A powertrain control unit may be configured to control an engine and identify a first operating condition is expected to fulfill a demand for output with an exhaust stream having a first amount of a pollutant (e.g., NOx, particulate matter), and a second operating condition expected to fulfill the demand with an exhaust stream having a reduced amount of the pollutant as compared to the first amount. The powertrain control unit may receive duty cycle information to control the engine to fulfill the demand per the second operating condition, yielding the reduced amount of pollutant in the exhaust. Duty cycle information may include speed, location, position, rotation, temperature, and/or other information. A vehicle, backhoe, bulldozer, crane, and/or combine harvester may comprise the powertrain control unit and an engine and aftertreatment system. An exhaust aftertreatment system may be remotely activated, which may reduce warmup time associated with emissions mitigation.

In start control for controlling an engine, a motor, and a clutch, a target throttle valve opening degree is set based on a rotational speed of the motor and a coolant temperature of the engine to control the engine such that the clutch is half-engaged to crank the engine by the motor, and fuel injection and ignition of the engine are started after a rotational speed difference between the rotational speed of the motor and a rotational speed of the engine becomes smaller than a threshold value and the clutch is engaged.

A control device of a powertrain system executes a control input determination processing and a system control processing. The control input determination processing includes a co-state variable determination processing to update a co-state variable p of an optimization problem for each time step and a control input calculation processing. The co-state variable determination processing includes an initial value determination processing that determines, as an initial value of the co-state variable p, the sum of a base value of the initial value and an external charge/discharge correction value. The base value is a final value or an average value of the co-state variable p during the last control time period. The external charge/discharge correction value is determined based on an external charge/discharge amount obtained by subtracting a SOC at the end of the last control time period from the SOC at the start of the current control time period.

Various technologies described herein pertain to generating an occupancy grid movie for utilization in motion planning for the autonomous vehicle. The occupancy grid movie can be generated for a given time and can include time-stepped occupancy grids for future times that are at predefined time intervals from the given time. The time-stepped occupancy grids include cells corresponding to regions in an environment surrounding the autonomous vehicle. Probabilities can be assigned to the cells specifying likelihoods that the regions corresponding to the cells are occupied at the future times. Moreover, cached query objects that respectively specify indices of cells of a grid occupied by a representation of an autonomous vehicle at corresponding orientations are described herein. An occupancy grid for the environment surrounding the autonomous vehicle can be queried to determine whether cells of the occupancy grid are occupied utilizing a cached query object from the cache query objects.

An automatic storage and retrieval system includes: a delivery vehicle; a storage container carried by the delivery vehicle; and an unloading station for unloading an item from the storage container while it is being carried by the delivery vehicle. The unloading station includes: an unloading device; and a destination conveyor configured to convey the item to a target destination, wherein the unloading device is configured to move the item through a side opening of the storage container to the destination conveyor.

A control apparatus for a hybrid electrically-operated vehicle that includes an engine, a rotating machine, a transmission apparatus and an engine connection/disconnection device which is to be engaged to connect a power transmission between the engine and the transmission apparatus and which is to be released to disconnect the power transmission between the engine and the transmission apparatus. The control apparatus executes a vibration suppression control by using a first vibration model in which the engine connection/disconnection device is engaged and a second vibration model in which the engine connection/disconnection device is released, such that the vibration suppression control is executed also during a switch control for switching between an engine driving mode and a motor driving mode, by using one of the first and second vibration models which is used in execution of the vibration suppression control before start of the execution of the switch control.

A torque reducing process reduces torque of a multiphase rotating electric machine when a magnitude of current in a particular phase of the rotating electric machine remains greater than or equal to a given value. A deactivating process deactivates combustion control in a deactivated cylinder and continues combustion control in the remaining cylinders. A fluctuation torque applying process cyclically fluctuates the torque of the rotating electric machine in a cycle that is an integral multiple of a compression top dead center occurrence cycle when the deactivating process is being executed. A prohibiting process prohibits execution of the deactivating process in a predetermined situation where a rotation speed of a rotary shaft of the rotating electric machine is less than or equal to a given speed.

A hybrid power drive system, including a power battery device, a range extender system, and a motor drive system. The power battery device is configured to supply power to the motor drive system. The range extender system includes an engine and a generator. The generator is able to generate power under the driving of the engine to supply the power to the motor drive system and/or charge the power battery device. The hybrid power drive system further includes a vehicle control unit configured to control the engine and/or generator of the range extender system to generate a driving force. The range extender system is mechanically connected to a main coupling mechanism to transmit the generated driving force to a main drive axle of a vehicle by means of the main coupling mechanism to drive wheels on both sides of the axle to rotate. Also provided is a vehicle having the hybrid power drive system. According to the hybrid power drive system and the vehicle having same, the vehicle control unit is utilized to control the engine and/or generator of the range extender system to generate the driving force for different application operating conditions, and thus the economy of the vehicle can be effectively improved.

A method for populating a controller for a motor vehicle with data includes providing a controller with a storage device, and generating a projected mathematical model of at least one section of a powertrain, including a transmission. The projected mathematical model describes the section of the powertrain with a gear ratio of 1 and is applicable to different transmissions. The projected mathematical model is stored in the storage device of the controller. A motor vehicle is also provided and operated accordingly.

An automated storage and retrieval system includes a grid-based rail structure and a plurality of remotely operated vehicles arranged to operate on the grid-based rail structure. The automated storage and retrieval system includes a locking device arranged in a zone of the grid-based rail structure where a human and/or a robotic operator is permitted to interact with the remotely operated vehicle or contents of a storage container that the remotely operated vehicle is carrying. The locking device is arranged to lock the remotely operated vehicle against accidental displacement prior to interaction with the human and/or robotic operator, and wherein the locking device being arranged to unlock the remotely operated vehicle once interaction with the human and/or robotic operator is no longer required.