Apparatus and methods for control of a vehicle

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.

1 - 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.   
     
     
         58 . The method of  claim 57 , comprising;
 repeating step b);   f) acquiring values of the battery voltage and battery current draw at a third point in time when the change in battery voltage between the second and third points in time is greater than the predetermined voltage amount and the change in battery current draw between the second and third points in time is greater than the predetermined current amount;   repeating step d); and   repeating step e).   
     
     
         59 . The method of  claim 57 , comprising:
 repeating step b); and   f) postponing acquiring values of the battery voltage and battery current draw at a third point in time until the change in battery voltage between the second and third points in time is greater than the predetermined voltage amount and the change in battery current draw between the second and third points in time is greater than the predetermined current amount.   
     
     
         60 . The method of  claim 57 , wherein step e) comprises determining whether a presently calculated battery resistance has changed by more than a predetermined percentage from a previously calculated battery resistance. 
     
     
         61 . The method of  claim 60 , comprising calculating open-circuit battery voltage based on the calculated battery resistance if the presently calculated battery resistance has not changed by more than a predetermined percentage relative to the previously calculated battery resistance. 
     
     
         62 . The method of  claim 60 , comprising calculating open-circuit battery voltage based on the previously calculated battery resistance if the presently calculated battery resistance has changed by more than a predetermined percentage relative to the previously calculated battery resistance. 
     
     
         63 . The method of  claim 57 , comprising suspending steps c), d) and e) during predetermined operating conditions for a vehicle being power by the battery. 
     
     
         64 . The method of  claim 63 , wherein steps c), d) and e) are suspended when the vehicle is regeneratively braking for a predetermined period of time. 
     
     
         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.   
     
     
         66 . The apparatus of  claim 65 , wherein the measurement module is configured to repeat step b), f) acquire values of the battery voltage and battery current draw at a third point in time when the change in battery voltage between the second and third points in time is greater than the predetermined voltage amount and the change in battery current draw between the second and third points in time is greater than the predetermined current amount, repeat step d); and repeat step e). 
     
     
         67 . The apparatus of  claim 65 , wherein:
 the measurement module is configured to repeat step b), and   the estimation module is configured to f) postpone acquiring values of the battery voltage and battery current draw at a third point in time until the change in battery voltage between the second and third points in time is greater than the predetermined voltage amount and the change in battery current draw between the second and third points in time is greater than the predetermined current amount.   
     
     
         68 . The apparatus of  claim 65 , wherein the measurement module is configured to determine whether a presently calculated battery resistance has changed by more than a predetermined percentage from a previously calculated battery resistance. 
     
     
         69 . The apparatus of  claim 68 , wherein the estimation module is configured to calculate open-circuit battery voltage based on the calculated battery resistance if the presently calculated battery resistance has not changed by more than a predetermined percentage relative to the previously calculated battery resistance. 
     
     
         70 . The apparatus of  claim 68 , wherein the estimation module is configured to calculate open-circuit battery voltage based on the previously calculated battery resistance if the calculated battery resistance has changed by more than a predetermined percentage relative to the previously calculated battery resistance. 
     
     
         71 . The apparatus of  claim 65 , wherein the apparatus is configured to suspend steps c), d) and e) during predetermined operating conditions for a vehicle being power by the battery. 
     
     
         72 . The apparatus of  claim 71 , wherein the apparatus is configured to suspend steps c), d) and e) when the vehicle is regeneratively braking for a predetermined period of time.