A method, device, vehicle and storage medium for determining radial distance

Abstract

The present application relates to a method and apparatus for determining radial distance, a vehicle, and a storage medium, and relates to the field of battery management systems. The method includes: obtaining the temperature of the battery at the current moment and the current of the battery at the current moment, and thus determining the radial distance at the current moment corresponding to the temperature at the current moment and the current at the current moment based on the mapping relationship. Wherein, the mapping relationship is the corresponding relationship between the temperature, current and radial distance during the operation of the battery, and the radial distance at the current moment is used to reflect the difference between the voltage value of the battery and the cut-off voltage of the battery and the power of the battery when the battery is at the temperature and current at the current moment. Thus, the radial distance can be determined according to the mapping relationship, so as to determine the SOC value of the battery based on the radial distance, thereby improving the accuracy of the SOC value of the battery.

Description

Technical Field

[0001] The present application relates to the field of battery management systems, in particular to the field of new energy vehicle battery management technology, and specifically relates to a method, device, vehicle and storage medium for determining radial distance. Background Art

[0002] The state of charge (SOC) of a battery is an indicator reflecting the remaining capacity of the battery, and is used to represent the ratio of the remaining battery power to the power under the fully charged state. As one of the most important state parameters of the battery, SOC is used in the battery management system (BMS) to control the charging current, usage power, and estimate the remaining mileage, etc., and is a basic parameter to ensure the normal and safe use of the battery.

[0003] In related technologies, most of the methods for determining the battery SOC value are to directly determine the battery SOC value by obtaining the voltage or current of the battery. This method does not consider the influence of factors such as the aging state and usage conditions of the battery, resulting in a large error in the battery SOC value. However, the mapping relationship between the dynamic voltage value of the battery and the battery capacity can be converted from a rectangular coordinate system to other coordinate systems, and the radial distance in other coordinate systems can be determined based on the dynamic voltage value of the battery at the current moment, so as to determine the battery SOC value based on the radial distance to improve the accuracy of the battery SOC value. In related technologies, the mapping relationship between the dynamic voltage value of the battery and the battery capacity is not subjected to coordinate system conversion, and the radial distance of the battery cannot be determined. Therefore, how to determine the radial distance is an urgent problem to be solved at present. Summary of the Invention

[0004] The present application provides a method, device, vehicle and storage medium for determining radial distance to at least solve the technical problem of how to determine the radial distance in related technologies. The technical solution of the present application is as follows:

[0005] According to a first aspect of the present application, there is provided a method for determining radial distance, the method including: obtaining the temperature of the battery at the current moment and the current at the current moment; determining the radial distance at the current moment corresponding to the temperature at the current moment and the current at the current moment based on the mapping relationship; the mapping relationship being the corresponding relationship between the temperature, current and radial distance during the operation of the battery; the radial distance at the current moment being used to reflect the difference between the voltage value of the battery and the cut-off voltage of the battery and the battery power when the battery is at the temperature at the current moment and the current at the current moment.

[0006] According to the above technical means, the mapping relationship includes the radial distances of the battery under various temperature conditions and various current conditions. Thus, based on the mapping relationship, the radial distance of the battery at the current moment under the current temperature and current conditions can be accurately determined, so that the SOC value of the battery at the current moment can be determined based on the radial distance at the current moment, improving the accuracy of the radial distance and the SOC value of the battery. Moreover, the operating state of the battery can also be detected through the temperature, current, and radial distance at the current moment, so as to control the battery to operate under appropriate current and temperature conditions, improve the service life of the battery, and timely detect abnormal conditions of the battery for fault prediction and prevention.

[0007] In a possible implementation manner, the radial distance includes: a first radial distance of the battery during charging and a second radial distance of the battery during discharging; the mapping relationship includes: a first mapping relationship and a second mapping relationship; the first mapping relationship is the corresponding relationship between the current, temperature, and first radial distance of the battery during charging; the second mapping relationship is the corresponding relationship between the current, temperature, and second radial distance of the battery during discharging; the first radial distance is the distance from a point on the charging voltage characteristic curve of the battery to a first reference point; the first reference point is the value point of the charging cut-off voltage of the battery on the coordinate axis representing voltage in the coordinate system where the charging voltage characteristic curve is located; the second radial distance is the distance from a point on the discharging voltage characteristic curve of the battery to a second reference point; the second reference point is the value point of the discharging cut-off voltage of the battery on the coordinate axis representing voltage in the coordinate system where the discharging voltage characteristic curve is located; the above method further includes: constructing the first mapping relationship and the second mapping relationship.

[0008] According to the above technical means, the first radial distance of the battery in the charging state can be determined based on the first mapping relationship of the battery in the charging state, and the second radial distance of the battery in the discharging state can be determined based on the second mapping relationship of the battery in the discharging state, so as to determine the radial distance at the current moment according to different working modes of the battery, improving the accuracy of the radial distance.

[0009] In another possible implementation manner, constructing the first mapping relationship includes: when the battery is in the charging state, determining a third mapping relationship between the current and the first radial distance of the battery, and a fourth mapping relationship between the temperature and the first radial distance of the battery; according to the third mapping relationship and the fourth mapping relationship, determining the first mapping relationship between the current, temperature, and first radial distance of the battery during charging.

[0010] According to the above technical means, the first mapping relationship can be constructed by determining the third mapping relationship and the fourth mapping relationship. Moreover, the third mapping relationship and the fourth mapping relationship can more accurately reflect the influence of current and temperature on the battery state during charging, so as to more accurately determine the first mapping relationship and improve the accuracy of the radial distance at the current moment determined according to the first mapping relationship.

[0011] In another possible implementation manner, when the battery is in a charging state, determining the third mapping relationship between the current of the battery and the first radial distance includes: obtaining multiple first charging voltage characteristic curves of the battery under multiple different charging current conditions; determining the first radial distance of the battery under each charging current condition based on the multiple first charging voltage characteristic curves; performing a fitting process on the first radial distances under multiple charging current conditions to determine the third mapping relationship between the current of the battery and the first radial distance when the battery is in a charging state.

[0012] According to the above technical means, by fitting the first radial distances of the battery under multiple different charging current conditions, the first radial distance of the battery under each charging current condition can be predicted. Thus, the third mapping relationship can be determined based on the multiple first charging voltage characteristic curves of the battery, without measuring the first radial distance of the battery under each charging current condition to determine the third mapping relationship, improving the efficiency of data processing, reducing the development cost, and improving the accuracy and generality of the third mapping relationship.

[0013] In another possible implementation manner, when the battery is in a charging state, determining the fourth mapping relationship between the temperature of the battery and the first radial distance includes: obtaining multiple second charging voltage characteristic curves of the battery under multiple different temperature conditions; determining the first radial distance of the battery under each temperature condition based on the multiple second charging voltage characteristic curves; performing a fitting process on the first radial distances under multiple temperature conditions to determine the fourth mapping relationship between the temperature of the battery and the first radial distance when the battery is in a charging state.

[0014] According to the above technical means, by fitting the first radial distances of the battery under multiple different temperature conditions, the first radial distance of the battery under each temperature condition can be predicted. Thus, the fourth mapping relationship can be determined based on the multiple second charging voltage characteristic curves of the battery, without measuring the first radial distance of the battery under each temperature condition to determine the fourth mapping relationship, improving the efficiency of data processing, reducing the development cost, and improving the accuracy and generality of the fourth mapping relationship.

[0015] In yet another possible implementation, constructing the second mapping relationship includes: when the battery is in a discharging state, determining a fifth mapping relationship between the current of the battery and the second radial distance, and a sixth mapping relationship between the temperature of the battery and the second radial distance; according to the fifth mapping relationship and the sixth mapping relationship, determining a second mapping relationship between the current, temperature and second radial distance of the battery during discharging.

[0016] According to the above technical means, the second mapping relationship can be constructed by determining the fifth mapping relationship and the sixth mapping relationship, and the fifth mapping relationship and the sixth mapping relationship can more accurately reflect the influence of the current and temperature of the battery on the battery state during discharging, so as to more accurately determine the second mapping relationship, and improve the accuracy of the radial distance at the current moment determined according to the second mapping relationship.

[0017] In yet another possible implementation, when the battery is in a discharging state, determining the fifth mapping relationship between the current of the battery and the second radial distance includes: obtaining multiple first discharge voltage characteristic curves of the battery under multiple different discharge current conditions; based on the multiple first discharge voltage characteristic curves, determining the second radial distance of the battery under each discharge current condition; performing a fitting process on the second radial distances under multiple discharge current conditions to determine the fifth mapping relationship between the current of the battery and the second radial distance when the battery is in a discharging state.

[0018] According to the above technical means, by fitting the second radial distances of the battery under multiple different discharge current conditions, the second radial distance of the battery under each discharge current condition can be predicted, so that the fifth mapping relationship can be determined based on the multiple first discharge voltage characteristic curves of the battery, without measuring the second radial distance of the battery under each discharge current condition to determine the fifth mapping relationship, improving the efficiency of data processing, reducing the development cost, and improving the accuracy and versatility of the fifth mapping relationship.

[0019] In yet another possible implementation, when the battery is in a discharging state, determining the sixth mapping relationship between the temperature of the battery and the second radial distance includes: obtaining multiple second discharge voltage characteristic curves of the battery under multiple different temperature conditions; based on the multiple second discharge voltage characteristic curves, determining the second radial distance of the battery under each temperature condition; performing a fitting process on the second radial distances under multiple temperature conditions to determine the sixth mapping relationship between the temperature of the battery and the second radial distance when the battery is in a discharging state.

[0020] According to the above technical means, by fitting the second radial distance of the battery under multiple different temperature conditions, the second radial distance of the battery under each temperature condition can be predicted. Thus, based on multiple second discharge voltage characteristic curves of the battery, the sixth mapping relationship can be determined without measuring the second radial distance of the battery under each temperature condition to determine the sixth mapping relationship, which improves the efficiency of data processing, reduces the development cost, and improves the accuracy and versatility of the sixth mapping relationship.

[0021] In another possible implementation manner, the fitting processing method includes at least one of the following: exponential function, logarithmic function, power function, Gaussian function, and least squares method.

[0022] According to the above technical means, fitting processing can be performed through a variety of mathematical tools to adapt to different data characteristics and requirements, so that the fitting results can more accurately represent the mapping relationship between current and radial distance and the mapping relationship between temperature and radial distance, thereby improving the accuracy of the mapping relationship.

[0023] According to the second aspect provided by the present application, a radial distance determination device is provided. The device includes: an acquisition module and a determination module. The acquisition module is used to acquire the temperature of the battery at the current moment and the current at the current moment; the determination module is used to determine the radial distance at the current moment corresponding to the temperature at the current moment and the current at the current moment based on the mapping relationship; the mapping relationship is the corresponding relationship between the temperature, current and radial distance of the battery during operation; the radial distance at the current moment is used to reflect the difference between the voltage value of the battery and the cut-off voltage of the battery and the power of the battery when the battery is at the temperature at the current moment and the current at the current moment.

[0024] In a possible implementation manner, the radial distance includes: a first radial distance when the battery is charging and a second radial distance when the battery is discharging; the mapping relationship includes: a first mapping relationship and a second mapping relationship; the first mapping relationship is the corresponding relationship between the current, temperature and first radial distance when the battery is charging; the second mapping relationship is the corresponding relationship between the current, temperature and second radial distance when the battery is discharging; the first radial distance is the distance from a point on the charging voltage characteristic curve of the battery to the first reference point; the first reference point is the value point of the charging cut-off voltage of the battery on the coordinate axis representing voltage in the coordinate system where the charging voltage characteristic curve is located; the second radial distance is the distance from a point on the discharge voltage characteristic curve of the battery to the second reference point; the second reference point is the value point of the discharge cut-off voltage of the battery on the coordinate axis representing voltage in the coordinate system where the discharge voltage characteristic curve is located; the device further includes: a construction module. The construction module is used to construct the first mapping relationship and the second mapping relationship.

[0025] In another possible implementation, the construction module is specifically configured to, when the battery is in a charging state, determine a third mapping relationship between the current of the battery and the first radial distance, and a fourth mapping relationship between the temperature of the battery and the first radial distance; and determine a first mapping relationship between the current, temperature, and the first radial distance of the battery during charging according to the third mapping relationship and the fourth mapping relationship.

[0026] In yet another possible implementation, the construction module is specifically configured to obtain multiple first charging voltage characteristic curves of the battery under multiple different charging current conditions; determine the first radial distance of the battery under each charging current condition based on the multiple first charging voltage characteristic curves; perform a fitting process on the first radial distances under multiple charging current conditions to determine a third mapping relationship between the current of the battery and the first radial distance when the battery is in a charging state.

[0027] In yet another possible implementation, the construction module is specifically configured to obtain multiple second charging voltage characteristic curves of the battery under multiple different temperature conditions; determine the first radial distance of the battery under each temperature condition based on the multiple second charging voltage characteristic curves; perform a fitting process on the first radial distances under multiple temperature conditions to determine a fourth mapping relationship between the temperature of the battery and the first radial distance when the battery is in a charging state.

[0028] In yet another possible implementation, the construction module is specifically configured to, when the battery is in a discharging state, determine a fifth mapping relationship between the current of the battery and the second radial distance, and a sixth mapping relationship between the temperature of the battery and the second radial distance; and determine a second mapping relationship between the current, temperature, and the second radial distance of the battery during discharging according to the fifth mapping relationship and the sixth mapping relationship.

[0029] In yet another possible implementation, the construction module is specifically configured to obtain multiple first discharging voltage characteristic curves of the battery under multiple different discharging current conditions; determine the second radial distance of the battery under each discharging current condition based on the multiple first discharging voltage characteristic curves; perform a fitting process on the second radial distances under multiple discharging current conditions to determine a fifth mapping relationship between the current of the battery and the second radial distance when the battery is in a discharging state.

[0030] In yet another possible implementation, the construction module is specifically configured to obtain multiple second discharging voltage characteristic curves of the battery under multiple different temperature conditions; determine the second radial distance of the battery under each temperature condition based on the multiple second discharging voltage characteristic curves; perform a fitting process on the second radial distances under multiple temperature conditions to determine a sixth mapping relationship between the temperature of the battery and the second radial distance when the battery is in a discharging state.

[0031] In yet another possible implementation, the fitting processing method includes at least one of the following: exponential function, logarithmic function, power function, Gaussian function, and least squares method.

[0032] According to a third aspect provided by the present application, a vehicle is provided, including: a processor; a memory for storing instructions executable by the processor; wherein, the processor is configured to execute the instructions to implement the method of the above first aspect and any of its possible implementation manners.

[0033] According to a fourth aspect provided by the present application, a computer-readable storage medium is provided. When the instructions in the computer-readable storage medium are executed by the processor of the vehicle, the vehicle can execute the method of the above first aspect and any of its possible implementation manners.

[0034] According to a fifth aspect provided by the present application, a computer program product is provided. The computer program product includes computer instructions. When the computer instructions run on the vehicle, the vehicle executes the method of the above first aspect and any of its possible implementation manners.

[0035] Therefore, the above technical features of the present application have the following beneficial effects:

[0036] (1) The mapping relationship includes the radial distance of the battery under various temperature conditions and various current conditions. Thus, the radial distance of the battery at the current moment under the current temperature and current conditions can be accurately determined based on the mapping relationship, so that the SOC value of the battery at the current moment can be determined based on the radial distance at the current moment, improving the accuracy of the radial distance and the SOC value of the battery. Moreover, the operating state of the battery can be detected through the temperature at the current moment, the current at the current moment, and the radial distance at the current moment, so as to control the battery to operate under suitable current and temperature conditions, improve the service life of the battery, and timely detect abnormal conditions of the battery for fault prediction and prevention.

[0037] (2) The first radial distance of the battery in the charging state can be determined based on the first mapping relationship of the battery in the charging state, and the second radial distance of the battery in the discharging state can be determined based on the second mapping relationship of the battery in the discharging state, so as to determine the radial distance at the current moment according to different working modes of the battery, improving the accuracy of the radial distance.

[0038] (3) The first mapping relationship can be constructed by determining the third mapping relationship and the fourth mapping relationship, and the third mapping relationship and the fourth mapping relationship can more accurately reflect the influence of the current and temperature on the battery state during charging, thereby more accurately determining the first mapping relationship to improve the accuracy of the radial distance at the current moment determined according to the first mapping relationship.

[0039] (4) By fitting the first radial distance of the battery under multiple different charging current conditions, the first radial distance of the battery under each charging current condition can be predicted. Thus, based on multiple first charging voltage characteristic curves of the battery, a third mapping relationship can be determined without measuring the first radial distance of the battery under each charging current condition to determine the third mapping relationship, improving the efficiency of data processing, reducing the development cost, and enhancing the accuracy and generality of the third mapping relationship.

[0040] (5) By fitting the first radial distance of the battery under multiple different temperature conditions, the first radial distance of the battery under each temperature condition can be predicted. Thus, based on multiple second charging voltage characteristic curves of the battery, a fourth mapping relationship can be determined without measuring the first radial distance of the battery under each temperature condition to determine the fourth mapping relationship, improving the efficiency of data processing, reducing the development cost, and enhancing the accuracy and generality of the fourth mapping relationship.

[0041] (6) The second mapping relationship can be constructed by determining a fifth mapping relationship and a sixth mapping relationship. Moreover, the fifth mapping relationship and the sixth mapping relationship can more precisely reflect the influence of current and temperature on the battery state during discharge, thereby more accurately determining the second mapping relationship to improve the accuracy of the radial distance at the current moment determined according to the second mapping relationship.

[0042] (7) By fitting the second radial distance of the battery under multiple different discharge current conditions, the second radial distance of the battery under each discharge current condition can be predicted. Thus, based on multiple first discharge voltage characteristic curves of the battery, a fifth mapping relationship can be determined without measuring the second radial distance of the battery under each discharge current condition to determine the fifth mapping relationship, improving the efficiency of data processing, reducing the development cost, and enhancing the accuracy and generality of the fifth mapping relationship.

[0043] (8) By fitting the second radial distance of the battery under multiple different temperature conditions, the second radial distance of the battery under each temperature condition can be predicted. Thus, based on multiple second discharge voltage characteristic curves of the battery, a sixth mapping relationship can be determined without measuring the second radial distance of the battery under each temperature condition to determine the sixth mapping relationship, improving the efficiency of data processing, reducing the development cost, and enhancing the accuracy and generality of the sixth mapping relationship.

[0044] (9) Fitting processing can be carried out through a variety of mathematical tools to adapt to different data characteristics and requirements, so that the fitting results can more accurately represent the mapping relationship between current and radial distance and the mapping relationship between temperature and radial distance, thereby improving the accuracy of the mapping relationship.

[0045] It should be noted that for the technical effects brought about by any of the implementation manners in the second aspect to the fifth aspect, reference may be made to the technical effects brought about by the corresponding implementation manner in the first aspect, which will not be elaborated herein.

[0046] It should be understood that the above general description and the following detailed description are merely exemplary and explanatory, and should not limit this application. BRIEF DESCRIPTION OF THE DRAWINGS

[0047] The drawings herein are incorporated into the specification and form a part of the specification, showing embodiments consistent with this application, and are used together with the specification to explain the principles of this application, and do not constitute an improper limitation to this application.

[0048] Figure 1 is a flowchart of a method for determining a radial distance shown according to an exemplary embodiment;

[0049] Figure 2 is a flowchart of another method for determining a radial distance shown according to an exemplary embodiment;

[0050] Figure 3 is a flowchart of yet another method for determining a radial distance shown according to an exemplary embodiment;

[0051] Figure 4 is a flowchart of yet another method for determining a radial distance shown according to an exemplary embodiment;

[0052] Figure 5 is a schematic diagram of a charging voltage characteristic curve of a battery under multiple different current conditions shown according to an exemplary embodiment;

[0053] Figure 6 is a schematic diagram of another charging voltage characteristic curve of a battery under multiple different current conditions shown according to an exemplary embodiment;

[0054] Figure 7 is a schematic diagram of a third mapping relationship between the charging current of a battery and a first radial distance shown according to an exemplary embodiment;

[0055] Figure 8 is a flowchart of yet another method for determining a radial distance shown according to an exemplary embodiment;

[0056] Figure 9 is a schematic diagram of a fourth mapping relationship between the temperature of a battery during charging and a first radial distance shown according to an exemplary embodiment;

[0057] Figure 10 is a flowchart of yet another method for determining a radial distance shown according to an exemplary embodiment;

[0058] Figure 11 It is a flowchart of yet another radial distance determination method shown according to an exemplary embodiment;

[0059] Figure 12 It is a schematic diagram of the discharge voltage characteristic curve of a battery under multiple different current conditions shown according to an exemplary embodiment;

[0060] Figure 13 It is a schematic diagram of the discharge voltage characteristic curve of another battery under multiple different current conditions shown according to an exemplary embodiment;

[0061] Figure 14 It is a schematic diagram of the discharge voltage characteristic curve of yet another battery under multiple different current conditions shown according to an exemplary embodiment;

[0062] Figure 15 It is a flowchart of yet another radial distance determination method shown according to an exemplary embodiment;

[0063] Figure 16 It is a flowchart of yet another radial distance determination method shown according to an exemplary embodiment;

[0064] Figure 17 It is a block diagram of a radial distance determination device shown according to an exemplary embodiment;

[0065] Figure 18 It is a block diagram of a vehicle shown according to an exemplary embodiment. Detailed implementation manners

[0066] In order to enable those of ordinary skill in the art to better understand the technical solutions of the present application, the technical solutions in the embodiments of the present application will be clearly and completely described below with reference to the accompanying drawings.

[0067] It should be noted that the terms "first", "second", etc. in the specification and claims of the present application and the above-mentioned drawings are used to distinguish similar objects, and do not necessarily have to be used to describe a specific order or sequence. It should be understood that such used data may be interchanged under appropriate circumstances so that the embodiments of the present application described here can be implemented in an order different from those illustrated or described here. The embodiments described in the following exemplary embodiments do not represent all embodiments consistent with the present application. On the contrary, they are merely examples of devices and methods consistent with some aspects of the present application as detailed in the appended claims.

[0068] The State of Charge (SOC) value of a battery is one of the most important state parameters of the battery. In a Battery Management System (BMS), the SOC value can be used to control the charging current, power consumption, and estimate the remaining mileage, etc. This parameter is the basic parameter to ensure the normal and safe use of the battery. In related technologies, the methods for determining the SOC value of a battery can be roughly divided into three categories: The first category is the Coulomb method based on its definition. The second category is the look-up table method based on the open circuit voltage (OCV)-SOC curve. The third category is the filtering method based on battery performance parameters such as internal resistance and voltage and combined with an equivalent circuit model. However, for these three methods, for a battery system with a very wide plateau interval in the voltage characteristic curve, such as a lithium iron phosphate battery (LFP), neither the OCV-SOC look-up table method nor the Kalman filtering method can be used, and only the single ampere-hour integration method can be used. However, for the voltage plateau region, when using the ampere-hour integration algorithm for a long time, the inherent error of the current sensor will be accumulated, and when the battery is not fully charged for a long time, there will be a large error in the SOC value.

[0069] If the method of coordinate system transformation can effectively solve the problem of large SOC value error, but the method of coordinate system transformation requires determining the radial distance corresponding to the points on the voltage characteristic curve of the battery. In related technologies, the mapping relationship between the dynamic voltage value of the battery and the battery capacity has not been transformed in the coordinate system, and the radial distance of the battery cannot be determined. Therefore, how to determine the radial distance is an urgent problem to be solved at present.

[0070] In view of the above problems, the present application proposes a method for determining the radial distance. The mapping relationship includes the radial distances of the battery under various temperature conditions and various current conditions, so that the radial distance of the battery at the current moment under the current temperature and current current conditions can be accurately determined based on the mapping relationship, so as to determine the SOC value of the battery at the current moment based on the radial distance at the current moment, improving the accuracy of the radial distance and the SOC value of the battery. Moreover, the operating state of the battery can also be detected through the temperature at the current moment, the current at the current moment, and the radial distance at the current moment, so as to control the battery to operate under appropriate current and temperature conditions, improve the service life of the battery, and timely detect abnormal conditions of the battery for fault prediction and prevention.

[0071] For the convenience of understanding, the method for determining the radial distance provided by the present application will be specifically introduced below with reference to the accompanying drawings.

[0072] Figure 1 is a flowchart of a method for determining the radial distance shown according to an exemplary embodiment. As Figure 1 shown, the method for determining the radial distance includes the following steps:

[0073] S101. Obtain the temperature of the battery at the current moment and the current of the battery at the current moment.

[0074] As a possible implementation, the determination device can obtain the temperature of the battery at the current moment and the current of the battery at the current moment, so as to query the radial distance at the current moment corresponding to the temperature at the current moment and the current at the current moment based on the temperature at the current moment and the current at the current moment.

[0075] Exemplarily, the determination device can obtain the temperature of the battery at the current moment and the current of the battery at the current moment through a temperature sensor and a current sensor, or the determination device can also collect the temperature of the battery at the current moment and the current of the battery at the current moment through the data acquisition module of the BMS.

[0076] S102. Based on the mapping relationship, determine the radial distance at the current moment corresponding to the temperature at the current moment and the current at the current moment.

[0077] Wherein, the mapping relationship is the corresponding relationship between the temperature, current and radial distance during the operation of the battery. The radial distance at the current moment is used to reflect the difference between the voltage value of the battery and the cut-off voltage of the battery and the power of the battery when the battery is at the temperature and current at the current moment.

[0078] As a possible implementation, after the determination device obtains the temperature of the battery at the current moment and the current of the battery at the current moment, it can determine the radial distance at the current moment corresponding to the temperature at the current moment and the current at the current moment based on the mapping relationship between the temperature, current and radial distance, so as to determine the SOC value of the battery at the current moment based on the radial distance at the current moment.

[0079] It can be understood that the radial distance is the distance between a point on the voltage characteristic curve of the battery and the reference point in the target coordinate system when the voltage characteristic curve of the battery is transformed from the original coordinate system to the target coordinate system. Among them, the target coordinate system includes any one of the following: polar coordinate system, cylindrical coordinate system, spherical coordinate system, etc. The voltage characteristic curve includes: charging voltage characteristic curve and discharging voltage characteristic curve. The coordinate system where the voltage characteristic curve is located includes a first axis and a second axis that are perpendicular to each other. The first axis is used to represent the voltage value of the battery, and the second axis is used to represent the battery charge. The reference point is the mapping point of the value point of the battery in the full charge state or the fully discharged state on the reference line in the voltage characteristic curve. The reference line is parallel to the second axis, and the voltage value at the intersection of the reference line and the first axis is the cut-off voltage of the battery. The radial distance at the current moment determined by the determining device based on the temperature and current at the current moment represents the corresponding relationship between the voltage value and the radial distance of the battery. The determining device can also obtain the voltage value of the battery at the current moment, so as to determine the radial distance at the current moment based on the voltage value and the radial distance at the current moment, so that the determining device can determine the offset angle at the current moment based on the radial distance at the current moment, and then determine the SOC value of the battery at the current moment according to the corresponding relationship between the offset angle and the SOC value of the battery. Among them, the offset angle is the included angle between the line segment of the radial distance and the reference line in the target coordinate system.

[0080] In some embodiments, before determining the radial distance at the current moment corresponding to the temperature and current at the current moment based on the mapping relationship, the determining device can also construct a mapping relationship based on the charging voltage characteristic curve and the discharging voltage characteristic curve of the battery, so as to determine the radial distance at the current moment corresponding to the temperature and current at the current moment based on the mapping relationship. Among them, the radial distance includes: the first radial distance when the battery is charging and the second radial distance when the battery is discharging. The mapping relationship includes: the first mapping relationship and the second mapping relationship. The first mapping relationship is the corresponding relationship between the current, temperature and the first radial distance when the battery is charging. The second mapping relationship is the corresponding relationship between the current, temperature and the second radial distance when the battery is discharging. The first radial distance is the distance between a point on the charging voltage characteristic curve of the battery and the first reference point. The first reference point is the value point of the charging cut-off voltage of the battery on the coordinate axis representing voltage in the coordinate system where the charging voltage characteristic curve is located. The second radial distance is the distance between a point on the discharging voltage characteristic curve of the battery and the second reference point. The second reference point is the value point of the discharging cut-off voltage of the battery on the coordinate axis representing voltage in the coordinate system where the discharging voltage characteristic curve is located. Therefore, as Figure 2 shown, before the above step S101, the radial distance determination method of the present application further includes the following steps:

[0081] S100. Construct the first mapping relationship and the second mapping relationship.

[0082] As a possible implementation, the determining device may respectively construct a first mapping relationship and a second mapping relationship based on the charging voltage characteristic curve and the discharging voltage characteristic curve of the battery.

[0083] Exemplarily, the determining device may construct a first mapping relationship among the current, temperature, and the first radial distance of the battery during charging based on the corresponding relationship between the current of the battery and the first radial distance, and the corresponding relationship between the temperature of the battery and the first radial distance when the battery is in the charging state. The determining device may also construct a second mapping relationship among the current, temperature, and the second radial distance of the battery during discharging based on the corresponding relationship between the current of the battery and the second radial distance, and the corresponding relationship between the temperature of the battery and the second radial distance when the battery is in the discharging state.

[0084] In some other embodiments, the determining device may determine a third mapping relationship between the current of the battery during charging and the first radial distance, and a fourth mapping relationship between the temperature of the battery during charging and the first radial distance, so as to construct the first mapping relationship according to the third mapping relationship and the fourth mapping relationship. Therefore, as Figure 3 shown, the above construction of the first mapping relationship may be specifically implemented as the following steps S301 - S302:

[0085] S301. When the battery is in the charging state, determine a third mapping relationship between the current of the battery and the first radial distance, and a fourth mapping relationship between the temperature of the battery and the first radial distance.

[0086] As a possible implementation, the determining device may respectively determine a third mapping relationship between the current of the battery and the first radial distance, and a fourth mapping relationship between the temperature of the battery and the first radial distance when the battery is in the charging state, so that the determining device can construct the first mapping relationship according to the third mapping relationship and the fourth mapping.

[0087] Exemplarily, the determining device may determine the first radial distances corresponding to multiple different charging currents based on multiple first charging voltage characteristic curves of the battery under multiple different charging current conditions, and thus determine a third mapping relationship between the current of the battery and the first radial distance when the battery is in the charging state based on the multiple different charging currents and the first radial distances corresponding to the multiple different charging currents. The determining device may also determine the first radial distances corresponding to multiple different temperatures based on multiple second charging voltage characteristic curves of the battery under multiple different temperature conditions, and thus determine a fourth mapping relationship between the temperature of the battery and the first radial distance when the battery is in the charging state based on the multiple different temperatures and the first radial distances corresponding to the multiple different temperatures.

[0088] S302. Determine the first mapping relationship between the current, temperature, and the first radial distance of the battery during charging according to the third mapping relationship and the fourth mapping relationship.

[0089] As a possible implementation, when the device determines that the battery is in a charging state, after determining the third mapping relationship between the current of the battery and the first radial distance, and the fourth mapping relationship between the temperature of the battery and the first radial distance, the first mapping relationship between the current, temperature, and the first radial distance of the battery during charging can be constructed according to the third mapping relationship and the fourth mapping relationship.

[0090] Exemplarily, according to the third mapping relationship and the fourth mapping relationship, the determining device can determine that the first radial distance is a function of both the charging current of the battery and the temperature of the battery, and moreover, the first radial distance can also be used to determine the offset angle, so the first radial distance is also a function of the offset angle. Therefore, the determining device can use the following expression to determine the first mapping relationship between the first radial distance and the temperature of the battery, the charging current of the battery, and the offset angle:

[0091] r1 = f1(θ, T, I charging );

[0092] where r1 represents the first radial distance, f1 represents the first mapping relationship, θ represents the offset angle, T represents the temperature of the battery, and I charging represents the charging current of the battery.

[0093] As an example, the temperature range of the battery is -20°C to 50°C, and the charging current range of the battery is 0C to 3C. If the first mapping relationship between the current, temperature, and the first radial distance of the battery during charging is represented by a data table, the determining device can take a temperature interval of 5°C, a total of 15 dimensions, and a current interval of 0.2C, a total of 16 dimensions. If the first radial distance and the offset angle under different charging current conditions are placed in one data table, and the first radial distance and the offset angle under different temperature conditions are reflected by different data tables, then 15 16-dimensional data tables can be obtained. If the first radial distance and the offset angle under different temperature conditions are placed in one data table, and the first radial distance and the offset angle under different charging current conditions are reflected by different data tables, then 16 15-dimensional data tables can be obtained.

[0094] In still other embodiments, the determining device can obtain multiple first charging voltage curves of the battery under multiple different charging current conditions, determine the first radial distance of the battery under multiple charging current conditions, and thus fit the first radial distances under multiple charging current conditions to obtain the third mapping relationship. Therefore, as Figure 4As shown above, when the battery is in a charging state, determining the third mapping relationship between the current of the battery and the first radial distance can be specifically implemented as the following steps S401 - S403:

[0095] S401. Obtain multiple first charging voltage characteristic curves of the battery under multiple different charging current conditions.

[0096] As a possible implementation, the determining device can respectively obtain multiple first charging voltage characteristic curves of the battery under multiple different charging current conditions.

[0097] Exemplarily, the determining device can let the battery stand for a preset duration until the temperature of the battery reaches the target temperature, for example: room temperature or 10°C. The determining device charges the battery at a constant current with the target rate until the charging cut-off voltage. Let the battery stand still for a preset duration and discharge the battery to the discharge cut-off voltage with a 0.5C current. Switch to discharging the battery to the discharge cut-off voltage with a 0.05C current. So as to completely discharge the battery to avoid affecting the experimental data. The determining device can obtain the first charging voltage characteristic curve of the battery under the charging current condition of constant current with the target rate, and repeat the above steps until the determining device obtains multiple first charging voltage characteristic curves of the battery under multiple different charging current conditions. Among them, the preset duration is the duration required for the temperature of the battery to reach the target temperature, for example: 2 hours, and the constant current with the target rate is the constant current of a part of the rated capacity of the battery. The constant current with the target rate includes: 0.2C, 0.3C, 0.5C, 0.75C, 1.0C, 1.5C, 2.0C, 3.0C, etc. The preset duration, the target temperature, and the constant current with the target rate can be set by relevant management personnel according to the actual situation, and the embodiments of the present application do not limit this. The selection of the constant current with the target rate needs to cover the maximum current range allowed for battery charging.

[0098] Specifically, Figure 5 is a schematic diagram of the charging voltage characteristic curves of a battery under multiple different current conditions shown according to an exemplary embodiment, as Figure 5 shown. Figure 5 is a schematic diagram of multiple charging voltage characteristic curves of an LFP battery under different charging current conditions when the battery temperature is room temperature. Among them, the horizontal axis represents the battery charge Q, with the unit of Ah, and the vertical axis represents the battery voltage value Voltage, with the unit of V. The relationship between the voltage value and the battery capacity in multiple charging voltage characteristic curves is as Figure 5 shown. Figure 6 is another schematic diagram of the charging voltage characteristic curves of a battery under multiple different current conditions shown according to an exemplary embodiment, as Figure 6 shown. Figure 6It is a schematic diagram of multiple charging voltage characteristic curves of an LFP battery under different charging current conditions when the battery temperature is 10°C. Among them, the horizontal axis represents the battery charge Q, with the unit of Ah, and the vertical axis represents the battery voltage value Voltage, with the unit of V. The relationship between the voltage value and the battery capacity in the multiple charging voltage characteristic curves is as Figure 6 shown.

[0099] S402. Based on the multiple first charging voltage characteristic curves, determine the first radial distance of the battery under each charging current condition.

[0100] As a possible implementation, after the determining device obtains the multiple first charging voltage characteristic curves of the battery under multiple different charging current conditions, it can determine the first radial distance of the battery under each charging current condition based on the multiple first charging voltage characteristic curves.

[0101] Exemplarily, the determining device can determine the first radial distance of the battery under each charging current condition through the following expression:

[0102]

[0103] where V represents the voltage value corresponding to a point on the first charging voltage characteristic curve, represents the battery charging cut-off voltage, r1 represents the first radial distance, θ represents the offset angle, and Q represents the battery charge corresponding to a point on the first charging voltage characteristic curve.

[0104] As an example, when the LFP battery is at room temperature, the corresponding relationship between the first radial distance and the offset angle of the battery under multiple different charging current conditions is shown in Table 1.

[0105] Table 1

[0106]

[0107] As shown in Table 1, the values of the offset angle θ include: 0.000, -0.079, -0.157, -0.236, -0.314, -0.393, -0.471, -0.550, -0.628, -0.707, -0.785, -0.864, -0.942, -1.021, -1.100, -1.178, -1.257, -1.335, -1.414, -1.492, and -1.571. The multiple charging current conditions include: 0.1C, 0.2C, 0.3C, 0.5C, 1.0C, 1.5C, and 2.0C. Under each charging current condition, the values of the first radial distance corresponding to the offset angle are shown in Table 1 and will not be elaborated here.

[0108] When the LFP battery is at 10°C, the corresponding relationship between the first radial distance and the offset angle of the battery under multiple different charging current conditions is shown in Table 2.

[0109] Table 2

[0110]

[0111]

[0112] As shown in Table 2, the values of the offset angle θ include: 0.000, -0.079, -0.157, -0.236, -0.314, -0.393, -0.471, -0.550, -0.628, -0.707, -0.785, -0.864, -0.942, -1.021, -1.100, -1.178, -1.257, -1.335, -1.414, -1.492, and -1.571. The multiple charging current conditions include: 0.1C, 0.2C, 0.3C, 0.5C, and 1.0C. Under each charging current condition, the values of the first radial distance corresponding to the offset angle are shown in Table 2, which will not be elaborated here.

[0113] S403. Perform a fitting process on the first radial distances under multiple charging current conditions to determine the third mapping relationship between the current of the battery and the first radial distance when the battery is in the charging state.

[0114] As a possible implementation, after determining the first radial distance of the battery under each charging current condition based on multiple first charging voltage characteristic curves, the device can perform a fitting process on the first radial distances under multiple charging current conditions, so as to determine the third mapping relationship between the current of the battery and the first radial distance when the battery is in the charging state.

[0115] Exemplarily, the device can perform a fitting process on the first radial distances under multiple charging current conditions through the following expression to determine the third mapping relationship:

[0116] r1 = aI 2 + bI + c;

[0117] where a, b, and c represent the coefficients to be fitted, r1 represents the first radial distance, and I represents the multiple charging current conditions.

[0118] It can be understood that the fitting methods include at least one of the following: exponential function, logarithmic function, power function, Gaussian function, and least squares method.

[0119] Specifically, Figure 7Schematic diagram of the third mapping relationship between the charging current of a battery and the first radial distance shown according to an exemplary embodiment, as Figure 7 shown, the horizontal axis is the charging rate C-rate, with a value range of: 0 - 3.5, and the vertical axis is the first radial distance Polar, Figure 7 For offset angles θ = -0.74, -0.63, -0.78, -0.94, it is a schematic diagram of the curve after fitting the first radial distance under multiple charging current conditions based on the above expression. Among them, the circled points are marked as measured values, and the other points on the curve are the estimated values fitted.

[0120] As an example, when the battery is at 10°C, the fitting results of the first radial distance with the charging current in the range of 0 ≤ I ≤ 2C are shown in Table 3.

[0121] Table 3

[0122]

[0123]

[0124] As shown in Table 3, the values of the offset angle θ include: 0.000, -0.079, -0.157, -0.236, -0.314, -0.393, -0.471, -0.550, -0.628, -0.707, -0.785, -0.864, -0.942, -1.021, -1.100, -1.178, -1.257, -1.335, -1.414, -1.492, and -1.571. The values of the charging current include: 0.1C, 0.2C, 0.3C, 0.4C, 0.6C, 0.8C, 1.0C, 1.2C, 1.4C, 1.6C, 1.8C, and 2.0C. Under each charging current condition, the values of the first radial distance corresponding to the offset angle are shown in Table 3, which will not be elaborated here.

[0125] In some other embodiments, the determination device can determine the first radial distance of the battery under multiple temperature conditions by obtaining multiple second charging voltage curves of the battery under multiple different temperature conditions, and thus fit the first radial distances under multiple temperature conditions to obtain the fourth mapping relationship. Therefore, as Figure 8 shown, the specific implementation of determining the fourth mapping relationship between the temperature and the first radial distance of the battery when the battery is in the charging state can be achieved through the following steps S801 - S803:

[0126] S801. Obtain multiple second charging voltage characteristic curves of the battery under multiple different temperature conditions.

[0127] As a possible implementation manner, the determination device may respectively obtain multiple second charging voltage characteristic curves of the battery under multiple different temperature conditions.

[0128] Exemplarily, the determination device may set the temperature environment of the battery to the target temperature, and perform the step of obtaining the charging voltage characteristic curve of the battery in the above step S401, so as to obtain multiple second charging voltage characteristic curves of the battery under multiple different temperature conditions. Among them, the target temperature can be set by relevant management personnel according to actual needs. For example, the target temperature includes: -20°C, -10°C, 0°C, 15°C, 25°C, 35°C, 45°C, etc., which are not limited in this embodiment of the present application.

[0129] S802. Based on the multiple second charging voltage characteristic curves, determine the first radial distance of the battery under each temperature condition.

[0130] As a possible implementation manner, after the determination device obtains multiple second charging voltage characteristic curves of the battery under multiple different temperature conditions, it may determine the first radial distance of the battery under each temperature condition based on the multiple second charging voltage characteristic curves.

[0131] Exemplarily, the determination device may determine the first radial distance of the battery under each temperature condition through the expression for determining the first radial distance of the battery under each charging current condition in the above step S402.

[0132] S803. Perform a fitting process on the first radial distances under multiple temperature conditions to determine a fourth mapping relationship between the temperature of the battery and the first radial distance when the battery is in a charging state.

[0133] As a possible implementation manner, after the determination device determines the first radial distance of the battery under each temperature condition based on the multiple second charging voltage characteristic curves, it may perform a fitting process on the first radial distances under multiple temperature conditions, so as to determine a fourth mapping relationship between the temperature of the battery and the first radial distance when the battery is in a charging state.

[0134] Exemplarily, the determination device may perform a fitting process on the first radial distances under multiple temperature conditions through the following expression to determine the fourth mapping relationship:

[0135] r1 = aT 2 + bT + c;

[0136] Among them, a, b, and c represent coefficients to be fitted, r1 represents the first radial distance, and T represents multiple temperature conditions.

[0137] Specifically, Figure 9Schematic diagram of a fourth mapping relationship between the temperature of a battery and the first radial distance during charging of the battery according to an exemplary embodiment, as Figure 9 shown, the horizontal axis is the temperature T, in °C, with a value range of: -10 - 50, and the vertical axis is the first radial distance Polar, Figure 9 It is a schematic diagram of the curve after fitting the first radial distance under multiple temperature conditions based on the above expression when the offset angle θ = -0.74, -0.63, -0.78, -0.94. Among them, the circled points are marked as the measured values measured, and the other points on the curve are the estimated values fitted after fitting.

[0138] As an example, when the charging current is 0.1C, the fitting results of the first radial distance under multiple temperature conditions are shown in Table 4.

[0139] Table 4

[0140]

[0141]

[0142] As shown in Table 4, the values of the offset angle θ include: 0.000, -0.079, -0.157, -0.236, -0.314, -0.393, -0.471, -0.550, -0.628, -0.707, -0.785, -0.864, -0.942, -1.021, -1.100, -1.178, -1.257, -1.335, -1.414, -1.492, and -1.571. The values of the temperature include: -10°C, 5°C, 0°C, 5°C, 10°C, 15°C, 20°C, 25°C, 30°C, 35°C, 40°C, 45°C, and 50°C. Under each temperature condition, the values of the first radial distance corresponding to the offset angle are shown in Table 4 and will not be elaborated here.

[0143] In some other embodiments, the determining device may determine a fifth mapping relationship between the current of the battery during discharging and the second radial distance, and a sixth mapping relationship between the temperature of the battery during discharging and the second radial distance, so as to construct a second mapping relationship according to the fifth mapping relationship and the sixth mapping relationship. Therefore, as Figure 10 shown, the above construction of the second mapping relationship can be specifically implemented as the following steps S1001 - S1002:

[0144] S1001. When the battery is in a discharging state, determine a fifth mapping relationship between the current of the battery and the second radial distance, and a sixth mapping relationship between the temperature of the battery and the second radial distance.

[0145] As a possible implementation, when the battery is in a discharging state, the determining device can respectively determine a fifth mapping relationship between the current of the battery and the second radial distance, and a sixth mapping relationship between the temperature of the battery and the second radial distance, so that the determining device can construct a second mapping relationship according to the fifth mapping relationship and the sixth mapping relationship.

[0146] Exemplarily, the determining device can determine the second radial distances corresponding to multiple different discharging currents based on multiple first discharging voltage characteristic curves of the battery under multiple different discharging current conditions, and thus determine the fifth mapping relationship between the current of the battery and the second radial distance when the battery is in a discharging state based on the multiple different discharging currents and the second radial distances corresponding to the multiple different discharging currents. The determining device can also determine the second radial distances corresponding to multiple different temperatures based on multiple second discharging voltage characteristic curves of the battery under multiple different temperature conditions, and thus determine the sixth mapping relationship between the temperature of the battery and the second radial distance when the battery is in a discharging state based on the multiple different temperatures and the second radial distances corresponding to the multiple different temperatures.

[0147] S1002. Determine a second mapping relationship between the current, temperature and second radial distance of the battery during discharging according to the fifth mapping relationship and the sixth mapping relationship.

[0148] As a possible implementation, after the determining device determines the fifth mapping relationship between the current of the battery and the second radial distance, and the sixth mapping relationship between the temperature of the battery and the second radial distance when the battery is in a discharging state, it can construct a second mapping relationship between the current, temperature and second radial distance of the battery during discharging according to the fifth mapping relationship and the sixth mapping relationship.

[0149] Exemplarily, according to the fifth mapping relationship and the sixth mapping relationship, the determining device can determine that the second radial distance is a function of both the discharging current of the battery and the temperature of the battery, and moreover, the second radial distance can also be used to determine the offset angle, so the second radial distance is also a function of the offset angle. Therefore, the determining device can use the following expression to determine the second mapping relationship between the second radial distance and the temperature of the battery, the discharging current of the battery, and the offset angle:

[0150] r2 = f2(θ, T, I discharging );

[0151] where r2 represents the second radial distance, f2 represents the second mapping relationship, θ represents the offset angle, T represents the temperature of the battery, and I discharging represents the discharging current of the battery.

[0152] It is understandable that the temperature range of the battery is -20°C to 50°C, and the discharge current range of the battery is 0C to 3C. If the second mapping relationship between the current, temperature and the second radial distance of the battery during discharge is represented by a data table, the determining device can take a temperature interval of 5°C, with a total of 15 dimensions, and a current interval of 0.2C, with a total of 16 dimensions. If the second radial distance and the offset angle under different discharge current conditions are placed in one data table, and the second radial distance and the offset angle under different temperature conditions are reflected by different data tables, then 15 16-dimensional data tables can be obtained. If the second radial distance and the offset angle under different temperature conditions are placed in one data table, and the second radial distance and the offset angle under different discharge current conditions are reflected by different data tables, then 16 15-dimensional data tables can be obtained.

[0153] In some other embodiments, the determining device can obtain multiple first discharge voltage curves of the battery under multiple different discharge current conditions, determine the second radial distance of the battery under multiple discharge current conditions, and thus fit the first radial distance under multiple discharge current conditions to obtain the fifth mapping relationship. Therefore, as Figure 11 shown, the specific implementation of determining the fifth mapping relationship between the current and the second radial distance of the battery when the battery is in a discharge state can be realized as the following steps S1101 - S1103:

[0154] S1101. Obtain multiple first discharge voltage characteristic curves of the battery under multiple different discharge current conditions.

[0155] As a possible implementation manner, the determining device can respectively obtain multiple first discharge voltage characteristic curves of the battery under multiple different discharge current conditions.

[0156] Exemplarily, the determining device can leave the battery static for a preset duration until the temperature of the battery reaches the target temperature, for example: room temperature or 10°C. The determining device charges the battery to the charging cut-off voltage at a current of 0.5C and then charges the battery to the charging cut-off voltage at a current of 0.05C so as to fully charge the battery and avoid affecting the experimental data. Leave the battery static for a preset duration and discharge the battery to the discharge cut-off voltage at a constant current with the target rate The determination device can obtain the first discharge voltage characteristic curve of the battery under the discharge current condition of constant current at the target rate. Repeat the above steps until the determination device obtains multiple first discharge voltage characteristic curves of the battery under multiple different discharge current conditions. Among them, the constant current at the target rate includes: 0.2C, 0.3C, 0.5C, 0.75C, 1.0C, 1.5C, 2.0C, 3.0C, etc. The preset duration, target temperature, and constant current at the target rate can be set by relevant management personnel according to the actual situation, and the embodiments of the present application do not limit this. The selection of the constant current at the target rate needs to cover the maximum current range allowed for the battery to discharge.

[0157] Specifically, Figure 12 FIG. is a schematic diagram of the discharge voltage characteristic curves of a battery under multiple different current conditions shown according to an exemplary embodiment, as Figure 12 shown. Figure 12 When the battery temperature is normal temperature, FIG. is a schematic diagram of multiple discharge voltage characteristic curves of the LFP battery under different discharge current conditions. Among them, the horizontal axis represents the battery power Q, with the unit of Ah, and the vertical axis represents the battery voltage value Voltage, with the unit of V. The relationship between the voltage value and the battery capacity in multiple discharge voltage characteristic curves is as Figure 12 shown. Figure 13 FIG. is another schematic diagram of the discharge voltage characteristic curves of a battery under multiple different current conditions shown according to an exemplary embodiment, as Figure 13 shown. Figure 13 When the battery temperature is 10°C, FIG. is a schematic diagram of multiple discharge voltage characteristic curves of the LFP battery under different discharge current conditions. Among them, the horizontal axis represents the battery power Q, with the unit of Ah, and the vertical axis represents the battery voltage value Voltage, with the unit of V. The relationship between the voltage value and the battery capacity in multiple discharge voltage characteristic curves is as Figure 13 shown.

[0158] S1102. Based on multiple first discharge voltage characteristic curves, determine the second radial distance of the battery under each discharge current condition.

[0159] As a possible implementation manner, after the determination device obtains multiple first discharge voltage characteristic curves of the battery under multiple different discharge current conditions, it can determine the second radial distance of the battery under each discharge current condition based on the multiple first discharge voltage characteristic curves.

[0160] Exemplarily, the determination device can determine the second radial distance of the battery under each discharge current condition through the following expression:

[0161]

[0162] Among them, V represents the voltage value corresponding to the point on the first discharge voltage characteristic curve, represents the discharge cut-off voltage of the battery, r2 represents the second radial distance, θ represents the offset angle, and Q represents the battery charge corresponding to the point on the first discharge voltage characteristic curve.

[0163] Specifically, Figure 14 is a schematic diagram of the discharge voltage characteristic curves of another battery under multiple different current conditions shown according to an exemplary embodiment, as Figure 14 shown, where the horizontal axis represents the battery charge Q in units of Ah, the vertical axis represents the battery voltage value Voltage in units of V, the second radial distance of the point on the discharge voltage curve is r, and the offset angle is θ. The ordinate of this point represents the difference between the voltage value of this point and the discharge cut-off voltage of the battery, that is, V - V cutoff .

[0164] As an example, when the LFP battery is at room temperature, the corresponding relationship between the second radial distance and the offset angle of the battery under multiple different discharge current conditions is shown in Table 5.

[0165] Table 5

[0166]

[0167]

[0168] As shown in Table 5, the values of the offset angle θ include: 0.000, 0.079, 0.157, 0.236, 0.314, 0.393, 0.471, 0.550, 0.628, 0.707, 0.785, 0.864, 0.942, 1.021, 1.100, 1.178, 1.257, 1.335, 1.414, 1.492, and 1.571. The multiple discharge current conditions include: 0.1C, 0.2C, 0.3C, 0.5C, 1.0C, 1.5C, and 2.0C. Under each discharge current condition, the values of the second radial distance corresponding to the offset angle are shown in Table 5 and will not be elaborated here.

[0169] When the LFP battery is at 10°C, the corresponding relationship between the second radial distance and the offset angle of the battery under multiple different discharge current conditions is shown in Table 6.

[0170] Table 6

[0171]

[0172] As shown in Table 6, the values of the offset angle θ include: 0.000, 0.079, 0.157, 0.236, 0.314, 0.393, 0.471, 0.550, 0.628, 0.707, 0.785, 0.864, 0.942, 1.021, 1.100, 1.178, 1.257, 1.335, 1.414, 1.492, and 1.571. The multiple discharge current conditions include: 0.1C, 0.2C, 0.3C, 0.5C, and 1.0C. Under each discharge current condition, the values of the second radial distance corresponding to the offset angle are shown in Table 6, which will not be elaborated here.

[0173] S1103. Perform fitting processing on the second radial distances under multiple discharge current conditions to determine the fifth mapping relationship between the current of the battery and the second radial distance when the battery is in the discharge state.

[0174] As a possible implementation manner, after determining the second radial distance of the battery under each discharge current condition based on multiple first discharge voltage characteristic curves, the device can perform fitting processing on the second radial distances under multiple discharge current conditions, so as to determine the fifth mapping relationship between the current of the battery and the second radial distance when the battery is in the discharge state.

[0175] Exemplarily, the device can perform fitting processing on the second radial distances under multiple discharge current conditions through the following expression to determine the fifth mapping relationship:

[0176] r2 = aI 2 + bI + c;

[0177] where a, b, and c represent the coefficients to be fitted, r2 represents the second radial distance, and I represents multiple discharge current conditions.

[0178] As an example, when the battery is at 10°C, the fitting results of the second radial distances with the discharge current in the range of 0 ≤ I ≤ 2C are shown in Table 7.

[0179] Table 7

[0180]

[0181]

[0182] As shown in Table 7, the values of the offset angle θ include: 0.000, 0.079, 0.157, 0.236, 0.314, 0.393, 0.471, 0.550, 0.628, 0.707, 0.785, 0.864, 0.942, 1.021, 1.100, 1.178, 1.257, 1.335, 1.414, 1.492, and 1.571. The values of the discharge current include: 0.1C, 0.2C, 0.3C, 0.4C, 0.6C, 0.8C, 1.0C, 1.2C, 1.4C, 1.6C, 1.8C, and 2.0C. Under each discharge current condition, the values of the second radial distance corresponding to the offset angle are as shown in Table 7, which will not be elaborated here.

[0183] In some other embodiments, the determination device can obtain multiple second discharge voltage curves of the battery under multiple different temperature conditions, determine the second radial distance of the battery under multiple temperature conditions, and thus fit the second radial distances under multiple temperature conditions to obtain the sixth mapping relationship. Therefore, as Figure 15 shown, the specific implementation of determining the sixth mapping relationship between the temperature and the second radial distance of the battery when the battery is in the discharge state can be realized as the following steps S1501 - S1503:

[0184] S1501. Obtain multiple second discharge voltage characteristic curves of the battery under multiple different temperature conditions.

[0185] As a possible implementation manner, the determination device can respectively obtain multiple second discharge voltage characteristic curves of the battery under multiple different temperature conditions.

[0186] Exemplarily, the determination device can set the temperature environment of the battery to the target temperature and perform the step of obtaining the discharge voltage characteristic curve of the battery in the above step S1101, so as to obtain multiple second discharge voltage characteristic curves of the battery under multiple different temperature conditions. Among them, the target temperature can be set by relevant management personnel according to the actual situation, for example: -20°C, -10°C, 0°C, 15°C, 25°C, 35°C, 45°C, etc., and the embodiments of the present application do not limit this.

[0187] S1502. Based on the multiple second discharge voltage characteristic curves, determine the second radial distance of the battery under each temperature condition.

[0188] As a possible implementation manner, after the determination device obtains multiple second discharge voltage characteristic curves of the battery under multiple different temperature conditions, it can determine the second radial distance of the battery under each temperature condition based on the multiple second discharge voltage characteristic curves.

[0189] Exemplarily, the determination device may determine the second radial distance of the battery under each temperature condition by using the expression for determining the second radial distance of the battery under each discharge current condition in step S1102 above.

[0190] S1503. Perform a fitting process on the second radial distances under multiple temperature conditions to determine a sixth mapping relationship between the temperature and the second radial distance of the battery in the discharge state.

[0191] As a possible implementation manner, after determining the second radial distance of the battery under each temperature condition based on multiple second discharge voltage characteristic curves, the determination device may perform a fitting process on the second radial distances under multiple temperature conditions, so as to determine a sixth mapping relationship between the temperature and the second radial distance of the battery in the discharge state.

[0192] Exemplarily, the determination device may perform a fitting process on the second radial distances under multiple temperature conditions through the following expression to determine the sixth mapping relationship:

[0193] r2 = aT 2 + bT + c;

[0194] where a, b, and c represent coefficients to be fitted, r2 represents the second radial distance, and T represents multiple temperature conditions.

[0195] As an example, when the discharge current is 0.1C, the fitting results of the second radial distances under multiple temperature conditions are shown in Table 8.

[0196] Table 8

[0197]

[0198]

[0199] As shown in Table 8, the values of the offset angle θ include: 0.000, 0.079, 0.157, 0.236, 0.314, 0.393, 0.471, 0.550, 0.628, 0.707, 0.785, 0.864, 0.942, 1.021, 1.100, 1.178, 1.257, 1.335, 1.414, 1.492, and 1.571. The values of the temperature include: -10°C, 5°C, 0°C, 5°C, 10°C, 15°C, 20°C, 25°C, 30°C, 35°C, 40°C, 45°C, and 50°C. Under each temperature condition, the values of the second radial distance corresponding to the offset angle are shown in Table 8 and will not be elaborated here.

[0200] The above is an embodiment of the radial distance determination method provided by this application. For ease of understanding, the above radial distance determination method will be further described below in the form of examples.

[0201] Figure 16 is a flowchart of another radial distance determination method shown according to an exemplary embodiment. As Figure 16 shown, the process includes the following steps: S1601. Obtain the charging and discharging voltage curves under different temperature and current conditions (equivalent to the above steps S401, S801, S1101, and S1501). S1602. Calculate the standard pole radii corresponding to the measured charging and discharging voltage curves (equivalent to the above steps S402, S802, S1102, and S1502). S1603. Calculate the pole radii under various charging and discharging conditions through a mathematical fitting method, and establish a standard pole radius spectrum (equivalent to the above steps S403, S803, S1103, S1503, S302, and S1002).

[0202] The above mainly introduces the solution provided by the embodiments of this application from the perspective of the method. To implement the above functions, the radial distance determination device or vehicle includes the corresponding hardware structures and / or software modules for executing each function. Those skilled in the art should easily realize that, combining the units and algorithm steps of each example described in the embodiments disclosed in this article, this application can be implemented in the form of hardware or a combination of hardware and computer software. Whether a certain function is executed in the way of hardware or computer software driving the hardware depends on the specific application and design constraints of the technical solution. Professional technicians can use different methods to implement the described functions for each specific application, but such implementation should not be considered to exceed the scope of this application.

[0203] The embodiments of this application can, according to the above method, exemplarily divide the functional modules of the radial distance determination device or vehicle. For example, the radial distance determination device or vehicle can include each functional module corresponding to each functional division, or two or more functions can be integrated into one processing module. The above integrated module can be implemented in the form of hardware or in the form of a software functional module. It should be noted that the division of modules in the embodiments of this application is illustrative, only a logical functional division, and there can be other division methods in actual implementation.

[0204] Figure 17 is a block diagram of a radial distance determination device shown according to an exemplary embodiment. Referring to Figure 17 , the radial distance determination device 1700 includes: an acquisition module 1701 and a determination module 1702.

[0205] An acquisition module 1701 is configured to acquire the temperature of the battery at the current moment and the current of the battery at the current moment. A determination module 1702 is configured to determine the radial distance at the current moment corresponding to the temperature at the current moment and the current at the current moment based on a mapping relationship; the mapping relationship is the corresponding relationship among the temperature, current and radial distance during the operation of the battery; the radial distance at the current moment is used to reflect the difference between the voltage value of the battery and the cut-off voltage of the battery and the power of the battery when the battery is at the temperature and current at the current moment.

[0206] In a possible implementation manner, the radial distance includes: a first radial distance when the battery is charging and a second radial distance when the battery is discharging; the mapping relationship includes: a first mapping relationship and a second mapping relationship; the first mapping relationship is the corresponding relationship among the current, temperature and the first radial distance when the battery is charging; the second mapping relationship is the corresponding relationship among the current, temperature and the second radial distance when the battery is discharging; the first radial distance is the distance from a point on the charging voltage characteristic curve of the battery to a first reference point; the first reference point is the value point of the charging cut-off voltage of the battery on the coordinate axis representing voltage in the coordinate system where the charging voltage characteristic curve is located; the second radial distance is the distance from a point on the discharging voltage characteristic curve of the battery to a second reference point; the second reference point is the value point of the discharging cut-off voltage of the battery on the coordinate axis representing voltage in the coordinate system where the discharging voltage characteristic curve is located. The above device further includes: a construction module 1703. The construction module 1703 is configured to construct the first mapping relationship and the second mapping relationship.

[0207] In another possible implementation manner, the construction module 1703 is specifically configured to, when the battery is in a charging state, determine a third mapping relationship between the current of the battery and the first radial distance, and a fourth mapping relationship between the temperature of the battery and the first radial distance; and determine the first mapping relationship among the current, temperature and the first radial distance when the battery is charging according to the third mapping relationship and the fourth mapping relationship.

[0208] In yet another possible implementation manner, the construction module 1703 is specifically configured to acquire multiple first charging voltage characteristic curves of the battery under multiple different charging current conditions; determine the first radial distance of the battery under each charging current condition based on the multiple first charging voltage characteristic curves; and perform a fitting process on the first radial distances under multiple charging current conditions to determine the third mapping relationship between the current of the battery and the first radial distance when the battery is in a charging state.

[0209] In yet another possible implementation, the construction module 1703 is specifically configured to obtain multiple second charging voltage characteristic curves of the battery under multiple different temperature conditions; based on the multiple second charging voltage characteristic curves, determine the first radial distance of the battery under each temperature condition; perform a fitting process on the first radial distances under multiple temperature conditions to determine a fourth mapping relationship between the temperature and the first radial distance of the battery in the charging state.

[0210] In yet another possible implementation, the construction module 1703 is specifically configured to, when the battery is in a discharging state, determine a fifth mapping relationship between the current of the battery and the second radial distance, and a sixth mapping relationship between the temperature of the battery and the second radial distance; based on the fifth mapping relationship and the sixth mapping relationship, determine a second mapping relationship between the current, temperature and the second radial distance of the battery during discharging.

[0211] In yet another possible implementation, the construction module 1703 is specifically configured to obtain multiple first discharging voltage characteristic curves of the battery under multiple different discharging current conditions; based on the multiple first discharging voltage characteristic curves, determine the second radial distance of the battery under each discharging current condition; perform a fitting process on the second radial distances under multiple discharging current conditions to determine a fifth mapping relationship between the current and the second radial distance of the battery in the discharging state.

[0212] In yet another possible implementation, the construction module 1703 is specifically configured to obtain multiple second discharging voltage characteristic curves of the battery under multiple different temperature conditions; based on the multiple second discharging voltage characteristic curves, determine the second radial distance of the battery under each temperature condition; perform a fitting process on the second radial distances under multiple temperature conditions to determine a sixth mapping relationship between the temperature and the second radial distance of the battery in the discharging state.

[0213] In yet another possible implementation, the fitting process method includes at least one of the following: exponential function, logarithmic function, power function, Gaussian function, least squares method.

[0214] According to the above technical means, the mapping relationship includes the radial distances of the battery under various temperature conditions and various current conditions, so that the radial distance of the battery at the current moment under the current temperature and current current condition can be accurately determined based on the mapping relationship, so that the SOC value of the battery at the current moment can be determined based on the radial distance at the current moment, improving the accuracy of the radial distance and the SOC value of the battery. Moreover, the operating state of the battery can also be detected through the temperature, current and radial distance at the current moment, so as to control the battery to operate under appropriate current and temperature conditions, improve the service life of the battery, and timely detect abnormal conditions of the battery for fault prediction and prevention.

[0215] Regarding the device in the above embodiments, the specific manner in which each module performs operations has been described in detail in the embodiments related to the method, and will not be elaborated here.

[0216] Figure 18 is a block diagram of a vehicle shown according to an exemplary embodiment. As Figure 18 shown, vehicle 1800 includes, but is not limited to: a processor 1801 and a memory 1802.

[0217] Among them, the above-mentioned memory 1802 is used to store executable instructions of the above-mentioned processor 1801. It can be understood that the above-mentioned processor 1801 is configured to execute instructions to implement the radial distance determination method in the above embodiments.

[0218] It should be noted that those skilled in the art can understand that Figure 18 the vehicle structure shown in Figure 18 does not constitute a limitation on the vehicle. The vehicle may include more or fewer components than

[0219] shown, or combine certain components, or have different component arrangements.

[0220] The processor 1801 is the control center of the vehicle, connecting various parts of the entire vehicle through various interfaces and lines. By running or executing software programs and / or modules stored in the memory 1802, and calling data stored in the memory 1802, it executes various functions of the vehicle and processes data, thereby monitoring the vehicle as a whole. The processor 1801 may include one or more processing units. Optionally, the processor 1801 may integrate an application processor and a modem processor. Among them, the application processor mainly processes the operating system, user interface, application programs, etc., and the modem processor mainly processes wireless communication. It can be understood that the above-mentioned modem processor may not be integrated into the processor 1801.

[0221] In an exemplary embodiment, there is also provided a computer-readable storage medium including instructions, such as the memory 1802 including instructions. The above instructions can be executed by the processor 1801 of the vehicle 1800 to implement the radial distance determination method in the above embodiments.

[0222] In actual implementation, Figure 17 the functions of the acquisition module 1701, the determination module 1702, and the construction module 1703 in Figure 18 can all be implemented by the processor 1801 in

[0223] calling a computer program stored in the memory 1802. The specific execution process can refer to the description of the method part in the above embodiment, and will not be elaborated here.

[0224] Optionally, the computer-readable storage medium may be a non-transitory computer-readable storage medium. For example, the non-transitory computer-readable storage medium may be a read-only memory (ROM), a random access memory (RAM), a CD-ROM, a magnetic tape, a floppy disk, and an optical data storage device, etc.

[0225] It should be noted that when the instructions in the above computer-readable storage medium or one or more instructions in the computer program product are executed by the processor of the vehicle, the various processes of the above method embodiment are implemented, and the same technical effects as the above method can be achieved. To avoid repetition, it will not be elaborated here.

[0226] Through the description of the above embodiments, those skilled in the art can clearly understand that for the convenience and conciseness of description, only the above division of each functional module is used as an example. In actual application, the above functions can be allocated to different functional modules according to needs, that is, the internal structure of the device is divided into different functional modules to complete all or part of the functions described above.

[0227] In several embodiments provided by the present application, it should be understood that the disclosed device and method can be implemented in other ways. For example, the device embodiments described above are only illustrative. For example, the division of modules or units is only a logical function division. In actual implementation, there may be other division methods. For example, multiple units or components can be combined or integrated into another device, or some features can be ignored or not executed. Another point, the displayed or discussed mutual coupling or direct coupling or communication connection may be through some interfaces. The indirect coupling or communication connection of the device or unit may be in an electrical, mechanical or other form.

[0228] The unit described as a separation component may or may not be physically separated. The component shown as a unit may be a physical unit or multiple physical units, that is, it may be located in one place, or it may be distributed to multiple different places. Some or all of the classification units can be selected according to actual needs to achieve the purpose of the solution of this embodiment.

[0229] In addition, each functional unit in various embodiments of the present application can be integrated in a processing unit, or each unit can exist physically alone, or two or more units can be integrated in one unit. The above-mentioned integrated unit can be implemented in the form of hardware or in the form of a software functional unit.

[0230] If the integrated unit is implemented in the form of a software functional unit and sold or used as an independent product, it can be stored in a readable storage medium. Based on such an understanding, the technical solution of the embodiments of the present application, in essence, or the part that contributes to the prior art, or all or part of this technical solution can be embodied in the form of a software product. This software product is stored in a storage medium and includes several instructions to enable a device (which can be a single-chip microcomputer, a chip, etc.) or a processor to execute all or part of the steps of the methods of the various embodiments of the present application. The aforementioned storage medium includes: USB flash drives, mobile hard disks, ROM, RAM, magnetic disks, or optical discs and other various media that can store program codes.

[0231] The above is only the specific implementation manner of the present application, but the protection scope of the present application is not limited thereto. Any changes or substitutions within the technical scope disclosed in the present application should be covered by the protection scope of the present application. Therefore, the protection scope of the present application should be subject to the protection scope of the claims.

Claims

1. A method for determining a radial distance, characterized in that The method includes: Obtaining the temperature of the battery at the current moment and the current of the battery at the current moment; Based on the mapping relationship, determining the radial distance at the current moment corresponding to the temperature at the current moment and the current at the current moment; the mapping relationship is the corresponding relationship among the temperature, current and radial distance during the operation of the battery; the radial distance at the current moment is used to reflect the difference between the voltage value of the battery and the cut-off voltage of the battery and the power of the battery when the battery is at the temperature at the current moment and the current at the current moment; The radial distance includes: a first radial distance when the battery is charging and a second radial distance when the battery is discharging; the mapping relationship includes: a first mapping relationship and a second mapping relationship; the first mapping relationship is the corresponding relationship among the current, temperature and the first radial distance when the battery is charging; the second mapping relationship is the corresponding relationship among the current, temperature and the second radial distance when the battery is discharging; the first radial distance is the distance from a point on the charging voltage characteristic curve of the battery to a first reference point; the first reference point is the value point of the charging cut-off voltage of the battery on the coordinate axis representing voltage in the coordinate system where the charging voltage characteristic curve is located; the second radial distance is the distance from a point on the discharging voltage characteristic curve of the battery to a second reference point; the second reference point is the value point of the discharging cut-off voltage of the battery on the coordinate axis representing voltage in the coordinate system where the discharging voltage characteristic curve is located; the method further includes: Constructing the first mapping relationship and the second mapping relationship.

2. The method according to claim 1, characterized in that Constructing the first mapping relationship includes: When the battery is in a charging state, determining a third mapping relationship between the current of the battery and the first radial distance, and a fourth mapping relationship between the temperature of the battery and the first radial distance; According to the third mapping relationship and the fourth mapping relationship, determining the first mapping relationship among the current, temperature and the first radial distance when the battery is charging.

3. The method according to claim 2, characterized in that, The determining the third mapping relationship between the current of the battery and the first radial distance when the battery is in a charging state includes: Obtaining multiple first charging voltage characteristic curves of the battery under multiple different charging current conditions; Based on the multiple first charging voltage characteristic curves, determining the first radial distance of the battery under each charging current condition; Performing a fitting process on the first radial distances under the multiple charging current conditions to determine the third mapping relationship between the current of the battery and the first radial distance when the battery is in a charging state.

4. The method according to claim 2, characterized in that, The determining the fourth mapping relationship between the temperature of the battery and the first radial distance when the battery is in a charging state includes: Obtaining multiple second charging voltage characteristic curves of the battery under multiple different temperature conditions; Based on the multiple second charging voltage characteristic curves, determining the first radial distance of the battery under each temperature condition; Perform a fitting process on the first radial distances under the multiple temperature conditions to determine a fourth mapping relationship between the temperature of the battery and the first radial distance when the battery is in a charging state.

5. The method according to claim 1, wherein Construct a second mapping relationship, including: When the battery is in a discharging state, determine a fifth mapping relationship between the current of the battery and the second radial distance, and a sixth mapping relationship between the temperature of the battery and the second radial distance; According to the fifth mapping relationship and the sixth mapping relationship, determine a second mapping relationship between the current, temperature and the second radial distance of the battery during discharging.

6. The method according to claim 5, characterized in that, The step of, when the battery is in a discharging state, determining a fifth mapping relationship between the current of the battery and the second radial distance includes: Obtain multiple first discharge voltage characteristic curves of the battery under multiple different discharge current conditions; Based on the multiple first discharge voltage characteristic curves, determine the second radial distance of the battery under each discharge current condition; Perform a fitting process on the second radial distances under the multiple discharge current conditions to determine a fifth mapping relationship between the current of the battery and the second radial distance when the battery is in a discharging state.

7. The method according to claim 5, characterized in that, The step of, when the battery is in a discharging state, determining a sixth mapping relationship between the temperature of the battery and the second radial distance includes: Obtain multiple second discharge voltage characteristic curves of the battery under multiple different temperature conditions; Based on the multiple second discharge voltage characteristic curves, determine the second radial distance of the battery under each temperature condition; Perform a fitting process on the second radial distances under the multiple temperature conditions to determine a sixth mapping relationship between the temperature of the battery and the second radial distance when the battery is in a discharging state.

8. The method according to any one of claims 3, 4, 6, and 7, characterized in that The fitting process method includes at least one of the following: exponential function, logarithmic function, power function, Gaussian function.

9. The method according to any one of claims 3, 4, 6, and 7, characterized in that The fitting process method includes the least squares method.

10. A radial distance determination device, characterized in that, The device includes: an acquisition module and a determination module; The acquisition module is configured to acquire the temperature of the battery at the current moment and the current of the battery at the current moment; The determination module is configured to determine the radial distance at the current moment corresponding to the temperature at the current moment and the current at the current moment based on the mapping relationship; The mapping relationship is the corresponding relationship between the temperature, current and radial distance of the battery during operation; the radial distance at the current moment is used to reflect the difference between the voltage value of the battery and the cut-off voltage of the battery and the battery power when the battery is at the temperature and current at the current moment. The radial distance includes: a first radial distance when the battery is charging and a second radial distance when the battery is discharging; the mapping relationship includes: a first mapping relationship and a second mapping relationship; the first mapping relationship is the corresponding relationship between the current, temperature of the battery when charging and the first radial distance; the second mapping relationship is the corresponding relationship between the current, temperature of the battery when discharging and the second radial distance; the first radial distance is the distance from a point on the charging voltage characteristic curve of the battery to a first reference point; the first reference point is the value point of the charging cut-off voltage of the battery on the coordinate axis representing voltage in the coordinate system where the charging voltage characteristic curve is located; the second radial distance is the distance from a point on the discharging voltage characteristic curve of the battery to a second reference point; the second reference point is the value point of the discharging cut-off voltage of the battery on the coordinate axis representing voltage in the coordinate system where the discharging voltage characteristic curve is located; further included is: Constructing the first mapping relationship and the second mapping relationship.

11. A vehicle, characterized in that, Including: A processor; A memory for storing instructions executable by the processor; Wherein, the processor is configured to execute the instructions to implement the method according to any one of claims 1 to 9.

12. A computer-readable storage medium, characterized in that, When the computer-executable instructions stored in the computer-readable storage medium are executed by the processor of the vehicle, the vehicle can execute the method according to any one of claims 1 to 9.

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