Battery end-of-use temperature estimation method, device, vehicle and storage medium

Abstract

The present application provides a method, device, vehicle and storage medium for estimating the end-of-use temperature of a battery. The method includes: obtaining information about this trip; obtaining the battery starting temperature and the ambient starting temperature of this trip; determining the battery temperature rise gain value of this trip based on the information about this trip, the battery starting temperature and the ambient starting temperature; determining the estimated end-of-use temperature of the battery at the end of this trip based on the battery temperature rise gain value, the battery starting temperature and the ambient starting temperature of this trip. The present application can make an estimate based on the information about this trip, can adapt to the working conditions of this trip, is not dependent on special working conditions, and can improve the accuracy of estimating the end-of-use temperature of the battery.

Description

Technical Field

[0001] The present application relates to the technical field of electric vehicles, and in particular to a method, device, vehicle and storage medium for estimating the end-of-use temperature of a battery. Background Art

[0002] In a battery management system, the power performance that a battery can provide is related to the battery's end-of-use temperature. The battery's end-of-use temperature is the temperature of the battery at the end of the electric vehicle's trip. Since the battery is usually a battery pack, the temperature of the battery can be the average temperature of the battery pack. Accurately estimating the battery's end-of-use temperature is conducive to reasonably setting the correction coefficient in the vehicle control strategy, achieving smooth control of the entire process, and improving user experience.

[0003] At present, the average temperature rise level under special working conditions is usually used to estimate the end-of-use temperature of the battery. However, due to the complex and changeable driving conditions in actual driving, the result of estimating the end-of-use temperature of the battery using this method is inaccurate. Summary of the invention

[0004] The present application provides a method, device, vehicle and storage medium for estimating the end-of-use temperature of a battery, so as to solve the problem of inaccurate results of estimating the end-of-use temperature of a battery.

[0005] In a first aspect, the present application provides a method for estimating the end-of-use temperature of a battery, comprising:

[0006] Get the information of this trip;

[0007] Get the battery starting temperature and ambient starting temperature of this trip;

[0008] Determine the battery temperature rise gain value for this trip based on the trip information, the battery starting temperature and the ambient starting temperature;

[0009] The estimated end-of-use temperature of the battery at the end of the trip is determined based on the battery temperature rise gain value, the battery starting temperature and the ambient starting temperature of the trip.

[0010] In a possible implementation, the trip information includes the total mileage of the trip, the mileage corresponding to each road type in the trip, and the mileage corresponding to each road speed limit type in the trip;

[0011] The battery temperature rise gain value for this trip is determined based on the trip information, the battery starting temperature, and the ambient starting temperature, including:

[0012] Determine the temperature rise gain values ​​of each road type in this trip and the temperature rise gain values ​​of each road speed limit type in this trip corresponding to the battery starting temperature and the ambient starting temperature;

[0013] Determine the total temperature rise gain value of the road type in this trip according to the total mileage of this trip, the mileage corresponding to each road type in this trip, and the temperature rise gain value of each road type in this trip corresponding to the battery starting temperature and the ambient starting temperature;

[0014] Determine the total temperature rise gain value of the road speed limit type in this trip according to the total mileage of this trip, the mileage corresponding to each road speed limit type in this trip, and the temperature rise gain value of each road speed limit type in this trip corresponding to the battery starting temperature and the ambient starting temperature;

[0015] The battery temperature rise gain value for this trip is determined based on the total temperature rise gain value of the road type in this trip and the total temperature rise gain value of the road speed limit type in this trip.

[0016] In a possible implementation, the calculation formula for the total temperature rise gain value of the road type in this trip is:

[0017]

[0018] Among them, K1 is the total temperature rise gain value of the road type in this trip; L is the total mileage of this trip; L 1i is the mileage corresponding to road type i in this trip; k 1i is the temperature rise gain value of road type i in this trip corresponding to the battery starting temperature and the ambient starting temperature; n is the number of road types in this trip;

[0019] The calculation formula for the total temperature rise gain value of the road speed limit type in this trip is:

[0020]

[0021] Among them, K2 is the total temperature rise gain value of the road speed limit type in this trip; L 2j is the mileage corresponding to the road speed limit type j in this trip; k 2j is the temperature rise gain value of road speed limit type j in this trip corresponding to the battery starting temperature and the ambient starting temperature; m is the number of road speed limit types in this trip.

[0022] In a possible implementation, the battery temperature rise gain value of the current trip is determined according to the total temperature rise gain value of the road type in the current trip and the total temperature rise gain value of the road speed limit type in the current trip, including:

[0023] The total temperature rise gain value of the road type in this trip and the total temperature rise gain value of the road speed limit type in this trip are summed to obtain the battery temperature rise gain value of this trip.

[0024] In a possible implementation, after determining the estimated value of the battery end-of-use temperature at the end of the trip according to the battery temperature rise gain value, the battery start temperature and the ambient start temperature of the trip, the method further includes:

[0025] Get the actual value of the battery's end-of-use temperature at the end of this trip;

[0026] If the absolute value of the difference between the estimated end-of-use temperature of the battery at the end of the current trip and the actual end-of-use temperature of the battery at the end of the current trip is greater than the preset difference, a correction coefficient of the battery temperature rise gain value is calculated according to the actual end-of-use temperature of the battery at the end of the current trip and the estimated end-of-use temperature of the battery at the end of the current trip;

[0027] The battery temperature rise gain value of the next trip is corrected according to the correction coefficient of the battery temperature rise gain value, and the estimated end-of-use temperature of the battery at the end of the next trip is determined according to the corrected battery temperature rise gain value of the next trip.

[0028] In a possible implementation, the correction coefficient of the battery temperature rise gain value is calculated according to the actual value of the battery end-of-use temperature at the end of the current trip and the estimated value of the battery end-of-use temperature at the end of the current trip, including:

[0029] The actual end-of-use temperature of the battery at the end of the trip is divided by the estimated end-of-use temperature of the battery at the end of the trip to obtain a correction coefficient for the battery temperature rise gain value;

[0030] According to the correction coefficient of the battery temperature rise gain value, the battery temperature rise gain value of the next trip is corrected, including:

[0031] The correction coefficient of the battery temperature rise gain value is multiplied by the battery temperature rise gain value of the next trip to obtain the corrected battery temperature rise gain value of the next trip.

[0032] In a possible implementation, determining an estimated value of the battery end-of-use temperature at the end of the trip according to the battery temperature rise gain value, the battery start temperature, and the ambient start temperature of the trip includes:

[0033] According to T g =(T h -T q )×K, and calculate the estimated end-of-use temperature of the battery at the end of this trip T g ;

[0034] Among them, T h is the ambient starting temperature; T q is the starting temperature of the battery; K is the battery temperature rise gain value of this trip.

[0035] In a second aspect, the present application provides a battery end-of-use temperature estimation device, comprising:

[0036] The first acquisition module is used to obtain the current trip information;

[0037] The second acquisition module is used to obtain the battery starting temperature and the environment starting temperature of this trip;

[0038] A temperature rise gain value determination module is used to determine the battery temperature rise gain value of this trip based on the trip information, the battery starting temperature and the ambient starting temperature;

[0039] The end temperature estimation module is used to determine the estimated end temperature of the battery at the end of the trip according to the battery temperature rise gain value, the battery starting temperature and the ambient starting temperature of the trip.

[0040] In a possible implementation, the trip information includes the total mileage of the trip, the mileage corresponding to each road type in the trip, and the mileage corresponding to each road speed limit type in the trip;

[0041] The temperature rise gain value determination module is specifically used for:

[0042] Determine the temperature rise gain values ​​of each road type in this trip and the temperature rise gain values ​​of each road speed limit type in this trip corresponding to the battery starting temperature and the ambient starting temperature;

[0043] Determine the total temperature rise gain value of the road type in this trip according to the total mileage of this trip, the mileage corresponding to each road type in this trip, and the temperature rise gain value of each road type in this trip corresponding to the battery starting temperature and the ambient starting temperature;

[0044] Determine the total temperature rise gain value of the road speed limit type in this trip according to the total mileage of this trip, the mileage corresponding to each road speed limit type in this trip, and the temperature rise gain value of each road speed limit type in this trip corresponding to the battery starting temperature and the ambient starting temperature;

[0045] The battery temperature rise gain value for this trip is determined based on the total temperature rise gain value of the road type in this trip and the total temperature rise gain value of the road speed limit type in this trip.

[0046] In a possible implementation, in the temperature rise gain value determination module, the calculation formula of the total temperature rise gain value of the road type in this trip is:

[0047]

[0048] Among them, K1 is the total temperature rise gain value of the road type in this trip; L is the total mileage of this trip; L 1i is the mileage corresponding to road type i in this trip; k 1i is the temperature rise gain value of road type i in this trip corresponding to the battery starting temperature and the ambient starting temperature; n is the number of road types in this trip;

[0049] The calculation formula for the total temperature rise gain value of the road speed limit type in this trip is:

[0050]

[0051] Among them, K2 is the total temperature rise gain value of the road speed limit type in this trip; L 2j is the mileage corresponding to the road speed limit type j in this trip; k 2j is the temperature rise gain value of road speed limit type j in this trip corresponding to the battery starting temperature and the ambient starting temperature; m is the number of road speed limit types in this trip.

[0052] In a possible implementation manner, the temperature rise gain value determination module is further used to:

[0053] The total temperature rise gain value of the road type in this trip and the total temperature rise gain value of the road speed limit type in this trip are summed to obtain the battery temperature rise gain value of this trip.

[0054] In a possible implementation, the battery end-of-use temperature estimation device further includes a correction module;

[0055] The correction module is used to:

[0056] Get the actual value of the battery's end-of-use temperature at the end of this trip;

[0057] If the absolute value of the difference between the estimated end-of-use temperature of the battery at the end of the current trip and the actual end-of-use temperature of the battery at the end of the current trip is greater than the preset difference, a correction coefficient of the battery temperature rise gain value is calculated according to the actual end-of-use temperature of the battery at the end of the current trip and the estimated end-of-use temperature of the battery at the end of the current trip;

[0058] The battery temperature rise gain value of the next trip is corrected according to the correction coefficient of the battery temperature rise gain value, and the estimated end-of-use temperature of the battery at the end of the next trip is determined according to the corrected battery temperature rise gain value of the next trip.

[0059] In a possible implementation, the correction module is further used to:

[0060] The actual end-of-use temperature of the battery at the end of the trip is divided by the estimated end-of-use temperature of the battery at the end of the trip to obtain a correction coefficient for the battery temperature rise gain value;

[0061] The correction coefficient of the battery temperature rise gain value is multiplied by the battery temperature rise gain value of the next trip to obtain the corrected battery temperature rise gain value of the next trip.

[0062] In a possible implementation, the termination temperature estimation module is used to:

[0063] According to T g =(T h -T q )×K, and calculate the estimated end-of-use temperature of the battery at the end of this trip T g ;

[0064] Among them, T h is the ambient starting temperature; T q is the starting temperature of the battery; K is the battery temperature rise gain value of this trip.

[0065] In a third aspect, the present application provides a terminal comprising a memory, a processor, and a computer program stored in the memory and executable on the processor, wherein when the processor executes the computer program, the steps of the method for estimating the battery end-of-use temperature as described in the first aspect or any possible implementation of the first aspect are implemented.

[0066] In a fourth aspect, an embodiment of the present application provides a vehicle, comprising the terminal as described in the third aspect.

[0067] In a fifth aspect, an embodiment of the present application provides a computer-readable storage medium, which stores a computer program. When the computer program is executed by a processor, it implements the steps of the battery end-of-use temperature estimation method as described in the first aspect or any possible implementation method of the first aspect.

[0068] The embodiments of the present application provide a method, device, vehicle and storage medium for estimating the end-of-use temperature of a battery, by determining a battery temperature rise gain value for this trip based on the trip information, the battery starting temperature for this trip and the ambient starting temperature; determining an estimated end-of-use temperature of the battery at the end of this trip based on the battery temperature rise gain value for this trip, the battery starting temperature for this trip and the ambient starting temperature. The method can be estimated based on the trip information, can adapt to the working conditions of this trip, is independent of special working conditions, and can improve the accuracy of estimating the end-of-use temperature of the battery. BRIEF DESCRIPTION OF THE DRAWINGS

[0069] In order to more clearly illustrate the technical solutions in the embodiments of the present application, the drawings required for use in the embodiments or the description of the prior art will be briefly introduced below. Obviously, the drawings described below are only some embodiments of the present application. For ordinary technicians in this field, other drawings can be obtained based on these drawings without paying creative labor.

[0070] Figure 1 is a flow chart of an implementation method of estimating the end-of-use temperature of a battery provided in an embodiment of the present application;

[0071] Figure 2 is a schematic diagram of the structure of a battery end-of-use temperature estimation device provided in an embodiment of the present application;

[0072] Figure 3 It is a schematic diagram of a terminal provided in an embodiment of the present application. DETAILED DESCRIPTION

[0073] In the following description, specific details such as specific system structures, technologies, etc. are provided for the purpose of illustration rather than limitation, so as to provide a thorough understanding of the embodiments of the present application. However, it should be clear to those skilled in the art that the present application may also be implemented in other embodiments without these specific details. In other cases, detailed descriptions of well-known systems, devices, circuits, and methods are omitted to prevent unnecessary details from obstructing the description of the present application.

[0074] In order to make the purpose, technical solutions and advantages of the present application clearer, specific embodiments will be described below in conjunction with the accompanying drawings.

[0075] See also Figure 1 , which shows a flow chart of the method for estimating the end-of-use temperature of a battery provided in an embodiment of the present application, where the end-of-use temperature is the average temperature of the battery at the end of the vehicle's travel; the method may be performed by a terminal, which may be a vehicle-mounted terminal or a vehicle-mounted controller. The method is described in detail as follows:

[0076] In S101, the current trip information is obtained.

[0077] In this embodiment, in order to estimate the battery's end-of-use temperature at the end of the trip, the trip information is first obtained, and subsequent estimation is performed based on the trip information. This can adapt to the working conditions of the trip and improve the accuracy of the battery's end-of-use temperature at the end of the trip.

[0078] In a possible implementation, the trip information can be obtained through the vehicle navigation system. The vehicle navigation system sends the trip information to the terminal. For example, before the start of the trip, the user enters the destination of the trip in the vehicle navigation system, and the vehicle navigation system automatically plans a route according to the starting point and the destination, and determines the trip information according to the route.

[0079] The trip information is the information that affects the temperature rise level of the battery during the trip. The vehicle's driving conditions such as speed, acceleration, deceleration, ambient temperature, and power consumption of electrical components such as air conditioners will all affect the temperature rise of the battery. The driver's driving habits, road conditions during the trip, etc. will affect the vehicle's driving conditions, and thus affect the temperature rise level of the battery.

[0080] In some embodiments, the trip information includes the total mileage of the trip, the mileage corresponding to each road type in the trip, and the mileage corresponding to each road speed limit type in the trip.

[0081] The road type may be a highway, an urban road, etc. The road speed limit type may be a speed limit of 50 km / h, a speed limit of 100 km / h, etc. The road type and road speed limit type in this trip may be determined according to the driving route of this trip.

[0082] For example, the mileage corresponding to each road type in this trip may include the mileage traveled on expressways and the mileage traveled on city roads in this trip, etc. The mileage corresponding to each road speed limit type in this trip may include the mileage traveled on sections with a speed limit of 50 km / h and the mileage traveled on sections with a speed limit of 100 km / h, etc.

[0083] In S102 , the battery starting temperature and the environment starting temperature of this trip are obtained.

[0084] In this embodiment, the battery management system (BMS) can collect the temperature of the battery and the ambient temperature of the battery in real time. At the beginning of this trip, the collected battery temperature is the battery starting temperature of this trip, and the collected ambient temperature of the battery is the ambient starting temperature of this trip. The battery management system sends the collected battery starting temperature and ambient starting temperature of this trip to the terminal. Among them, the battery starting temperature is the average temperature of several positions of the battery at the beginning of this trip.

[0085] In a possible implementation, the battery starting temperature and the environment starting temperature of the trip may be collected by a temperature sensor.

[0086] In S103 , the battery temperature rise gain value of the current trip is determined according to the current trip information, the battery starting temperature and the ambient starting temperature.

[0087] The temperature of the battery changes during the driving process of the vehicle. In this embodiment, the battery temperature rise gain value can be used to characterize the change. The battery temperature rise gain value of this trip is related to the trip information, the battery starting temperature and the ambient starting temperature. Therefore, this embodiment can determine the battery temperature rise gain value of this trip based on the trip information, the battery starting temperature and the ambient starting temperature.

[0088] In some embodiments, the above S103 may include:

[0089] Determine the temperature rise gain values ​​of each road type in this trip and the temperature rise gain values ​​of each road speed limit type in this trip corresponding to the battery starting temperature and the ambient starting temperature;

[0090] Determine the total temperature rise gain value of the road type in this trip according to the total mileage of this trip, the mileage corresponding to each road type in this trip, and the temperature rise gain value of each road type in this trip corresponding to the battery starting temperature and the ambient starting temperature;

[0091] Determine the total temperature rise gain value of the road speed limit type in this trip according to the total mileage of this trip, the mileage corresponding to each road speed limit type in this trip, and the temperature rise gain value of each road speed limit type in this trip corresponding to the battery starting temperature and the ambient starting temperature;

[0092] The battery temperature rise gain value for this trip is determined based on the total temperature rise gain value of the road type in this trip and the total temperature rise gain value of the road speed limit type in this trip.

[0093] In this embodiment, each road type corresponds to a temperature rise gain value, which is affected by the battery starting temperature and the ambient starting temperature. Each road speed limit type corresponds to a temperature rise gain value, which is affected by the battery starting temperature and the ambient starting temperature.

[0094] Exemplarily, the first table may store the correspondence between the battery starting temperature, the ambient starting temperature, the road type, and the temperature rise gain value. According to the battery starting temperature of this trip, the ambient starting temperature of this trip, and the road types included in this trip, the temperature rise gain value of each road type in this trip can be obtained from the first table.

[0095] The second table may store the correspondence between the battery starting temperature, the ambient starting temperature, the road speed limit type and the temperature rise gain value. According to the battery starting temperature of this trip, the ambient starting temperature of this trip and the various road speed limit types included in this trip, the temperature rise gain value of each road speed limit type in this trip can be obtained from the second table.

[0096] The first table and the second table can be obtained according to pre-training. For example, the first table and the second table can be obtained by fitting training using the least square method based on the calculation formula of the estimated value of the battery's end-of-use temperature according to the training sample set. The training sample set may include multiple training samples, and each training sample may include the actual value of the battery starting temperature, the ambient starting temperature, the battery's end-of-use temperature, and the trip information of the trip, etc., of an actual trip.

[0097] Based on the total mileage of this trip, the mileage corresponding to each road type in this trip, and the temperature rise gain values ​​of each road type in this trip corresponding to the battery starting temperature and the ambient starting temperature, the total temperature rise gain value of the road type in this trip can be calculated; wherein, the proportion of the mileage corresponding to each road type in this trip can be used as the weight coefficient of each road type, and the weighted temperature rise gain value of each road type can be obtained according to the weight coefficient of each road type and the temperature rise gain value of each road type, and then the weighted temperature rise gain values ​​of each road type are summed to obtain the total temperature rise gain value of the road type in this trip.

[0098] Based on the total mileage of this trip, the mileage corresponding to each road speed limit type in this trip, and the temperature rise gain values ​​of each road speed limit type in this trip corresponding to the battery starting temperature and the ambient starting temperature, the total temperature rise gain value of the road speed limit type in this trip can be calculated; wherein, the proportion of the mileage corresponding to each road speed limit type in this trip can be used as the weight coefficient of each road speed limit type, and the weighted temperature rise gain value of each road speed limit type can be obtained according to the weight coefficient of each road speed limit type and the temperature rise gain value of each road speed limit type, and then the weighted temperature rise gain values ​​of each road speed limit type are summed to obtain the total temperature rise gain value of the road speed limit type in this trip.

[0099] The following formula can be used for calculation.

[0100] In some embodiments, the calculation formula for the total temperature rise gain value of the road type in this trip is:

[0101]

[0102] Among them, K1 is the total temperature rise gain value of the road type in this trip; L is the total mileage of this trip; L 1iis the mileage corresponding to road type i in this trip; k 1i is the temperature rise gain value of road type i in this trip corresponding to the battery starting temperature and the ambient starting temperature; n is the number of road types in this trip;

[0103] The calculation formula for the total temperature rise gain value of the road speed limit type in this trip is:

[0104]

[0105] Among them, K2 is the total temperature rise gain value of the road speed limit type in this trip; L 2j is the mileage corresponding to the road speed limit type j in this trip; k 2j is the temperature rise gain value of road speed limit type j in this trip corresponding to the battery starting temperature and the ambient starting temperature; m is the number of road speed limit types in this trip.

[0106] In this embodiment, the road types in this trip can be numbered from 1 to n, and each road type has a corresponding mileage and temperature rise gain value. The road speed limit types in this trip can be numbered from 1 to m, and each road speed limit type has a corresponding mileage and temperature rise gain value.

[0107] In some embodiments, determining the battery temperature rise gain value of the current trip according to the total temperature rise gain value of the road type in the current trip and the total temperature rise gain value of the road speed limit type in the current trip includes:

[0108] The total temperature rise gain value of the road type in this trip and the total temperature rise gain value of the road speed limit type in this trip are summed to obtain the battery temperature rise gain value of this trip.

[0109] In this embodiment, the total temperature rise gain value of the road type in this trip and the total temperature rise gain value of the road speed limit type in this trip are added to obtain the battery temperature rise gain value K of this trip, that is, K=K1+K2.

[0110] In a possible implementation, determining the battery temperature rise gain value for the current trip based on the total temperature rise gain value of the road type and the total temperature rise gain value of the road speed limit type in the current trip includes:

[0111] The total temperature rise gain value of the road type in this trip and the total temperature rise gain value of the road speed limit type in this trip are weightedly summed to obtain the battery temperature rise gain value of this trip.

[0112] In this embodiment, the battery temperature rise gain value K of this trip is K = aK1 + bK2, where a is the weight value of the total temperature rise gain value of the road type in this trip, b is the weight value of the total temperature rise gain value of the road speed limit type in this trip, and a + b = 1. The values ​​of a and b can be set according to actual needs or obtained through training, and are not specifically limited here.

[0113] In S104 , an estimated value of the battery's end-of-use temperature at the end of the current trip is determined based on the battery temperature rise gain value, the battery start temperature, and the ambient start temperature of the current trip.

[0114] The battery end-of-use temperature at the end of the trip is related to the battery temperature rise gain value of the trip, the battery start temperature of the trip, and the ambient start temperature of the trip. Therefore, this embodiment can determine the estimated battery end-of-use temperature at the end of the trip based on the battery temperature rise gain value, the battery start temperature, and the ambient start temperature of the trip.

[0115] In some embodiments, the above S104 may include:

[0116] According to T g =(T h -T q )×K, and calculate the estimated end-of-use temperature of the battery at the end of this trip T g ;

[0117] Among them, T h is the ambient starting temperature; T q is the starting temperature of the battery; K is the battery temperature rise gain value of this trip.

[0118] The embodiment of the present application determines the battery temperature rise gain value of the current trip according to the current trip information, the battery starting temperature of the current trip, and the ambient starting temperature; determines the estimated value of the battery's end-of-use temperature at the end of the current trip according to the battery temperature rise gain value of the current trip, the battery starting temperature of the current trip, and the ambient starting temperature. The estimation can be performed based on the current trip information, can adapt to the working conditions of the current trip, is independent of special working conditions, and can improve the accuracy of the estimation of the battery's end-of-use temperature.

[0119] In some embodiments, after S104, the battery end-of-use temperature estimation method may further include:

[0120] Get the actual value of the battery's end-of-use temperature at the end of this trip;

[0121] If the absolute value of the difference between the estimated end-of-use temperature of the battery at the end of the current trip and the actual end-of-use temperature of the battery at the end of the current trip is greater than the preset difference, a correction coefficient of the battery temperature rise gain value is calculated according to the actual end-of-use temperature of the battery at the end of the current trip and the estimated end-of-use temperature of the battery at the end of the current trip;

[0122] The battery temperature rise gain value of the next trip is corrected according to the correction coefficient of the battery temperature rise gain value, and the estimated end-of-use temperature of the battery at the end of the next trip is determined according to the corrected battery temperature rise gain value of the next trip.

[0123] In this embodiment, the actual value of the battery's end-of-use temperature at the end of the current trip may be collected through the BMS or a temperature sensor.

[0124] The absolute value of the difference between the estimated end-of-use temperature of the battery at the end of this trip and the actual end-of-use temperature of the battery at the end of this trip is calculated. If the absolute value is not greater than the preset difference, it is considered that this estimation is relatively accurate, and the same method can be used for the next estimation without correction.

[0125] If the absolute value is greater than the preset difference, it is considered that the estimation error is large, and the correction coefficient of the battery temperature rise gain value can be calculated based on the actual value of the battery's end-of-use temperature at the end of this trip and the estimated value of the battery's end-of-use temperature at the end of this trip. When estimating the battery's end-of-use temperature for the next trip, first obtain the next trip information, obtain the battery's starting temperature and the ambient starting temperature for the next trip, and determine the battery's temperature rise gain value for the next trip based on the next trip information, the battery's starting temperature and the ambient starting temperature for the next trip; then, according to the correction coefficient of the battery's temperature rise gain value, correct the battery's temperature rise gain value for the next trip to obtain the corrected battery's temperature rise gain value for the next trip; finally, determine the estimated value of the battery's end-of-use temperature at the end of the next trip based on the corrected battery's temperature rise gain value for the next trip, the battery's starting temperature and the ambient starting temperature for the next trip.

[0126] The preset difference can be set according to actual needs, for example, it can be 2°C.

[0127] Among them, the reason for the estimation error this time is related to the first table and the second table obtained by the fitting training in the early stage. In the early stage of fitting training, due to insufficient training samples or other reasons, there may be errors in the first table and the second table obtained by fitting training, thus causing errors in this estimation. This error has nothing to do with the information of this trip. Therefore, when correcting the battery temperature rise gain value of the next trip, there is no need to ensure that the next trip information is consistent with the current trip information.

[0128] In some embodiments, the correction coefficient of the battery temperature rise gain value is calculated based on the actual end-of-use temperature of the battery at the end of the current trip and the estimated end-of-use temperature of the battery at the end of the current trip, including:

[0129] The actual value of the battery's end-of-use temperature at the end of the trip is divided by the estimated value of the battery's end-of-use temperature at the end of the trip to obtain a correction coefficient for the battery temperature rise gain value.

[0130] Accordingly, the battery temperature rise gain value of the next trip is corrected according to the correction coefficient of the battery temperature rise gain value, including:

[0131] The correction coefficient of the battery temperature rise gain value is multiplied by the battery temperature rise gain value of the next trip to obtain the corrected battery temperature rise gain value of the next trip.

[0132] In this embodiment, the correction coefficient of the battery temperature rise gain value = the actual value of the battery end-of-use temperature at the end of this trip / the estimated value of the battery end-of-use temperature at the end of this trip. The corrected battery temperature rise gain value for the next trip = the correction coefficient of the battery temperature rise gain value * the battery temperature rise gain value for the next trip.

[0133] Among them, another method can also be used to calculate the corrected battery temperature rise gain value for the next trip, as follows:

[0134] In a possible implementation, the correction coefficient of the battery temperature rise gain value is calculated based on the actual value of the battery end-of-use temperature at the end of the current trip and the estimated value of the battery end-of-use temperature at the end of the current trip, including:

[0135] The absolute value of the difference between the estimated battery end-of-use temperature at the end of the trip and the actual battery end-of-use temperature at the end of the trip is calculated, and the absolute value is divided by the estimated battery end-of-use temperature at the end of the trip to obtain the correction coefficient of the battery temperature rise gain value.

[0136] Accordingly, the battery temperature rise gain value of the next trip is corrected according to the correction coefficient of the battery temperature rise gain value, including:

[0137] If the estimated end-of-use temperature of the battery at the end of this trip is greater than the actual end-of-use temperature of the battery at the end of this trip, then the corrected battery temperature rise gain value for the next trip = the battery temperature rise gain value for the next trip * (1-correction coefficient of the battery temperature rise gain value);

[0138] If the estimated end-of-use temperature of the battery at the end of this trip is less than the actual end-of-use temperature of the battery at the end of this trip, then the corrected battery temperature rise gain value for the next trip = the battery temperature rise gain value for the next trip * (1 + correction coefficient of the battery temperature rise gain value).

[0139] In this embodiment, the battery temperature rise gain value of the next trip can be corrected according to the correction coefficient of the battery temperature rise gain value, so as to further improve the accuracy of the estimated value of the battery's end-of-use temperature.

[0140] The accuracy of the battery end-of-use temperature estimation depends on factors such as current, battery starting temperature, ambient temperature and current trip mileage. Among them, the current trip mileage is a relatively important factor in the battery end-of-use temperature estimation, which can realize adaptive estimation of temperature.

[0141] This embodiment can perform online estimation of temperature changes under different driving conditions on any planned driving route, and further estimate the battery's end-of-use temperature under driving conditions of different roads and traffic environments, which is beneficial for formulating other control strategies based on the end-of-use temperature.

[0142] It should be understood that the size of the serial numbers of the steps in the above embodiments does not mean the order of execution. The execution order of each process should be determined by its function and internal logic, and should not constitute any limitation on the implementation process of the embodiments of the present application.

[0143] The following is an embodiment of the device of the present application. For details not described in detail, please refer to the corresponding method embodiment described above.

[0144] Figure 2 The schematic diagram of the structure of the battery end-of-use temperature estimation device provided in the embodiment of the present application is shown. For the convenience of explanation, only the part related to the embodiment of the present application is shown, which is described in detail as follows:

[0145] like Figure 2 As shown, the battery end-of-use temperature estimation device 30 includes: a first acquisition module 31 , a second acquisition module 32 , a temperature rise gain value determination module 33 and a use end temperature estimation module 34 .

[0146] The first acquisition module 31 is used to acquire the current trip information;

[0147] The second acquisition module 32 is used to obtain the battery starting temperature and the environment starting temperature of this trip;

[0148] A temperature rise gain value determination module 33 is used to determine the battery temperature rise gain value of this trip according to the current trip information, the battery starting temperature and the ambient starting temperature;

[0149] The use termination temperature estimation module 34 is used to determine the estimated value of the battery use termination temperature at the end of the current trip according to the battery temperature rise gain value, the battery starting temperature and the environment starting temperature of the current trip.

[0150] In the embodiment of the present application, a temperature rise gain value determination module is used to determine the battery temperature rise gain value of the current trip according to the current trip information, the battery starting temperature of the current trip, and the ambient starting temperature; and a use termination temperature estimation module is used to determine the battery use termination temperature estimation value at the end of the current trip according to the battery temperature rise gain value of the current trip, the battery starting temperature of the current trip, and the ambient starting temperature. The estimation can be performed based on the current trip information, can adapt to the working conditions of the current trip, is independent of special working conditions, and can improve the accuracy of the estimation of the battery use termination temperature.

[0151] In a possible implementation, the trip information includes the total mileage of the trip, the mileage corresponding to each road type in the trip, and the mileage corresponding to each road speed limit type in the trip;

[0152] The temperature rise gain value determination module 33 is specifically used for:

[0153] Determine the temperature rise gain values ​​of each road type in this trip and the temperature rise gain values ​​of each road speed limit type in this trip corresponding to the battery starting temperature and the ambient starting temperature;

[0154] Determine the total temperature rise gain value of the road type in this trip according to the total mileage of this trip, the mileage corresponding to each road type in this trip, and the temperature rise gain value of each road type in this trip corresponding to the battery starting temperature and the ambient starting temperature;

[0155] Determine the total temperature rise gain value of the road speed limit type in this trip according to the total mileage of this trip, the mileage corresponding to each road speed limit type in this trip, and the temperature rise gain value of each road speed limit type in this trip corresponding to the battery starting temperature and the ambient starting temperature;

[0156] The battery temperature rise gain value for this trip is determined based on the total temperature rise gain value of the road type in this trip and the total temperature rise gain value of the road speed limit type in this trip.

[0157] In a possible implementation, in the temperature rise gain value determination module 33, the calculation formula of the total temperature rise gain value of the road type in this trip is:

[0158]

[0159] Among them, K1 is the total temperature rise gain value of the road type in this trip; L is the total mileage of this trip; L 1iis the mileage corresponding to road type i in this trip; k 1i is the temperature rise gain value of road type i in this trip corresponding to the battery starting temperature and the ambient starting temperature; n is the number of road types in this trip;

[0160] The calculation formula for the total temperature rise gain value of the road speed limit type in this trip is:

[0161]

[0162] Among them, K2 is the total temperature rise gain value of the road speed limit type in this trip; L 2j is the mileage corresponding to the road speed limit type j in this trip; k 2j is the temperature rise gain value of road speed limit type j in this trip corresponding to the battery starting temperature and the ambient starting temperature; m is the number of road speed limit types in this trip.

[0163] In a possible implementation, the temperature rise gain value determination module 33 may also be used to:

[0164] The total temperature rise gain value of the road type in this trip and the total temperature rise gain value of the road speed limit type in this trip are summed to obtain the battery temperature rise gain value of this trip.

[0165] In a possible implementation, the battery end-of-use temperature estimation device 30 may further include: a correction module.

[0166] The correction module can be used to:

[0167] Get the actual value of the battery's end-of-use temperature at the end of this trip;

[0168] If the absolute value of the difference between the estimated end-of-use temperature of the battery at the end of the current trip and the actual end-of-use temperature of the battery at the end of the current trip is greater than the preset difference, a correction coefficient of the battery temperature rise gain value is calculated according to the actual end-of-use temperature of the battery at the end of the current trip and the estimated end-of-use temperature of the battery at the end of the current trip;

[0169] The battery temperature rise gain value of the next trip is corrected according to the correction coefficient of the battery temperature rise gain value, and the estimated end-of-use temperature of the battery at the end of the next trip is determined according to the corrected battery temperature rise gain value of the next trip.

[0170] In a possible implementation, the correction module may also be used to:

[0171] The actual end-of-use temperature of the battery at the end of the trip is divided by the estimated end-of-use temperature of the battery at the end of the trip to obtain a correction coefficient for the battery temperature rise gain value;

[0172] The correction coefficient of the battery temperature rise gain value is multiplied by the battery temperature rise gain value of the next trip to obtain the corrected battery temperature rise gain value of the next trip.

[0173] In a possible implementation, the termination temperature estimation module 34 is used to:

[0174] According to T g =(T h -T q )×K, and calculate the estimated end-of-use temperature of the battery at the end of this trip T g ;

[0175] Among them, T h is the ambient starting temperature; T q is the starting temperature of the battery; K is the battery temperature rise gain value of this trip.

[0176] The present application also provides a computer program product having a program code, which executes the steps of any of the above-mentioned battery end-of-use temperature estimation methods when the program code is executed in a corresponding processor, controller, computing device or terminal, such as Figure 1 S101 to S104 shown. Those skilled in the art will appreciate that the methods and devices proposed in the embodiments of the present application can be implemented in various forms of hardware, software, firmware, a dedicated processor or a combination thereof. A dedicated processor may include an application specific integrated circuit (ASIC), a reduced instruction set computer (RISC) and / or a field programmable gate array (FPGA). The proposed method and device are preferably implemented as a combination of hardware and software. The software is preferably installed on a program storage device as an application. It is typically based on a machine with a computer platform having hardware, such as one or more central processing units (CPUs), random access memories (RAMs) and one or more input / output (I / O) interfaces. An operating system is typically also installed on the computer platform. The various processes and functions described herein may be part of an application, or a portion thereof may be executed by an operating system.

[0177] Figure 3 is a schematic diagram of a terminal provided in an embodiment of the present application. Figure 3 As shown, the terminal 4 of this embodiment includes: a processor 40, a memory 41, and a computer program 42 stored in the memory 41 and executable on the processor 40. When the processor 40 executes the computer program 42, the steps in the above-mentioned battery end-of-use temperature estimation method embodiments are implemented, such as Figure 1 Alternatively, when the processor 40 executes the computer program 42, the functions of each module / unit in the above-mentioned device embodiments are realized, for example, Figure 2 Functionality of the modules / units 31 to 34 shown.

[0178] Exemplarily, the computer program 42 may be divided into one or more modules / units, which are stored in the memory 41 and executed by the processor 40 to complete / implement the solution provided by the present application. The one or more modules / units may be a series of computer program instruction segments that can complete specific functions, and the instruction segments are used to describe the execution process of the computer program 42 in the terminal 4. For example, the computer program 42 may be divided into Figure 2 Modules / units 31 to 34 are shown.

[0179] The terminal 4 may be a computing device such as a vehicle-mounted terminal or a vehicle-mounted controller. The terminal 4 may include, but is not limited to, a processor 40 and a memory 41. Those skilled in the art will appreciate that Figure 3 It is only an example of terminal 4 and does not constitute a limitation on terminal 4. It may include more or fewer components than shown in the figure, or a combination of certain components, or different components. For example, the terminal may also include input and output devices, network access devices, buses, etc.

[0180] The processor 40 may be a central processing unit (CPU), or other general-purpose processors, digital signal processors (DSP), application-specific integrated circuits (ASIC), field-programmable gate arrays (FPGA) or other programmable logic devices, discrete gate or transistor logic devices, discrete hardware components, etc. A general-purpose processor may be a microprocessor or any conventional processor, etc.

[0181] The memory 41 may be an internal storage unit of the terminal 4, such as a hard disk or memory of the terminal 4. The memory 41 may also be an external storage device of the terminal 4, such as a plug-in hard disk, a smart media card (SMC), a secure digital (SD) card, a flash card, etc. equipped on the terminal 4. Further, the memory 41 may also include both an internal storage unit and an external storage device of the terminal 4. The memory 41 is used to store the computer program and other programs and data required by the terminal. The memory 41 may also be used to temporarily store data that has been output or is to be output.

[0182] Corresponding to the above-mentioned terminal 4 , an embodiment of the present application further provides a vehicle, comprising the above-mentioned terminal 4 .

[0183] The technicians in the relevant field can clearly understand that for the convenience and simplicity of description, only the division of the above-mentioned functional units and modules is used as an example for illustration. In practical applications, the above-mentioned function allocation can be completed by different functional units and modules as needed, that is, the internal structure of the device can be divided into different functional units or modules to complete all or part of the functions described above. The functional units and modules in the embodiment can be integrated in a processing unit, or each unit can exist physically separately, or two or more units can be integrated in one unit. The above-mentioned integrated unit can be implemented in the form of hardware or in the form of software functional units. In addition, the specific names of the functional units and modules are only for the convenience of distinguishing each other, and are not used to limit the scope of protection of this application. The specific working process of the units and modules in the above-mentioned system can refer to the corresponding process in the aforementioned method embodiment, which will not be repeated here.

[0184] In the above embodiments, the description of each embodiment has its own emphasis. For parts that are not described or recorded in detail in a certain embodiment, reference can be made to the relevant descriptions of other embodiments.

[0185] Those of ordinary skill in the art will appreciate that the units and algorithm steps of each example described in conjunction with the embodiments disclosed herein can be implemented in electronic hardware, or a combination of computer software and electronic hardware. Whether these functions are performed in hardware or software depends on the specific application and design constraints of the technical solution. Professional and technical personnel can use different methods to implement the described functions for each specific application, but such implementation should not be considered to be beyond the scope of this application.

[0186] In the embodiments provided in the present application, it should be understood that the disclosed devices / terminals and methods can be implemented in other ways. For example, the device / terminal embodiments described above are only schematic. For example, the division of the modules or units is only a logical function division. There may be other division methods in actual implementation, such as multiple units or components can be combined or integrated into another system, or some features can be ignored or not executed. Another point is that the mutual coupling or direct coupling or communication connection shown or discussed can be through some interfaces, indirect coupling or communication connection of devices or units, which can be electrical, mechanical or other forms.

[0187] The units described as separate components may or may not be physically separated, and the components shown as units may or may not be physical units, that is, they may be located in one place or distributed on multiple network units. Some or all of the units may be selected according to actual needs to achieve the purpose of the solution of this embodiment.

[0188] In addition, each functional unit in each embodiment of the present application may be integrated into one processing unit, or each unit may exist physically separately, or two or more units may be integrated into one unit. The above-mentioned integrated unit may be implemented in the form of hardware or in the form of software functional units.

[0189] If the integrated module / unit is implemented in the form of a software functional unit and sold or used as an independent product, it can be stored in a computer-readable storage medium. Based on this understanding, the present application implements all or part of the processes in the above-mentioned embodiment method, and can also be completed by instructing the relevant hardware through a computer program. The computer program can be stored in a computer-readable storage medium. When the computer program is executed by the processor, the steps of the above-mentioned battery end-of-use temperature estimation method embodiment can be implemented. Among them, the computer program includes computer program code, and the computer program code can be in source code form, object code form, executable file or some intermediate form. The computer-readable medium may include: any entity or device that can carry the computer program code, recording medium, U disk, mobile hard disk, disk, optical disk, computer memory, read-only memory (ROM), random access memory (RAM), electrical carrier signal, telecommunication signal and software distribution medium. It should be noted that the content contained in the computer-readable medium can be appropriately increased or decreased according to the requirements of legislation and patent practices in the jurisdiction. For example, in some jurisdictions, according to legislation and patent practices, computer-readable media does not include electrical carrier signals and telecommunication signals.

[0190] In addition, the features of the embodiments shown in the drawings of the present application or the various embodiments mentioned in this specification are not necessarily understood as independent embodiments. Instead, each feature described in one example of an embodiment can be combined with one or more other desired features from other embodiments to produce other embodiments not described in words or with reference to the drawings.

[0191] The embodiments described above are only used to illustrate the technical solutions of the present application, rather than to limit them. Although the present application has been described in detail with reference to the aforementioned embodiments, a person skilled in the art should understand that the technical solutions described in the aforementioned embodiments may still be modified, or some of the technical features may be replaced by equivalents. Such modifications or replacements do not deviate the essence of the corresponding technical solutions from the spirit and scope of the technical solutions of the embodiments of the present application, and should all be included in the protection scope of the present application.

Claims

1. A method for estimating the end-of-use temperature of a battery, characterized in that: include: Get the information of this trip; Get the battery starting temperature and ambient starting temperature of this trip; Determine the battery temperature rise gain value for this trip according to the trip information, the battery starting temperature and the ambient starting temperature; Determine an estimated end-of-use temperature of the battery at the end of the trip according to the battery temperature rise gain value of the trip, the battery starting temperature and the ambient starting temperature; The trip information includes the total mileage of the trip, the mileage corresponding to each road type in the trip, and the mileage corresponding to each road speed limit type in the trip; The determining the battery temperature rise gain value of the current trip according to the current trip information, the battery starting temperature and the ambient starting temperature includes: Determine the temperature rise gain values ​​of each road type in the current trip and the temperature rise gain values ​​of each road speed limit type in the current trip corresponding to the battery starting temperature and the environment starting temperature; Determine the total temperature rise gain value of the road type in the current trip according to the total mileage of the current trip, the mileage corresponding to each road type in the current trip, and the temperature rise gain value of each road type in the current trip corresponding to the battery starting temperature and the ambient starting temperature; Determine the total temperature rise gain value of the road speed limit type in the current trip according to the total mileage of the current trip, the mileage corresponding to each road speed limit type in the current trip, and the temperature rise gain value of each road speed limit type in the current trip corresponding to the battery starting temperature and the ambient starting temperature; Determine the battery temperature rise gain value for the current trip according to the total temperature rise gain value of the road type in the current trip and the total temperature rise gain value of the road speed limit type in the current trip; The calculation formula for the total temperature rise gain value of the road type in this trip is: Wherein, K1 is the total temperature rise gain value of the road type in the current trip; L is the total mileage of the current trip; L 1i is the mileage corresponding to road type i in this trip; k 1i is the temperature rise gain value of road type i in this trip corresponding to the battery starting temperature and the environment starting temperature; n is the number of road types in this trip; The calculation formula for the total temperature rise gain value of the road speed limit type in this trip is: Wherein, K2 is the total temperature rise gain value of the road speed limit type in the current trip; L 2j is the mileage corresponding to the road speed limit type j in this trip; k 2j is the temperature rise gain value of road speed limit type j in this trip corresponding to the battery starting temperature and the ambient starting temperature; m is the number of road speed limit types in this trip.

2. The method for estimating the end-of-use temperature of a battery according to claim 1, characterized in that: Determining the battery temperature rise gain value of the current trip according to the total temperature rise gain value of the road type in the current trip and the total temperature rise gain value of the road speed limit type in the current trip includes: The total temperature rise gain value of the road type in the current trip and the total temperature rise gain value of the road speed limit type in the current trip are summed to obtain the battery temperature rise gain value of the current trip.

3. The method for estimating the end-of-use temperature of a battery according to claim 1, characterized in that: After determining the estimated value of the battery end-of-use temperature at the end of the trip according to the battery temperature rise gain value of the trip, the battery start temperature and the environment start temperature, the method further includes: Get the actual value of the battery's end-of-use temperature at the end of this trip; If the absolute value of the difference between the estimated end-of-use temperature of the battery at the end of the current trip and the actual end-of-use temperature of the battery at the end of the current trip is greater than a preset difference, a correction coefficient of the battery temperature rise gain value is calculated according to the actual end-of-use temperature of the battery at the end of the current trip and the estimated end-of-use temperature of the battery at the end of the current trip; The battery temperature rise gain value of the next trip is corrected according to the correction coefficient of the battery temperature rise gain value, and the estimated value of the battery end-of-use temperature at the end of the next trip is determined according to the corrected battery temperature rise gain value of the next trip.

4. The method for estimating the end-of-use temperature of a battery according to claim 3, characterized in that: The calculation of the correction coefficient of the battery temperature rise gain value according to the actual value of the battery end-of-use temperature at the end of the current trip and the estimated value of the battery end-of-use temperature at the end of the current trip includes: The actual value of the battery's end-of-use temperature at the end of the current trip is divided by the estimated value of the battery's end-of-use temperature at the end of the current trip to obtain a correction coefficient for the battery temperature rise gain value; The step of correcting the battery temperature rise gain value for the next trip according to the correction coefficient of the battery temperature rise gain value includes: The correction coefficient of the battery temperature rise gain value is multiplied by the battery temperature rise gain value of the next trip to obtain a corrected battery temperature rise gain value of the next trip.

5. The method for estimating the end-of-use temperature of a battery according to any one of claims 1 to 4, characterized in that: The determining of the estimated value of the battery end-of-use temperature at the end of the current trip according to the battery temperature rise gain value of the current trip, the battery starting temperature and the ambient starting temperature includes: According to T g =(T h -T q )×K, and calculate the estimated end-of-use temperature of the battery at the end of this trip T g ; Among them, T h is the starting temperature of the environment; T q is the starting temperature of the battery; K is the battery temperature rise gain value of this trip.

6. A battery end-of-use temperature estimation device, characterized in that: include: The first acquisition module is used to acquire the current trip information; the current trip information includes the total mileage of the current trip, the mileage corresponding to each road type in the current trip, and the mileage corresponding to each road speed limit type in the current trip; The second acquisition module is used to obtain the battery starting temperature and the environment starting temperature of this trip; A temperature rise gain value determination module, used to determine the battery temperature rise gain value of this trip according to the current trip information, the battery starting temperature and the ambient starting temperature; A use termination temperature estimation module is used to determine an estimated use termination temperature of the battery at the end of the current trip according to the battery temperature rise gain value of the current trip, the battery starting temperature and the ambient starting temperature; The temperature rise gain value determination module is specifically used for: Determine the temperature rise gain values ​​of each road type in the current trip and the temperature rise gain values ​​of each road speed limit type in the current trip corresponding to the battery starting temperature and the environment starting temperature; According to the total mileage of the trip, the mileage corresponding to each road type in the trip, and the temperature rise gain value of each road type in the trip corresponding to the battery starting temperature and the ambient starting temperature, the total temperature rise gain value of the road type in the trip is determined; the calculation formula of the total temperature rise gain value of the road type in the trip is: Wherein, K1 is the total temperature rise gain value of the road type in the current trip; L is the total mileage of the current trip; L 1i is the mileage corresponding to road type i in this trip; k 1i is the temperature rise gain value of road type i in this trip corresponding to the battery starting temperature and the environment starting temperature; n is the number of road types in this trip; According to the total mileage of the trip, the mileage corresponding to each road speed limit type in the trip, and the temperature rise gain value of each road speed limit type in the trip corresponding to the battery starting temperature and the ambient starting temperature, the total temperature rise gain value of the road speed limit type in the trip is determined; the calculation formula of the total temperature rise gain value of the road speed limit type in the trip is: Wherein, K2 is the total temperature rise gain value of the road speed limit type in the current trip; L 2j is the mileage corresponding to the road speed limit type j in this trip; k 2j is the temperature rise gain value of the road speed limit type j in this trip corresponding to the battery starting temperature and the ambient starting temperature; m is the number of road speed limit types in this trip; The battery temperature rise gain value for the current trip is determined according to the total temperature rise gain value of the road type in the current trip and the total temperature rise gain value of the road speed limit type in the current trip.

7. A vehicle, characterized in that: The vehicle includes a terminal; the terminal includes a memory, a processor, and a computer program stored in the memory and executable on the processor, and when the processor executes the computer program, the steps of the battery end-of-use temperature estimation method as described in any one of claims 1 to 5 are implemented.

8. A computer-readable storage medium storing a computer program, characterized in that: When the computer program is executed by a processor, the steps of the method for estimating the end-of-use temperature of a battery as claimed in any one of claims 1 to 5 are implemented.

Images