# US 11,897,470 B2 · Apparatus and method for controlling a powertrain of an autonomous vehicle > Agents: this data is available as JSON from the patentgrep API and MCP server — see https://patentgrep.com/llms.txt - Number: US 11,897,470 B2 - Document ID: US11897470B2 - Status: Granted - Kind: B2 - Application number: 17/372,065 - Filed: 2021-07-09 - Published: 2022-05-19 - Granted: 2024-02-13 - Earliest claimed: 2020-11-16 - Assignees: Hyundai Motor Company; Kia Corporation - Applicants: Hyundai Motor Company; Kia Corporation - Inventors: Byeong Wook Jeon; Min Jae Chai; Yong Uk Shin; Dong Hoon Jeong - Web page: https://patentgrep.com/patent/US11897470B2 ## CPC - B60W 30/14: {Adaptive} cruise control - B60W 30/18072: {Coasting} - B60W 10/02: including control of driveline clutches - B60W 10/06: including control of combustion engines - B60W 10/10: including control of change-speed gearings - B60W 50/0097: {Predicting future conditions} - B60W 60/001: {Planning or execution of driving tasks} - B60W 2030/1809: {Without torque flow between driveshaft and engine, e.g. with clutch disengaged or transmission in neutral} - B60W 2420/408: Radar; Laser, e.g. lidar - B60W 2520/10: Longitudinal speed - B60W 2552/00: Input parameters relating to infrastructure - B60W 2552/15: Road slope, i.e. the inclination of a road segment in the longitudinal direction - B60W 2552/30: Road curve radius - B60W 2554/4042: Longitudinal speed - B60W 2556/50: of positioning data, e.g. GPS [Global Positioning System] data - B60W 2710/021: Clutch engagement state - B60W 2710/0666: Engine torque - B60W 2710/1005: Transmission ratio engaged - Y02T 10/40: Engine management systems - Y02T 10/60: Other road transportation technologies with climate change mitigation effect - 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 - Y02T: CLIMATE CHANGE MITIGATION TECHNOLOGIES RELATED TO TRANSPORTATION ## Abstract An apparatus and method are provided for controlling a powertrain of an autonomous vehicle. The apparatus includes an autonomous driving controller that controls autonomous driving of the vehicle and a transmission controller that determines whether the vehicle satisfies a pulse and glide (P&G) driving condition during the autonomous driving. The transmission controller alternately performs pulse driving and coasting in conjunction with the autonomous driving controller when the vehicle satisfies the P&G driving condition. The transmission controller causes a transmission to remain in a neutral state during the coasting. ## Claims ### Claim 1 An apparatus for controlling a powertrain of an autonomous vehicle, the apparatus comprising: an autonomous driving controller configured to control autonomous driving of the vehicle; and a transmission controller configured to determine whether the vehicle satisfies a pulse and glide (P&G) driving condition during the autonomous driving and to alternately perform pulse driving and coasting in conjunction with the autonomous driving controller when the vehicle satisfies the P&G driving condition, wherein the transmission controller is configured to cause a transmission to remain in a neutral state during the coasting, engage the clutch when vehicle speed falls within a predetermined range from minimum speed in a P&G driving speed range during the coasting, and request engine torque control to the engine controller when the vehicle speed reaches the minimum speed. ### Claim 2 (depends on 1) The apparatus of claim 1, wherein the transmission controller receives, from a navigation device, information about a road ahead, receives speed of a preceding vehicle from a front radar, and determines whether the vehicle satisfies the P&G driving condition, based on the information about the road ahead and the speed of the preceding vehicle. ### Claim 3 (depends on 1) The apparatus of claim 1, wherein the transmission controller determines whether the vehicle satisfies the P&G driving condition, in consideration of current driving speed of the vehicle and whether P&G driving is prohibited. ### Claim 4 (depends on 1) The apparatus of claim 1, wherein the transmission controller receives a target driving speed from the autonomous driving controller and determines the P&G driving speed range based on the target driving speed. ### Claim 5 (depends on 4) The apparatus of claim 4, wherein the transmission controller engages a clutch and thereafter requests an engine controller to output engine torque, and the autonomous driving controller performs the pulse driving through acceleration driving control. ### Claim 6 (depends on 5) The apparatus of claim 5, wherein the transmission controller performs the coasting by requesting the engine controller to stop the output of the engine torque and disengaging the clutch when the vehicle speed reaches maximum speed in the P&G driving speed range during the pulse driving. ### Claim 7 (depends on 6) The apparatus of claim 6, wherein the transmission controller performs the pulse driving again when the vehicle speed falls within the predetermined range from minimum speed in the P&G driving speed range during the coasting. ### Claim 8 (depends on 5) The apparatus of claim 5, wherein the transmission controller prohibits the transmission from being in neutral during the pulse driving. ### Claim 9 (depends on 5) The apparatus of claim 5, wherein the transmission controller requests the autonomous driving controller to prohibit acceleration manipulation during the coasting and requests the engine controller to prohibit acceleration during the coasting. ### Claim 10 A method for controlling a powertrain of an autonomous vehicle, the method comprising: a step of determining whether the vehicle satisfies a pulse and glide (P&G) driving condition during autonomous driving; a step of performing pulse driving, when the vehicle satisfies the P&G driving condition; a step of performing coasting with a transmission in neutral, when the vehicle satisfies a condition for ending the pulse driving; and a step of returning to the step of performing the pulse driving, when the vehicle satisfies a condition for ending the coasting, wherein the step of performing the coasting includes a step of engaging the clutch when vehicle speed falls within a predetermined range from minimum speed in a P&G driving speed range during the coasting, and a step of requesting engine torque control to the engine controller when the vehicle speed reaches the minimum speed. ### Claim 11 (depends on 10) The method of claim 10, wherein the step of determining whether the vehicle satisfies the P&G driving condition includes: a step of receiving, from a navigation device, information about a road ahead; a step of receiving speed of a preceding vehicle from a front radar; and a step of determining whether the vehicle satisfies the P&G driving condition, based on the information about the road ahead and the speed of the preceding vehicle. ### Claim 12 (depends on 11) The method of claim 11, wherein the step of determining whether the vehicle satisfies the P&G driving condition further includes: a step of determining whether the vehicle satisfies the P&G driving condition, in consideration of current driving speed of the vehicle and whether P&G driving is prohibited. ### Claim 13 (depends on 10) The method of claim 10, wherein the step of performing the pulse driving includes: a step of receiving a target driving speed from an autonomous driving controller; and a step of determining the P&G driving speed range based on the target driving speed. ### Claim 14 (depends on 13) The method of claim 13, wherein the step of performing the pulse driving further includes: a step of engaging a clutch, requesting an engine controller to output engine torque, and causing the autonomous driving controller to perform acceleration driving control; and a step of determining whether vehicle speed reaches maximum speed in the P&G driving speed range. ### Claim 15 (depends on 14) The method of claim 14, wherein the step of performing the coasting includes: a step of requesting the engine controller to stop the output of the engine torque when the vehicle speed reaches the maximum speed; a step of performing the coasting by disengaging the clutch after the output of the engine torque is stopped; and a step of determining whether the vehicle speed is within the predetermined range from minimum speed in the P&G driving speed range. ### Claim 16 (depends on 15) The method of claim 15, wherein the step of returning to the step of performing the pulse driving includes: a step of engaging the clutch, when the vehicle speed is within the predetermined range from the minimum speed; and a step of requesting the engine controller to output engine torque after the clutch is engaged. ### Claim 17 (depends on 10) The method of claim 10, further comprising: a step of prohibiting the transmission from being in neutral while the pulse driving is performed. ### Claim 18 (depends on 10) The method of claim 10, further comprising: a step of requesting an autonomous driving controller to prohibit acceleration manipulation during the coasting and requesting an engine controller to prohibit acceleration during the coasting.