Provided is a traveling apparatus including at least, with respect to a traveling direction, a front wheel and a rear wheel and on which a user rides when travelling. The traveling apparatus includes a front wheel supporting member configured to rotatably support the front wheel, a rear wheel supporting member configured to rotatably support the rear wheel, an adjusting mechanism configured to adjust a wheel base length between the front wheel and the rear wheel by changing a relative position of the front wheel supporting member and the rear wheel supporting member, and a driving unit configured to drive at least one of the front wheel and rear wheel. The wheel base length adjusted by the adjusting mechanism is associated with a speed of the traveling apparatus achieved by driving the driving unit in such a way that the longer the wheel base length, the greater the speed becomes.

A first electric power generation device configured to produce an accessory voltage according to a first instruction voltage. A second electric power generation device configured to produce the accessory voltage according to a second instruction. An electric control unit is configured to execute crank position stop control for stopping a crank of the engine at a target position when the engine is stopped by controlling the first electric power generation device such that a current is circulated in the first electric power generation device and the rotating electric machine generates braking torque. The electric control unit is configured to execute the crank position stop control in a state in which the second instruction voltage is equal to or higher than the first instruction voltage.

A system is configured to manage motor engagement in a vehicle by determining to engage a disengaged motor shaft with a drivetrain, and in response, activating a feedback controller based on a speed of the motor shaft and activating a feedforward controller. The system determines at least one metric for modifying an output of the feedforward controller. The at least one metric is based on the speed of the motor shaft and the desired speed, and may be applied as a gain to the output of the feedforward controller. The system generates a command based on the feedback controller, the feedforward controller, and the at least one metric, and causes the motor shaft and the drivetrain to be engaged based on the speed of the motor shaft and the desired speed. The system nulls output of the feedforward controller as the speed of the motor shaft approaches the desired speed.

A system is configured to manage motor engagement in a vehicle by determining to engage a disengaged motor shaft with a drivetrain, and in response, activating a feedback controller based on a speed of the motor shaft and activating a feedforward controller. The system determines at least one metric for modifying an output of the feedforward controller. The at least one metric is based on the speed of the motor shaft and the desired speed, and may be applied as a gain to the output of the feedforward controller. The system generates a command based on the feedback controller, the feedforward controller, and the at least one metric, and causes the motor shaft and the drivetrain to be engaged based on the speed of the motor shaft and the desired speed. The system nulls output of the feedforward controller as the speed of the motor shaft approaches the desired speed.

A control method and system to control a pair of electric motors driving a vehicle. The steps provided for are: determining, in a control cycle N and by means of a first processing core, for a first electric motor, a first electric current target based on a first torque or speed target; determining, in the control cycle N and by means of a second processing core, for a second electric motor, a second electric current target based on a second torque or speed target; controlling, in the control cycle N and by means of the first processing core, a first electronic power converter connected to the first electric motor so as to pursue the first electric current target; and controlling, in the control cycle N and by means of the second processing core, a second electronic power converter connected to the second electric motor so as to pursue the second electric current target.

A control method and system to control a pair of electric motors driving a vehicle. The steps provided for are: determining, in a control cycle N and by means of a first processing core, for a first electric motor, a first electric current target based on a first torque or speed target; determining, in the control cycle N and by means of a second processing core, for a second electric motor, a second electric current target based on a second torque or speed target; controlling, in the control cycle N and by means of the first processing core, a first electronic power converter connected to the first electric motor so as to pursue the first electric current target; and controlling, in the control cycle N and by means of the second processing core, a second electronic power converter connected to the second electric motor so as to pursue the second electric current target.

A vehicle having a motor with a transmission, provided with a fixed gear ratio, to a propelling unit includes a virtual gearbox including a microprocessor, operatively interfaced with the motor and programmed to manage and check the generation of motor driving torque, limiting, at the motor output, a maximum angular velocity and a maximum torque which are variable with a predetermined law.

A vehicle having a motor with a transmission, provided with a fixed gear ratio, to a propelling unit includes a virtual gearbox including a microprocessor, operatively interfaced with the motor and programmed to manage and check the generation of motor driving torque, limiting, at the motor output, a maximum angular velocity and a maximum torque which are variable with a predetermined law.

A system generates haptic feedback in an electric vehicle. The system comprises a frame, an energy storage device, and a wheel rotatably coupled to the frame. A motor receives power from the energy storage device and provides torque to the wheel. A controller determines a first operational state of the electric vehicle and transmits a first torque signal to the motor to control the motor to transmit first torque levels to the wheel to propel the electric vehicle. The controller determines a second operational state of the electric vehicle and transmits a second torque signal to the motor assembly. The motor assembly transmits second torque levels to the wheel to generate haptic feedback. The second torque signal is based on the second operational state of the electric vehicle and a torque profile stored in the memory, where the torque profile defines an irregular-shaped periodic waveform (e.g., a heartbeat rhythm).

Systems and methods for storing energy for use by an electric vehicle are disclosed. Systems can include an electric vehicle battery pack including a rack configured to couple a plurality of independently removable battery strings to the vehicle, the battery strings configured to be selectively coupled in parallel to a vehicle power bus. The battery strings may include a housing, a plurality of electrochemical cells disposed within the housing, a circuit for electrically connecting the electrochemical cells, a positive high-voltage connector, a negative high-voltage connector, a switch within the housing, and a string control unit configured to control the switch. Each battery string can include a coolant inlet and a coolant outlet configured to couple with and sealingly uncouple from an external coolant supply conduit and an external coolant return conduit, and an auxiliary connector configured to couple with an external communications system and/or an external low-voltage power supply.