APPARATUS AND METHODS FOR CONTROL OF A VEHICLE
2 Assignments
0 Petitions
Accused Products
Abstract
Method for controlling a vehicle that includes a support, at least one wheel, a platform coupled to the at least one wheel, a coupling structure having a support portion coupled to the support and a platform portion coupled to the platform that allows the support portion to move or slide fore and aft with respect to the platform portion, an actuator coupled to the coupling structure to control the position of the support portion relative to the platform portion, a drive coupled to the at least one wheel to deliver power to the at least one wheel to propel the vehicle and maintain the platform level, and a controller coupled to the drive to control the drive and coupled to the actuator to control the actuator.
-
Citations
72 Claims
-
1-56. -56. (canceled)
-
57. A method for estimating an electrical state of a battery providing power to an electrical load, the method comprising:
-
a) acquiring values of the battery voltage and the battery current draw at a first point in time; b) monitoring battery voltage and battery current draw; c) acquiring values of the battery voltage and battery current draw at a second point in time when the change in battery voltage between the first and second points in time is greater than a predetermined voltage amount and the change in battery current draw between the first and second points in time is greater than a predetermined current amount; d) calculating battery resistance based on the change in battery voltage and battery current draw between the first and second points in time; and e) calculating open-circuit battery voltage based on the calculated battery resistance, the battery current draw at the second point in time, and the battery voltage at the second point in time. - View Dependent Claims (58, 59, 60, 61, 62, 63, 64)
-
-
65. An apparatus for estimating an electrical state of a battery providing power to an electrical load, the apparatus comprising:
-
a measurement module configured to a) acquire values of the battery voltage and the battery current draw at a first point in time, h) monitor battery voltage and battery current draw, and c) acquire values of the battery voltage and battery current draw at a second point in time when the change in battery voltage between the first and second points in time is greater than a predetermined voltage amount and the change in battery current draw between the first and second points in time is greater than a predetermined current amount; and an estimation module configured to d) calculate battery resistance based on the change in battery voltage and battery current draw between the first and second points in time and e) calculate open-circuit battery voltage based on the calculated battery resistance, the battery current draw at the second point in time, and the battery voltage at the second point in time. - View Dependent Claims (66, 67, 68, 69, 70, 71, 72)
-
Specification