Method, device and vehicle for determining charge and discharge power

Abstract

This application discloses a method, apparatus, and vehicle for determining charging and discharging power, belonging to the field of vehicle technology. The technical solution provided in this application obtains the torque and speed of multiple drive motors. Based on the torque and speed of the multiple drive motors, the overall charging and discharging efficiency of the target vehicle is determined, whereby the overall charging and discharging efficiency refers to the charging and discharging efficiency of the multiple drive motors. Based on the overall charging and discharging efficiency of the target vehicle and a charging and discharging efficiency factor, the actual charging and discharging efficiency of the target vehicle is determined, whereby the charging and discharging efficiency factor is determined based on the actual charging and discharging power and maximum charging and discharging power of the multiple drive motors. Based on the actual charging and discharging efficiency and the maximum charging and discharging power, the available maximum charging and discharging power of the target vehicle is determined. Subsequently, the charging and discharging power of the target vehicle can be limited based on this available maximum charging and discharging power, thereby ensuring the safety of the target vehicle.

Description

Technical Field

[0001] This application relates to the field of vehicle technology, and more specifically, to a method, apparatus, and vehicle for determining charging and discharging power in the field of vehicle technology. Background Technology

[0002] With the development of vehicle technology, electric vehicles are becoming increasingly popular among users due to their better economy and driving comfort.

[0003] In related technologies, in order to improve the performance of electric vehicles, multiple drive motors are configured for electric vehicles to work together to drive the vehicle or to recover energy.

[0004] However, in controlling multiple drive motors to drive a vehicle, each motor typically receives individual torque distribution. Since the maximum power a vehicle can provide varies depending on its operating conditions, the sum of the power required by the multiple drive motors may exceed the vehicle's current power capacity, leading to safety hazards. Therefore, determining the maximum usable charging and discharging power of an electric vehicle is a hot research topic. Summary of the Invention

[0005] This application provides a method, apparatus, and vehicle for determining charging and discharging power, which can determine the maximum available charging and discharging power of a vehicle. The technical solution is as follows:

[0006] On the one hand, a method for determining charge and discharge power is provided, the method comprising:

[0007] Obtain the torque and speed of multiple drive motors of the target vehicle;

[0008] Based on the torque and speed of the multiple drive motors, the overall charging and discharging efficiency of the target vehicle is determined;

[0009] Based on the overall charging and discharging efficiency and the charging and discharging efficiency factor of the target vehicle, the actual charging and discharging efficiency of the target vehicle is determined. The charging and discharging efficiency factor is determined based on the actual charging and discharging power and the maximum charging and discharging power of the multiple drive motors.

[0010] Based on the actual charge / discharge efficiency and the maximum charge / discharge power, the available maximum charge / discharge power of the target vehicle is determined.

[0011] In one possible implementation, determining the overall charging and discharging efficiency of the target vehicle based on the torque and speed of the plurality of drive motors includes:

[0012] Based on the torque and speed of the plurality of drive motors, the actual charging and discharging power and initial charging and discharging efficiency of each drive motor are determined.

[0013] Based on the actual charging and discharging power of each of the drive motors, the power ratio of each drive motor is determined, wherein the power ratio is the ratio of the actual charging and discharging power of the drive motor to the sum of the actual charging and discharging power of the plurality of drive motors.

[0014] The overall charging and discharging efficiency of the target vehicle is determined based on the initial charging and discharging efficiency and power ratio of each of the drive motors.

[0015] In one possible implementation, determining the actual charging / discharging power and initial charging / discharging efficiency of each of the plurality of drive motors based on their torque and speed includes:

[0016] Based on the torque and speed of the plurality of drive motors, the charging and discharging state of each drive motor is determined, wherein the charging and discharging state includes charging and discharging.

[0017] Based on the torque, speed, and charging / discharging state of each drive motor, the actual charging / discharging power of each drive motor is determined.

[0018] The initial charge-discharge efficiency of each drive motor is obtained by querying the initial charge-discharge efficiency table using the torque and speed of each drive motor. The initial charge-discharge efficiency table is used to store the correspondence between multiple candidate torques and multiple candidate speeds and multiple initial charge-discharge efficiencies.

[0019] In one possible implementation, determining the actual charging and discharging power of each of the drive motors based on their torque, speed, and charging / discharging state includes:

[0020] For any one of the plurality of drive motors, the torque, speed and power determination coefficients of the drive motor are multiplied together to obtain the initial charging and discharging power of the drive motor.

[0021] The actual charging and discharging power of the drive motor is obtained by multiplying the initial charging and discharging power of the drive motor by the charging and discharging flag corresponding to the charging and discharging state of the drive motor.

[0022] In one possible implementation, determining the overall charging and discharging efficiency of the target vehicle based on the initial charging and discharging efficiency and power ratio of each of the drive motors includes:

[0023] The reference charging and discharging efficiency of each drive motor is obtained by multiplying the initial charging and discharging efficiency of each drive motor by the power ratio.

[0024] The overall charging and discharging efficiency of the target vehicle is obtained by summing the reference charging and discharging efficiencies of each of the drive motors.

[0025] In one possible implementation, the method for determining the charge / discharge efficiency factor includes:

[0026] The actual charging and discharging power of the multiple drive motors is added together to obtain the overall charging and discharging power of the target vehicle.

[0027] The maximum charging and discharging power of the plurality of drive motors is added together to obtain the overall maximum charging and discharging power of the target vehicle.

[0028] The overall charging and discharging power and the overall maximum charging and discharging power of the target vehicle are used to look up the charging and discharging efficiency factor table to obtain the charging and discharging efficiency factor of the target vehicle. The charging and discharging efficiency factor table is used to store the correspondence between multiple candidate overall charging and discharging powers and multiple overall maximum charging and discharging powers and multiple candidate charging and discharging efficiency factors.

[0029] In one possible implementation, determining the maximum available charging and discharging power of the target vehicle based on the actual charging and discharging efficiency and the maximum charging and discharging power includes:

[0030] The actual charge-discharge efficiency is filtered to obtain the target charge-discharge efficiency;

[0031] Divide the maximum charging / discharging power by the target charging / discharging efficiency to obtain the maximum available charging / discharging power of the target vehicle.

[0032] In one possible implementation, determining the actual charge / discharge efficiency of the target vehicle based on its overall charge / discharge efficiency and charge / discharge efficiency factor includes:

[0033] The actual charging and discharging efficiency of the target vehicle is obtained by multiplying the overall charging and discharging efficiency and the charging and discharging efficiency factor.

[0034] On the one hand, a device for determining charge / discharge power is provided, the device comprising:

[0035] The data acquisition module is used to acquire the torque and speed of multiple drive motors of the target vehicle;

[0036] The overall charging and discharging efficiency determination module is used to determine the overall charging and discharging efficiency of the target vehicle based on the torque and speed of the multiple drive motors.

[0037] The actual charge and discharge efficiency determination module is used to determine the actual charge and discharge efficiency of the target vehicle based on the overall charge and discharge efficiency and the charge and discharge efficiency factor of the target vehicle. The charge and discharge efficiency factor is determined based on the actual charge and discharge power and the maximum charge and discharge power of the multiple drive motors.

[0038] A maximum available charge / discharge power determination module is used to determine the maximum available charge / discharge power of the target vehicle based on the actual charge / discharge efficiency and the maximum charge / discharge power.

[0039] In one possible implementation, the overall charge / discharge efficiency determination module is used to determine the actual charge / discharge power and initial charge / discharge efficiency of each of the plurality of drive motors based on the torque and speed of the plurality of drive motors; to determine the power percentage of each of the drive motors based on the actual charge / discharge power of each of the drive motors, wherein the power percentage is the ratio of the actual charge / discharge power of the drive motor to the sum of the actual charge / discharge power of the plurality of drive motors; and to determine the overall charge / discharge efficiency of the target vehicle based on the initial charge / discharge efficiency and power percentage of each of the drive motors.

[0040] In one possible implementation, the overall charge / discharge efficiency determination module is used to determine the charge / discharge state of each of the plurality of drive motors based on the torque and speed of the plurality of drive motors, the charge / discharge state including charging and discharging; determine the actual charge / discharge power of each of the drive motors based on the torque, speed and charge / discharge state of each of the drive motors; and query the initial charge / discharge efficiency table using the torque and speed of each of the drive motors to obtain the initial charge / discharge efficiency of each of the drive motors, the initial charge / discharge efficiency table being used to store the correspondence between multiple candidate torques and multiple candidate speeds and multiple initial charge / discharge efficiencies.

[0041] In one possible implementation, the overall charge-discharge efficiency determination module is used to, for any one of the plurality of drive motors, multiply the torque, speed and power determination coefficients of the drive motor to obtain the initial charge-discharge power of the drive motor; and multiply the initial charge-discharge power of the drive motor by the charge-discharge flag corresponding to the charge-discharge state of the drive motor to obtain the actual charge-discharge power of the drive motor.

[0042] In one possible implementation, the overall charge-discharge efficiency determination module is used to multiply the initial charge-discharge efficiency of each of the drive motors by the power ratio to obtain the reference charge-discharge efficiency of each of the drive motors; and to add the reference charge-discharge efficiencies of each of the drive motors to obtain the overall charge-discharge efficiency of the target vehicle.

[0043] In one possible implementation, the device further includes a charge / discharge efficiency factor determination module, used to add the actual charge / discharge power of the plurality of drive motors to obtain the overall charge / discharge power of the target vehicle; add the maximum charge / discharge power of the plurality of drive motors to obtain the overall maximum charge / discharge power of the target vehicle; and use the overall charge / discharge power and the overall maximum charge / discharge power of the target vehicle to query a charge / discharge efficiency factor table to obtain the charge / discharge efficiency factor of the target vehicle, wherein the charge / discharge efficiency factor table is used to store the correspondence between multiple candidate overall charge / discharge powers and multiple overall maximum charge / discharge powers and multiple candidate charge / discharge efficiency factors.

[0044] In one possible implementation, the available maximum charge / discharge power determination module is used to filter the actual charge / discharge efficiency to obtain a target charge / discharge efficiency; and to divide the maximum charge / discharge power by the target charge / discharge efficiency to obtain the available maximum charge / discharge power of the target vehicle.

[0045] In one possible implementation, the actual charge / discharge efficiency determination module is used to multiply the overall charge / discharge efficiency and the charge / discharge efficiency factor to obtain the actual charge / discharge efficiency of the target vehicle.

[0046] On one hand, a vehicle is provided, the vehicle including one or more processors and one or more memories, the one or more memories storing at least one piece of program code, the program code being loaded and executed by the one or more processors to implement the operations performed by the method for determining the charging and discharging power.

[0047] On one hand, a computer-readable storage medium is provided, wherein at least one piece of program code is stored in the computer-readable storage medium, the program code being loaded and executed by a processor to implement the operations performed by the method for determining the charging and discharging power.

[0048] The technical solution provided in this application obtains the torque and speed of the plurality of drive motors. Based on the torque and speed of the plurality of drive motors, the overall charging and discharging efficiency of the target vehicle is determined, whereby the overall charging and discharging efficiency refers to the charging and discharging efficiency of the plurality of drive motors. Based on the overall charging and discharging efficiency of the target vehicle and the charging and discharging efficiency factor, the actual charging and discharging efficiency of the target vehicle is determined, whereby the charging and discharging efficiency factor is determined based on the actual charging and discharging power and the maximum charging and discharging power of the plurality of drive motors. Based on the actual charging and discharging efficiency and the maximum charging and discharging power, the maximum available charging and discharging power of the target vehicle is determined. Subsequently, the charging and discharging power of the target vehicle can be limited based on the maximum available charging and discharging power, thereby ensuring the safety of the target vehicle. Attached Figure Description

[0049] Figure 1 This is a schematic diagram of the implementation environment of a method for determining charge and discharge power provided in an embodiment of this application;

[0050] Figure 2 This is a flowchart of a method for determining charging and discharging power provided in an embodiment of this application;

[0051] Figure 3 This is a flowchart of another method for determining charging and discharging power provided in an embodiment of this application;

[0052] Figure 4 This is a schematic diagram of the structure of a charging and discharging power determination device provided in an embodiment of this application;

[0053] Figure 5 This is a schematic diagram of the structure of a vehicle provided in an embodiment of this application. Detailed Implementation

[0054] The technical solutions in this application will be clearly and thoroughly described below with reference to the accompanying drawings. In the description of the embodiments of this application, unless otherwise stated, " / " means "or," for example, A / B can mean A or B. "And / or" in the text is merely a description of the relationship between related objects, indicating that three relationships can exist. For example, A and / or B can represent: A existing alone, A and B existing simultaneously, and B existing alone. Furthermore, in the description of the embodiments of this application, "multiple" refers to two or more than two.

[0055] In the following text, the terms "first" and "second" are used for descriptive purposes only and should not be construed as implying or suggesting relative importance or implicitly indicating the number of technical features reflected. Thus, a feature defined as "first" or "second" may explicitly or implicitly include one or more of that feature.

[0056] Electric vehicles are defined as vehicles that use onboard power sources as their energy source and drive motors as their power source to propel their wheels. In the embodiments of this application, the electric vehicle includes multiple drive motors, which can jointly drive the vehicle and also jointly perform energy recovery.

[0057] Energy recovery: During coasting and braking, the vehicle's drive motor acts as a generator, converting some of the vehicle's kinetic energy into electrical energy to charge the power battery.

[0058] The implementation environment of the embodiments of this application is described below. See also... Figure 1 The implementation environment of the method for determining charging and discharging power provided in this application embodiment includes a vehicle controller 101 and a motor controller 102.

[0059] The vehicle controller 101, as the central control unit of the vehicle, is the core of the entire vehicle control system. The vehicle controller 101 can collect the status of the drive motor and battery, and also collect accelerator pedal signals, brake pedal signals, actuator and sensor signals through its own input / output interfaces. In this embodiment, the vehicle controller 101 is communicatively connected to the motor controller 102. The vehicle controller 101 can send commands to the motor controller 102 and also obtain relevant data about the drive motor from the motor controller 102.

[0060] The motor controller 102 is used to detect relevant data of the drive motor and control the drive motor. For example, the motor controller 102 can obtain the current torque and speed of the drive motor, and can also control the drive motor to output corresponding torque and speed. In this embodiment, the vehicle includes multiple drive motors, and the number of motor controllers 102 can be one, that is, one motor controller 102 controls multiple drive motors. Alternatively, the number of motor controllers 102 can be multiple, such as one motor controller 102 controlling one drive motor. This embodiment does not limit the number of motor controllers.

[0061] After introducing the implementation environment of the embodiments of this application, the application scenarios of the technical solutions provided by the embodiments of this application are described below. The technical solutions provided by the embodiments of this application can be applied to target vehicles equipped with multiple drive motors. After adopting the technical solutions provided by the embodiments of this application, during the process of using multiple drive motors to drive the target vehicle or using multiple drive motors for energy recovery, the torque and speed of the multiple drive motors are obtained. Based on the torque and speed of the multiple drive motors, the overall charging and discharging efficiency of the target vehicle is determined, which refers to the charging and discharging efficiency of the multiple drive motors. Based on the overall charging and discharging efficiency of the target vehicle and the charging and discharging efficiency factor, the actual charging and discharging efficiency of the target vehicle is determined, whereby the charging and discharging efficiency factor is determined based on the actual charging and discharging power and the maximum charging and discharging power of the multiple drive motors. Based on the actual charging and discharging efficiency and the maximum charging and discharging power, the available maximum charging and discharging power of the target vehicle is determined. Subsequently, the charging and discharging power of the target vehicle can be limited based on the available maximum charging and discharging power, thereby ensuring the safety of the target vehicle.

[0062] After introducing the implementation environment and application scenarios of the embodiments of this application, the technical solutions provided by the embodiments of this application are described below. (See also...) Figure 2 Taking the vehicle controller as the executing entity as an example, the method includes the following steps.

[0063] 201. The vehicle controller acquires the torque and speed of multiple drive motors of the target vehicle.

[0064] The target vehicle is an electric vehicle or a hybrid electric vehicle, equipped with multiple drive motors capable of jointly driving the vehicle or performing energy recovery. When the multiple drive motors are jointly driving the vehicle, they output torque outwards; during energy recovery, they output torque inwards. The torque and speed of these multiple drive motors refer to the current torque and speed of each individual motor.

[0065] 202. The vehicle controller determines the overall charging and discharging efficiency of the target vehicle based on the torque and speed of the multiple drive motors.

[0066] The overall charging and discharging efficiency of the target vehicle is used to represent the charging and discharging efficiency of multiple drive motors as a whole. Charging and discharging efficiency includes charging efficiency and discharging efficiency. Charging efficiency represents the efficiency with which the drive motor converts kinetic energy into electrical energy during energy recovery; discharging efficiency represents the efficiency with which the drive motor converts electrical energy into kinetic energy during vehicle operation.

[0067] 203. The vehicle controller determines the actual charging and discharging efficiency of the target vehicle based on the overall charging and discharging efficiency and the charging and discharging efficiency factor. The charging and discharging efficiency factor is determined based on the actual charging and discharging power and the maximum charging and discharging power of the multiple drive motors.

[0068] The charge / discharge efficiency factor is used to correct the overall charge / discharge efficiency, resulting in an actual charge / discharge efficiency that more closely approximates the true charge / discharge efficiency. This factor is determined based on the actual and maximum charge / discharge power of the multiple drive motors. With the drive motors remaining constant, the maximum charge / discharge power remains unchanged; therefore, as the actual charge / discharge power of the drive motors changes, the charge / discharge efficiency factor also changes. Accordingly, the charge / discharge efficiency factor includes both a charging efficiency factor and a discharging efficiency factor.

[0069] 204. The vehicle controller determines the maximum available charging and discharging power of the target vehicle based on the actual charging and discharging efficiency and the maximum charging and discharging power.

[0070] The available maximum charging and discharging power refers to the maximum charging and discharging power that can be provided. In the process of controlling multiple drive motors, the total power provided to the multiple drive motors or the total power provided when the multiple drive motors generate electricity cannot exceed the available maximum charging and discharging power in order to ensure the safety of the target vehicle.

[0071] The technical solution provided in this application obtains the torque and speed of the plurality of drive motors. Based on the torque and speed of the plurality of drive motors, the overall charging and discharging efficiency of the target vehicle is determined, whereby the overall charging and discharging efficiency refers to the charging and discharging efficiency of the plurality of drive motors. Based on the overall charging and discharging efficiency of the target vehicle and the charging and discharging efficiency factor, the actual charging and discharging efficiency of the target vehicle is determined, whereby the charging and discharging efficiency factor is determined based on the actual charging and discharging power and the maximum charging and discharging power of the plurality of drive motors. Based on the actual charging and discharging efficiency and the maximum charging and discharging power, the maximum available charging and discharging power of the target vehicle is determined. Subsequently, the charging and discharging power of the target vehicle can be limited based on the maximum available charging and discharging power, thereby ensuring the safety of the target vehicle.

[0072] It should be noted that steps 201-204 above are a simplified explanation of the method for determining charge and discharge power provided in the embodiments of this application. The method for determining charge and discharge power provided in the embodiments of this application will be explained in more detail below with some examples. See [link to relevant documentation]. Figure 3 Taking the vehicle controller as the executing entity as an example, the method includes the following steps.

[0073] 301. The vehicle controller acquires the torque and speed of multiple drive motors of the target vehicle.

[0074] The target vehicle is an electric vehicle or a hybrid electric vehicle, equipped with multiple drive motors that can jointly drive the vehicle or perform energy recovery. In some embodiments, the multiple drive motors refer to two or more drive motors; for example, the target vehicle is equipped with four drive motors, each driving one of the vehicle's tires. When the multiple drive motors jointly drive the target vehicle, they output torque outward, that is, converting electrical energy into kinetic energy. During energy recovery, the multiple drive motors output torque inward, that is, converting kinetic energy into electrical energy. The torque and speed of the multiple drive motors refer to the current torque and speed of each individual drive motor.

[0075] In one possible implementation, the vehicle controller obtains the current torque and speed of each drive motor from the target vehicle's motor controller.

[0076] The motor controller is used to detect and control the relevant data of the drive motor, including torque and speed.

[0077] In this implementation, the torque and speed of multiple drive motors can be quickly obtained through the motor controller, resulting in high efficiency in obtaining torque and speed.

[0078] In one possible implementation, the motor controller periodically sends the current torque and speed of multiple drive motors to the vehicle controller, which then obtains the current torque and speed of the multiple drive motors.

[0079] In this implementation, the motor controller periodically sends the current torque and speed of multiple drive motors to the vehicle controller, reducing the computational load on the vehicle controller.

[0080] 302. The vehicle controller determines the actual charging and discharging power and initial charging and discharging efficiency of each drive motor based on the torque and speed of the multiple drive motors.

[0081] The actual charging and discharging power of the drive motor refers to its current, real-time charging and discharging power. Actual charging and discharging power includes actual charging power and actual discharging power. Actual charging power refers to the power generated by the drive motor during energy recovery. Actual discharging power refers to the power consumed by the drive motor when driving the vehicle, that is, the output power of the vehicle's battery when supplying power to the drive motor. The initial charging and discharging efficiency is related to the torque and speed of the drive motor and is obtained by processing the torque and speed using simulation technology, or by calibrating the torque and speed according to actual conditions by technicians. This application does not limit this aspect.

[0082] In one possible implementation, the vehicle controller determines the charging and discharging state of each drive motor based on its torque and speed, the charging and discharging state including charging and discharging. Based on the torque, speed, and charging and discharging state of each drive motor, the vehicle controller determines the actual charging and discharging power of each drive motor. The vehicle controller then looks up the initial charging and discharging efficiency in an initial charging and discharging efficiency table using the torque and speed of each drive motor to obtain the initial charging and discharging efficiency of each drive motor. This initial charging and discharging efficiency table stores the correspondence between multiple candidate torques and multiple candidate speeds and multiple initial charging and discharging efficiencies.

[0083] The charging and discharging states include charging and discharging. A charging state indicates that the drive motor is recovering energy, meaning it is acting as a generator to charge the power battery. A discharging state indicates that the drive motor is providing kinetic energy, meaning it is driving the wheels of the target vehicle. An initial charging and discharging efficiency table stores the correspondence between the overall candidate torque and candidate speed and the initial charging and discharging efficiency. This table is obtained using simulation technology or calibrated by technicians based on actual conditions; this application does not limit this. The initial charging and discharging efficiency table includes an initial charging efficiency table and an initial discharging efficiency table. In some embodiments, since the initial charging and discharging efficiency is obtained by looking up a table, it is also called the lookup-table charging and discharging efficiency.

[0084] In this implementation, the charging and discharging state of each drive motor is determined based on its torque and speed. The actual charging and discharging power of each drive motor is then determined based on its torque, speed, and charging and discharging state. The initial charging and discharging efficiency corresponding to torque and speed is obtained from an initial charging and discharging efficiency table, resulting in high accuracy for both the actual charging efficiency and the initial charging and discharging efficiency.

[0085] To provide a clearer explanation of the above embodiments, the following description will be divided into several parts.

[0086] The first part is that the vehicle controller determines the charging and discharging status of each drive motor based on the torque and speed of the multiple drive motors.

[0087] In one possible implementation, the vehicle controller determines the charging and discharging state of each drive motor based on the sign of the torque and speed of each drive motor.

[0088] The symbols include positive and negative signs.

[0089] In this implementation, the charging and discharging state of each drive motor can be determined based on the sign of its torque and speed, resulting in high efficiency in determining the charging and discharging state.

[0090] For example, for any of the multiple drive motors, if the signs of the torque and speed of the drive motor are the same, the vehicle controller determines the charging / discharging state of the drive motor as discharging; if the signs of the torque and speed of the drive motor are different, the vehicle controller determines the charging / discharging state of the drive motor as charging.

[0091] In this context, the signs of the torque and speed of the drive motor being the same include both being positive or both being negative. Both positive signs indicate the drive motor is propelling the vehicle forward, while both negative signs indicate it is propelling the vehicle backward. Conversely, different signs for the torque and speed—one positive and one negative—indicate the drive motor is acting as a generator.

[0092] Part Two: The vehicle controller determines the actual charging and discharging power of each drive motor based on its torque, speed, and charging / discharging status.

[0093] In one possible implementation, for any one of the plurality of drive motors, the vehicle controller multiplies the torque, speed, and power determination coefficients of the drive motor to obtain the initial charge / discharge power of the drive motor. The vehicle controller then multiplies the initial charge / discharge power of the drive motor by the charge / discharge flag corresponding to the charge / discharge state of the drive motor to obtain the actual charge / discharge power of the drive motor.

[0094] The power determination factor is a constant, which is set by technicians according to actual conditions; this embodiment does not limit this setting. The charge / discharge flag bit is used to indicate the charge / discharge state of the drive motor. In some embodiments, the charging flag bit is 1 when the charge / discharge state is charging, and -1 when the charge / discharge state is discharging.

[0095] The above implementation method is illustrated below with two examples.

[0096] Example 1: For any one of the multiple drive motors, when the drive motor is in the charging / discharging state, the vehicle controller multiplies the torque, speed, and power determination coefficients of the drive motor to obtain the initial charging power of the drive motor. The vehicle controller then multiplies the initial charging power of the drive motor with the charging flag corresponding to the charging state of the drive motor to obtain the actual charging power of the drive motor.

[0097] For example, the vehicle controller determines the actual charging power of the drive motor using the following formula (1).

[0098]

[0099] Among them, P chg T represents the actual charging power. q Where n is torque and n is rotational speed. m1 is the power determination coefficient, and m1 is the charging flag bit, where m1 = 1.

[0100] Example 2: For any one of the multiple drive motors, when the drive motor is in the discharging state, the vehicle controller multiplies the torque, speed, and power determination coefficients of the drive motor to obtain the initial discharge power of the drive motor. The vehicle controller then multiplies the initial discharge power of the drive motor with the discharge flag corresponding to the discharge state of the drive motor to obtain the actual discharge power of the drive motor.

[0101] For example, the vehicle controller determines the actual discharge power of the drive motor using the following formula (2).

[0102]

[0103] Among them, P Dchg T represents the actual discharge power. q Where n is torque and n is rotational speed. m2 is the power determination coefficient, and m2 is the discharge flag bit, m2=-1.

[0104] Part Three: The vehicle controller uses the torque and speed of each drive motor to look up the initial charge and discharge efficiency table to obtain the initial charge and discharge efficiency of each drive motor.

[0105] In one possible implementation, for any one of the multiple drive motors, when the drive motor is in the charging / discharging state, the vehicle controller uses the torque and speed of the drive motor to look up the initial charging efficiency table to obtain the initial charging efficiency of the drive motor.

[0106] The initial charging efficiency refers to the initial charging efficiency of the corresponding drive motor under the current torque and speed.

[0107] In this implementation, the initial discharge efficiency of the drive motor can be obtained by looking up the torque and speed in the initial charging efficiency table, and the determination efficiency of the initial charging efficiency is relatively high.

[0108] In one possible implementation, for any one of the multiple drive motors, when the drive motor is in the discharge state, the vehicle controller uses the torque and speed of the drive motor to look up the initial discharge efficiency table to obtain the initial discharge efficiency of the drive motor.

[0109] The initial discharge efficiency refers to the initial discharge efficiency of the corresponding drive motor under the current torque and speed.

[0110] In this implementation, the initial discharge efficiency of the drive motor can be obtained by looking up the torque and speed in the initial discharge efficiency table, and the determination efficiency of the initial discharge efficiency is relatively high.

[0111] In addition to querying the initial charge-discharge efficiency using the initial charge-discharge efficiency table provided in the above embodiments, the initial charge-discharge efficiency can also be determined in the following ways.

[0112] In one possible implementation, the vehicle controller inputs the torque and speed of each drive motor into an initial charge-discharge efficiency determination model. This model then extracts features from the torque and speed of each drive motor to obtain its initial charge-discharge efficiency features. The vehicle controller then maps these features to obtain the initial charge-discharge efficiency of each drive motor.

[0113] The initial charge / discharge efficiency determination model is trained based on multiple sample data and labeled initial charge / discharge efficiencies of each sample data. The sample data includes sample torque and sample rotational speed. This initial charge / discharge efficiency determination model is a prediction model of arbitrary structure, and this application embodiment does not limit it. The initial charge / discharge efficiency determination model includes an initial charging efficiency determination model and an initial discharging efficiency determination model.

[0114] In this implementation, the initial charge-discharge efficiency is determined using an initial charge-discharge efficiency determination model. This leverages the generalization ability of the initial charge-discharge efficiency determination model to determine the initial charge-discharge model more accurately.

[0115] The above implementation method is illustrated below with two examples.

[0116] Example 1: For any one of multiple drive motors, when the drive motor is in the charging state, the vehicle controller inputs the torque and speed of the drive motor into the initial charging efficiency determination model. The vehicle controller extracts features from the torque and speed of the drive motor using the initial charging efficiency determination model to obtain the initial charging efficiency features of the drive motor. The vehicle controller then uses the initial charging efficiency determination model to perform fully connected and normalized initial charging efficiency features of the drive motor to obtain the initial charging efficiency of the drive motor.

[0117] Example 2: For any one of multiple drive motors, when the drive motor is in a discharging state, the vehicle controller inputs the torque and speed of the drive motor into the initial discharge efficiency determination model. The vehicle controller extracts features from the torque and speed of the drive motor using the initial discharge efficiency determination model to obtain the initial discharge efficiency features of the drive motor. The vehicle controller then uses the initial discharge efficiency determination model to perform fully connected and normalized initial discharge efficiency features of the drive motor to obtain the initial discharge efficiency of the drive motor.

[0118] 303. The vehicle controller determines the power ratio of each drive motor based on the actual charging and discharging power of each drive motor. This power ratio is the ratio of the actual charging and discharging power of the drive motor to the sum of the actual charging and discharging power of the multiple drive motors.

[0119] The power percentage of each drive motor includes the charging power percentage and the discharging power percentage, which reflects the proportion of the power of each drive motor in the total power of the system composed of multiple drive motors.

[0120] In one possible implementation, the vehicle controller adds up the actual charging and discharging power of the multiple drive motors to obtain the sum of the actual charging and discharging power of the multiple drive motors. The vehicle controller then divides the actual charging and discharging power of each drive motor by the sum of the actual charging and discharging power of the multiple drive motors to obtain the power percentage of each drive motor.

[0121] The above implementation method is illustrated below with two examples.

[0122] Example 1: When multiple drive motors are in the charging / discharging state (charging), the vehicle controller adds up the actual charging power of each drive motor to obtain the sum of their actual charging power. The vehicle controller then divides the actual charging power of each individual drive motor by the sum of their actual charging power to obtain the power percentage of each drive motor. This power percentage is also the power percentage during charging. In other words, the power percentage of a single drive motor during charging = the actual charging power of the single motor / the sum of the actual charging power of all drive motors.

[0123] Example 2: When multiple drive motors are in the discharge state, the vehicle controller adds up the actual discharge power of each drive motor to obtain the sum of their actual discharge power. The vehicle controller then divides the actual discharge power of each drive motor by the sum of their actual discharge power to obtain the power percentage of each drive motor. This power percentage is also the power percentage during discharge. In other words, the power percentage of a single drive motor during discharge = the actual discharge power of the single motor / the sum of the actual discharge power of all drive motors.

[0124] 304. The vehicle controller determines the overall charging and discharging efficiency of the target vehicle based on the initial charging and discharging efficiency and power ratio of each drive motor.

[0125] The overall charging and discharging efficiency of the target vehicle represents the combined charging and discharging efficiency of multiple drive motors. Charging efficiency includes charging efficiency and discharging efficiency. Charging efficiency represents the efficiency with which the drive motors convert kinetic energy into electrical energy during energy recovery. Discharging efficiency represents the efficiency with which the drive motors convert electrical energy into kinetic energy while driving the vehicle.

[0126] In one possible implementation, the vehicle controller multiplies the initial charge / discharge efficiency of each drive motor by its power percentage to obtain a reference charge / discharge efficiency for each drive motor. The vehicle controller then sums the reference charge / discharge efficiencies of each drive motor to obtain the overall charge / discharge efficiency of the target vehicle.

[0127] The above implementation method is illustrated below with two examples.

[0128] Example 1: When the multiple drive motors are in the charging / discharging state (charging), the vehicle controller multiplies the initial charging efficiency of each drive motor by its power percentage to obtain the reference charging efficiency of each drive motor. The vehicle controller then adds the reference charging efficiencies of each drive motor to obtain the overall charging efficiency of the target vehicle.

[0129] Example 2: When the multiple drive motors are in the discharging state, the vehicle controller multiplies the initial discharge efficiency of each drive motor by its power percentage to obtain the reference discharge efficiency of each drive motor. The vehicle controller then adds the reference discharge efficiencies of each drive motor to obtain the overall discharge efficiency of the target vehicle.

[0130] 305. The vehicle controller determines the actual charging and discharging efficiency of the target vehicle based on the overall charging and discharging efficiency and the charging and discharging efficiency factor. The charging and discharging efficiency factor is determined based on the actual charging and discharging power and the maximum charging and discharging power of the multiple drive motors.

[0131] The charge / discharge efficiency factor is used to correct the overall charge / discharge efficiency, resulting in an actual charge / discharge efficiency that more closely approximates the true charge / discharge efficiency. This factor is determined based on the actual and maximum charge / discharge power of the multiple drive motors. With the drive motors remaining constant, the maximum charge / discharge power remains unchanged; therefore, as the actual charge / discharge power of the drive motors changes, the charge / discharge efficiency factor also changes. Accordingly, the charge / discharge efficiency factor includes both a charging efficiency factor and a discharging efficiency factor.

[0132] In one possible implementation, the vehicle controller multiplies the overall charge / discharge efficiency and the charge / discharge efficiency factor to obtain the actual charge / discharge efficiency of the target vehicle.

[0133] The above implementation method is illustrated below with two examples.

[0134] Example 1: When the multiple drive motors are in the charging / discharging state of charging, the vehicle controller multiplies the overall charging efficiency and the charging efficiency factor to obtain the actual charging efficiency of the target vehicle.

[0135] Example 2: When the multiple drive motors are in the discharge state, the vehicle controller multiplies the overall discharge efficiency and the discharge efficiency factor to obtain the actual discharge efficiency of the target vehicle.

[0136] To provide a clearer explanation of the above implementation method, the method for determining the charge / discharge efficiency factor will be described below.

[0137] In one possible implementation, the vehicle controller sums the actual charging and discharging power of the multiple drive motors to obtain the overall charging and discharging power of the target vehicle. The vehicle controller also sums the maximum charging and discharging power of the multiple drive motors to obtain the overall maximum charging and discharging power of the target vehicle. The vehicle controller then uses the overall charging and discharging power and the overall maximum charging and discharging power of the target vehicle to look up the charging and discharging efficiency factor in a table to obtain the charging and discharging efficiency factor of the target vehicle. This table stores the correspondence between multiple candidate overall charging and discharging powers and multiple maximum charging and discharging powers and multiple candidate charging and discharging efficiency factors.

[0138] The overall charging and discharging power of the target vehicle is the total power of the target vehicle when it is charged and discharged through the multiple drive motors. The maximum charging and discharging power of the drive motor is the upper limit of the power of the drive motor when it is charging and discharging, which is determined by the hardware or software of the drive motor. The overall maximum charging and discharging power of the target vehicle refers to the upper limit of the power of the target vehicle when it is charged and discharged through the multiple drive motors. The charging and discharging efficiency factor table is configured in advance by technicians according to the actual situation, and this application embodiment does not limit it. Accordingly, the charging and discharging efficiency factor includes the charging efficiency factor and the discharging efficiency factor, and the charging and discharging efficiency factor table includes the charging efficiency factor table and the discharging efficiency factor table.

[0139] In this implementation, the overall charging and discharging power and the overall maximum charging and discharging power of the target vehicle can be used to determine the charging and discharging efficiency factor of the target vehicle, so that the determined charging and discharging efficiency factor is more in line with the actual state of the target vehicle and is more accurate.

[0140] The above implementation method is illustrated below with two examples.

[0141] Example 1: When multiple drive motors are in the charging / discharging state (charging), the vehicle controller adds up the actual charging power of each drive motor to obtain the overall charging power of the target vehicle. The vehicle controller also adds up the maximum charging power of each drive motor to obtain the overall maximum charging power of the target vehicle. The vehicle controller then uses the overall charging power and the overall maximum charging power of the target vehicle to look up the charging efficiency factor in a table to obtain the charging efficiency factor of the target vehicle. This charging efficiency factor table stores the correspondence between multiple candidate overall charging powers and multiple maximum charging powers and multiple candidate charging efficiency factors.

[0142] Example 2: When the multiple drive motors are in the discharging state, the vehicle controller adds up the actual discharge power of the multiple drive motors to obtain the overall discharge power of the target vehicle. The vehicle controller also adds up the maximum discharge power of the multiple drive motors to obtain the overall maximum discharge power of the target vehicle. The vehicle controller uses the overall discharge power and the overall maximum discharge power of the target vehicle to look up the discharge efficiency factor table to obtain the discharge efficiency factor of the target vehicle. This discharge efficiency factor table is used to store the correspondence between multiple candidate overall discharge powers and multiple multiple overall maximum discharge powers and multiple candidate discharge efficiency factors.

[0143] In one possible implementation, the vehicle controller sums the actual charging and discharging power of the multiple drive motors to obtain the overall charging and discharging power of the target vehicle. The vehicle controller also sums the maximum charging and discharging power of the multiple drive motors to obtain the overall maximum charging and discharging power of the target vehicle. The vehicle controller inputs the overall charging and discharging power and the overall maximum charging and discharging power into a charging and discharging efficiency factor determination model. The model then extracts features from the overall charging and discharging power and the overall maximum charging and discharging power to obtain the charging and discharging efficiency factor features of the target vehicle. Finally, the vehicle controller maps the charging and discharging efficiency factor features using the model to obtain the charging and discharging efficiency factor of the target vehicle.

[0144] The charge / discharge efficiency factor determination model is trained based on multiple sample data and the labeled charge / discharge efficiency factors of each sample data. The sample data includes the overall charge / discharge power and the overall maximum charge / discharge power of the sample. This charge / discharge efficiency factor determination model is a prediction model of arbitrary structure, and this application embodiment does not limit it. The charge / discharge determination model includes a charging efficiency factor determination model and a discharging efficiency factor determination model.

[0145] In this implementation, the charge-discharge efficiency factor is determined using a charge-discharge efficiency factor determination model, resulting in higher accuracy of the charge-discharge efficiency factor.

[0146] The above implementation method is illustrated below with two examples.

[0147] Example 1: When multiple drive motors are in the charging / discharging state (charging), the vehicle controller adds up the actual charging power of each drive motor to obtain the overall charging power of the target vehicle. The vehicle controller also adds up the maximum charging power of each drive motor to obtain the overall maximum charging power of the target vehicle. The vehicle controller inputs this overall charging power and the overall maximum charging power into a charging efficiency factor determination model. This model extracts features from the overall charging power and the overall maximum charging power to obtain the charging efficiency factor features of the target vehicle. Finally, the vehicle controller uses this charging efficiency factor determination model to perform fully connected and normalized processing on the charging efficiency factor features to obtain the charging efficiency factor of the target vehicle.

[0148] Example 2: When multiple drive motors are in the discharging state, the vehicle controller sums the actual discharge power of each drive motor to obtain the overall discharge power of the target vehicle. The vehicle controller also sums the maximum discharge power of each drive motor to obtain the overall maximum discharge power of the target vehicle. The vehicle controller inputs the overall discharge power and the overall maximum discharge power into a discharge efficiency factor determination model. This model extracts features from the overall discharge power and the overall maximum discharge power to obtain the discharge efficiency factor features of the target vehicle. Finally, the vehicle controller uses this discharge efficiency factor determination model to perform fully connected and normalized processing on the discharge efficiency factor features to obtain the discharge efficiency factor of the target vehicle.

[0149] 306. The vehicle controller determines the maximum available charging and discharging power of the target vehicle based on the actual charging and discharging efficiency and the maximum charging and discharging power.

[0150] The available maximum charging and discharging power refers to the maximum charging and discharging power that can be provided. In the process of controlling multiple drive motors, the total power provided to the multiple drive motors or the total power provided when the multiple drive motors generate electricity cannot exceed the available maximum charging and discharging power in order to ensure the safety of the target vehicle.

[0151] In one possible implementation, the vehicle controller filters the actual charge / discharge efficiency to obtain a target charge / discharge efficiency. The vehicle controller then divides the maximum charge / discharge power by the target charge / discharge efficiency to obtain the maximum available charge / discharge power for the target vehicle.

[0152] Filtering is used to smooth the actual charge and discharge efficiency, thereby eliminating errors and improving accuracy. This application does not limit the filtering method.

[0153] In this implementation, the actual charge / discharge efficiency is filtered to obtain the target charge / discharge efficiency. The maximum charge / discharge power is then divided by the target charge / discharge efficiency to obtain the usable maximum charge / discharge power, resulting in high accuracy.

[0154] The above implementation method is illustrated below with two examples.

[0155] Example 1: When multiple drive motors are in the charging / discharging state (charging), the vehicle controller filters the actual charging efficiency to obtain the target charging efficiency. The vehicle controller then divides the maximum charging power by the target charging efficiency to obtain the maximum available charging power for the target vehicle.

[0156] Example 2: When the multiple drive motors are in the discharge state, the vehicle controller filters the actual discharge efficiency to obtain the target discharge efficiency. The vehicle controller then divides the maximum discharge power by the target discharge efficiency to obtain the maximum usable discharge power of the target vehicle.

[0157] All of the above-mentioned optional technical solutions can be combined in any way to form the optional embodiments of this application, and will not be described in detail here.

[0158] The technical solution provided in this application obtains the torque and speed of the plurality of drive motors. Based on the torque and speed of the plurality of drive motors, the overall charging and discharging efficiency of the target vehicle is determined, whereby the overall charging and discharging efficiency refers to the charging and discharging efficiency of the plurality of drive motors. Based on the overall charging and discharging efficiency of the target vehicle and the charging and discharging efficiency factor, the actual charging and discharging efficiency of the target vehicle is determined, whereby the charging and discharging efficiency factor is determined based on the actual charging and discharging power and the maximum charging and discharging power of the plurality of drive motors. Based on the actual charging and discharging efficiency and the maximum charging and discharging power, the maximum available charging and discharging power of the target vehicle is determined. Subsequently, the charging and discharging power of the target vehicle can be limited based on the maximum available charging and discharging power, thereby ensuring the safety of the target vehicle.

[0159] By adopting the technical solution provided in the embodiments of this application, the maximum available charging and discharging power of the target vehicle can be determined when different speeds and / or torques are allocated to multiple drive motors of the target vehicle, and the safety of the target vehicle under different states can be guaranteed under the premise of maximizing power utilization.

[0160] Figure 4 This is a schematic diagram of a charging / discharging power determination device provided in an embodiment of this application. See also... Figure 4 The device includes: a data acquisition module 401, an overall charge and discharge efficiency determination module 402, an actual charge and discharge efficiency determination module 403, and an available maximum charge and discharge power determination module 404.

[0161] The data acquisition module 401 is used to acquire the torque and speed of multiple drive motors of the target vehicle.

[0162] The overall charge and discharge efficiency determination module 402 is used to determine the overall charge and discharge efficiency of the target vehicle based on the torque and speed of the multiple drive motors.

[0163] The actual charge and discharge efficiency determination module 403 is used to determine the actual charge and discharge efficiency of the target vehicle based on the overall charge and discharge efficiency and the charge and discharge efficiency factor of the target vehicle. The charge and discharge efficiency factor is determined based on the actual charge and discharge power and the maximum charge and discharge power of the multiple drive motors.

[0164] The available maximum charge / discharge power determination module 404 is used to determine the available maximum charge / discharge power of the target vehicle based on the actual charge / discharge efficiency and the maximum charge / discharge power.

[0165] In one possible implementation, the overall charge / discharge efficiency determination module 402 is used to determine the actual charge / discharge power and initial charge / discharge efficiency of each of the plurality of drive motors based on the torque and speed of the drive motors. Based on the actual charge / discharge power of each drive motor, it determines the power percentage of each drive motor, which is the ratio of the actual charge / discharge power of the drive motor to the sum of the actual charge / discharge power of the plurality of drive motors. Based on the initial charge / discharge efficiency and power percentage of each drive motor, it determines the overall charge / discharge efficiency of the target vehicle.

[0166] In one possible implementation, the overall charge / discharge efficiency determination module 402 is used to determine the charge / discharge state of each of the plurality of drive motors based on their torque and speed, the charge / discharge state including charging and discharging. Based on the torque, speed, and charge / discharge state of each drive motor, the actual charge / discharge power of each drive motor is determined. The initial charge / discharge efficiency of each drive motor is obtained by querying an initial charge / discharge efficiency table using the torque and speed of each drive motor. This initial charge / discharge efficiency table stores the correspondence between multiple candidate torques and multiple candidate speeds and multiple initial charge / discharge efficiencies.

[0167] In one possible implementation, the overall charge / discharge efficiency determination module 402 is used to multiply the torque, speed, and power determination coefficients of any one of the plurality of drive motors to obtain the initial charge / discharge power of the drive motor. The initial charge / discharge power of the drive motor is then multiplied by the charge / discharge flag corresponding to the charge / discharge state of the drive motor to obtain the actual charge / discharge power of the drive motor.

[0168] In one possible implementation, the overall charge / discharge efficiency determination module 402 is used to multiply the initial charge / discharge efficiency of each drive motor by its power ratio to obtain a reference charge / discharge efficiency for each drive motor. The reference charge / discharge efficiencies of each drive motor are then summed to obtain the overall charge / discharge efficiency of the target vehicle.

[0169] In one possible implementation, the device further includes a charge / discharge efficiency factor determination module, used to add the actual charge / discharge power of the plurality of drive motors to obtain the overall charge / discharge power of the target vehicle. It also adds the maximum charge / discharge power of the plurality of drive motors to obtain the overall maximum charge / discharge power of the target vehicle. Finally, it looks up the overall charge / discharge power and the overall maximum charge / discharge power of the target vehicle in a charge / discharge efficiency factor table to obtain the charge / discharge efficiency factor of the target vehicle. This table stores the correspondence between multiple candidate overall charge / discharge powers and multiple overall maximum charge / discharge powers and multiple candidate charge / discharge efficiency factors.

[0170] In one possible implementation, the available maximum charge / discharge power determination module 404 is used to filter the actual charge / discharge efficiency to obtain a target charge / discharge efficiency. The maximum charge / discharge power is then divided by the target charge / discharge efficiency to obtain the available maximum charge / discharge power of the target vehicle.

[0171] In one possible implementation, the actual charge / discharge efficiency determination module 403 is used to multiply the overall charge / discharge efficiency and the charge / discharge efficiency factor to obtain the actual charge / discharge efficiency of the target vehicle.

[0172] It should be noted that the charging and discharging power determination device provided in the above embodiments is only illustrated by the division of the above functional modules. In practical applications, the above functions can be assigned to different functional modules as needed, that is, the internal structure of the computer device can be divided into different functional modules to complete all or part of the functions described above. In addition, the charging and discharging power determination device and the charging and discharging power determination method embodiments provided in the above embodiments belong to the same concept, and their specific implementation process can be found in the method embodiments, which will not be repeated here.

[0173] The technical solution provided in this application obtains the torque and speed of the plurality of drive motors. Based on the torque and speed of the plurality of drive motors, the overall charging and discharging efficiency of the target vehicle is determined, whereby the overall charging and discharging efficiency refers to the charging and discharging efficiency of the plurality of drive motors. Based on the overall charging and discharging efficiency of the target vehicle and the charging and discharging efficiency factor, the actual charging and discharging efficiency of the target vehicle is determined, whereby the charging and discharging efficiency factor is determined based on the actual charging and discharging power and the maximum charging and discharging power of the plurality of drive motors. Based on the actual charging and discharging efficiency and the maximum charging and discharging power, the maximum available charging and discharging power of the target vehicle is determined. Subsequently, the charging and discharging power of the target vehicle can be limited based on the maximum available charging and discharging power, thereby ensuring the safety of the target vehicle.

[0174] This application also provides a vehicle. Figure 5 This is a schematic diagram of the structure of a vehicle provided in an embodiment of this application.

[0175] Typically, vehicle 500 includes one or more processors 501 and one or more memories 502.

[0176] Processor 501 may include one or more processing cores, such as a quad-core processor, a penta-core processor, etc. Processor 501 may be implemented using at least one hardware form selected from DSP (Digital Signal Processing), FPGA (Field-Programmable Gate Array), and PLA (Programmable Logic Array). Processor 501 may also include a main processor and a coprocessor. The main processor, also known as a CPU (Central Processing Unit), is used to process data in the wake-up state; the coprocessor is a low-power processor used to process data in the standby state. In some embodiments, processor 501 may integrate a GPU (Graphics Processing Unit), which is responsible for rendering and drawing the content to be displayed on the screen. In some embodiments, processor 501 may also include an AI (Artificial Intelligence) processor, which is used to handle computational operations related to machine learning.

[0177] The memory 502 may include one or more computer-readable storage media, which may be non-transitory. The memory 502 may also include high-speed random access memory and non-volatile memory, such as one or more disk storage devices or flash memory devices. In some embodiments, the non-transitory computer-readable storage media in the memory 502 are used to store at least one computer program, which is executed by the processor 501 to implement the method for determining charge / discharge power provided in the method embodiments of this application.

[0178] Those skilled in the art will understand that Figure 5 The structure shown does not constitute a limitation on vehicle 500 and may include more or fewer components than shown, or combine certain components, or use different component arrangements.

[0179] In addition, the device provided in the embodiments of this application may specifically be a chip, component or module. The chip may include a connected processor and a memory. The memory is used to store instructions. When the processor calls and executes the instructions, the chip can execute a method for determining charging and discharging power provided in the above embodiments.

[0180] This embodiment also provides a computer-readable storage medium storing computer program code. When the computer program code is run on a computer, the computer executes the above-described related method steps to implement the method for determining charging and discharging power provided in the above embodiment.

[0181] This embodiment also provides a computer program product that, when run on a computer, causes the computer to perform the aforementioned steps to implement a method for determining charging and discharging power provided in the above embodiment.

[0182] In this embodiment, the device, computer-readable storage medium, computer program product, or chip are all used to execute the corresponding methods provided above. Therefore, the beneficial effects they can achieve can be referred to the beneficial effects in the corresponding methods provided above, and will not be repeated here.

[0183] Through the above description of the embodiments, those skilled in the art will understand that, for the sake of convenience and brevity, only the division of the above functional modules is used as an example. In actual applications, the above functions can be assigned to different functional modules as needed, that is, the internal structure of the device can be divided into different functional modules to complete all or part of the functions described above.

[0184] In the embodiments provided in this application, it should be understood that the disclosed apparatus and methods can be implemented in other ways. For example, the apparatus embodiments described above are merely illustrative; for instance, the division of modules or units is only a logical functional division, and in actual implementation, there may be other division methods. For example, multiple units or components may be combined or integrated into another apparatus, or some features may be ignored or not executed. Furthermore, the coupling or direct coupling or communication connection shown or discussed may be through some interfaces; the indirect coupling or communication connection between apparatuses or units may be electrical, mechanical, or other forms.

[0185] The above description is merely a specific embodiment of this application, but the scope of protection of this application is not limited thereto. Any variations or substitutions that can be easily conceived by those skilled in the art within the scope of the technology disclosed in this application should be included within the scope of protection of this application. Therefore, the scope of protection of this application should be determined by the scope of the claims.

Claims

1. A method for determining charge / discharge power, characterized in that, The method includes: Obtain the torque and speed of multiple drive motors of the target vehicle; Based on the torque and speed of the multiple drive motors, the overall charging and discharging efficiency of the target vehicle is determined; The actual charging and discharging efficiency of the target vehicle is obtained by multiplying the overall charging and discharging efficiency of the target vehicle and the charging and discharging efficiency factor. The charging and discharging efficiency factor is determined based on the actual charging and discharging power and the maximum charging and discharging power of the multiple drive motors. The actual charge-discharge efficiency is filtered to obtain the target charge-discharge efficiency; Divide the maximum charging and discharging power by the target charging and discharging efficiency to obtain the maximum available charging and discharging power of the target vehicle; Determining the overall charging and discharging efficiency of the target vehicle based on the torque and speed of the plurality of drive motors includes: multiplying the initial charging and discharging efficiency of each drive motor by its power ratio to obtain a reference charging and discharging efficiency for each drive motor, wherein the power ratio is the ratio of the actual charging and discharging power of each drive motor to the sum of the actual charging and discharging power of the plurality of drive motors; and summing the reference charging and discharging efficiencies of each drive motor to obtain the overall charging and discharging efficiency of the target vehicle.

2. The method according to claim 1, characterized in that, The method further includes: Based on the torque and speed of the plurality of drive motors, the actual charging and discharging power and initial charging and discharging efficiency of each drive motor are determined. The power ratio of each drive motor is determined based on the actual charging and discharging power of each drive motor.

3. The method according to claim 2, characterized in that, The step of determining the actual charging and discharging power and initial charging and discharging efficiency of each of the plurality of drive motors based on their torque and speed includes: Based on the torque and speed of the plurality of drive motors, the charging and discharging state of each drive motor is determined, wherein the charging and discharging state includes charging and discharging. Based on the torque, speed, and charging / discharging state of each drive motor, the actual charging / discharging power of each drive motor is determined. The initial charge-discharge efficiency of each drive motor is obtained by querying the initial charge-discharge efficiency table using the torque and speed of each drive motor. The initial charge-discharge efficiency table is used to store the correspondence between multiple candidate torques and multiple candidate speeds and multiple initial charge-discharge efficiencies.

4. The method according to claim 3, characterized in that, Determining the actual charging and discharging power of each drive motor based on its torque, speed, and charging / discharging state includes: For any one of the plurality of drive motors, the torque, speed and power determination coefficients of the drive motor are multiplied together to obtain the initial charging and discharging power of the drive motor. The actual charging and discharging power of the drive motor is obtained by multiplying the initial charging and discharging power of the drive motor by the charging and discharging flag corresponding to the charging and discharging state of the drive motor.

5. The method according to claim 1, characterized in that, The method for determining the charge / discharge efficiency factor includes: The actual charging and discharging power of the multiple drive motors is added together to obtain the overall charging and discharging power of the target vehicle. The maximum charging and discharging power of the plurality of drive motors is added together to obtain the overall maximum charging and discharging power of the target vehicle. The overall charging and discharging power and the overall maximum charging and discharging power of the target vehicle are used to look up the charging and discharging efficiency factor table to obtain the charging and discharging efficiency factor of the target vehicle. The charging and discharging efficiency factor table is used to store the correspondence between multiple candidate overall charging and discharging powers and multiple overall maximum charging and discharging powers and multiple candidate charging and discharging efficiency factors.

6. A device for determining charge / discharge power, characterized in that, The device includes: The data acquisition module is used to acquire the torque and speed of multiple drive motors of the target vehicle; The overall charging and discharging efficiency determination module is used to determine the overall charging and discharging efficiency of the target vehicle based on the torque and speed of the multiple drive motors. The actual charge and discharge efficiency determination module is used to multiply the overall charge and discharge efficiency of the target vehicle and the charge and discharge efficiency factor to obtain the actual charge and discharge efficiency of the target vehicle. The charge and discharge efficiency factor is determined based on the actual charge and discharge power and the maximum charge and discharge power of the multiple drive motors. A maximum available charging and discharging power determination module is used to filter the actual charging and discharging efficiency to obtain the target charging and discharging efficiency; and to divide the maximum charging and discharging power by the target charging and discharging efficiency to obtain the maximum available charging and discharging power of the target vehicle. The overall charge and discharge efficiency determination module is used to multiply the initial charge and discharge efficiency of each drive motor by the power ratio to obtain the reference charge and discharge efficiency of each drive motor, wherein the power ratio is the ratio of the actual charge and discharge power of each drive motor to the sum of the actual charge and discharge power of the plurality of drive motors; and to add the reference charge and discharge efficiencies of each drive motor to obtain the overall charge and discharge efficiency of the target vehicle.

7. A vehicle, characterized in that, The vehicles include: Memory, used to store executable program code; A processor is configured to call and run the executable program code from the memory, causing the vehicle to perform the method for determining the charging and discharging power as described in any one of claims 1 to 5.

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