A vehicle may include a controller programmed to discharge and charge a battery according to battery terminal voltage values predicted for future time instants traversed by a leading edge of a temporal sliding window having a selectable period based on resistance and capacitance parameters representing the battery and a duration of the selectable period. The battery terminal voltage values may be further predicted based on a state of charge of the battery. The resistance parameters may include internal resistance. Some of the resistance and capacitance parameters may define an RC circuit. The battery terminal voltage values may be further predicted based on a voltage drop across the RC circuit.