# US 9,751,520 B2 · Apparatus and method for controlling travel of vehicle

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- Number: US 9,751,520 B2
- Document ID: US9751520B2
- Status: Granted
- Kind: B2
- Application number: 14/332,538
- Filed: 2014-07-16
- Published: 2015-07-02
- Granted: 2017-09-05
- Earliest claimed: 2013-12-26
- Assignees: Hanwha Land Systems Co., Ltd.
- Applicants: Hanwha Techwin Co., Ltd.
- Inventors: Hee Seo Chae
- Web page: https://patentgrep.com/patent/US9751520B2

## CPC

- B60W 20/13: in order to stay within battery power input or output limits; in order to prevent overcharging or battery depletion
- B60W 10/20: including control of steering systems
- B60W 20/00: Control systems specially adapted for hybrid vehicles {(hybrid vehicle design, B60K6/00; electric vehicles B60L)}
- B60W 20/50: Control strategies for responding to system failures, e.g. for fault diagnosis, failsafe operation or limp mode
- B62D 9/00: Steering deflectable wheels not otherwise provided for (steering positon indicators B62D15/02)
- B62D 11/003: {Electric or electronic control systems}
- B62D 11/04: by means of separate power sources
- 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
- B62D: MOTOR VEHICLES; TRAILERS (steering, or guiding on a desired track, of agricultural machines or implements A01B69/00; wheels, castors, axles, increasing wheel adhesion B60B; vehicle tyres, tyre inflation or tyre changing B60C; connections between vehicles of a train or the like B60D; vehicles for use on rail and road, amphibious or convertible vehicles B60F; suspension arrangements B60G; heating, cooling, ventilating or other air treating devices B60H; windows, windscreens, non-fixed roofs, doors or similar devices, protective coverings for vehicles not in use B60J; propulsion plant arrangements, auxiliary drives, transmissions, controls, instrumentation or dashboards B60K; electric equipment or propulsion of electrically-propelled vehicles B60L; power supply for electrically-propelled vehicles B60M; passenger accommodation not otherwise provided for B60N; adaptations for load transportation or to carry special loads or objects B60P; arrangement of signalling or lighting devices, the mounting or supporting thereof or circuits therefor, for vehicles in general B60Q; vehicles, vehicle fittings or vehicle parts not otherwise provided for B60R; servicing, cleaning, repairing, supporting, lifting, or manoeuvring, not otherwise provided for, B60S; brake arrangements, brake control systems or parts thereof B60T; air-cushion vehicles B60V; motor-cycles, accessories therefor B62J, B62K; testing of vehicles G01M)

## Abstract

Provided is a method of controlling a vehicle, the method including: determining a driving mode based on a speed of the vehicle and a user-selected driving mode, the determining the driving mode comprising driving the vehicle using power supplied from at least one power supply source of power supply sources, the power supply sources including: 1) first and second engine generators, each configured to generate power by using turning force; 2) a battery charged by the first or second engine generator; and 3) an ultra capacitor charged by the first or second engine generator; and determining an alternative driving mode comprising switching from the at least one power supply source of the power supply sources to another power supply source of the power supply sources to drive the vehicle if a failure occurs in the at least one power supply source of power supply sources.

## Claims

### Claim 1

A method of controlling a vehicle, the method comprising:
determining a driving mode by determining a speed of the vehicle and receiving a user-selected driving mode, the user-selected driving mode including a plurality of user-selected driving modes and the speed of the vehicle being considered for each of the plurality of user-selected driving modes;
determining at least one of a plurality of power supply sources to supply power to drive the vehicle based on the speed of the vehicle and one of the plurality of user-selected driving modes, each of the plurality of user-selected driving-modes using a different combination of the plurality of power supply sources to supply power to drive the vehicle, the plurality of power supply sources comprising:
a first engine generator and a second engine generator, each engine generator configured to generate power by using a turning force of an engine;
a battery charged by the first or second engine generator; and
an ultra capacitor charged by the first or second engine generator; and
determining an alternative driving mode comprising switching from at least a first power supply source of the plurality of power supply sources to at least a second power supply source of the plurality of power supply sources to drive the vehicle when a failure occurs in the first power supply source of the plurality of power supply sources.

### Claim 2

A method of controlling a vehicle, the method comprising:
determining a driving mode by determining a speed of the vehicle and receiving a user-selected driving mode, the user-selected driving mode including a plurality of user-selected driving modes;
determining at least one of a plurality of power supply sources to supply power to drive the vehicle based on the speed of the vehicle and one of the plurality of user-selected driving modes, each of the plurality of user-selected driving-modes using a different combination of the plurality of power supply sources to supply power to drive the vehicle, the plurality of power supply sources comprising:
a first engine generator and a second engine generator, each engine generator configured to generate power by using a turning force of an engine;
a battery charged by the first or second engine generator; and
an ultra capacitor charged by the first or second engine generator; and
determining an alternative driving mode comprising switching from at least a first power supply source of the plurality of power supply sources to at least a second power supply source of the plurality of power supply sources to drive the vehicle when a failure occurs in the first power supply source of the plurality of power supply sources,
wherein determining the driving mode comprises:
receiving a user selection of a low-noise driving mode at a first speed;
turning off the first and second engine generators; and
driving the vehicle using power supplied from at least one of the battery and the ultra capacitor.

### Claim 3 (depends on 2)

The method of claim 2, wherein the determining the driving mode further comprises:
reducing a maximum available power output and a highest speed of the vehicle; and
driving the vehicle at the first speed in response to receiving an acceleration command for a speed greater than or equal to the first speed.

### Claim 4

A method of controlling a vehicle, the method comprising:
determining a driving mode by determining a speed of the vehicle and receiving a user-selected driving mode, the user-selected driving mode including a plurality of user-selected driving modes;
determining at least one of a plurality of power supply sources to supply power to drive the vehicle based on the speed of the vehicle and one of the plurality of user-selected driving modes, each of the plurality of user-selected driving-modes using a different combination of the plurality of power supply sources to supply power to drive the vehicle, the plurality of power supply sources comprising:
a first engine generator and a second engine generator, each engine generator configured to generate power by using a turning force of an engine;
a battery charged by the first or second engine generator; and
an ultra capacitor charged by the first or second engine generator; and
determining an alternative driving mode comprising switching from at least a first power supply source of the plurality of power supply sources to at least a second power supply source of the plurality of power supply sources to drive the vehicle when a failure occurs in the first power supply source of the plurality of power supply sources,
wherein determining the driving mode comprises:
receiving a user selection of a turn-in-place driving mode at a first speed;
supplying the power from the first and second engine generators, the battery, and the ultra capacitor; and
driving the vehicle to turn in place by operating a first steering system configured to turn the vehicle using the supplied power and a skid caused by a difference in driving force between a left wheel and a right wheel.

### Claim 5 (depends on 4)

The method of claim 4, wherein determining the alternative driving mode comprises:
when a failure occurs in the first engine generator and the second engine generator, operating a second steering system configured to turn the vehicle about a center of a turning circle; and
driving the vehicle to turn in place by operation of the first steering system and a second steering system.

### Claim 6 (depends on 4)

The method of claim 4, wherein determining the alternative driving mode comprises:
when a failure occurs in the battery, operating a second steering system configured to turn the vehicle about a center of a turning circle; and
driving the vehicle to turn in place by operation of the first steering system and a second steering system.

### Claim 7 (depends on 2)

The method of claim 2, wherein determining the driving mode further comprises:
receiving a user selection of a battery-centric driving mode at a second speed higher than the first speed and driving the vehicle using power supplied from the battery and one of the first engine generator and the second engine generator;
or receiving a user selection of an ultra-capacitor-centric driving mode at a second speed higher than the first speed and
driving the vehicle using power supplied from the ultra capacitor and one of the first engine generator and the second engine generator.

### Claim 8 (depends on 7)

The method of claim 7, wherein determining the alternative driving mode comprises:
when receiving a user selection of a battery-centric driving mode, checking a state of charge (SOC) of the battery and when the SOC of the battery is smaller than a reference value, charging the battery with power supplied from the other one of the first engine generator and the second engine generator; or
when receiving a user selection of an ultra-capacitor-centric driving mode, checking a capacitance of the ultra capacitor, and
when the capacitance of the ultra capacitor is smaller than a reference value, charging the ultra capacitor with power supplied from the other one of the first engine generator and the second engine generator.

### Claim 9 (depends on 7)

The method of claim 7, wherein the determining the driving mode further comprises:
receiving a user selection of a battery-centric driving mode at a third speed higher than the second speed and driving the vehicle using the power supplied from the first engine generator, the second engine generator and the battery;
or receiving a user selection of an ultra-capacitor-centric driving mode at a third speed higher than the second speed and
driving the vehicle using the power supplied from the first engine generator the second engine generator and the ultra capacitor.

### Claim 10 (depends on 9)

The method of claim 9, wherein determining the alternative driving mode comprises:
when receiving a user selection of a battery-centric driving mode, checking a state of charge (SOC) of the battery and when the SOC of the battery is smaller than a reference value, controlling one of the first engine generator and the second engine generator to exclusively charge the battery, and continuously driving the vehicle by power supplied from one of the first engine generator and the second engine generator not controlled to exclusively charge the battery; or
when receiving a user selection of an ultra-capacitor-centric driving mode, checking a capacitance of the ultra capacitor,
and when the capacitance of the ultra capacitor is smaller than a reference value, controlling one of the first engine generator and the second engine generator to exclusively charge the ultra capacitor, and
continuously driving the vehicle by power supplied from one of the first engine generator and the second engine generator not controlled to exclusively charge the ultra capacitor.

### Claim 11 (depends on 9)

The method of claim 9, further comprising:
when receiving a user selection of a battery-centric driving mode, checking the SOC of the battery in response to a power used corresponding to an acceleration command input exceeding a driving output and when a value of the SOC of the battery is greater than or equal to the reference value, controlling one of the first engine generator and the second engine generator to stop charging the battery; or
when receiving a user selection of an ultra-capacitor-centric driving mode, checking or the capacitance of the ultra capacitor in response to a power used corresponding to an acceleration command input exceeding a driving output and when the capacitance of the ultra capacitor is greater than or equal to the reference value, controlling one of the first engine generator and the second engine generator to stop charging the ultra capacitor and to supply power for the driving output.

### Claim 12 (depends on 9)

The method of claim 9, further comprising
when receiving a user selection of a battery-centric driving mode, checking the SOC of the battery or the capacitance of the ultra capacitor in response to a power used corresponding to an acceleration command input not exceeding a driving output; and
when receiving a user selection of an ultra-capacitor-centric driving mode, when a value of the SOC of the battery or the capacitance of the ultra capacitor does not exceed a reference value, controlling one of the first engine generator and the second engine generator to exclusively charge the battery.

### Claim 13 (depends on 1)

The method of claim 1, wherein the power is supplied from at least one of the first engine generator, the second engine generator, the battery, and the ultra capacitor.

### Claim 14 (depends on 13)

The method of claim 13, wherein determining the alternative driving mode comprises:
determining that a failure occurs in the first engine generator; and
driving the vehicle by switching to power supplied by the second engine generator, the battery, and the ultra capacitor.

### Claim 15 (depends on 13)

The method of claim 13, wherein determining the alternative driving mode comprises:
determining that a failure occurs in the second engine generator; and
driving the vehicle by switching to power supplied by the first engine generator, the battery, and the ultra capacitor.

### Claim 16 (depends on 13)

The method of claim 13, wherein determining the alternative driving mode comprises:
determining that failures occur in the first engine generator and the second engine generator; and
driving the vehicle by switching to power supplied by the battery and the ultra capacitor.

### Claim 17 (depends on 13)

The method of claim 13, wherein the determining the alternative driving mode comprises:
determining that a failure occurs in the battery; and
driving the vehicle by switching to power supplied by the first engine generator, the second engine generator and the ultra capacitor.

### Claim 18 (depends on 13)

The method of claim 13, wherein determining the alternative driving mode comprises:
determining that a failure occurs in the ultra capacitor; and
driving the vehicle by switching to power supplied by the first engine generator, the second engine generator and the battery.

### Claim 19 (depends on 13)

The method of claim 13, wherein determining the alternative driving mode comprises:
determining that failures occur in the battery and the ultra capacitor; and
driving the vehicle by switching to power supplied by the first engine generator and the second engine generator.

### Claim 20

An apparatus for controlling a vehicle, the apparatus comprising:
a plurality of power supply sources comprising:
a first power supply comprising a first engine generator and a second power supply comprising a second engine generator, each of the first and second engine generators configured to generate power by using a turning force of an engine;
a third power supply comprising a battery charged by the first power supply or the second power supply;
a fourth power supply comprising an ultra capacitor charged by the first power supply or the second power supply; and
a controller configured to:
determine a driving mode by determining a speed of the vehicle and receiving a user-selected driving mode, the user-selected driving mode including a plurality of user-selected driving modes and the speed of the vehicle is considered for each of the plurality of user-selected driving modes;
determine at least one of the plurality of power supply sources to supply power to drive the vehicle based on the speed of the vehicle and one of the plurality of user-selected driving modes, wherein each of the plurality of user-selected driving modes uses a different combination of the plurality of power supply sources to supply power to drive the vehicle; and
determine an alternative driving mode comprising switching from the at least a first power supply source of the plurality of power supply sources to at least a second power supply source of the plurality of power supply sources to drive the vehicle when a failure occurs in the power supply source of the plurality of power supply sources.