A control device includes a torque controller configured to control a torque of a motor that outputs a driving force for traveling of a vehicle, a first vehicle speed acquirer configured to acquire a first vehicle speed based on a speed of wheels of the vehicle, and a second vehicle speed acquirer configured to acquire a second vehicle speed based on a torque output by the motor, in which the torque controller determines a torque of the motor on the basis of either or both of the first vehicle speed and the second vehicle speed.

A system for managing motor torque in a vehicle determines a stall metric corresponding to motor speed and determines a torque limit based on the stall metric. The system determines a desired torque value, and determines whether to generate a modification to one or more baseline torque commands based on the desired torque value and the torque limit. If the baseline torque command is not to be modified, the system generates the one or more baseline torque commands corresponding to one or more motors. If the baseline torque is to be modified, the system generates one or more modified torque commands corresponding to the one or more motors based on the modification and on the one or more baseline torque commands. The modified torque command may include a minimum value that is less than the torque limit and a maximum value that corresponds to a wheel slip torque.

In a vehicle control device provided in a vehicle including a motor configured to apply a regenerative braking force to a wheel, a braking force controlling portion controls torque of the motor such that the motor generates a regenerative braking force corresponding to a requested braking force requested to the vehicle. When the wheel locks during braking, the braking force controlling portion executes an antilock control in which the torque of the motor is controlled such that the lock of the wheel is restrained. An acquisition portion acquires the deceleration speed of the vehicle. A derivation portion derives an expected deceleration speed for the vehicle based on the requested braking force. In a case where the braking force controlling portion executes the antilock control, the braking force controlling portion controls vibration of the motor based on the difference between the expected deceleration speed and the deceleration speed.

A traction control system and method are provided for electric vehicles with at least one drive wheel powered by an electric drive motor to maintain optimum maximum traction while the vehicle is driven on the ground. The traction control system includes drive means capable of transmitting torque through a vehicle drive wheel and controllable to move the vehicle over a ground surface. A preferred drive means is an electric motor designed to move the vehicle at desired ground speeds in response to operator input. Operator input requests a desired speed, and the system determines drive wheel torque required to produce the desired speed and provides maximum current to produce maximum torque to drive the vehicle with optimum traction at the desired speed. The system uses constant feedback to find maximum current corresponding to torque required for an inputted speed request to automatically control traction in any electric powered vehicle.

An inspection robot incudes a robot body, at least two sensors, a drive module, a stability assist device and an actuator. The at least two sensors are positioned to interrogate an inspection surface and are communicatively coupled to the robot body. The drive module includes at least two wheels that engage the inspection surface. The drive module is coupled to the robot body. The stability assist device is coupled to at least one of the robot body or the drive module. The actuator is coupled to the stability assist device at a first end, and coupled to one of the drive module or the robot body at a second end. The actuator is structured to selectively move the stability assist device between a first position and a second position. The first position includes a stored position. The second position includes a deployed position.

Provided is an electric vehicle control system capable of securing good response and slip stopping property with respect to changes in a road surface condition. The system includes a vehicle controller configured to calculate a driver's demand torque command value according to a driver's accelerating or braking operation, a first communication device capable of communicating between a hydraulic controller and a motor controller, and a second communication device capable of communicating between the vehicle controller and the motor controller. The system includes a control system in which the hydraulic controller transmits a motor torque command value to the motor controller through the first communication device; the vehicle controller transmits the driver's demand torque command value to the motor controller through the second communication device; and the motor controller selects either one of the received motor torque command value and the received driver's demand torque command value as the command value.

A traveling control apparatus includes an operation amount calculating unit for calculating the amount of operations for controlling at least one of a driving mechanism and a braking mechanism of a vehicle to make the difference between a target position and the actual position of the vehicle small; a determining unit for determining whether the actual position follows the target position; and a target position setting unit for setting the target position that changes with time passage, when it is determined by the determining unit that the actual position follows the target position. The target position setting unit sets the target position so a change in the target position with the time passage becomes smaller than that in the case where it is determined that the actual position follows the target position, when it is determined by the determining unit that the actual position does not follow the target position.

A motor vehicle electrical power distribution system includes a plurality of distribution sub-systems, an electrical power storage sub-system and a plurality of switching devices for selective connection of elements of and loads on the power distribution system to the electrical power storage sub-system. A state transition initiator provides inputs to control system operation of switching devices to change the states of the power distribution system. The state transition initiator has a plurality of positions selection of which can initiate a state transition. The state transition initiator can emulate a four position rotary ignition switch. Fail safe power cutoff switches provide high voltage switching device protection.

A system includes an inspection robot having an input sensor comprising a laser profiler and a plurality of wheels structured to engage a curved portion of an inspection surface, wherein the laser profiler is configured to provide laser profiler data of the inspection surface; a controller, comprising: a profiler data circuit structured to interpret the laser profiler data; determine a feature of interest is present at a location of the inspection surface in response to the laser profiler data; and wherein the feature of interest comprises a shape description of the inspection surface at the location of the feature of interest.

A method for operating a recuperation brake of a motor vehicle is disclosed. First, a future operating intensity of the recuperation brake is estimated for a section of route to be travelled on by the motor vehicle based on an input which characterizes the driving style of the section of route to be travelled on. In addition, a maximum slip-free vehicle braking power for the section of route is estimated as a function of the input. In addition, the braking power of the recuperation brake is set to a setpoint braking power which is not greater than the maximum vehicle braking power for the section of route, and finally the recuperation brake is activated on the section of route to be travelled on with the setpoint braking power. In addition, a recuperation brake for carrying out the method is described.