# US 11,442,447 B2 · Vehicle control system

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- Number: US 11,442,447 B2
- Document ID: US11442447B2
- Status: Granted
- Kind: B2
- Application number: 16/897,723
- Filed: 2020-06-10
- Published: 2020-09-24
- Granted: 2022-09-13
- Earliest claimed: 2016-10-28
- Assignees: Toyota Jidosha Kabushiki Kaisha
- Applicants: Toyota Jidosha Kabushiki Kaisha
- Inventors: Takahito Endo; Yasuhiro Oshiumi; Kensei Hata; Yasuyuki Kato; Yushi Seki; Katsuya Iwazaki; Hideaki Komada
- Web page: https://patentgrep.com/patent/US11442447B2

## CPC

- B60W 60/0023: {in response to energy consumption}
- B60W 10/02: including control of driveline clutches
- B60W 10/06: including control of combustion engines
- B60W 10/08: including control of electric propulsion units, e.g. motors or generators
- B60W 20/00: Control systems specially adapted for hybrid vehicles {(hybrid vehicle design, B60K6/00; electric vehicles B60L)}
- B60W 20/13: in order to stay within battery power input or output limits; in order to prevent overcharging or battery depletion
- B60W 30/18072: {Coasting}
- B60W 30/182: Selecting between different operative modes, e.g. comfort and performance modes
- B60W 50/06: Improving the dynamic response of the control system, e.g. improving the speed of regulation or avoiding hunting or overshoot
- B60W 50/082: {Selecting or switching between different modes of propelling}
- B60W 60/0053: {from vehicle to occupant}
- G05D 1/00: Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots (drive control systems specially adapted for autonomous road vehicles B60W60/00)
- G05D 1/0066: {for limitation of acceleration or stress}
- B60W 30/18127: {Regenerative braking}
- B60W 2420/403: Image sensing, e.g. optical camera
- B60W 2420/408: Radar; Laser, e.g. lidar
- B60W 2510/0638: Engine speed
- B60W 2510/202: Steering torque
- B60W 2510/244: Charge state
- B60W 2520/10: Longitudinal speed
- B60W 2530/209: Fuel quantity remaining in tank
- B60W 2540/043: Identity of occupants
- B60W 2540/10: Accelerator pedal position
- B60W 2540/18: Steering angle
- B60W 2552/15: Road slope, i.e. the inclination of a road segment in the longitudinal direction
- B60W 2552/40: Coefficient of friction
- B60W 2554/802: Longitudinal distance
- B60W 2555/20: Ambient conditions, e.g. wind or rain
- Y02T 10/60: Other road transportation technologies with climate change mitigation effect
- Y02T 10/62: Hybrid vehicles
- 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
- G05D: SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- Y02T: CLIMATE CHANGE MITIGATION TECHNOLOGIES RELATED TO TRANSPORTATION

## Abstract

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.

## Claims

### Claim 1

A control system for an autonomous vehicle, comprising:
an engine that generates a drive force by burning fuel;
a generator that generates electricity by the drive force generated by the engine or a force delivered from drive wheels to the engine;
a battery that is charged by the electricity delivered from the generator;
a clutch that selectively interrupts power transmission between the engine and the drive wheels;
a state of charge detector that detects a state of charge level of the battery;
a brake system that applies braking torque to wheels;
a steering system that turns the wheels; and
a controller that controls the engine and the clutch,
a road grade detector that estimates a grade of a road on which the vehicle travels,
wherein the vehicle is adapted to be operated autonomously without requiring a driver by controlling at least the engine, the clutch, the generator, the battery, the brake system, and the steering system,
wherein the vehicle is allowed to coast by manipulating the 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 first coasting mode in which the engine is stopped and the clutch is disengaged, in a case that the predetermined condition is satisfied during autonomous operation of the vehicle, and that the state of charge level of the battery is higher than a threshold level;
select a second coasting mode in which the engine is activated and the clutch is disengaged, in a case that the predetermined condition is satisfied during autonomous operation of the vehicle, and that the state of charge level of the battery is lower than the threshold level; and
select a third coasting mode in which the engine is stopped and the 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 lower than the threshold level, and that a downhill grade of the road is steeper than a threshold grade.

### Claim 2 (depends on 1)

The control system as claimed in claim 1, further comprising:
a fuel level detector that detects a fuel level in a fuel tank; and
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 fuel level in the fuel tank, and 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 threshold level, that the fuel level is lower than a threshold fuel level, and that the vehicle carries the passenger.

### Claim 3 (depends on 1)

The control system as claimed in claim 1, further comprising:
a fuel level detector that detects a fuel level in a fuel tank; and
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 fuel level in the fuel tank, and 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 threshold level, that the fuel level is lower than a threshold fuel level, and that the vehicle is operated without carrying a passenger.

### Claim 4 (depends on 2)

The control system as claimed in claim 2, further comprising:
a fuel level detector that detects a fuel level in a fuel tank; and
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 fuel level in the fuel tank, and 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 threshold level, that the fuel level is lower than a threshold fuel level, and that the vehicle is operated without carrying a passenger.

### Claim 5

A vehicle control system that is applied to a vehicle comprising:
an engine that generates a drive force by burning fuel;
a generator that generates electricity by the drive force generated by the engine or a force delivered from drive wheels to the engine;
a battery that is charged by the electricity delivered from the generator;
a clutch that selectively interrupts power transmission between the engine and the drive wheels;
a brake system that applies braking torque to wheels;
wherein the vehicle is allowed to coast while controlling at least the engine, the clutch, the generator, the battery, and the brake system,
the vehicle control system comprising:
a controller that controls the engine and the clutch;
a state of charge detector that detects a state of charge level of the battery; and
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 first coasting mode in which the engine is stopped and the clutch is disengaged, in a case that the predetermined condition is satisfied, and that the state of charge level of the battery is higher than a threshold level;
select a second coasting mode in which the engine is activated and the clutch is disengaged, in a case that the predetermined condition is satisfied, and that the state of charge level of the battery is lower than the threshold level; and
select a third coasting mode in which the engine is stopped and the clutch is engaged, in a case that the predetermined condition is satisfied, that the state of charge level of the battery is lower than the threshold level, and that a downhill grade of the road is steeper than a threshold grade.