A braking control device adjusts a regenerative braking force and a friction braking force applied to a vehicle. The braking control device includes a stopping distance acquisition unit that acquires a distance moved until the vehicle in travel stops, as a stopping distance. The braking control device includes a brake adjustment unit that starts replacement control to replace the regenerative braking force among braking forces, which are applied to the vehicle, with the friction braking force, when the stopping distance becomes smaller than a replacement determination value.

Example methods, apparatuses, and/or articles of manufacture are disclosed that may be implemented, in whole or in part, as techniques to transition between and/or among safety states of an electric motor driver unit (EMDU).

Information that was collected in time series in a moving body is delivered by wireless communication to a base station in a state in which real-time performance is high and omission of the information is reduced. An information transmission device installed in the moving body includes: a communication section; a position detection section; and a zone information storage section. An operation mode is periodically determined based on the current position and the zone information. When a first operation mode is determined, a predetermined attribute is assigned to new information. When a second operation mode is determined, new information and at least a part of information to which the attribute was assigned are transmitted to the base station. The attribute that had been assigned to the transmitted information among the information to which the attribute was assigned is removed.

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.

Autoscrubbers are capable of being operated in a manual (e.g. walk-behind) mode and an autonomous (operator free) mode and capable of switching between such operational modes. Apparatus and methods for steering such autoscrubbers use steering torque mechanisms to apply steering torques independently to left and right drive wheels. Steering systems for autonomous operation may be retrofit onto existing walk-behind autoscrubbers to implement this functionality. The autonomous control capability may not detract appreciably from an operator's ability to use the autoscrubber in a manual (walk-behind) mode.

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 method for operating a drive train includes supplying a motor voltage to an electric motor by a converter for achieving a torque setpoint value, determining an angular velocity actual value and an angular acceleration actual value from values of the angular position of the rotor, determining the torque setpoint value from a moment of inertia and an angular acceleration setpoint value, which is determined as an actuation variable, determining the moment of inertia as the sum of the moment of inertia of the drive train without a load and the moment of inertia of the load, and determining the moment of inertia of the load from a torque actual value and from the angular acceleration actual value.

Embodiments describe a battery system that includes a first battery module coupled to a regenerative braking system and a control module that controls operation of the battery system by: determining a predicted driving pattern over a prediction horizon using a driving pattern recognition model based in part on a battery current and a previous driving pattern; determining a predicted battery resistance of the first battery module over the prediction horizon using a recursive battery model based in part on the predicted driving pattern, the battery current, a present bus voltage, and a previous bus voltage; determining a target trajectory of a battery temperature of the first battery module over a control horizon using an objective function; and controlling magnitude and duration of electrical power supplied from the regenerative such that a predicted trajectory of the battery temperature is guided toward the target trajectory of the battery temperature during the control horizon.

A method for electrically charging an energy store. The method includes the following steps: starting an electrical charging process for the energy store in a first configuration; interrupting the charging process, changing the configuration of the energy store from the first configuration to a second configuration, and resuming the charging process in the second configuration. The energy store in the first configuration is designed to be charged with a higher electrical voltage than in the second configuration.

Embodiments describe a battery system that includes a first battery module coupled to a regenerative braking system and a control module that controls operation of the battery system by: determining a predicted driving pattern over a prediction horizon using a driving pattern recognition model based in part on a battery current and a previous driving pattern; determining a predicted battery resistance of the first battery module over the prediction horizon using a recursive battery model based in part on the predicted driving pattern, the battery current, a present bus voltage, and a previous bus voltage; determining a target trajectory of a battery temperature of the first battery module over a control horizon using an objective function; and controlling magnitude and duration of electrical power supplied from the regenerative such that a predicted trajectory of the battery temperature is guided toward the target trajectory of the battery temperature during the control horizon.