Vehicle battery system control method, control device, vehicle and storage medium

Abstract

The present invention discloses a vehicle battery system control method, a control device, a vehicle and a storage medium, and belongs to the field of vehicle technology. The vehicle battery system control method, the control device, the vehicle and the storage medium of the present invention take the predicted value of the mileage of the vehicle using the main battery or the auxiliary battery alone in the current unit time as the initial input, and introduce the measured value of the mileage of the vehicle using the main battery or the auxiliary battery alone in the current unit time for trimming, and then quickly iterate the optimal value of the mileage of the vehicle using the main battery or the auxiliary battery alone in the current unit time, so as to more accurately calculate the cruising range of the vehicle using the main battery or the auxiliary battery alone, and enable the auxiliary battery with unknown status to be smoothly connected to the vehicle power supply system, so as to select the optimal power supply scheme.

Description

Technical Field

[0001] The present invention relates to the field of vehicle technology, and in particular to a vehicle battery system control method, a control device, a vehicle and a storage medium. Background Art

[0002] The development of electric vehicles has reduced the dependence on non-renewable resources such as oil, but people are still anxious about the range of electric vehicles and the relatively long charging time, which has restricted the development of electric vehicles to some extent. For this reason, a universal battery replacement method that can adapt to various vehicles has become an urgent need, but the overall replacement of electric vehicle batteries faces many difficulties and it is difficult to achieve uniform specifications. Therefore, a dual-battery design can be adopted, that is, the main battery is fixed on the chassis, and the auxiliary battery is detachable and set on the chassis. However, the status of the auxiliary battery after replacement is unknown, and it is difficult to accurately judge the vehicle's range, and it is impossible to balance the main and auxiliary batteries to provide the optimal power supply solution. Summary of the invention

[0003] The object of the present invention is to provide a vehicle battery system control method, a control device, a vehicle and a storage medium, which can accurately calculate the cruising range of a main battery and a secondary battery, and facilitate the planning of an optimal power supply plan.

[0004] In order to achieve the above objectives, the following technical solutions are provided:

[0005] In a first aspect, a vehicle battery system control method is provided, wherein the vehicle includes a main battery that cannot be replaced and a secondary battery that can be replaced; the vehicle battery system control method includes the following steps:

[0006] Determine the range of the vehicle using the main battery alone :

[0007] Acquire driving parameters of the vehicle; the driving parameters include the number of revolutions of the wheels of the vehicle per unit time and the radius of the wheels;

[0008] According to the driving parameters, the measured value of the mileage of the vehicle using the main battery alone in the current unit time is determined and recorded as ;

[0009] Get the mileage of the vehicle using the main battery alone in the last unit time and record it as ;

[0010] According to the , determine the predicted value of the vehicle's mileage in the current unit time using the main battery alone and record it as ;

[0011] Based on the and stated Kalman filtering is performed to determine the optimal value of the vehicle's mileage in the current unit time using the main battery alone and recorded as ;

[0012] Obtain the amount of power consumed by the vehicle using the main battery alone in the current unit time and record it as ;

[0013] According to the , and the remaining charge of the main battery , determine the range of the vehicle using the main battery alone ;

[0014] Determine the cruising range of the vehicle using the secondary battery alone :

[0015] Acquire driving parameters of the vehicle; the driving parameters include the number of revolutions of the wheels of the vehicle per unit time and the radius of the wheels;

[0016] According to the driving parameters, the measured value of the mileage of the vehicle using the auxiliary battery alone in the current unit time is determined and recorded as ;

[0017] Get the mileage of the vehicle using the secondary battery alone in the last unit time and record it as ;

[0018] According to the , determine the predicted value of the mileage of the vehicle using the auxiliary battery alone in the current unit time and record it as ;

[0019] Based on the and stated Kalman filtering is performed to determine the optimal value of the vehicle's mileage in the current unit time when the vehicle uses the secondary battery alone and is recorded as ;

[0020] Obtain the amount of electricity consumed by the vehicle using the secondary battery alone in the current unit time and record it as ;

[0021] According to the , and the remaining charge of the secondary battery , determine the cruising range of the vehicle using the secondary battery alone ;

[0022] Determine the power supply mode:

[0023] According to the and stated The main battery and / or the sub-battery are controlled to supply power to the vehicle.

[0024] As an alternative to the vehicle battery system control method,

[0025] ;

[0026] Correction factor for the main battery;

[0027] ;

[0028] is the correction factor for the secondary battery.

[0029] As an alternative to the vehicle battery system control method,

[0030] ;

[0031] is the number of revolutions made by the wheels of the vehicle in the current unit time;

[0032] r is the wheel radius of the vehicle;

[0033] ;

[0034] is the number of revolutions made by the wheels of the vehicle in the current unit time;

[0035] r is the wheel radius of the vehicle.

[0036] As an alternative to the vehicle battery system control method,

[0037]

[0038] is the Kalman gain of the main battery;

[0039] Transformation matrix for the main battery;

[0040] for The transpose of

[0041] A prediction uncertainty of a predicted value of a driving mileage of the vehicle using the main battery alone in a current unit time;

[0042] uncertainty of a predicted value of a driving mileage of the vehicle using the main battery alone in the last unit time;

[0043] R is the measurement noise of the measured value of the mileage of the vehicle in the current unit time;

[0044] for The transpose of

[0045] A prediction process noise of a predicted value of a driving mileage of the vehicle using the main battery alone in a current unit time;

[0046]

[0047] is the Kalman gain of the secondary battery;

[0048] is the transformation matrix of the secondary battery;

[0049] for The transpose of

[0050] A prediction uncertainty of a predicted value of a driving mileage of the vehicle using the secondary battery alone in a current unit time;

[0051] uncertainty of a predicted value of a driving mileage of the vehicle using the secondary battery alone in the last unit time;

[0052] R is the measurement noise of the measured value of the mileage of the vehicle in the current unit time;

[0053] for The transpose of

[0054] The prediction process noise is a prediction value of a driving mileage of the vehicle using the sub-battery alone in a current unit time.

[0055] As an optional solution of the vehicle battery system control method, the The initial value is greater than the The initial assignment of

[0056] Said The initial value assigned to is greater than the initial value assigned to R.

[0057] As an optional solution of the vehicle battery system control method, based on the and stated Kalman filtering is performed to determine the optimal value of the vehicle's mileage in the current unit time using the main battery alone and recorded as The following steps are included:

[0058] Calculate and update the uncertainty of the predicted value of the mileage of the vehicle using the main battery alone in the current unit time ;

[0059] I is the identity matrix;

[0060] Based on the and stated Kalman filtering is performed to determine the optimal value of the vehicle's mileage in the current unit time when the vehicle uses the secondary battery alone and is recorded as The following steps are included:

[0061] Calculate and update the uncertainty of the predicted value of the mileage of the vehicle using the secondary battery alone in the current unit time .

[0062] As an optional solution of the vehicle battery system control method, according to the and stated Controlling the main battery and / or the auxiliary battery to supply power to the vehicle comprises the following steps:

[0063] If the If the mileage is not greater than 100 km, the auxiliary battery is preferentially controlled to supply power to the vehicle;

[0064] If the If the mileage is greater than 100 km, the main battery and the auxiliary battery are controlled to supply power to the vehicle simultaneously.

[0065] In a second aspect, a vehicle battery system control device is provided, wherein the vehicle includes a main battery that cannot be replaced and a secondary battery that can be replaced; the vehicle battery system control device includes:

[0066] A first data acquisition module is used to acquire driving parameters of the vehicle; the driving parameters include the number of revolutions of the wheels of the vehicle in a unit time and the radius of the wheels;

[0067] The first data processing module is used to determine the measured value of the mileage of the vehicle using the main battery alone in the current unit time according to the driving parameters and record it as ;

[0068] The second data acquisition module is used to obtain the mileage of the vehicle using the main battery alone in the last unit time and record it as ;

[0069] The second data processing module is used to , determine the predicted value of the vehicle's mileage in the current unit time using the main battery alone and record it as ;

[0070] The first filtering processing module is used to and stated Kalman filtering is performed to determine the optimal value of the vehicle's mileage in the current unit time using the main battery alone and recorded as ;

[0071] The third data acquisition module is used to obtain the power consumed by the vehicle using the main battery alone in the current unit time and record it as ;

[0072] The third data processing module is used to , and the remaining charge of the main battery , determine the range of the vehicle using the main battery alone ;

[0073] A fourth data acquisition module is used to acquire driving parameters of the vehicle; the driving parameters include the number of revolutions of the wheels of the vehicle in a unit time and the radius of the wheels;

[0074] The fourth data processing module is used to determine the measured value of the mileage of the vehicle using the auxiliary battery alone in the current unit time according to the driving parameters and record it as ;

[0075] The fifth data acquisition module is used to obtain the mileage of the vehicle using the auxiliary battery alone in the last unit time and record it as ;

[0076] A fifth data processing module is used to process the , determine the predicted value of the mileage of the vehicle using the auxiliary battery alone in the current unit time and record it as ;

[0077] The second filtering processing module is used to and stated Kalman filtering is performed to determine the optimal value of the vehicle's mileage in the current unit time when the vehicle uses the secondary battery alone and is recorded as ;

[0078] The sixth data acquisition module is used to obtain the power consumed by the vehicle using the auxiliary battery alone in the current unit time and record it as ;

[0079] The sixth data processing module is used to , and the remaining charge of the secondary battery , determine the cruising range of the vehicle using the secondary battery alone ;

[0080] A power supply control module is used to and stated The main battery and / or the sub-battery are controlled to supply power to the vehicle.

[0081] In a third aspect, a vehicle is provided, comprising a main battery that cannot be replaced and a secondary battery that can be replaced, the vehicle further comprising:

[0082] Controller;

[0083] A driving parameter monitor, used to obtain driving parameters of the vehicle and send the driving parameters to the controller; the driving parameters include the number of revolutions of the wheels of the vehicle and the radius of the wheels;

[0084] a mileage monitor, used to obtain the mileage of the vehicle and send the mileage of the vehicle to the controller;

[0085] A battery monitor, used to obtain battery parameters of the main battery and the secondary battery, and send the battery parameters to the controller; the battery parameters include the remaining power of the main battery , the power consumed by the main battery per unit time, and the remaining power of the secondary battery and the amount of electricity consumed by the secondary battery per unit time;

[0086] A memory for storing one or more programs;

[0087] When the one or more programs are executed by the controller, the controller controls the vehicle to implement the vehicle battery system control method as described in any one of the above.

[0088] As an optional solution of the vehicle, the vehicle further includes a chassis and a battery box, and the battery box includes:

[0089] A box body, the box body is fixedly mounted on the chassis, the box body is provided with a box opening for the auxiliary battery to enter and exit, and the box body is provided with a positive electrode connector and a negative electrode connector;

[0090] A box cover is used to close or open the box opening, and the box cover can also abut against the auxiliary battery so that the positive electrode of the auxiliary battery is electrically connected to the positive electrode connector, and the negative electrode of the auxiliary battery is electrically connected to the negative electrode connector.

[0091] As an optional solution for the vehicle, the secondary battery is arranged in the trunk of the vehicle.

[0092] As an optional solution for the vehicle, the length L of the secondary battery is 100cm-120cm;

[0093] The height H of the secondary battery is 10cm-20cm;

[0094] The width W of the secondary battery is 10 cm-20 cm.

[0095] In a fourth aspect, a storage medium is provided, on which a computer program is stored. When the program is executed by a controller, the vehicle implements the vehicle battery system control method as described in any one of the above items.

[0096] Compared with the prior art, the present invention has the following beneficial effects:

[0097] The vehicle battery system control method, control device, vehicle and storage medium of the present invention use the predicted value of the mileage of the vehicle using the main battery or the auxiliary battery alone in the current unit time as the initial input, and introduce the measured value of the mileage of the vehicle using the main battery or the auxiliary battery alone in the current unit time for trimming, and then quickly iterate the optimal value of the mileage of the vehicle using the main battery or the auxiliary battery alone in the current unit time, and then predict the predicted value of the mileage of the vehicle using the main battery or the auxiliary battery alone in the next unit time based on the optimal value and use it as the initial input of the next Kalman filter. Such a cycle can make the mileage of the vehicle using the main battery or the auxiliary battery alone in the unit time more and more accurate, facilitate more accurate calculation of the cruising range of the vehicle using the main battery or the auxiliary battery alone, and enable the auxiliary battery with an unknown state to be smoothly connected to the vehicle power supply system so as to select the optimal power supply plan. BRIEF DESCRIPTION OF THE DRAWINGS

[0098] Figure 1 is a flow chart of a vehicle battery system control method according to an embodiment of the present invention;

[0099] Figure 2 This is a schematic diagram of the structure of a vehicle battery system control device in an embodiment of the present invention;

[0100] Figure 3 is a block diagram of a vehicle in an embodiment of the present invention;

[0101] Figure 4 A schematic diagram of the structure of a vehicle in an embodiment of the present invention;

[0102] Figure 5 This is a schematic diagram of the structure of the box in an embodiment of the present invention;

[0103] Figure 6 Schematic diagram of the structure of the secondary battery in an embodiment of the present invention.

[0104] Reference numerals:

[0105] 100. Vehicle; 1. Main battery; 2. Auxiliary battery; 4. Box body; 41. Guide rail; 42. Positive electrode connector; 43. Negative electrode connector; 44. Battery replacement opening; 45. Threaded hole; 5. Box cover. DETAILED DESCRIPTION

[0106] In order to make the purpose, technical solutions and advantages of the embodiments of the present invention clearer, the technical solutions in the embodiments of the present invention will be clearly and completely described below in conjunction with the drawings in the embodiments of the present invention. Obviously, the described embodiments are part of the embodiments of the present invention, not all of the embodiments. Generally, the components of the embodiments of the present invention described and shown in the drawings here can be arranged and designed in various different configurations.

[0107] Therefore, the following detailed description of the embodiments of the present invention provided in the accompanying drawings is not intended to limit the scope of the invention claimed for protection, but merely represents selected embodiments of the present invention. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of the present invention.

[0108] It should be noted that similar reference numerals and letters denote similar items in the following drawings, and therefore, once an item is defined in one drawing, further definition and explanation thereof is not required in subsequent drawings.

[0109] In the description of the present invention, it should be noted that the terms "upper", "lower", "left", "right", "vertical", "horizontal", "inside", "outside", etc. indicate positions or positional relationships based on the positions or positional relationships shown in the accompanying drawings, or are the positions or positional relationships in which the inventive product is usually placed when in use. They are only for the convenience of describing the present invention and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation, and therefore cannot be understood as limiting the present invention. In addition, the terms "first", "second", "third", etc. are only used to distinguish the description, and cannot be understood as indicating or implying relative importance. In the description of the present invention, unless otherwise specified, "multiple" means two or more.

[0110] In the description of the present invention, it is also necessary to explain that, unless otherwise clearly specified and limited, the terms "disposed" and "connected" should be understood in a broad sense, for example, it can be a fixed connection, a detachable connection, or an integral connection; it can be a mechanical connection or an electrical connection. For ordinary technicians in this field, the specific meanings of the above terms in the present invention can be understood according to specific circumstances.

[0111] In the present invention, unless otherwise clearly specified and limited, a first feature being "above" or "below" a second feature may include that the first and second features are in direct contact, or may include that the first and second features are not in direct contact but are in contact through another feature between them. Moreover, a first feature being "above", "above" and "above" a second feature includes that the first feature is directly above and obliquely above the second feature, or simply indicates that the first feature is higher in level than the second feature. A first feature being "below", "below" and "below" a second feature includes that the first feature is directly below and obliquely below the second feature, or simply indicates that the first feature is lower in level than the second feature.

[0112] Embodiments of the present invention are described in detail below, examples of which are shown in the accompanying drawings, wherein the same or similar reference numerals throughout represent the same or similar elements or elements having the same or similar functions. The embodiments described below with reference to the accompanying drawings are exemplary and are only used to explain the present invention, and cannot be understood as limiting the present invention.

[0113] Embodiment 1

[0114] The present embodiment provides a vehicle battery system control method, which is applicable to power supply control of a vehicle 100 having a main battery 1 that is not replaceable and a secondary battery 2 that is replaceable. The vehicle battery system control method can be executed by a vehicle battery system control device, which can be implemented by software and / or hardware and integrated into the vehicle 100.

[0115] like Figure 1 As shown, the vehicle battery system control method includes the following steps:

[0116] Determine the cruising range of the vehicle 100 using the main battery 1 alone :

[0117] S11, obtaining driving parameters of the vehicle 100; the driving parameters include the number of revolutions of the wheels of the vehicle 100 in a unit time and the radius of the wheels;

[0118] For example, the radius of the wheel can be directly obtained by measuring the wheel, and the measurement result is pre-stored in the controller of the vehicle 100. The number of circles the wheel rotates in a unit time can be measured by an angle sensor, and the present embodiment does not limit the type and model of the angle sensor. The angle sensor can monitor the number of circles the wheel rotates in real time, and can send the monitoring result to the controller of the vehicle 100.

[0119] It should be noted that this embodiment does not limit the length of the unit time, and it can be selected according to user needs.

[0120] S12: According to the driving parameters, determine the measured value of the mileage of the vehicle 100 using the main battery 1 alone in the current unit time and record it as ;

[0121] Understandably, ;

[0122] is the number of revolutions made by the wheels of the vehicle 100 in the current unit time;

[0123] r is the wheel radius of the vehicle 100 .

[0124] S13, obtaining the mileage of the vehicle 100 using the main battery 1 alone in the last unit time and recording it as ;

[0125] It should be noted that the mileage of the vehicle 100 using the main battery 1 alone in the previous unit time is The mileage of the vehicle 100 can be measured by the existing method for measuring the mileage of the vehicle 100, or calculated based on the driving parameters of the vehicle 100 (for example, reading the driving data of the engine and the transmission through the OBD computer). Of course, the mileage of the vehicle 100 using the main battery 1 alone in the last unit time is It may also be an optimum value of the driving mileage of the vehicle 100 using the main battery 1 alone in the last unit time, determined by a method described below.

[0126] S14. According to , determine the predicted value of the mileage of the vehicle 100 using the main battery 1 alone in the current unit time and record it as ;

[0127] ;

[0128] Correction factor for main battery 1.

[0129] It should be noted that the correction factor of the main battery 1 is It can be determined based on the performance parameters of the main battery 1. Of course, The value of can also be adjusted in real time according to the results obtained in subsequent steps.

[0130] S15, based on and Kalman filtering is performed to determine the optimal value of the mileage of the vehicle 100 using the main battery 1 alone in the current unit time and recorded as ;

[0131] ;

[0132] in, is the Kalman gain of main battery 1; The transformation matrix for main battery 1.

[0133] Specifically, ;

[0134] in, for is the transpose of ; R is the measurement noise of the measured value of the mileage of the vehicle 100 in the current unit time.

[0135] Further, is the prediction uncertainty of the predicted value of the mileage of the vehicle 100 using the main battery 1 alone in the current unit time, ;

[0136] in, is the uncertainty of the predicted value of the mileage of the vehicle 100 using the main battery 1 alone in the last unit time; for The transpose of It is the prediction process noise of the predicted value of the driving mileage of the vehicle 100 using the main battery 1 alone in the current unit time.

[0137] It should be noted that R and The value of can be determined based on the empirical data of the vehicle 100. The values ​​of and R can also be adjusted in real time according to the filtering results.

[0138] Further, step S15 includes the following steps:

[0139] Calculate and update the uncertainty of the predicted value of the mileage of the vehicle 100 using the main battery 1 alone in the current unit time , ; Where I is the identity matrix.

[0140] After performing a Kalman filter process, the uncertainty of the predicted value of the mileage of the vehicle 100 using the main battery 1 alone in the current unit time is updated. , and is used for the next Kalman filter processing, and then in the iterative process, the mileage of the vehicle 100 using the main battery 1 alone in the current unit time is obtained more and more accurately.

[0141] S16, obtaining the power consumed by the vehicle 100 using the main battery 1 alone in the current unit time and recording it as ;

[0142] S17, according to , and the remaining power of main battery 1 , determine the cruising range of the vehicle 100 using the main battery 1 alone ;

[0143] Specifically, .

[0144] It should be noted that in this embodiment, the Kalman filter algorithm is used to predict the mileage of the vehicle 100 using the main battery 1 alone in the current unit time. As the initial input, the measured value of the mileage of the vehicle 100 using the main battery 1 alone in the current unit time is introduced. The optimal value of the mileage of the vehicle 100 using the main battery 1 alone in the current unit time is quickly iterated. , and then, according to Prediction of the mileage of the vehicle 100 using the main battery 1 alone in the next unit time And as the initial input of the next Kalman filter, such a cycle can make the mileage of the vehicle 100 using the main battery 1 alone per unit time more and more accurate, so as to more accurately calculate the cruising range of the vehicle 100 using the main battery 1 alone .

[0145] Determine the cruising range of the vehicle 100 using the secondary battery 2 alone :

[0146] S21, obtaining driving parameters of the vehicle 100; the driving parameters include the number of revolutions of the wheels of the vehicle 100 in a unit time and the radius of the wheels;

[0147] S22: According to the driving parameters, determine the measured value of the mileage of the vehicle 100 using the auxiliary battery 2 alone in the current unit time and record it as ;

[0148] ;

[0149] in, is the number of revolutions made by the wheels of the vehicle 100 in the current unit time; r is the wheel radius of the vehicle 100.

[0150] S23, obtain the mileage of the vehicle 100 using the auxiliary battery 2 alone in the previous unit time and record it as ;

[0151] It should be noted that the mileage of the vehicle 100 using the secondary battery 2 alone in the previous unit time is The mileage of the vehicle 100 can be measured by the existing method for measuring the mileage of the vehicle 100, or calculated according to the driving parameters of the vehicle 100 (for example, reading the driving data of the engine and the transmission through the OBD computer). Of course, the mileage of the vehicle 100 using the auxiliary battery 2 alone in the previous unit time is Alternatively, it may be an optimum value of the driving mileage of the vehicle 100 using the sub-battery 2 alone in the last unit time, determined by a method described below.

[0152] S24, according to , determine the predicted value of the mileage of the vehicle 100 using the auxiliary battery 2 alone in the current unit time and record it as ;

[0153] ;

[0154] in, is the correction factor of sub-battery 2.

[0155] It should be noted that the correction coefficient of the secondary battery 2 can be determined according to the performance parameters of the secondary battery 2. The secondary battery 2 is a temporarily replaced battery, and the performance parameters of the secondary battery 2 may have a large error. The error of the value is also large, so the technician can preset a value based on experience as the initial correction coefficient of the auxiliary battery 2 , and the value of F2 can be adjusted in real time according to the results obtained in subsequent steps.

[0156] S25, based on and Kalman filtering is performed to determine the optimal value of the mileage of the vehicle 100 using the secondary battery 2 alone in the current unit time and record it as ;

[0157] ;

[0158] in, is the Kalman gain of slave battery 2; is the transformation matrix of slave battery 2.

[0159] Specifically, ;

[0160] in, for is the transpose of ; R is the measurement noise of the measured value of the mileage of the vehicle 100 in the current unit time.

[0161] Further, is the prediction uncertainty of the predicted value of the driving mileage of the vehicle 100 using the sub-battery 2 alone in the current unit time, ;

[0162] in, is the uncertainty of the predicted value of the mileage of the vehicle 100 using the sub-battery 2 alone in the last unit time; for The transpose of It is the prediction process noise of the predicted value of the running mileage of the vehicle 100 using the sub-battery 2 alone in the current unit time.

[0163] It should be noted that since the main battery 1 will not be replaced, and the initial state of the replaced secondary battery 2 is unknown, the state confidence of the secondary battery 2 is lower than that of the main battery 1. The initial value of The initial assignment of The initial value of is greater than the initial value of R to ensure the accuracy of the filtering result. The value of can also be adjusted in real time according to the filtering results.

[0164] Furthermore, the uncertainty of the predicted value of the mileage of the vehicle 100 using the secondary battery 2 alone in the current unit time is calculated and updated. , ; I is the unit matrix.

[0165] After performing a Kalman filter process, the uncertainty of the predicted value of the mileage of the vehicle 100 using the secondary battery 2 in the current unit time is updated. , and is used for the next Kalman filter processing, and then in the iterative process, the mileage of the vehicle 100 using the auxiliary battery 2 alone in the current unit time is obtained more and more accurately.

[0166] S26, obtaining the power consumed by the vehicle 100 using the auxiliary battery 2 alone in the current unit time and recording it as E 2_t ;

[0167] S27, according to , and the remaining power of the secondary battery 2 , determine the cruising range of the vehicle 100 using the secondary battery 2 alone ;

[0168] Specifically, .

[0169] It should be noted that in this embodiment, the Kalman filter algorithm is used to predict the mileage of the vehicle 100 using the auxiliary battery 2 alone in the current unit time. As the initial input, the measured value Z of the mileage of the vehicle 100 using the sub-battery 2 alone in the current unit time is introduced. 2_t The optimal value of the mileage of the vehicle 100 using the auxiliary battery 2 alone in the current unit time is quickly iterated. , and then, according to Prediction of the mileage of the vehicle 100 using the sub-battery 2 alone in the next unit time And as the initial input of the next Kalman filter, such a cycle can make the mileage of the vehicle 100 using the auxiliary battery 2 alone per unit time more and more accurate, so as to more accurately calculate the cruising range of the vehicle 100 using the auxiliary battery 2 alone .

[0170] Determine the power supply mode:

[0171] S31. According to and The main battery 1 and / or the sub-battery 2 are controlled to supply power to the vehicle 100 .

[0172] Step S31 includes the following steps:

[0173] like If the mileage is less than 100 km, the auxiliary battery 2 is preferentially controlled to supply power to the vehicle 100; at this time, the mileage displayed on the display screen of the vehicle 100 is and sum;

[0174] like If the mileage is greater than 100 km, the main battery 1 and the auxiliary battery 2 are controlled to supply power to the vehicle 100 at the same time; at this time, the mileage displayed on the display screen of the vehicle 100 is and sum.

[0175] In this embodiment, the cruising range of the main battery 1 is first determined by the Kalman filter algorithm, and then the cruising range of the secondary battery 2 is determined by the Kalman filter algorithm. In other embodiments, the cruising range of the secondary battery 2 can also be determined by the Kalman filter algorithm first, and then the cruising range of the main battery 1 can be determined by the Kalman filter algorithm.

[0176] It can be understood that the embodiment of the present invention is equivalent to performing two filtering operations, which can accurately calculate the cruising range of the main battery 1 and the auxiliary battery 2, and is beneficial to improving the driving experience.

[0177] It should be noted that the implementation of the vehicle battery system control method of the embodiment of the present invention is based on the premise that both the main battery 1 and the auxiliary battery 2 are powered. When the main battery 1 is powered, the cruising range of the auxiliary battery 2 can be obtained only through the Kalman filter algorithm, which is equivalent to performing a filtering operation, and according to the attenuation state of the auxiliary battery 2, the auxiliary battery 2 is used to power the vehicle 100, and the cruising range of the display screen of the vehicle 100 is displayed as the cruising range of the auxiliary battery 2. .

[0178] Embodiment 2

[0179] This embodiment provides a vehicle battery system control device, which can execute the vehicle battery system control method described in the above embodiment.

[0180] like Figure 2 As shown, the vehicle battery system control device includes:

[0181] The first data acquisition module is used to acquire driving parameters of the vehicle 100; the driving parameters include the number of revolutions of the wheels of the vehicle 100 per unit time and the radius of the wheels;

[0182] The first data processing module is used to determine the measured value of the mileage of the vehicle 100 using the main battery 1 alone in the current unit time according to the driving parameters and record it as ;

[0183] The second data acquisition module is used to obtain the mileage of the vehicle 100 using the main battery 1 alone in the last unit time and record it as ;

[0184] The second data processing module is used to , determine the predicted value of the mileage of the vehicle 100 using the main battery 1 alone in the current unit time and record it as ;

[0185] The first filtering processing module is used based on and Kalman filtering is performed to determine the optimal value of the mileage of the vehicle 100 using the main battery 1 alone in the current unit time and recorded as ;

[0186] The third data acquisition module is used to obtain the power consumed by the vehicle 100 using the main battery 1 alone in the current unit time and record it as ;

[0187] The third data processing module is used to , and the remaining power of main battery 1 , determine the cruising range of the vehicle 100 using the main battery 1 alone ;

[0188] The fourth data acquisition module is used to acquire the driving parameters of the vehicle 100; the driving parameters include the number of revolutions of the wheels of the vehicle 100 in a unit time and the radius of the wheels;

[0189] The fourth data processing module is used to determine the measured value of the mileage of the vehicle 100 using the auxiliary battery 2 alone in the current unit time according to the driving parameters and record it as ;

[0190] The fifth data acquisition module is used to obtain the mileage of the vehicle 100 using the auxiliary battery 2 alone in the previous unit time and record it as ;

[0191] The fifth data processing module is used to , determine the predicted value of the mileage of the vehicle 100 using the auxiliary battery 2 alone in the current unit time and record it as ;

[0192] The second filtering processing module is used based on and Kalman filtering is performed to determine the optimal value of the mileage of the vehicle 100 using the secondary battery 2 alone in the current unit time and record it as ;

[0193] The sixth data acquisition module is used to obtain the power consumed by the vehicle 100 using the auxiliary battery 2 alone in the current unit time and record it as ;

[0194] The sixth data processing module is used to , and the remaining power of the secondary battery 2 , determine the cruising range of the vehicle 100 using the secondary battery 2 alone ;

[0195] Power supply control module, used according to and The main battery 1 and / or the sub-battery 2 are controlled to supply power to the vehicle 100 .

[0196] The vehicle battery system control device provided in this embodiment is capable of executing the vehicle battery system control method provided in the above embodiments, and has corresponding functions and beneficial effects.

[0197] Embodiment 3

[0198] This embodiment provides a vehicle 100, such as Figure 3-6As shown, the vehicle 100 includes a main battery 1 that cannot be replaced and a secondary battery 2 that can be replaced. Specifically, the vehicle 100 includes a chassis, the main battery 1 is fixed to the chassis and used to supply power to the vehicle 100, and the secondary battery 2 is detachably provided on the chassis and used to supply power to the vehicle 100. The secondary battery 2 is detachably provided, and the cruising range of the vehicle can be extended by replacing the secondary battery 2 without waiting for a long time for charging.

[0199] like Figure 3 As shown, the vehicle 100 also includes a controller, a driving parameter monitor, a mileage monitor, a battery monitor and a memory. The driving parameter monitor is used to obtain the driving parameters of the vehicle 100 and send the driving parameters to the controller; the driving parameters include the number of turns of the wheels of the vehicle 100 and the radius of the wheels; the mileage monitor is used to obtain the mileage of the vehicle 100 and send the mileage of the vehicle 100 to the controller; the battery monitor is used to obtain the battery parameters of the main battery 1 and the auxiliary battery 2, and send the battery parameters to the controller; the battery parameters include the remaining power of the main battery 1 , the power consumed by the main battery 1 per unit time, the remaining power of the auxiliary battery 2 and the amount of electricity consumed by the secondary battery 2 per unit time.

[0200] The driving parameter monitor, mileage monitor and battery monitor are all existing technologies and will not be described in detail here.

[0201] The memory, as a computer-readable storage medium, can be used to store software programs, computer executable programs and modules, such as program instructions / modules corresponding to the vehicle battery system control method in the above embodiment. The controller executes various functional applications and data processing of the vehicle 100 by running the software programs, instructions and modules stored in the memory, that is, realizing the vehicle battery system control method in the above embodiment.

[0202] The memory mainly includes a program storage area and a data storage area, wherein the program storage area can store an operating system and at least one application required for a function; the data storage area can store data created according to the use of the terminal, etc. In addition, the memory may include a high-speed random access memory, and may also include a non-volatile memory, such as at least one disk storage device, a flash memory device, or other non-volatile solid-state storage device. In some examples, the memory may further include a memory remotely arranged relative to the controller, and these remote memories can be connected to the vehicle 100 via a network. Examples of the above-mentioned network include, but are not limited to, the Internet, an intranet, a local area network, a mobile communication network, and combinations thereof.

[0203] The vehicle 100 provided in this embodiment and the vehicle battery system control method provided in the above embodiment belong to the same inventive concept. The technical details not fully described in this embodiment can be referred to the above embodiment, and this embodiment has the same beneficial effects as executing the vehicle battery system control method.

[0204] Alternatively, if Figure 4-6 As shown, the vehicle 100 further includes a battery box, which includes a box body 4 and a box cover 5. The box body 4 is fixed to the chassis, and the box body 4 is provided with a box opening for the auxiliary battery 2 to enter and exit. The box body 4 is provided with a positive electrode connector 42 and a negative electrode connector 43. The box cover 5 is used to close or open the box opening, and the box cover 5 can also abut against the auxiliary battery 2 so that the positive electrode of the auxiliary battery 2 is electrically connected to the positive electrode connector 42, and the negative electrode of the auxiliary battery 2 is electrically connected to the negative electrode connector 43. After the auxiliary battery 2 is loaded into the box body 4, the box cover 5 can be used to press the auxiliary battery 2 to ensure that the positive electrode of the auxiliary battery 2 is in good contact with the positive electrode connector 42, and the negative electrode of the auxiliary battery 2 is in good electrical contact with the negative electrode connector 43. The structure is simple, the connection reliability is high, and the auxiliary battery 2 can also be protected by the battery box.

[0205] Exemplarily, the box body 4 is provided with a plurality of threaded holes 45, and the box cover 5 is connected to the box body 4 by a plurality of fasteners such as bolts, so that the box cover 5 can be easily disassembled and assembled, and has a simple structure and low cost.

[0206] Optionally, the box opening can be arranged on one side of the box body 4 in the horizontal direction, so that the auxiliary battery 2 can move in the horizontal direction to enter and exit the box body 4. Of course, the box opening can also be arranged on one side of the box body 4 in the vertical direction, so that the auxiliary battery 2 can enter and exit the box body 4 in the vertical direction. The specific moving direction of the auxiliary battery 2 in and out of the box body 4 can be freely selected according to the vehicle model and user needs, which is more convenient for the promotion of the battery replacement mode.

[0207] Optionally, a guide structure is provided in the box body 4 to guide the auxiliary battery 2 in and out of the box body 4, so that the auxiliary battery 2 can be installed in place quickly and accurately.

[0208] Exemplarily, the guide structure is a guide rail 41 , and a guide connection portion is provided on the auxiliary battery 2 , and the guide connection portion can be slidably connected to the guide rail 41 , so that the auxiliary battery 2 can smoothly enter and exit the box body 4 .

[0209] Optionally, the auxiliary battery 2 is arranged in the trunk of the vehicle 100. Specifically, the battery box is fixed in the trunk of the vehicle 100, which is convenient for the user to take out and replace the auxiliary battery 2 by himself, greatly shortening the battery replacement time without affecting the appearance of the vehicle 100. At the same time, it is convenient to modify and promote the existing vehicle 100, and to transform the battery replacement station, and has strong feasibility.

[0210] Optionally, a gasket is provided between the secondary battery 2 and the inner wall of the box body 4, so that the gasket can play a role of buffering and shock absorption, thereby protecting the secondary battery 2. Exemplarily, the gasket is a flexible gasket such as a silicone gasket or a rubber gasket.

[0211] Optionally, the auxiliary battery 2 can enable the vehicle 100 to achieve a range of 80 km-100 km, so as to ensure that the vehicle 100 can smoothly reach a service area within 100 km to replace the battery or charge the main battery 1. , the mass energy density is about 150Wh / kg. By calculation, the energy of the auxiliary battery 2 is about 10KWh. Further calculation shows that the volume of the auxiliary battery 2 is about .

[0212] Furthermore, in order to place the auxiliary battery 2 in the trunk, the length L of the auxiliary battery 2 is 100cm-120cm; the height H of the auxiliary battery 2 is 10cm-20cm; and the width W of the auxiliary battery 2 is 10cm-20cm. This makes the auxiliary battery 2 occupy a smaller space, facilitates the standardization of battery pack size, and makes the auxiliary batteries 2 of different models of vehicles 100 uniform, facilitates the universal application of the battery replacement mode, and greatly reduces the battery replacement operation cost.

[0213] Embodiment 4

[0214] This embodiment provides a storage medium on which a computer program is stored. When the program is executed by a controller, the vehicle 100 implements the vehicle battery system control method as described in the above embodiment.

[0215] Of course, the present embodiment provides a storage medium containing computer executable instructions, wherein the computer executable instructions include the operations in the vehicle battery system control method as described in any of the above embodiments, and have corresponding functions and beneficial effects.

[0216] Through the above description of the implementation method, the technicians in the relevant field can clearly understand that the present invention can be implemented by means of software and necessary general hardware, and of course it can also be implemented by hardware, but in many cases the former is a better implementation method. Based on this understanding, the technical solution of the present invention is essentially or the part that contributes to the prior art can be embodied in the form of a software product, and the computer software product can be stored in a computer-readable storage medium, such as a computer floppy disk, read-only memory (ROM), random access memory (RAM), flash memory (FLASH), hard disk or optical disk, etc., including a number of instructions for a computer device (which can be a robot, a personal computer, a server, or a network device, etc.) to execute the vehicle battery system control method described in each embodiment of the present invention.

[0217] Note that the above are only preferred embodiments of the present invention and the technical principles used. Those skilled in the art will understand that the present invention is not limited to the specific embodiments described herein, and that various obvious changes, readjustments and substitutions can be made by those skilled in the art without departing from the scope of protection of the present invention. Therefore, although the present invention has been described in more detail through the above embodiments, the present invention is not limited to the above embodiments, and may include more other equivalent embodiments without departing from the concept of the present invention, and the scope of the present invention is determined by the scope of the appended claims.

Claims

1. A vehicle battery system control method, wherein the vehicle includes a main battery that cannot be replaced and a secondary battery that can be replaced; characterized in that: The vehicle battery system control method comprises the following steps: Determine the range of the vehicle using the main battery alone : Acquire driving parameters of the vehicle; the driving parameters include the number of revolutions of the wheels of the vehicle per unit time and the radius of the wheels; According to the driving parameters, the measured value of the mileage of the vehicle using the main battery alone in the current unit time is determined and recorded as ; Get the mileage of the vehicle using the main battery alone in the last unit time and record it as ; According to the , determine the predicted value of the vehicle's mileage in the current unit time using the main battery alone and record it as ; Based on the and stated Kalman filtering is performed to determine the optimal value of the vehicle's mileage in the current unit time using the main battery alone and recorded as ; Obtain the amount of power consumed by the vehicle using the main battery alone in the current unit time and record it as ; According to the , and the remaining charge of the main battery , determine the range of the vehicle using the main battery alone ; Determine the cruising range of the vehicle using the secondary battery alone : Acquire driving parameters of the vehicle; the driving parameters include the number of revolutions of the wheels of the vehicle per unit time and the radius of the wheels; According to the driving parameters, the measured value of the mileage of the vehicle using the auxiliary battery alone in the current unit time is determined and recorded as ; Get the mileage of the vehicle using the secondary battery alone in the last unit time and record it as ; According to the , determine the predicted value of the mileage of the vehicle using the auxiliary battery alone in the current unit time and record it as ; Based on the and stated Kalman filtering is performed to determine the optimal value of the vehicle's mileage in the current unit time when the vehicle uses the secondary battery alone and is recorded as ; Obtain the amount of electricity consumed by the vehicle using the secondary battery alone in the current unit time and record it as ; According to the , and the remaining charge of the secondary battery , determine the cruising range of the vehicle using the secondary battery alone ; Determine the power supply mode: According to the and stated controlling the main battery and / or the sub-battery to supply power to the vehicle; ； Correction factor for the main battery; ； is the correction factor of the secondary battery; ； ； ； is the Kalman gain of the main battery; Transformation matrix for the main battery; for The transpose of A prediction uncertainty of a predicted value of a driving mileage of the vehicle using the main battery alone in a current unit time; uncertainty of a predicted value of a driving mileage of the vehicle using the main battery alone in the last unit time; R is the measurement noise of the measured value of the mileage of the vehicle in the current unit time; for The transpose of A prediction process noise of a predicted value of a driving mileage of the vehicle using the main battery alone in a current unit time; ； ； ； is the Kalman gain of the secondary battery; is the transformation matrix of the secondary battery; for The transpose of A prediction uncertainty of a predicted value of a driving mileage of the vehicle using the secondary battery alone in a current unit time; uncertainty of a predicted value of a driving mileage of the vehicle using the secondary battery alone in the last unit time; R is the measurement noise of the measured value of the mileage of the vehicle in the current unit time; for The transpose of The prediction process noise is a prediction value of a driving mileage of the vehicle using the sub-battery alone in a current unit time.

2. The vehicle battery system control method according to claim 1, characterized in that: ； is the number of revolutions made by the wheels of the vehicle in the current unit time; r is the wheel radius of the vehicle; ； is the number of revolutions made by the wheels of the vehicle in the current unit time; r is the wheel radius of the vehicle.

3. The vehicle battery system control method according to claim 1, characterized in that: Said The initial value is greater than the The initial assignment of Said The initial value assigned to is greater than the initial value assigned to R.

4. The vehicle battery system control method according to claim 1, characterized in that: Based on the and stated Kalman filtering is performed to determine the optimal value of the vehicle's mileage in the current unit time using the main battery alone and recorded as The following steps are included: Calculate and update the uncertainty of the predicted value of the mileage of the vehicle using the main battery alone in the current unit time ; I is the identity matrix; Based on the and stated Kalman filtering is performed to determine the optimal value of the vehicle's mileage in the current unit time when the vehicle uses the secondary battery alone and is recorded as The following steps are included: Calculate and update the uncertainty of the predicted value of the mileage of the vehicle using the secondary battery alone in the current unit time .

5. The vehicle battery system control method according to claim 1, characterized in that: In accordance with the and stated Controlling the main battery and / or the auxiliary battery to supply power to the vehicle comprises the following steps: If the If the mileage is not greater than 100 km, the auxiliary battery is preferentially controlled to supply power to the vehicle; If the If the mileage is greater than 100 km, the main battery and the auxiliary battery are controlled to supply power to the vehicle simultaneously.

6. A vehicle battery system control device, wherein the vehicle includes a main battery that cannot be replaced and a secondary battery that can be replaced; characterized in that: The vehicle battery system control device is used to execute the vehicle battery system control method according to any one of claims 1 to 5, and the vehicle battery system control device includes: A first data acquisition module is used to acquire driving parameters of the vehicle; the driving parameters include the number of revolutions of the wheels of the vehicle in a unit time and the radius of the wheels; The first data processing module is used to determine the measured value of the mileage of the vehicle using the main battery alone in the current unit time according to the driving parameters and record it as ; The second data acquisition module is used to obtain the mileage of the vehicle using the main battery alone in the last unit time and record it as ; The second data processing module is used to , determine the predicted value of the vehicle's mileage in the current unit time using the main battery alone and record it as ; The first filtering processing module is used to and stated Kalman filtering is performed to determine the optimal value of the vehicle's mileage in the current unit time using the main battery alone and recorded as ; The third data acquisition module is used to obtain the power consumed by the vehicle using the main battery alone in the current unit time and record it as ; The third data processing module is used to , and the remaining charge of the main battery , determine the range of the vehicle using the main battery alone ; A fourth data acquisition module is used to acquire driving parameters of the vehicle; the driving parameters include the number of revolutions of the wheels of the vehicle in a unit time and the radius of the wheels; The fourth data processing module is used to determine the measured value of the mileage of the vehicle using the auxiliary battery alone in the current unit time according to the driving parameters and record it as ; The fifth data acquisition module is used to obtain the mileage of the vehicle using the auxiliary battery alone in the last unit time and record it as ; A fifth data processing module is used to process the , determine the predicted value of the mileage of the vehicle using the auxiliary battery alone in the current unit time and record it as ; The second filtering processing module is used to and stated Kalman filtering is performed to determine the optimal value of the vehicle's mileage in the current unit time when the vehicle uses the secondary battery alone and is recorded as ; The sixth data acquisition module is used to obtain the power consumed by the vehicle using the auxiliary battery alone in the current unit time and record it as ; The sixth data processing module is used to , and the remaining charge of the secondary battery , determine the cruising range of the vehicle using the secondary battery alone ; A power supply control module is used to and stated The main battery and / or the sub-battery are controlled to supply power to the vehicle.

7. A vehicle comprising a main battery that cannot be replaced and a secondary battery that can be replaced, characterized in that: The vehicle further comprises: Controller; A driving parameter monitor, used to obtain driving parameters of the vehicle and send the driving parameters to the controller; the driving parameters include the number of revolutions of the wheels of the vehicle and the radius of the wheels; a mileage monitor, used to obtain the mileage of the vehicle and send the mileage of the vehicle to the controller; A battery monitor, used to obtain battery parameters of the main battery and the secondary battery, and send the battery parameters to the controller; the battery parameters include the remaining power of the main battery , the power consumed by the main battery per unit time, and the remaining power of the secondary battery and the amount of electricity consumed by the secondary battery per unit time; A memory for storing one or more programs; When the one or more programs are executed by the controller, the controller controls the vehicle to implement the vehicle battery system control method as described in any one of claims 1-5.

8. The vehicle according to claim 7, characterized in that The vehicle further comprises a chassis and a battery box, wherein the battery box comprises: A box body, the box body is fixedly mounted on the chassis, the box body is provided with a box opening for the auxiliary battery to enter and exit, and the box body is provided with a positive electrode connector and a negative electrode connector; A box cover is used to close or open the box opening, and the box cover can also abut against the auxiliary battery so that the positive electrode of the auxiliary battery is electrically connected to the positive electrode connector, and the negative electrode of the auxiliary battery is electrically connected to the negative electrode connector.

9. The vehicle according to claim 7, characterized in that The secondary battery is arranged in the trunk of the vehicle.

10. The vehicle according to claim 7, characterized in that The length L of the secondary battery is 100cm-120cm; The height H of the secondary battery is 10cm-20cm; The width W of the sub-battery is 10 cm-20 cm.

11. A storage medium having a computer program stored thereon, characterized in that: When the program is executed by the controller, the vehicle implements the vehicle battery system control method as described in any one of claims 1 to 5.

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