A method and apparatus for controlling traction of a vehicle with independent drives or motors connected to the wheels or other ground engaging apparatuses. Nominal torque allocations can be determined for a set of motors, the motors connected to ground engaging elements and including a front set of motors and a rear set of motors. The nominal torque allocations can be modified based on a lateral differential correction and a fore-aft differential correction to produce modified torque commands and the modified torque commands can be applied to the set of motors.

A power supply system includes a plurality of electrical storage devices, a distributor configured to distribute electric power between the plurality of electrical storage devices in a desired distribution mode, and an electronic control unit. The electronic control unit configured to (i) set the desired distribution mode based on at least one of a magnitude relation between first rates of change in dischargeable power of the corresponding electrical storage device to a charge state value indicating a remaining level of charge of the corresponding electrical storage device, or a magnitude relation between second rates of change in chargeable power of the corresponding electrical storage device to the charge state value, and (ii) control the distributor such that electric power is distributed in the set distribution mode.

While a current cutoff mechanism cuts off charging and discharging currents for a second electric storage device, a DC/DC converter is controlled so as to be in a state where electric power is supplied from a low-voltage side to a high-voltage side, applies voltage conversion to an input voltage of the low-voltage side so that an output voltage of the high-voltage side becomes a predetermined voltage, and after a predetermined state where the induction voltage of the AC power generator can be supplied to the low-voltage side is reached, control of the DC/DC converter is switched from the state where electric power is supplied from the low-voltage side to the high-voltage side to a state where electric power is supplied from the high-voltage side to the low-voltage side.

A vehicle includes an electronic control unit. The electronic control unit is configured to detect a first current value in a period in which a current path is switched to a non-conductive state by an ignition-off operation. The electronic control unit is configured to detect a second current value in a period that is after an ignition-on operation is performed and before the current path is switched from the non-conductive state to a conductive state in the case where the first current value falls out of a specified reference range. The electronic control unit is configured to diagnose that there is an abnormality of the current sensor when the second current value falls out of the reference range and to diagnose that there is no abnormality of the current sensor when the second current value falls within the reference range.

An electrical system for a vehicle includes a high-voltage DC power source electrically connected to a high-voltage bus, a first controller disposed to control electric power flow between the high-voltage bus and a first actuator, and a second controller disposed to control electric power flow between the high-voltage bus and a second actuator. A communication link is disposed to effect communication between the first controller and the second controller. An inertial sensor communicates with the second controller. The second controller includes an instruction set to monitor and determine a request to discharge the high-voltage bus based upon communication from the sensor. Upon determining that the first controller is incapable of discharging the high-voltage bus, the second actuator is controlled to discharge the high-voltage bus.

A control system for a vehicle includes an electric drive system, a drive system control unit, and a friction brake system. The electric drive system is associated with a first set of wheels of the vehicle. The drive system control unit is configured to control the electric drive system to selectively provide electric motive power to the first set of wheels to propel the vehicle and electric retarding to slow the vehicle. The friction brake system includes first and second friction brake units associated with the first and second sets of wheels, respectively. The drive system control unit is further configured to determine a functionality of the second friction brake unit, for a friction brake application to the second set of wheels, independent of operation of the first friction brake unit, and to control at least one vehicle system based on the determined functionality of the second friction brake unit.

A control system for a vehicle including an engine, an electrical storage unit and a generator driven by the engine, the control system includes a socket and a controller. The socket is configured to supply electric power from the generator or the electrical storage unit to a device outside the vehicle in a travel stop state. The controller stops the engine when a preset condition is satisfied. The controller sets a first range and a second range in which the condition is satisfied. The first range is the range in a case where electric power is supplied to the device outside the vehicle and the second range is the range in another case. The first range is narrower than the second range.

A vehicle system in a hybrid vehicle comprises a controller configured to generate for output a modulated voltage to a direct current capacitor to prevent voltage spikes on the capacitor in response to receiving a reference current via a direct current voltage clamping control block that outputs a reference current in response to a difference between a feedback voltage and a reference voltage exceeding a threshold.

A braking distance control device employed for an electrically driven work vehicle includes a safety vehicle speed calculation unit that calculates a safety vehicle speed at which a braking distance provided by use of an electric brake device becomes less than or equal to a threshold value, based on gradient information, payload information, road surface friction information, vehicle speed information, and a braking torque characteristic of electric motors: a critical vehicle speed for deceleration calculation unit that calculates a critical vehicle speed for deceleration at which deceleration provided by use of the electric brake device becomes less than or equal to a threshold value; and an operation judgment unit 14 that judges a setting of notification, based on pedal operation amounts.

A vehicle control system determines an upper non-zero limit on deceleration of a vehicle to prevent rollback of the vehicle down a grade being traveled up on by the vehicle. The upper non-zero limit on deceleration is determined by the controller based on a payload carried by the vehicle, a speed of the vehicle, and a grade of a route being traveled upon by the vehicle. The controller is configured to monitor the deceleration of the vehicle, and to automatically prevent the deceleration of the vehicle from exceeding the upper non-zero limit by controlling one or more of a brake or a motor of the vehicle. The controller also is configured to one or more of actuate the brake or supply current to the motor of the vehicle to prevent rollback of the vehicle while the vehicle is moving up the grade at a non-zero speed.