling order of the vehicles in order of highest to lowest acceleration.

### Claim 6 (depends on 1)

The platooning control method according to claim 1, wherein determining the time at which to start the glide phase of the following vehicle comprises extending a pulse phase of the following vehicle by an offset between the time at which the glide phase of the preceding vehicle starts and a time at which a difference in deceleration between the preceding vehicle and the following vehicle becomes equal to a difference in acceleration therebetween.

### Claim 7 (depends on 1)

The platooning control method according to claim 1, further comprising:
transmitting information about the determined traveling order and the determined time at which to start the glide phase to each of the plurality of vehicles.

### Claim 8 (depends on 7)

The platooning control method according to claim 7, further comprising:
when traveling positions of the plurality of vehicles are changed according to the information about the determined traveling order, starting the pulse-and-glide traveling mode, corresponding to the time at which to start the glide phase in each of the plurality of vehicles.

### Claim 9 (depends on 1)

The platooning control method according to claim 1, further comprising:
when a target speed or traveling circumstances of the platooning are changed, re-determining the traveling order and the time at which to start the glide phase.

### Claim 10

A non-transitory computer-readable recording medium containing program instructions executed by a processor, the computer readable medium comprising:
program instructions that acquire acceleration information and deceleration information of each of a plurality of vehicles traveling in a platoon form for platooning so as to realize a pulse-and-gliding traveling mode;
program instructions that determine a traveling order of the vehicles during the platooning based on the acceleration information; and
program instructions that determine a time at which to start a glide phase of a following vehicle in the determined traveling order based on a time at which a glide phase of a preceding vehicle starts using the acceleration information and the deceleration information.

### Claim 11

A hybrid electric vehicle for platooning, comprising:
a wireless communication unit for acquiring acceleration information and deceleration information of each of a plurality of vehicles traveling in a platoon form for platooning so as to realize a pulse-and-gliding traveling mode; and
a hybrid control unit for determining a traveling order of the vehicles during the platooning based on the acceleration information and determining a time at which to start a glide phase of a following vehicle in the determined traveling order based on a time at which a glide phase of a preceding vehicle starts using the acceleration information and the deceleration information.

### Claim 12 (depends on 11)

The hybrid electric vehicle according to claim 11, wherein the acceleration information and the deceleration information of each of the plurality of vehicles are calculated based on angular acceleration and angular deceleration of an engine of a corresponding vehicle.

### Claim 13 (depends on 12)

The hybrid electric vehicle according to claim 12, wherein the angular acceleration and the angular deceleration of the engine are calculated based on engine torque in an optimal operating line, traveling load torque and coasting torque corresponding to the engine torque, and equivalent rotational inertia.

### Claim 14 (depends on 13)

The hybrid electric vehicle according to claim 13, wherein the equivalent rotational inertia is calculated based on a weight, a dynamic radius of a wheel and a gear ratio of the corresponding vehicle.

### Claim 15 (depends on 11)

The hybrid electric vehicle according to claim 11, wherein the hybrid control unit determines the traveling order of the vehicles in order of highest to lowest acceleration.

### Claim 16 (depends on 11)

The hybrid electric vehicle according to claim 11, wherein the hybrid control unit extends a pulse phase of the following vehicle by an offset between the time at which the glide phase of the preceding vehicle starts and a time at which a difference in deceleration between the preceding vehicle and the following vehicle becomes equal to a difference in acceleration therebetween.

### Claim 17 (depends on 11)

The hybrid electric vehicle according to claim 11, wherein the hybrid control unit transmits information about the determined traveling order and the determined time at which to start the glide phase to each of the plurality of vehicles.

### Claim 18 (depends on 17)

The hybrid electric vehicle according to claim 17, wherein when traveling positions of the plurality of vehicles are changed according to the information about the determined traveling order, the hybrid control unit performs control so as to start the pulse-and-glide traveling mode, corresponding to the time at which to start the glide phase in a corresponding vehicle.

### Claim 19 (depends on 11)

The hybrid electric vehicle according to claim 11, wherein when a target speed or traveling circumstances of the platooning are changed, the hybrid control unit re-determines the traveling order and the time at which to start the glide phase.