It becomes possible to monitor a driven state of each wheel in a wheelchair whose wheels are driven according to output information calculated based on input information. A left wheel controller and a right wheel controller are provided. The presence or absence of a drive abnormality of the left wheel is determined by the right wheel controller receiving first drive related information that is related to a drive of the left wheel and transmitted from the left wheel controller, and the presence or absence of a drive abnormality of the left wheel is determined by the left wheel controller receiving second drive related information that is related to a drive of the right wheel and transmitted from the right wheel controller.

A robotic cleaner includes a cleaning assembly for cleaning a surface and a main robot body. The main robot body houses a drive system to cause movement of the robotic cleaner and a microcontroller to control the movement of the robotic cleaner. The cleaning assembly is located in front of the drive system and a width of the cleaning assembly is greater than a width of the main robot body. A robotic cleaning system includes a main robot body and a plurality of cleaning assemblies for cleaning a surface. The main robot body houses a drive system to cause movement of the robotic cleaner and a microcontroller to control the movement of the robotic cleaner. The cleaning assembly is located in front of the drive system and each of the cleaning assemblies is detachable from the main robot body and each of the cleaning assemblies has a unique cleaning function.

A wheel stability control system for an electric vehicle including an electric motor, a drive inverter, and an electronic control unit (ECU) including a computer readable, non-transitory memory (memory) and an electronic processing unit (EPU). The memory stores information including an optimal acceleration and deceleration curve and the electrical characteristics of the electric motor. The EPU calculates the electrical moment of the electric motor from inputs from the drive inverter and the electrical characteristics of the electric motor. The ECU compares the electrical moment and the angular speed of the motor with the optimal acceleration and deceleration curve, and if the acceleration or deceleration of the electric motor is out of a predetermined range when compared to the optimal acceleration and the optimal deceleration, it reduces the electrical moment applied by the electric motor.

A torque control of an in-vehicle motor is performed in consideration of a slip prevention control. Filtering processing is performed by a first filter processor on a high-order torque command value from a high-order device, and filtering processing is performed by a second filter processor on an angular velocity detected by an angular velocity detector. A driving torque command value to drive an electric motor is calculated based on filtering processing results. Each of the filter processors changes a time constant of the filtering processing according to a road surface friction coefficient as disturbance information.

An ECU sets a voltage of an inverter side in an external supply mode to be less than a voltage of the inverter side when a first MG supplies the electric power equal to the electric power in the external supply mode in a traveling generation mode.

A torque upper limit value changing section increases an upper limit value of a torque instruction value in a powering range in case a rotational speed reduction degree is greater than a reference value and decreases the upper limit value of the torque instruction value in the powering range in case the rotational speed reduction degree is smaller than the reference value.

A hybrid vehicle includes an engine; a traction battery; and a controller or a vehicle control system having a controller. The controller is programmed to respond to a state of charge (SOC) of the traction battery. When the SOC is greater than a predicted SOC the controller is programmed to decrease a SOC threshold at which the engine is shut down to reduce the SOC. The SOC threshold is defined by a difference between a maximum SOC and an expected change in the SOC associated with predicted regenerative energy for a drive cycle.

A variable gauge train control device comprises an inverter, a location detector, and a torque calculator. The inverter collectively controls torques of main electric motors. The location detector detects an entry into a gauge changeover section. The torque calculator, upon detection by the location detector of the entry into the gauge changeover section, suspends idling control that otherwise restricts the torques of the main electric motors and calculates a first torque pattern for making the inverter operate in accordance with the torques of the main electric motors.

A method for dynamic control of an electric vehicle operable based on a throttle value received from a throttle and a default throttle map correlating default output values with throttle values, the method including: determining a user parameter; detecting a condition indicative of perturbation; in response to detecting the condition indicative of perturbation, determining a replacement output value for a first throttle value based on the user parameter; and controlling vehicle operation to meet the replacement output value in response to receipt of the first throttle value.

A powered balancing mobility device that can provide the user the ability to safely navigate expected environments of daily living including the ability to maneuver in confined spaces and to climb curbs, stairs, and other obstacles, and to travel safely and comfortably in vehicles. The mobility device can provide elevated, balanced travel.