Abstract: A device receives quantitative data from sensors associated with an autonomous vehicle traveling on a road with other vehicles and from other sensors, and processes the quantitative data, with a first model, to determine distances between the autonomous vehicle and the other vehicles. The device processes the quantitative data, with a second model, to determine relative orientations between the autonomous vehicle and the other vehicles, and generates a conceptual neighborhood graph, based on a third model. The device identifies a subset of the conceptual neighborhood graph, and determines relative trajectories between the autonomous vehicle and the other vehicles based on the distances, the relative orientations, and the subset of the conceptual neighborhood graph.

Abstract: A device receives quantitative data from sensors associated with an autonomous vehicle traveling on a road with other vehicles and from other sensors, and processes the quantitative data, with a first model, to determine distances between the autonomous vehicle and the other vehicles. The device processes the quantitative data, with a second model, to determine relative orientations between the autonomous vehicle and the other vehicles, and generates a conceptual neighborhood graph, based on a third model. The device identifies a subset of the conceptual neighborhood graph, and determines relative trajectories between the autonomous vehicle and the other vehicles based on the distances, the relative orientations, and the subset of the conceptual neighborhood graph.

Abstract: Methods and systems for controlling regenerative braking in a vehicle having a regenerative braking system are provided. Values of one or more dynamic variables are obtained during operation of the vehicle. A maximum regenerative braking torque is calculated using the dynamic variable values. Regenerative braking torque is provided up to the maximum regenerative braking torque.

Abstract: A rechargeable battery pack is discontinuously charged in multiple discrete charging intervals. Reductions in battery pack voltage that occur during non-charging intervals, each transpiring between a respective pair of the discrete charging intervals, are measured. Multiple resistance values that characterize the internal resistance (DC resistance) of the battery pack are generated based on the reductions in battery pack voltage that occur during the non-charging intervals.

Abstract: A system and method for estimating parameters of a rechargeable energy storage system during a plug-in charge mode include reading a first measured voltage and a measured current from the rechargeable energy storage system while charging the rechargeable energy storage system during a plug-in charge mode, interrupting the charge to stop current flow to the rechargeable energy storage system for a predetermined period of time, reading a second measured voltage during the charge interrupt, calculating a resistance based on the first measured voltage, the second measured voltage and the measured current, calculating an open circuit voltage of the rechargeable energy storage system based on the resistance, the second measured voltage, the measured current and determining the state-of-charge for the rechargeable energy storage system using the open circuit voltage.

Abstract: A rechargeable battery pack is discontinuously charged in multiple discrete charging intervals. Reductions in battery pack voltage that occur during non-charging intervals, each transpiring between a respective pair of the discrete charging intervals, are measured. Multiple resistance values that characterize the internal resistance (DC resistance) of the battery pack are generated based on the reductions in battery pack voltage that occur during the non-charging intervals.

Abstract: Methods and systems for modulating regenerative braking in a vehicle having a regenerative braking system and an energy storage system are provided. A value is obtained for a variable pertaining to a condition that affects energy absorption of the energy storage system. A regenerative braking torque capacity for the regenerative braking system is determined using the value. Regenerative braking is controlled via the regenerative braking system based at least in part on the regenerative braking torque capacity.

Abstract: A method of predicting an electrochemical mapping parameter in a vehicle that derives at least a portion of its motive power from an energy storage system is provided. The method may comprise providing a plurality of electrochemical mapping parameter sources capable of rendering one or more electrochemical mapping parameters selected from the group consisting of resistance and capacitance and selecting at least one electrochemical mapping parameter source capable of rendering one or more electrochemical mapping parameters based on the state of the energy storage system. The method may also comprise determining an adaptive gain and determining an adaptive factor based on the operating state of the vehicle or the energy storage system. The method may also comprise adapting the one or more electrochemical mapping parameters based on the adaptive factor and adaptive gain to provide an adapted electrochemical mapping parameter value.

Abstract: A method and device for reporting the characteristics of an energy storage system. The method comprises acquiring the open circuit voltage. The method also comprises providing a coulomb capability and a coulomb capacity of the energy storage system based on the open circuit voltage, and determining at least one of an energy capability or an energy capacity of the energy storage system based on at least one of the coulomb capacity, coulomb capability, or combinations thereof.

Abstract: A vehicle includes a friction braking system and a powertrain system including a torque machine operative to react tractive torque input from a wheel of the vehicle. A method for controlling braking in a vehicle includes monitoring operation of the powertrain system, determining a driver intended total brake torque, determining a regenerative braking capacity based upon the operation of the powertrain system, determining a regenerative braking request based upon a time-rate change in the regenerative braking capacity, and determining a motor torque command for the torque machine based upon the regenerative braking request.

Abstract: A method of predicting an electrochemical mapping parameter in a vehicle that derives at least a portion of its motive power from an energy storage system is provided. The method may comprise providing a plurality of electrochemical mapping parameter sources capable of rendering one or more electrochemical mapping parameters selected from the group consisting of resistance and capacitance and selecting at least one electrochemical mapping parameter source capable of rendering one or more electrochemical mapping parameters based on the state of the energy storage system. The method may also comprise determining an adaptive gain and determining an adaptive factor based on the operating state of the vehicle or the energy storage system. The method may also comprise adapting the one or more electrochemical mapping parameters based on the adaptive factor and adaptive gain to provide an adapted electrochemical mapping parameter value.

Abstract: A system and method for estimating parameters of a rechargeable energy storage system during a plug-in charge mode include reading a first measured voltage and a measured current from the rechargeable energy storage system while charging the rechargeable energy storage system during a plug-in charge mode, interrupting the charge to stop current flow to the rechargeable energy storage system for a predetermined period of time, reading a second measured voltage during the charge interrupt, calculating a resistance based on the first measured voltage, the second measured voltage and the measured current, calculating an open circuit voltage of the rechargeable energy storage system based on the resistance, the second measured voltage, the measured current and determining the state-of-charge for the rechargeable energy storage system using the open circuit voltage.

Abstract: A method and device for reporting the characteristics of an energy storage system. The method comprises acquiring the open circuit voltage. The method also comprises providing a coulomb capability and a coulomb capacity of the energy storage system based on the open circuit voltage, and determining at least one of an energy capability or an energy capacity of the energy storage system based on at least one of the coulomb capacity, coulomb capability, or combinations thereof.

Abstract: A vehicle includes a powertrain system and a friction braking system communicating tractive torque with a driveline, the powertrain system including a torque machine, and an energy storage device connected to the torque machine, said torque machine communicating tractive torque with the driveline. A method for controlling regenerative braking and friction braking includes monitoring a vehicle operating point, determining a braking torque request, determining a regenerative braking motor torque ratio based upon the vehicle operating point wherein the regenerative braking motor torque ratio is non-linearly dependent on the vehicle operating point, and actuating the friction brake based upon the regenerative braking motor torque ratio and the braking torque request.

Abstract: Methods and systems for modulating regenerative braking in a vehicle having a regenerative braking system and an energy storage system are provided. A value is obtained for a variable pertaining to a condition that affects energy absorption of the energy storage system. A regenerative braking torque capacity for the regenerative braking system is determined using the value. Regenerative braking is controlled via the regenerative braking system based at least in part on the regenerative braking torque capacity.

Abstract: Methods and systems for controlling regenerative braking in a vehicle having a regenerative braking system are provided. Values of one or more dynamic variables are obtained during operation of the vehicle. A maximum regenerative braking torque is calculated using the dynamic variable values. Regenerative braking torque is provided up to the maximum regenerative braking torque.

Abstract: A vehicle includes a friction braking system and a powertrain system including a torque machine operative to react tractive torque input from a wheel of the vehicle. A method for controlling braking in a vehicle includes monitoring operation of the powertrain system, determining a driver intended total brake torque, determining a regenerative braking capacity based upon the operation of the powertrain system, determining a regenerative braking request based upon a time-rate change in the regenerative braking capacity, and determining a motor torque command for the torque machine based upon the regenerative braking request.

Abstract: A vehicle includes a powertrain system and a friction braking system communicating tractive torque with a driveline, the powertrain system including a torque machine, and an energy storage device connected to the torque machine, said torque machine communicating tractive torque with the driveline. A method for controlling regenerative braking and friction braking includes monitoring a vehicle operating point, determining a braking torque request, determining a regenerative braking motor torque ratio based upon the vehicle operating point wherein the regenerative braking motor torque ratio is non-linearly dependent on the vehicle operating point, and actuating the friction brake based upon the regenerative braking motor torque ratio and the braking torque request.