In this paper a new approach for prediction of the available power of a lithium-ion battery pack is presented. It is based on a nonlinear battery model that includes current dependency of the battery resistance. It results in an accurate power prediction not only at room temperature, but also at lower temperatures at which the current dependency is substantial. The used model parameters are fully adaptable on-line to the given state of the battery (state of charge, state of health, temperature). This on-line adaption in combination with an explicit consideration of differences between characteristics of individual cells in a battery pack ensures an accurate power prediction under all possible conditions. The proposed trade-off between the number of used cell parameters and the total accuracy as well as the optimized algorithm results in a real-time capability of the method, which is demonstrated on a low-cost 16 bit microcontroller. The verification tests performed on a software-in-the-loop test bench system with four 40 Ah lithium-ion cells show promising results.