A method, device and vehicle for estimating remaining capacity of a power battery

Abstract

The present invention discloses a method, device and vehicle for estimating the remaining capacity of a power battery, and belongs to the technical field of power battery control. When receiving a request for estimating the remaining capacity of a power battery, the present invention executes a judgment strategy for starting a remaining capacity estimation function, obtains power battery related parameters, and executes a power battery remaining capacity estimation strategy according to the power battery related parameters to obtain the remaining capacity of the power battery, thereby effectively solving the problems of complex electrochemical model modeling and excessive data-driven computing power, and can be widely used in power battery management systems under lithium-ion battery systems.

Description

Technical Field

[0001] The invention discloses a method, a device and a vehicle for estimating the remaining capacity of a power battery, and belongs to the technical field of power battery control. Background Art

[0002] With the increasing popularity of new energy vehicles, the safety issues of power lithium-ion batteries have become increasingly prominent. Among them, the estimated remaining battery capacity is an important parameter of battery health and a direct reflection of the life of the power battery.

[0003] In the related technology, the remaining capacity of the battery is mainly divided into two categories: model estimation based on electrochemical model and data-driven estimation model. Among them, electrochemical model estimation requires accurate model establishment, but the chemical model itself is variable, which makes this method more complicated and ineffective; data-driven estimation models rely more on high-computing controllers or cloud big data for effective data training and data generation, and cannot be effectively applied to new energy vehicle controllers.

[0004] Therefore, how to design a battery capacity estimation algorithm that reduces the amount of calculation and is accurate and reliable has become a difficult problem that needs to be solved urgently. Summary of the invention

[0005] In view of the defects of the prior art, the present invention proposes a method, device and vehicle for estimating the remaining capacity of a power battery, which solve the problems that the battery remaining capacity estimation method is highly complex, has unclear effect and cannot be effectively applied to the controller of a new energy vehicle.

[0006] The technical solution of the present invention is as follows:

[0007] According to a first aspect of an embodiment of the present invention, a method for estimating remaining capacity of a power battery is provided, comprising:

[0008] When receiving a request to estimate the remaining capacity of the power battery, executing the remaining capacity estimation function to start the judgment strategy;

[0009] The power battery related parameters are obtained, and the power battery remaining capacity estimation strategy is executed according to the power battery related parameters to obtain the power battery remaining capacity.

[0010] Preferably, the power battery related parameters include: OCV parameters, real-time battery cell voltage, real-time battery cell temperature and real-time battery cell current of the power battery.

[0011] Preferably, the remaining capacity estimation function activation judgment strategy includes:

[0012] Get the ampere-hour integration time, and determine whether it is less than the ampere-hour integration count limit based on the ampere-hour integration time:

[0013] Yes, proceed to the next step;

[0014] No, turn off the remaining capacity estimation function;

[0015] Obtain the actual relative ampere-hour integral count value, and determine whether the actual relative ampere-hour integral count value is less than the relative ampere-hour integral count limit value according to the actual relative ampere-hour integral count value:

[0016] Yes, proceed to the next step;

[0017] No, turn off the remaining capacity estimation function;

[0018] Get the battery SOC valid flag and determine whether it is valid:

[0019] Yes, proceed to the next step;

[0020] No, turn off the remaining capacity estimation function;

[0021] Obtain the actual relative ampere-hour integral count value, and determine whether the actual relative ampere-hour integral count value is less than the relative ampere-hour integral count limit value according to the actual relative ampere-hour integral count value:

[0022] Yes, proceed to the next step;

[0023] No, turn off the remaining capacity estimation function.

[0024] Preferably, the power battery remaining capacity estimation strategy includes:

[0025] The remaining capacity of the power battery is obtained by using the OCV parameter, real-time battery cell voltage, real-time battery cell temperature and real-time battery cell current of the power battery through formula (1):

[0026]

[0027] Where: x 1 、x 2 、x 3 and x 4 They are the OCV parameters, real-time cell voltage, real-time cell temperature and real-time cell current of the power battery, y is the remaining capacity of the power battery, c is i is the parameter of the first fast convergence result, c 1 、c 2 、c 3 and c 4 are 0.633, 0.583, 0.264 and -0.045 respectively, σ is the parameter of the second fastest convergence result, σ 1 , σ 2 , σ 3 and σ 4 They are -3.591, -2.153, 2.911 and 3.255 respectively, q iThe weight coefficient for improving accuracy, q 1 ,q 2 ,q 3 and q 4 They are 1.650, 0.832, -1.091 and 0.024 respectively.

[0028] According to a second aspect of an embodiment of the present invention, there is provided a device for estimating remaining capacity of a power battery, comprising:

[0029] A judgment module, configured to execute a judgment strategy for starting a remaining capacity estimation function when receiving a request for estimating the remaining capacity of a power battery;

[0030] The estimation module is used to obtain power battery related parameters, and execute the power battery remaining capacity estimation strategy according to the power battery related parameters to obtain the power battery remaining capacity.

[0031] Preferably, the judging module is used to:

[0032] Get the ampere-hour integration time, and determine whether it is less than the ampere-hour integration count limit based on the ampere-hour integration time:

[0033] Yes, proceed to the next step;

[0034] No, turn off the remaining capacity estimation function;

[0035] Obtain the actual relative ampere-hour integral count value, and determine whether the actual relative ampere-hour integral count value is less than the relative ampere-hour integral count limit value according to the actual relative ampere-hour integral count value:

[0036] Yes, proceed to the next step;

[0037] No, turn off the remaining capacity estimation function;

[0038] Get the battery SOC valid flag and determine whether it is valid:

[0039] Yes, proceed to the next step;

[0040] No, turn off the remaining capacity estimation function;

[0041] Obtain the actual relative ampere-hour integral count value, and determine whether the actual relative ampere-hour integral count value is less than the relative ampere-hour integral count limit value according to the actual relative ampere-hour integral count value:

[0042] Yes, proceed to the next step;

[0043] No, turn off the remaining capacity estimation function.

[0044] Preferably, the estimation module is used for:

[0045] The remaining capacity of the power battery is obtained by using the OCV parameter, real-time battery cell voltage, real-time battery cell temperature and real-time battery cell current of the power battery through formula (1):

[0046]

[0047] Where: x 1 、x 2 、x 3 and x 4 They are the OCV parameters, real-time cell voltage, real-time cell temperature and real-time cell current of the power battery, y is the remaining capacity of the power battery, c is i is the parameter of the first fast convergence result, c 1 、c 2 、c 3 and c 4 are 0.633, 0.583, 0.264 and -0.045 respectively, σ is the parameter of the second fastest convergence result, σ 1 , σ 2 , σ 3 and σ 4 They are -3.591, -2.153, 2.911 and 3.255 respectively, q i The weight coefficient for improving accuracy, q 1 ,q 2 ,q 3 and q 4 They are 1.650, 0.832, -1.091 and 0.024 respectively.

[0048] According to a third aspect of an embodiment of the present invention, there is provided a vehicle, comprising:

[0049] one or more processors;

[0050] a memory for storing the one or more processor-executable instructions;

[0051] Wherein, the one or more processors are configured to:

[0052] Execute the method described in the first aspect of the embodiment of the present invention.

[0053] According to a fourth aspect of an embodiment of the present invention, a non-temporary computer-readable storage medium is provided. When instructions in the storage medium are executed by a processor of a terminal, the terminal is enabled to execute the method described in the first aspect of the embodiment of the present invention.

[0054] According to a fifth aspect of an embodiment of the present invention, an application product is provided. When the application product is running on a terminal, the terminal executes the method described in the first aspect of the embodiment of the present invention.

[0055] The beneficial effects of the present invention are:

[0056] The present invention proposes a method, device and vehicle for estimating the remaining capacity of a power battery. When a request for estimating the remaining capacity of a power battery is received, a judgment strategy for starting the remaining capacity estimation function is executed to obtain power battery related parameters, and a power battery remaining capacity estimation strategy is executed according to the power battery related parameters to obtain the power battery remaining capacity. This effectively solves the problems of complex electrochemical model modeling and excessive data-driven computing power, and can be widely used in power battery management systems under lithium-ion battery systems.

[0057] It is to be understood that the foregoing general description and the following detailed description are exemplary and explanatory only and are not restrictive of the invention. BRIEF DESCRIPTION OF THE DRAWINGS

[0058] Figure 1 The present invention is a flow chart of a method for estimating the remaining capacity of a power battery according to an exemplary embodiment.

[0059] Figure 2 The present invention is a flowchart of a method for estimating the remaining capacity of a power battery according to an exemplary embodiment.

[0060] Figure 3 The present invention is a schematic block diagram of a structure of a power battery remaining capacity estimation device according to an exemplary embodiment. DETAILED DESCRIPTION

[0061] The technical solution of the present invention will be described clearly and completely below in conjunction with the accompanying drawings. Obviously, the described embodiments are only part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of the present invention.

[0062] In the description of the present invention, it should be noted that the terms "center", "up", "down", "left", "right", "vertical", "horizontal", "inside", "outside", etc. indicate directions or positional relationships based on the directions or positional relationships shown in the accompanying drawings. They are only for the convenience of describing the present invention and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific direction, be constructed and operated in a specific direction. Therefore, they cannot be understood as limitations on the present invention.

[0063] In the description of the present invention, it should be noted that, unless otherwise clearly specified and limited, the terms "installed", "connected", and "connected" should be understood in a broad sense, for example, it can be a fixed connection, a detachable connection, or an integral connection; it can be a mechanical connection or an electrical connection; it can be a direct connection, or it can be indirectly connected through an intermediate medium, or it can be the internal communication of two components. For ordinary technicians in this field, the specific meanings of the above terms in the present invention can be understood according to specific circumstances.

[0064] Embodiment 1

[0065] Figure 1 The present invention is a flow chart of a method for estimating the remaining capacity of a power battery according to an exemplary embodiment. The method is used in a terminal, and the method includes the following steps:

[0066] Step 101 : when receiving a request for estimating the remaining capacity of a power battery, executing a remaining capacity estimation function start-up judgment strategy.

[0067] The above remaining capacity estimation function starts the judgment strategy, such as Figure 2 As shown, the specific steps are as follows:

[0068] Since the absolute ampere-hour integral count is obtained by integrating the collected current over time, it is compared with the set limit to exclude the situation where the current is too large due to invalid current collection by the current collection module. In this case, the remaining capacity calculation is not performed. Therefore, the ampere-hour integral time is obtained, and it is determined whether it is less than the ampere-hour integral count limit according to the ampere-hour integral time:

[0069] Yes, proceed to the next step;

[0070] No, turn off the remaining capacity estimation function;

[0071] Get the actual relative ampere-hour integral count value, and determine whether it is less than the relative ampere-hour integral count limit based on the actual relative ampere-hour integral count value:

[0072] Yes, proceed to the next step;

[0073] No, turn off the remaining capacity estimation function;

[0074] Get the battery SOC valid flag and determine whether it is valid:

[0075] Yes, proceed to the next step;

[0076] No, turn off the remaining capacity estimation function;

[0077] Since the relative ampere-hour integral count is obtained by integrating the difference between the collected current and the current collected at the previous moment over time, it is compared with the set limit value to exclude the situation where the current collection module has a jump error in the current collection. At this time, the remaining capacity calculation is not performed. Therefore, the actual relative ampere-hour integral count value is obtained, and it is determined whether it is less than the relative ampere-hour integral count limit value according to the actual relative ampere-hour integral count value:

[0078] Yes, proceed to the next step;

[0079] No, turn off the remaining capacity estimation function.

[0080] Step 102 : acquiring power battery related parameters, and executing a power battery remaining capacity estimation strategy according to the power battery related parameters to obtain the power battery remaining capacity.

[0081] The above power battery related parameters include: OCV parameters of the power battery, real-time battery cell voltage, real-time battery cell temperature and real-time battery cell current.

[0082] The strategy for estimating the remaining capacity of the power battery is as follows:

[0083] The remaining capacity of the power battery is obtained by using the OCV parameters, real-time cell voltage, real-time cell temperature and real-time cell current of the power battery through formula (1):

[0084]

[0085] Where: x 1 、x 2 、x 3 and x 4 They are the OCV parameters, real-time cell voltage, real-time cell temperature and real-time cell current of the power battery, y is the remaining capacity of the power battery, c is i is the parameter of the first fast convergence result, c 1 、c 2 、c 3 and c 4 are 0.633, 0.583, 0.264 and -0.045 respectively, σ is the parameter of the second fastest convergence result, σ 1 , σ 2 , σ 3 and σ 4 They are -3.591, -2.153, 2.911 and 3.255 respectively, q i The weight coefficient for improving accuracy, q 1 ,q 2 ,q 3 and q 4 They are 1.650, 0.832, -1.091 and 0.024 respectively.

[0086] Embodiment 2

[0087] Figure 3 : is a schematic block diagram of a structure of a power battery remaining capacity estimation device according to an exemplary embodiment, the device comprising:

[0088] The judgment module 210 is used to execute a judgment strategy for starting the remaining capacity estimation function when receiving a request for estimating the remaining capacity of the power battery;

[0089] The estimation module 220 is used to obtain power battery related parameters, and execute the power battery remaining capacity estimation strategy according to the power battery related parameters to obtain the power battery remaining capacity.

[0090] Preferably, the determining module 210 is used to:

[0091] Get the ampere-hour integration time, and determine whether it is less than the ampere-hour integration count limit based on the ampere-hour integration time:

[0092] Yes, proceed to the next step;

[0093] No, turn off the remaining capacity estimation function;

[0094] Obtain the actual relative ampere-hour integral count value, and determine whether the actual relative ampere-hour integral count value is less than the relative ampere-hour integral count limit value according to the actual relative ampere-hour integral count value:

[0095] Yes, proceed to the next step;

[0096] No, turn off the remaining capacity estimation function;

[0097] Get the battery SOC valid flag and determine whether it is valid:

[0098] Yes, proceed to the next step;

[0099] No, turn off the remaining capacity estimation function;

[0100] Obtain the actual relative ampere-hour integral count value, and determine whether the actual relative ampere-hour integral count value is less than the relative ampere-hour integral count limit value according to the actual relative ampere-hour integral count value:

[0101] Yes, proceed to the next step;

[0102] No, turn off the remaining capacity estimation function.

[0103] Preferably, the estimation module 220 is used to:

[0104] The remaining capacity of the power battery is obtained by using the OCV parameter, real-time battery cell voltage, real-time battery cell temperature and real-time battery cell current of the power battery through formula (1):

[0105]

[0106] Where: x 1 、x 2 、x 3 and x 4 They are the OCV parameters, real-time cell voltage, real-time cell temperature and real-time cell current of the power battery, y is the remaining capacity of the power battery, c is i is the parameter of the first fast convergence result, c 1 、c 2 、c 3 and c 4 are 0.633, 0.583, 0.264 and -0.045 respectively, σ is the parameter of the second fastest convergence result, σ 1 , σ 2 , σ 3 and σ 4 They are -3.591, -2.153, 2.911 and 3.255 respectively, q i The weight coefficient for improving accuracy, q 1 ,q 2 ,q 3 and q 4 They are 1.650, 0.832, -1.091 and 0.024 respectively.

[0107] When receiving a request to estimate the remaining capacity of a power battery, the present application executes a remaining capacity estimation function to start a judgment strategy, obtains power battery related parameters, and executes a power battery remaining capacity estimation strategy based on the power battery related parameters to obtain the remaining capacity of the power battery, which effectively solves the problems of complex electrochemical model modeling and excessive data-driven computing power, and can be widely used in power battery management systems under lithium-ion battery systems.

[0108] Embodiment 3

[0109] A vehicle provided in an embodiment of the present application includes at least a vehicle control unit and a brake control unit. Typically, the vehicle control unit and the brake control unit both include: a processor and a memory.

[0110] The processor may include one or more processing cores, such as a 4-core processor, an 8-core processor, etc. The processor may be implemented in at least one hardware form of DSP (Digital Signal Processing), FPGA (Field-Programmable Gate Array), and PLA (Programmable Logic Array). The processor may also include a main processor and a coprocessor. The main processor is a processor for processing data in the awake state, also known as a CPU (Central Processing Unit); the coprocessor is a low-power processor for processing data in the standby state. In some embodiments, the processor may be integrated with a GPU (Graphics Processing Unit), which is responsible for rendering and drawing the content to be displayed on the display screen. In some embodiments, the processor may also include an AI (Artificial Intelligence) processor, which is used to process computing operations related to machine learning.

[0111] The memory may include one or more computer-readable storage media, which may be tangible and non-transitory. The memory may also include high-speed random access memory, and non-volatile memory, such as one or more disk storage devices, flash memory storage devices. In some embodiments, the non-transitory computer-readable storage medium in the memory is used to store at least one instruction, which is used to be executed by the processor to implement a method for estimating the remaining capacity of a power battery provided in the present application.

[0112] Embodiment 4

[0113] In an exemplary embodiment, a computer-readable storage medium is further provided, on which a computer program is stored. When the program is executed by a processor, a method for estimating the remaining capacity of a power battery as provided in all the inventive embodiments of the present application is implemented.

[0114] Any combination of one or more computer-readable media may be used. A computer-readable medium may be a computer-readable signal medium or a computer-readable storage medium. A computer-readable storage medium may be, for example, but not limited to, an electrical, magnetic, optical, electromagnetic, infrared, or semiconductor system, device or device, or any combination thereof. More specific examples (a non-exhaustive list) of computer-readable storage media include: an electrical connection with one or more wires, a portable computer disk, a hard disk, a random access memory (RAM), a read-only memory (ROM), an erasable programmable read-only memory (EPROM or flash memory), an optical fiber, a portable compact disk read-only memory (CD-ROM), an optical storage device, a magnetic storage device, or any suitable combination thereof. In this document, a computer-readable storage medium may be any tangible medium containing or storing a program that may be used by or in conjunction with an instruction execution system, device, or device.

[0115] Computer-readable signal media may include a data signal propagated in baseband or as part of a carrier wave, which carries a computer-readable program code. Such propagated data signals may take a variety of forms, including, but not limited to, electromagnetic signals, optical signals, or any suitable combination of the above. Computer-readable signal media may also be any computer-readable medium other than a computer-readable storage medium, which may send, propagate, or transmit a program for use by or in conjunction with an instruction execution system, apparatus, or device.

[0116] Program code embodied on a computer readable medium may be transmitted using any appropriate medium, including but not limited to wireless, wireline, optical fiber cable, RF, etc., or any suitable combination of the foregoing.

[0117] Computer program code for performing the operations of the present invention may be written in one or more programming languages ​​or a combination thereof, including object-oriented programming languages ​​such as Java, Smalltalk, C++, and conventional procedural programming languages ​​such as "C" or similar programming languages. The program code may be executed entirely on the user's computer, partially on the user's computer, as a separate software package, partially on the user's computer and partially on a remote computer, or entirely on a remote computer or server. In the case of a remote computer, the remote computer may be connected to the user's computer through any type of network, including a local area network (LAN) or a wide area network (WAN), or may be connected to an external computer (e.g., via the Internet using an Internet service provider).

[0118] Embodiment 5

[0119] In an exemplary embodiment, an application product is also provided, including one or more instructions, which can be executed by a processor of the above-mentioned device to complete the above-mentioned method for estimating the remaining capacity of a power battery.

[0120] In the description of this specification, the description with reference to the terms "one embodiment", "some embodiments", "example", "specific example", or "some examples" etc. means that the specific features, structures, materials or characteristics described in conjunction with the embodiment or example are included in at least one embodiment or example of the present application. In this specification, the schematic representations of the above terms are not necessarily directed to the same embodiment or example. Moreover, the specific features, structures, materials or characteristics described may be combined in any one or N embodiments or examples in a suitable manner. In addition, those skilled in the art may combine and combine the different embodiments or examples described in this specification and the features of the different embodiments or examples, without contradiction.

[0121] In addition, the terms "first" and "second" are used for descriptive purposes only and should not be understood as indicating or implying relative importance or implicitly indicating the number of technical features indicated. Therefore, a feature defined as "first" or "second" may explicitly or implicitly include at least one of the features. In the description of this application, "N" means at least two, such as two, three, etc., unless otherwise clearly and specifically defined.

[0122] Any process or method description in a flowchart or otherwise described herein may be understood to represent a module, fragment or portion of code comprising one or N executable instructions for implementing the steps of a custom logical function or process, and the scope of the preferred embodiments of the present application includes alternative implementations in which functions may not be performed in the order shown or discussed, including performing functions in a substantially simultaneous manner or in reverse order depending on the functions involved, which should be understood by technicians in the technical field to which the embodiments of the present application belong.

[0123] It should be understood that the various parts of the present application can be implemented by hardware, software, firmware or a combination thereof. In the above-mentioned embodiment, the N steps or methods can be implemented by software or firmware stored in a memory and executed by a suitable instruction execution system. For example, if implemented by hardware, as in another embodiment, it can be implemented by any one of the following technologies known in the art or their combination: a discrete logic circuit having a logic gate circuit for implementing a logic function for a data signal, a dedicated integrated circuit having a suitable combination of logic gate circuits, a programmable gate array, a field programmable gate array, etc.

[0124] A person skilled in the art may understand that all or part of the steps in the method for implementing the above-mentioned embodiment may be completed by instructing related hardware through a program, and the program may be stored in a computer-readable storage medium, which, when executed, includes one or a combination of the steps of the method embodiment.

[0125] Although the embodiments of the present application have been shown and described above, it can be understood that the above embodiments are exemplary and cannot be understood as limitations on the present application. Ordinary technicians in this field can change, modify, replace and modify the above embodiments within the scope of the present application.

Claims

1. A method for estimating the remaining capacity of a power battery, characterized in that: include: When receiving a request to estimate the remaining capacity of the power battery, executing the remaining capacity estimation function to start the judgment strategy; Acquiring power battery related parameters, and executing a power battery remaining capacity estimation strategy according to the power battery related parameters to obtain the power battery remaining capacity; The remaining capacity estimation function activation judgment strategy includes: Get the ampere-hour integration time, and determine whether it is less than the ampere-hour integration count limit based on the ampere-hour integration time: Yes, proceed to the next step; No, turn off the remaining capacity estimation function; Obtain the actual relative ampere-hour integral count value, and determine whether the actual relative ampere-hour integral count value is less than the relative ampere-hour integral count limit value according to the actual relative ampere-hour integral count value: Yes, proceed to the next step; No, turn off the remaining capacity estimation function; Get the battery SOC valid flag and determine whether it is valid: Yes, proceed to the next step; No, turn off the remaining capacity estimation function; Obtain the actual relative ampere-hour integral count value, and determine whether the actual relative ampere-hour integral count value is less than the relative ampere-hour integral count limit value according to the actual relative ampere-hour integral count value: Yes, proceed to the next step; No, turn off the remaining capacity estimation function; The power battery remaining capacity estimation strategy includes: The remaining capacity of the power battery is obtained by using the OCV parameter, real-time battery cell voltage, real-time battery cell temperature and real-time battery cell current of the power battery through formula (1): （1） Among them: x1, x2, x3 and x4 are the OCV parameters, real-time battery cell voltage, real-time battery cell temperature and real-time battery cell current of the power battery respectively, y is the remaining capacity of the power battery, c i are the parameters of the first fast convergence result, c1, c2, c3 and c4 are 0.633, 0.583, 0.264 and -0.045 respectively, σ is the parameter of the second fast convergence result, σ1, σ2, σ3 and σ4 are -3.591, -2.153, 2.911 and 3.255 respectively, q i The weight coefficients of accuracy improvement, q1, q2, q3, and q4, are 1.650, 0.832, -1.091, and 0.024, respectively.

2. A method for estimating the remaining capacity of a power battery according to claim 1, characterized in that: The power battery related parameters include: OCV parameters of the power battery, real-time battery cell voltage, real-time battery cell temperature and real-time battery cell current.

3. A power battery remaining capacity estimation device, characterized in that: include: A judgment module, configured to execute a judgment strategy for starting a remaining capacity estimation function when receiving a request for estimating the remaining capacity of a power battery; An estimation module, used to obtain power battery related parameters, and execute a power battery remaining capacity estimation strategy according to the power battery related parameters to obtain the power battery remaining capacity; The remaining capacity estimation function activation judgment strategy includes: Get the ampere-hour integration time, and determine whether it is less than the ampere-hour integration count limit based on the ampere-hour integration time: Yes, proceed to the next step; No, turn off the remaining capacity estimation function; Obtain the actual relative ampere-hour integral count value, and determine whether the actual relative ampere-hour integral count value is less than the relative ampere-hour integral count limit value according to the actual relative ampere-hour integral count value: Yes, proceed to the next step; No, turn off the remaining capacity estimation function; Get the battery SOC valid flag and determine whether it is valid: Yes, proceed to the next step; No, turn off the remaining capacity estimation function; Obtain the actual relative ampere-hour integral count value, and determine whether the actual relative ampere-hour integral count value is less than the relative ampere-hour integral count limit value according to the actual relative ampere-hour integral count value: Yes, proceed to the next step; No, turn off the remaining capacity estimation function; The power battery remaining capacity estimation strategy includes: The remaining capacity of the power battery is obtained by using the OCV parameter, real-time battery cell voltage, real-time battery cell temperature and real-time battery cell current of the power battery through formula (1): （1） Among them: x1, x2, x3 and x4 are the OCV parameters, real-time battery cell voltage, real-time battery cell temperature and real-time battery cell current of the power battery respectively, y is the remaining capacity of the power battery, c i are the parameters of the first fast convergence result, c1, c2, c3 and c4 are 0.633, 0.583, 0.264 and -0.045 respectively, σ is the parameter of the second fast convergence result, σ1, σ2, σ3 and σ4 are -3.591, -2.153, 2.911 and 3.255 respectively, q i The weight coefficients of accuracy improvement, q1, q2, q3, and q4, are 1.650, 0.832, -1.091, and 0.024, respectively.

4. A vehicle, characterized in that: include: one or more processors; a memory for storing said one or more processor executable instructions; Wherein, the one or more processors are configured to: Execute a method for estimating the remaining capacity of a power battery as described in any one of claims 1 to 2.

5. A non-transitory computer-readable storage medium, characterized in that: When the instructions in the storage medium are executed by the processor of the terminal, the terminal is enabled to execute the method for estimating the remaining capacity of a power battery as described in any one of claims 1 to 2.

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