Bus current calculation method and device, electronic equipment, storage medium and vehicle

Abstract

The invention relates to a bus current calculation method and device, electronic equipment, a storage medium and a vehicle, and the method comprises the steps: obtaining a target vector, and enabling each component in the target vector to be the working data of an electric drive system at the current time; and inputting the target vector into a trained bus current calculation model to obtain a target bus current output by the bus current calculation model. Compared with the prior art, the method does not need to arrange a sensor, reduces the cost, analyzes the working data of the current time of the electric drive system through the trained bus current calculation model to obtain the target bus current, does not need to calibrate a plurality of working conditions under different voltages, saves the time, can obtain the accurate bus current, and improves the working efficiency. The precision is improved, and the intelligent degree is higher.

Description

Technical Field

[0001] The present disclosure relates to the technical field of current calculation, and in particular to a bus current calculation method, device, electronic device, storage medium and vehicle. Background Art

[0002] In new energy vehicles, the battery transmits energy to the electric drive system through the DC bus. The DC bus current can be used to calculate the motor controller power and electric drive efficiency, and is one of the important parameters for calculating the energy consumption of the entire vehicle. The bus current is the current transmitted to the electric drive system (i.e., the motor controller). The bus current is closely related to vehicle safety. When the bus current is too large, it is easy to bring system safety risks. Therefore, the bus current is an important physical quantity that needs to be accurately calculated and needs to be sent to the entire vehicle in real time.

[0003] At present, the bus current can be obtained through the following two ways: 1) obtaining the real current through real-time sampling and measurement by sensors; 2) forming a calibration table by calibration under different voltages and different working conditions. In actual use, the bus current under the corresponding working conditions and corresponding voltages in the calibration table is obtained.

[0004] However, the deployment of sensors will increase costs, and the sensors may fail, which will affect the reliability of the system; estimating the bus current by calibration requires calibration of multiple working conditions under different voltages, which takes a lot of test time and has limited accuracy. Therefore, the methods for determining the bus current in related technologies have the problems of high cost, time consumption, and low accuracy. Summary of the invention

[0005] In order to solve the above technical problems, the present disclosure provides a bus current calculation method, device, electronic device, storage medium and vehicle.

[0006] In a first aspect, an embodiment of the present disclosure provides a bus current calculation method, comprising:

[0007] Acquire a target vector, wherein each component of the target vector is working data of the electric drive system at the current time;

[0008] The target vector is input into a trained bus current calculation model to obtain a target bus current output by the bus current calculation model.

[0009] In some embodiments, the working data includes at least one of the following:

[0010] The direct-axis current of the motor, the quadrature-axis current of the motor, the phase current, the bus voltage, the motor speed, the motor torque, the cooling water temperature, the oil temperature, and the motor stator temperature.

[0011] In some embodiments, each component in the target vector includes, in addition to the working data, a current value corresponding to the target parameter;

[0012] Determining the current value corresponding to the target parameter includes:

[0013] According to the working data and a preset algorithm, a current value corresponding to the target parameter is determined.

[0014] In some embodiments, the current values ​​corresponding to the target parameters include: theoretical current, theoretical power;

[0015] Determining the current value corresponding to the target parameter according to the working data and a preset algorithm includes:

[0016] If the current value corresponding to the target parameter is the theoretical current, the product of the motor speed and the motor torque is determined; and the ratio of the product to the bus voltage is used as the theoretical current.

[0017] In some embodiments, after acquiring the target vector, the method further includes:

[0018] The target vector is normalized, and the vector obtained after the normalization is updated as the target vector.

[0019] In some embodiments, the normalizing the target vector includes:

[0020] For each component position, respectively determine the maximum value of the components corresponding to the pre-saved vectors at the component position and the minimum value of the components corresponding to the pre-saved vectors at the component position; wherein the lengths of the vectors and the target vector are the same;

[0021] For each component position in the target vector, calculate a first difference between the component at the component position and the minimum value of the components corresponding to each vector at the component position, and a second difference between the maximum value of the components corresponding to each vector at the component position and the minimum value of the components corresponding to each vector at the component position, and determine the ratio of the first difference to the second difference as the component obtained after normalizing the component at the component position.

[0022] In some embodiments, the bus current calculation model is trained by the following steps:

[0023] Acquire multiple groups of sample vectors and corresponding real bus currents, wherein each component in each group of sample vectors is sample working data of the electric drive system;

[0024] Based on each group of sample vectors, the bus current calculation model to be trained is trained to obtain a predicted bus current of each group of sample vectors;

[0025] Based on the comparison between the real bus current corresponding to each group of sample vectors and the predicted bus current corresponding to each group of sample vectors, a loss calculation result of the bus current calculation model is obtained;

[0026] Based on the loss calculation result, the model parameters of the bus current calculation model are updated.

[0027] In some embodiments, the training step of the bus current calculation model further includes:

[0028] Recording the number of training cycles of the bus current calculation model;

[0029] Determining the accuracy of the bus current calculation model;

[0030] If the accuracy of the bus current calculation model is greater than a preset threshold, or the number of training cycles of the bus current calculation model is greater than a preset threshold, it is determined that the training of the bus current calculation model is completed.

[0031] In a second aspect, an embodiment of the present disclosure provides a bus current calculation device, comprising:

[0032] An acquisition module, used for acquiring a target vector, wherein each component in the target vector is working data of the electric drive system at a current time;

[0033] The obtaining module is used to input the target vector into a trained bus current calculation model to obtain the target bus current output by the bus current calculation model.

[0034] In a third aspect, an embodiment of the present disclosure provides an electronic device, including:

[0035] Memory;

[0036] Processor; and

[0037] Computer programs;

[0038] The computer program is stored in the memory and is configured to be executed by the processor to implement the method as described in the first aspect.

[0039] In a fourth aspect, an embodiment of the present disclosure provides a computer-readable storage medium having a computer program stored thereon, wherein the computer program is executed by a processor to implement the method as described in the first aspect.

[0040] In a fifth aspect, an embodiment of the present disclosure further provides a computer program product, which includes a computer program or instructions, and when the computer program or instructions are executed by a processor, the bus current calculation method as described above is implemented.

[0041] In a sixth aspect, an embodiment of the present disclosure further provides a vehicle, including:

[0042] Memory;

[0043] Processor; and

[0044] Computer programs;

[0045] The computer program is stored in the memory and is configured to be executed by the processor to implement the bus current calculation method as described above.

[0046] The bus current calculation method, device, electronic device, storage medium and vehicle provided in the embodiments of the present disclosure obtain a target vector and input the target vector into a trained bus current calculation model to obtain a target bus current output by the bus current calculation model. Among them, each component in the target vector is the working data of the electric drive system at the current time. Compared with the prior art, the present disclosure does not need to arrange sensors, which reduces costs, and analyzes the working data of the electric drive system at the current time through a trained bus current calculation model to obtain the target bus current. There is no need to calibrate multiple working conditions under different voltages, which saves time, and can obtain accurate bus current, improve accuracy, and have a higher degree of intelligence. BRIEF DESCRIPTION OF THE DRAWINGS

[0047] The accompanying drawings, which are incorporated in and constitute a part of this specification, illustrate embodiments consistent with the present disclosure and, together with the description, serve to explain the principles of the present disclosure.

[0048] In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings required for use in the embodiments or the description of the prior art will be briefly introduced below. Obviously, for ordinary technicians in this field, other drawings can be obtained based on these drawings without paying any creative labor.

[0049] Figure 1 A flow chart of a bus current calculation method provided in an embodiment of the present disclosure;

[0050] Figure 2 A flow chart of a bus current calculation method provided by another embodiment of the present disclosure;

[0051] Figure 3 A schematic diagram of the training process of the bus current calculation model provided in an embodiment of the present disclosure;

[0052] Figure 4 A schematic diagram of the structure of a bus current calculation device provided in an embodiment of the present disclosure;

[0053] Figure 5 A schematic diagram of the structure of an electronic device provided in an embodiment of the present disclosure. DETAILED DESCRIPTION

[0054] In order to more clearly understand the above-mentioned objectives, features and advantages of the present disclosure, the scheme of the present disclosure will be further described below. It should be noted that the embodiments of the present disclosure and the features in the embodiments can be combined with each other without conflict.

[0055] In the following description, many specific details are set forth to facilitate a full understanding of the present disclosure, but the present disclosure may also be implemented in other ways different from those described herein; it is obvious that the embodiments in the specification are only part of the embodiments of the present disclosure, rather than all of the embodiments.

[0056] The embodiment of the present disclosure provides a bus current calculation method, which is introduced below in conjunction with a specific embodiment.

[0057] Figure 1 A flow chart of a bus current calculation method provided in an embodiment of the present disclosure. The method can be applied to a vehicle-mounted terminal, which can be a portable mobile device such as a smart phone, a tablet computer, a laptop computer, a vehicle-mounted navigation device, an intelligent sports equipment, or a fixed device such as a personal computer or an intelligent home appliance. The method can be applied to a scenario in which the bus current is calculated, and the bus current is the current transmitted to the electric drive system (i.e., the motor controller). The method solves the problems of high cost, time-consuming, and low precision of bus current calculation in the prior art, and obtains the target bus current output by the bus current calculation model by obtaining a target vector and inputting the target vector into a trained bus current calculation model, wherein each component in the target vector is the working data of the electric drive system at the current time. Compared with the prior art, the present disclosure does not need to arrange sensors, which reduces costs, and analyzes the working data of the electric drive system at the current time through a trained bus current calculation model to obtain the target bus current, does not need to calibrate multiple working conditions at different voltages, saves time, and can obtain accurate bus current, improves precision, and is more intelligent.

[0058] It is understandable that the bus current calculation method provided in the embodiment of the present disclosure can also be applied in other scenarios.

[0059] Below Figure 1 The bus current calculation method shown in the figure is introduced, and the specific steps of the method are as follows:

[0060] S101. Obtain a target vector, wherein each component of the target vector is working data of the electric drive system at the current time.

[0061] In this step, the vehicle-mounted terminal obtains the target vector, and each component in the target vector is the working data of the electric drive system at the current time, wherein the working data can be 3, 5, etc. Specifically, the number of the working data can be set according to demand, and the position of each working data in the target vector can also be set according to demand, and this implementation does not impose any restrictions.

[0062] In some embodiments, obtaining the target vector in S101 may include but is not limited to S1011 and S1012:

[0063] S1011. Obtain current working data of the electric drive system.

[0064] In this step, the vehicle terminal obtains the current working data of the electric drive system. For example, the working data of the phase current, bus voltage, motor speed, motor torque, cooling water temperature, etc. are obtained. In some embodiments, the current working data of the electric drive system can be obtained through the controller area network bus.

[0065] S1012: Obtain a target vector according to the current working data of the electric drive system.

[0066] Among them, each component in each target vector in the target vector is the working data of the electric drive system at the current time.

[0067] S102: Input the target vector into a trained bus current calculation model to obtain a target bus current output by the bus current calculation model.

[0068] In this step, the bus current calculation model is pre-trained. After the on-board terminal inputs the target vector into the trained bus current calculation model, the trained bus current calculation model outputs the target bus current. By establishing and training the bus current calculation model, the target bus current of the electric drive system can be estimated in real time based on the current working data of the electric drive system, saving the cost of the sensor and reducing the risk of failure. At the same time, there is no need for additional data collection, which saves experimental time compared to the calibration method. In addition, the bus current calculation model can achieve high-precision estimation, provide more accurate bus current prediction results for the vehicle efficiency calculation, and is more intelligent.

[0069] The embodiment of the present disclosure obtains the target bus current output by the bus current calculation model by obtaining the target vector and inputting the target vector into the trained bus current calculation model. The components in the target vector are the working data of the electric drive system at the current time. Compared with the prior art, the present disclosure does not need to arrange sensors, which reduces the cost. The target bus current is obtained by analyzing the working data of the electric drive system at the current time through the trained bus current calculation model. There is no need to calibrate multiple working conditions under different voltages, which saves time, and can obtain accurate bus current, improve accuracy, and have a higher degree of intelligence.

[0070] Figure 2 A more specific bus current calculation method flow chart provided in another embodiment of the present disclosure is as follows: Figure 2 As shown, the method includes the following steps:

[0071] S201, obtaining current working data of the electric drive system.

[0072] Specifically, the implementation process and principle of S201 and S1011 are the same, and will not be repeated here.

[0073] In some embodiments, the working data of the electric drive system at the current time includes at least one of the following: the direct-axis current of the motor, the quadrature-axis current of the motor, the phase current, the bus voltage, the motor speed, the motor torque, the cooling water temperature, the oil temperature, and the motor stator temperature.

[0074] The working data of the electric drive system at the current time may be any one of the above data, or a combination of any several of them, which is not limited in this embodiment.

[0075] S202: Determine a current value corresponding to a target parameter according to the current working data of the electric drive system and a preset algorithm.

[0076] After obtaining the current working data of the electric drive system, the vehicle terminal calculates the current value corresponding to the target parameter using the current working data of the electric drive system. In this embodiment, the target parameter may be a theoretical current, where theoretical current = motor speed * motor torque / bus voltage. In some embodiments, the target parameter may include other parameters, such as theoretical power, where theoretical power = motor speed * motor torque, which is not limited in this embodiment.

[0077] In some embodiments, determining the current value corresponding to the target parameter in S202 may include but is not limited to S2011 and S2012:

[0078] S2011. Calculate the product of the motor speed and the motor torque.

[0079] After obtaining the current working data of the electric drive system, if the working data includes the motor speed and the motor torque, the vehicle-mounted terminal calculates the product of the motor speed and the motor torque.

[0080] S2012. Use the ratio of the product to the bus voltage as the current value of the target parameter, where the target parameter is the theoretical current.

[0081] Furthermore, the vehicle terminal divides the product of the motor speed and the motor torque by the bus voltage to obtain the ratio of the product to the bus voltage, and uses the ratio as the current value of the target parameter, wherein the ratio is also the theoretical current.

[0082] S203 . Obtain a target vector according to the working data of the electric drive system at the current time and the current value corresponding to the target parameter.

[0083] In this step, the vehicle terminal can obtain the target vector according to the working data of the electric drive system at the current time and the current value corresponding to the target parameter. Among them, each component in the target vector is the working data of the electric drive system at the current time and the current value corresponding to the target parameter. For example, the working data of the electric drive system at the current time includes the direct-axis current of the motor, the quadrature-axis current of the motor, the phase current, the bus voltage, the motor speed, and the motor torque. The current value corresponding to the target parameter is the theoretical current, so the target vector obtained is (direct-axis current of the motor, quadrature-axis current of the motor, phase current, bus voltage, motor speed, motor torque, theoretical current). It should be noted that the working data of the electric drive system at the current time and the current value corresponding to the target parameter can be set according to the requirements in the target vector. However, it is necessary to ensure that the target vector is the same length as the sample vector input when training the bus current calculation model, and for each component position in the target vector, the data type corresponding to the component position is also consistent with the type corresponding to the component position in the sample vector.

[0084] For example, if the data type corresponding to the first component position in the target vector is the direct-axis current of the motor, then the data type corresponding to the first component position in each sample vector should also be the direct-axis current of the motor.

[0085] S204: normalize the target vector, and update the vector obtained after the normalization process as the target vector.

[0086] After obtaining the target vector, the vehicle terminal normalizes the target vector and updates the vector obtained after normalization to the target vector. The essence of this step is to control the value of each component in the target vector between 0 and 1, improve the accuracy of model training, reduce the amount of subsequent calculations, and reduce the requirements for the computing power of the vehicle terminal.

[0087] In some embodiments, S204 includes but is not limited to S2041 and S2042:

[0088] S2041. For each component position, respectively determine the maximum value among the components corresponding to the pre-saved vectors at the component position and the minimum value among the components corresponding to the pre-saved vectors at the component position.

[0089] A plurality of vectors are pre-stored in the vehicle terminal, wherein the length of the plurality of vectors is the same as the length of the target vector, and for each component position of each vector, the data type of the component corresponding to the component position of the vector is the same as the data type of the component corresponding to the target vector at the component position. For each component position, the vehicle terminal obtains the maximum value of the components corresponding to the pre-stored vectors at the component position, and obtains the minimum value of the components corresponding to the pre-stored vectors at the component position. For example, for each pre-stored vector, if the data type corresponding to the component in the vector includes: the direct-axis current of the motor, the quadrature-axis current of the motor, the phase current, the bus voltage, the motor speed, the motor torque, and the theoretical current, then it is necessary to determine the maximum and minimum values ​​of the direct-axis current of the motor in each vector, the maximum and minimum values ​​of the quadrature-axis current of the motor in each vector, the maximum and minimum values ​​of the phase current in each vector, the maximum and minimum values ​​of the bus voltage in each vector, the maximum and minimum values ​​of the motor speed in each vector, the maximum and minimum values ​​of the motor torque in each vector, and the maximum and minimum values ​​of the theoretical current in each vector.

[0090] S2042. For each component position in the target vector, calculate a first difference between the component at the component position and the minimum value of the components corresponding to the component position, and a second difference between the maximum value of the components corresponding to the component position and the minimum value of the components corresponding to the component position, and determine the ratio of the first difference to the second difference as the component obtained after normalizing the component at the component position.

[0091] For a component X at a certain component position in the target vector, the minimum value of the components corresponding to the component position in each pre-saved vector is x min , the maximum value of the components corresponding to the position of this component in each pre-saved vector is x max , the component obtained after normalization of component X is X nor , the calculation formula of the component obtained after normalization is:

[0092]

[0093] In this step, the vehicle-mounted terminal normalizes the components at each component position and updates the vector obtained after the normalization process as the target vector.

[0094] S205. Input the target vector into a trained bus current calculation model to obtain the bus current output by the bus current calculation model.

[0095] Specifically, the implementation process and principle of S205 and S102 are the same, and will not be repeated here.

[0096] For example, the bus current calculation model has M layers, which can be calculated layer by layer using the formula. The output of the last layer of the model, i.e., the Mth layer, is [] That is the target bus current, where the output result of the Lth layer is:

[0097] z [] =W [] a [] +b []

[0098] a [] =g [L] (z [L] )

[0099] Among them, a [] is the output of the L-1th layer nonlinear function, and the first layer is a [] is the target vector x nor , the last layer, i.e. the Mth layer, outputs a [] is the bus current W [] and b [] are the parameter matrix and bias of the Lth layer saved after training, g [L] is the nonlinear function of the Lth layer, and the value of L is 1, 2, ...M-1, M.

[0100] This embodiment takes a neural network as an example, but the machine learning methods that can actually be used are not limited to neural networks, but also include linear regression, perceptron, random forest, decision tree, support vector machine, K nearest neighbor, Gaussian process regression, AdaBoost, Gradient Boosting and other regression models and methods.

[0101] The embodiment of the present disclosure obtains the working data of the electric drive system at the current time, calculates the product of the motor speed and the motor torque, and uses the ratio of the product to the bus voltage as the current value of the target parameter. Further, according to the working data of the electric drive system at the current time and the current value of the target parameter, a target vector is obtained, the target vector is normalized, the vector obtained after the normalization is updated to the target vector, and then the target vector is input into the trained bus current calculation model to obtain the target bus current. Compared with the prior art, the present disclosure does not need to arrange sensors, which reduces the cost. By obtaining the working data of the electric drive system at the current time, the product of the motor speed and the motor torque is calculated, and the ratio of the product to the bus voltage is used as the current value of the target parameter, the subsequent bus current calculation model can recognize more feature information and the prediction result of the bus current is more accurate. Furthermore, based on the working data of the electric drive system at the current time and the current value of the target parameter, a target vector is obtained, the target vector is normalized, the vector obtained after the normalization is updated to the target vector, and then the target vector is input into the trained bus current calculation model to obtain the bus current, which can effectively reduce the workload of the model and improve the efficiency of bus current prediction. In addition, the present application does not need to calibrate multiple working conditions under different voltages, which saves time. Through pre-trained model calculation, no estimation is required, and accurate bus current can be obtained, which improves accuracy and is more intelligent.

[0102] Figure 3 A schematic diagram of the training process of the bus current calculation model provided in the embodiment of the present disclosure. The bus current calculation model is trained offline and is not trained on the vehicle terminal. Figure 3 As shown in the figure, the bus current calculation model is trained through the following steps:

[0103] S301. Acquire multiple groups of sample vectors and corresponding real bus currents, wherein each component in each group of sample vectors is sample working data of the electric drive system or each component in each group of sample vectors is sample working data of the electric drive system and sample data of target parameters.

[0104] Obtain multiple groups of sample vectors and the corresponding real bus currents. Optionally, the multiple groups of sample vectors and the corresponding real bus currents can come from test data during the motor development process, such as performance test data, power test data, etc. Compared with the traditional calibration method that requires special acquisition of calibration data, the disclosed embodiment does not require special acquisition of training data, which can save training time and cost. Among them, each component in each group of sample vectors is the sample working data of the electric drive system, or each component in each group of sample vectors is the sample working data of the electric drive system and the sample value of the target parameter.

[0105] In some embodiments, after S301 acquires multiple groups of sample vectors, the training step further includes: performing normalization processing on each group of sample vectors, and updating the vectors obtained after the normalization processing to the sample vectors of each group.

[0106] The essence of this step is to control the value of each component in each vector in each group of sample vectors between 0 and 1, thereby improving the accuracy of model training, reducing the amount of subsequent calculations, and lowering the requirements for computing power.

[0107] S302: Train the bus current calculation model to be trained based on each group of sample vectors to obtain a predicted bus current of each group of sample vectors.

[0108] The bus current calculation model is trained based on each set of sample vectors to obtain the predicted bus current of each set of sample vectors. Since the parameters of the model are not optimal, the predicted bus current during the training process may not be close to the actual bus current. Training the model based on enough sample vectors can improve the accuracy of the bus current calculation model.

[0109] S303 . Obtain a loss calculation result of the bus current calculation model based on a comparison between the actual bus current corresponding to each group of sample vectors and the predicted bus current corresponding to each group of sample vectors.

[0110] After obtaining the predicted bus current of each set of sample vectors, the loss calculation result of the bus current calculation model is obtained based on the comparison between the real bus current corresponding to each set of sample vectors and the predicted bus current of each set of sample vectors. The smaller the loss calculation result, the closer the predicted bus current is to the real bus current, and the higher the current accuracy of the model.

[0111] S304: Based on the loss calculation result, update the model parameters of the bus current calculation model.

[0112] According to the loss calculation result of the bus current calculation model, the model parameters of the bus current calculation model are updated, thereby improving the calculation accuracy of the bus current calculation model. As the number of training times increases, the parameters of the model are continuously adjusted so that the predicted bus current is closer and closer to the real bus current.

[0113] S305. Record the number of training cycles of the bus current calculation model.

[0114] S306: Determine the accuracy of the bus current calculation model.

[0115] S307: If the accuracy of the bus current calculation model is greater than a preset threshold, or the number of training cycles of the bus current calculation model is greater than a preset threshold, the training of the bus current calculation model is completed.

[0116] When the accuracy of the bus current calculation model is greater than a preset threshold, or the number of training cycles of the bus current calculation model is greater than a preset threshold, the training of the bus current calculation model is completed, and the bus current calculation model can be used to calculate the bus current.

[0117] The bus current calculation model of the embodiment of the present disclosure is obtained by training through the following steps: obtaining multiple groups of sample vectors and corresponding real bus currents, wherein each component in each group of sample vectors is sample working data of the electric drive system or sample working data of the electric drive system and sample data of the corresponding target parameters, training the bus current calculation model based on each group of sample vectors, obtaining the predicted bus current of each group of sample vectors, and obtaining the loss calculation result of the bus current calculation model based on the comparison of the real bus current corresponding to each group of sample vectors and the predicted bus current corresponding to each group of sample vectors. Based on the loss calculation result of the bus current calculation model, the model parameters of the bus current calculation model are updated, the number of training cycles of the bus current calculation model is recorded, and the accuracy of the bus current calculation model is calculated. If the accuracy of the bus current calculation model is greater than the preset threshold, or the number of training cycles of the bus current calculation model is greater than the preset number threshold, the training of the bus current calculation model is completed. Since the bus current calculation model is trained and the loss calculation results of the bus current calculation model are used to continuously update the model parameters, the accuracy of the bus current calculation model is improved, and thus the accuracy of the bus current calculation results can be improved.

[0118] It should be noted that the bus current calculation model is trained offline and is not trained on the vehicle-mounted terminal. The vehicle-mounted terminal uses the offline trained bus current calculation model to calculate the bus current.

[0119] Figure 4 The bus current calculation device provided in the embodiment of the present disclosure is a schematic diagram of the structure of the bus current calculation device. The bus current calculation device may be the vehicle-mounted terminal as described in the above embodiment, or the bus current calculation device may be a component or assembly in the vehicle-mounted terminal. The bus current calculation device provided in the embodiment of the present disclosure may execute the processing flow provided in the embodiment of the bus current calculation method, such as Figure 4 As shown, the bus current calculation device 40 includes: an acquisition module 41 and a obtaining module 42; wherein the acquisition module 41 is used to obtain a target vector, wherein each component in the target vector is the working data of the electric drive system at the current time; the obtaining module 42 is used to input the target vector into a trained bus current calculation model to obtain the target bus current output by the bus current calculation model.

[0120] Optionally, the working data includes at least one of the following:

[0121] The direct-axis current of the motor, the quadrature-axis current of the motor, the phase current, the bus voltage, the motor speed, the motor torque, the cooling water temperature, the oil temperature, and the motor stator temperature.

[0122] Optionally, each component in the target vector includes, in addition to the working data, a current value corresponding to a target parameter; the obtaining module 42 is further used to determine the current value corresponding to the target parameter based on the working data and a preset algorithm.

[0123] Optionally, the current value corresponding to the target parameter includes: theoretical current, theoretical power;

[0124] The obtaining module 42 is specifically used to determine the product of the motor speed and the motor torque if the current value corresponding to the target parameter is the theoretical current; and take the ratio of the product to the bus voltage as the theoretical current.

[0125] Optionally, the bus current calculation device 40 further includes: a normalization module 43; the normalization module 43 is used to perform normalization processing on the target vector, and update the vector obtained after the normalization processing as the target vector.

[0126] Optionally, the normalization module 43 is specifically used to: for each component position, determine the maximum value of the components corresponding to each vector at the component position and the minimum value of the components corresponding to each vector at the component position, which are pre-saved; wherein the lengths of the each vector and the target vector are the same; for each component position in the target vector, calculate a first difference between the component at the component position and the minimum value of the components corresponding to each vector at the component position, and a second difference between the maximum value of the components corresponding to each vector at the component position and the minimum value of the components corresponding to each vector at the component position, and determine the ratio of the first difference to the second difference as the component obtained after normalizing the component at the component position.

[0127] Optionally, the bus current calculation model is trained through the following steps: obtaining multiple groups of sample vectors and corresponding real bus currents, each component in each group of sample vectors being sample working data of the electric drive system; training the bus current calculation model to be trained based on each group of sample vectors to obtain a predicted bus current for each group of sample vectors; obtaining a loss calculation result of the bus current calculation model based on a comparison of the real bus current corresponding to each group of sample vectors and the predicted bus current corresponding to each group of sample vectors; and updating the model parameters of the bus current calculation model based on the loss calculation result.

[0128] Optionally, the training step of the bus current calculation model also includes: recording the number of training cycles of the bus current calculation model; determining the accuracy of the bus current calculation model; if the accuracy of the bus current calculation model is greater than a preset threshold, or the number of training cycles of the bus current calculation model is greater than a preset threshold, then determining that the training of the bus current calculation model is completed.

[0129] Figure 4 The bus current calculation device of the illustrated embodiment can be used to execute the technical solution of the above-mentioned method embodiment, and its implementation principle and technical effect are similar and will not be repeated here.

[0130] Figure 5 Schematic diagram of the structure of an electronic device in the embodiment of the present disclosure. Figure 5 , which shows a structural schematic diagram of an electronic device 500 suitable for implementing the embodiments of the present disclosure. Figure 5 The electronic device shown is only an example and should not bring any limitation to the functions and scope of use of the embodiments of the present disclosure.

[0131] like Figure 5 As shown, the electronic device 500 may include a processing device (e.g., a central processing unit, a graphics processor, etc.) 501, which can perform various appropriate actions and processes according to a program stored in a read-only memory (ROM) 502 or a program loaded from a storage device 508 to a random access memory (RAM) 503 to implement the bus current calculation method of the embodiment described in the present disclosure. In the RAM 503, various programs and data required for the operation of the electronic device 500 are also stored. The processing device 501, the ROM 502, and the RAM 503 are connected to each other via a bus 504. An input / output (I / O) interface 505 is also connected to the bus 504.

[0132] Typically, the following devices may be connected to the I / O interface 505: an input device 506 including, for example, a touch screen, a touch pad, a keyboard, a mouse, a camera, a microphone, an accelerometer, a gyroscope, etc.; an output device 507 including, for example, a liquid crystal display (LCD), a speaker, a vibrator, etc.; a storage device 508 including, for example, a magnetic tape, a hard disk, etc.; and a communication device 509. The communication device 509 may allow the electronic device 500 to communicate with other devices wirelessly or by wire to exchange data. Although Figure 5 The electronic device 500 is shown with various devices, but it should be understood that it is not required to implement or possess all the devices shown. More or fewer devices may be implemented or possessed instead.

[0133] In particular, according to an embodiment of the present disclosure, the process described above with reference to the flowchart can be implemented as a computer software program. For example, an embodiment of the present disclosure includes a computer program product, which includes a computer program carried on a non-transitory computer-readable medium, and the computer program contains a program code for executing the method shown in the flowchart, thereby implementing the bus current calculation method as described above. In such an embodiment, the computer program can be downloaded and installed from the network through the communication device 509, or installed from the storage device 508, or installed from the ROM 502. When the computer program is executed by the processing device 501, the above-mentioned functions defined in the method of the embodiment of the present disclosure are executed.

[0134] It should be noted that the computer-readable medium disclosed above may be a computer-readable signal medium or a computer-readable storage medium or any combination of the above two. The computer-readable storage medium may be, for example, but not limited to, an electrical, magnetic, optical, electromagnetic, infrared, or semiconductor system, device or device, or any combination of the above. More specific examples of computer-readable storage media may include, but are not limited to: an electrical connection with one or more wires, a portable computer disk, a hard disk, a random access memory (RAM), a read-only memory (ROM), an erasable programmable read-only memory (EPROM or flash memory), an optical fiber, a portable compact disk read-only memory (CD-ROM), an optical storage device, a magnetic storage device, or any suitable combination of the above. In the present disclosure, a computer-readable storage medium may be any tangible medium containing or storing a program that may be used by or in combination with an instruction execution system, device or device. In the present disclosure, a computer-readable signal medium may include a data signal propagated in a baseband or as part of a carrier wave, in which a computer-readable program code is carried. This propagated data signal may take a variety of forms, including but not limited to an electromagnetic signal, an optical signal, or any suitable combination of the above. The computer readable signal medium may also be any computer readable medium other than a computer readable storage medium, which may send, propagate or transmit a program for use by or in conjunction with an instruction execution system, apparatus or device. The program code contained on the computer readable medium may be transmitted using any suitable medium, including but not limited to: wires, optical cables, RF (radio frequency), etc., or any suitable combination of the above.

[0135] In addition, an embodiment of the present disclosure further provides a vehicle, comprising: a memory; a processor; and a computer program; wherein the computer program is stored in the memory and is configured to be executed by the processor to implement the bus current calculation method as described above.

[0136] In some embodiments, the client and the server may communicate using any currently known or future developed network protocol such as HTTP (HyperText Transfer Protocol), and may be interconnected with any form or medium of digital data communication (e.g., a communication network). Examples of communication networks include a local area network ("LAN"), a wide area network ("WAN"), an internet (e.g., the Internet), and a peer-to-peer network (e.g., an ad hoc peer-to-peer network), as well as any currently known or future developed network.

[0137] The computer-readable medium may be included in the electronic device, or may exist independently without being incorporated into the electronic device.

[0138] The computer-readable medium carries one or more programs. When the one or more programs are executed by the electronic device, the electronic device:

[0139] Acquire a target vector, wherein each component of the target vector is working data of the electric drive system at the current time;

[0140] The target vector is input into a trained bus current calculation model to obtain a target bus current output by the bus current calculation model.

[0141] Optionally, when the above one or more programs are executed by the electronic device, the electronic device may also execute other steps described in the above embodiments.

[0142] Computer program code for performing the operations of the present disclosure may be written in one or more programming languages ​​or a combination thereof, including, but not limited to, object-oriented programming languages, such as Java, Smalltalk, C++, and conventional procedural programming languages, such as "C" or similar programming languages. The program code may be executed entirely on the user's computer, partially on the user's computer, as a separate software package, partially on the user's computer and partially on a remote computer, or entirely on a remote computer or server. In cases involving a remote computer, the remote computer may be connected to the user's computer through any type of network, including a local area network (LAN) or a wide area network (WAN), or may be connected to an external computer (e.g., through the Internet using an Internet service provider).

[0143] The flow chart and block diagram in the accompanying drawings illustrate the possible architecture, function and operation of the system, method and computer program product according to various embodiments of the present disclosure. In this regard, each square box in the flow chart or block diagram can represent a module, a program segment or a part of a code, and the module, the program segment or a part of the code contains one or more executable instructions for realizing the specified logical function. It should also be noted that in some implementations as replacements, the functions marked in the square box can also occur in a sequence different from that marked in the accompanying drawings. For example, two square boxes represented in succession can actually be executed substantially in parallel, and they can sometimes be executed in the opposite order, depending on the functions involved. It should also be noted that each square box in the block diagram and / or flow chart, and the combination of the square boxes in the block diagram and / or flow chart can be implemented with a dedicated hardware-based system that performs a specified function or operation, or can be implemented with a combination of dedicated hardware and computer instructions.

[0144] The units involved in the embodiments described in the present disclosure may be implemented by software or hardware, wherein the name of a unit does not, in some cases, limit the unit itself.

[0145] The functions described above herein may be performed at least in part by one or more hardware logic components. For example, without limitation, exemplary types of hardware logic components that may be used include: field programmable gate arrays (FPGAs), application specific integrated circuits (ASICs), application specific standard products (ASSPs), systems on chips (SOCs), complex programmable logic devices (CPLDs), and the like.

[0146] In the context of the present disclosure, a machine-readable medium may be a tangible medium that may contain or store a program for use by or in conjunction with an instruction execution system, device, or equipment. A machine-readable medium may be a machine-readable signal medium or a machine-readable storage medium. A machine-readable medium may include, but is not limited to, an electronic, magnetic, optical, electromagnetic, infrared, or semiconductor system, device, or equipment, or any suitable combination of the foregoing. A more specific example of a machine-readable storage medium may include an electrical connection based on one or more lines, a portable computer disk, a hard disk, a random access memory (RAM), a read-only memory (ROM), an erasable programmable read-only memory (EPROM or flash memory), an optical fiber, a portable compact disk read-only memory (CD-ROM), an optical storage device, a magnetic storage device, or any suitable combination of the foregoing.

[0147] The above description is only a preferred embodiment of the present disclosure and an explanation of the technical principles used. Those skilled in the art should understand that the scope of disclosure involved in the present disclosure is not limited to the technical solutions formed by a specific combination of the above technical features, but should also cover other technical solutions formed by any combination of the above technical features or their equivalent features without departing from the above disclosed concept. For example, the above features are replaced with the technical features with similar functions disclosed in the present disclosure (but not limited to) by each other to form a technical solution.

[0148] In addition, although each operation is described in a specific order, this should not be understood as requiring these operations to be performed in the specific order shown or in a sequential order. Under certain circumstances, multitasking and parallel processing may be advantageous. Similarly, although some specific implementation details are included in the above discussion, these should not be interpreted as limiting the scope of the present disclosure. Some features described in the context of a separate embodiment can also be implemented in a single embodiment in combination. On the contrary, the various features described in the context of a single embodiment can also be implemented in multiple embodiments individually or in any suitable sub-combination mode.

[0149] Although the subject matter has been described in language specific to structural features and / or methodological logical actions, it should be understood that the subject matter defined in the appended claims is not necessarily limited to the specific features or actions described above. On the contrary, the specific features and actions described above are merely example forms of implementing the claims.

Claims

1. A bus current calculation method, characterized in that: The method comprises: Acquire a target vector, wherein each component of the target vector is working data of the electric drive system at the current time; The target vector is input into a trained bus current calculation model to obtain a target bus current output by the bus current calculation model.

2. The method according to claim 1, characterized in that The working data includes at least one of the following: The direct-axis current of the motor, the quadrature-axis current of the motor, the phase current, the bus voltage, the motor speed, the motor torque, the cooling water temperature, the oil temperature, and the motor stator temperature.

3. The method according to claim 1, characterized in that Each component in the target vector includes, in addition to the working data, the current value corresponding to the target parameter; Determining the current value corresponding to the target parameter includes: According to the working data and a preset algorithm, a current value corresponding to the target parameter is determined.

4. The method according to claim 3, characterized in that: The current values ​​corresponding to the target parameters include: theoretical current and theoretical power; Determining the current value corresponding to the target parameter according to the working data and a preset algorithm includes: If the current value corresponding to the target parameter is the theoretical current, the product of the motor speed and the motor torque is determined; and the ratio of the product to the bus voltage is used as the theoretical current.

5. The method according to claim 1, characterized in that After obtaining the target vector, the method further includes: The target vector is normalized, and the vector obtained after the normalization is updated as the target vector.

6. The method according to claim 5, characterized in that The normalizing the target vector includes: For each component position, respectively determine the maximum value of the components corresponding to the pre-saved vectors at the component position and the minimum value of the components corresponding to the pre-saved vectors at the component position; wherein the lengths of the vectors and the target vector are the same; For each component position in the target vector, calculate a first difference between the component at the component position and the minimum value of the components corresponding to each vector at the component position, and a second difference between the maximum value of the components corresponding to each vector at the component position and the minimum value of the components corresponding to each vector at the component position, and determine the ratio of the first difference to the second difference as the component obtained after normalizing the component at the component position.

7. The method according to claim 1, characterized in that The bus current calculation model is obtained by training through the following steps: Acquire multiple groups of sample vectors and corresponding real bus currents, wherein each component in each group of sample vectors is sample working data of the electric drive system; Based on each group of sample vectors, the bus current calculation model to be trained is trained to obtain a predicted bus current of each group of sample vectors; Based on the comparison between the real bus current corresponding to each group of sample vectors and the predicted bus current corresponding to each group of sample vectors, a loss calculation result of the bus current calculation model is obtained; Based on the loss calculation result, the model parameters of the bus current calculation model are updated.

8. The method according to claim 7, characterized in that The training step of the bus current calculation model also includes: Recording the number of training cycles of the bus current calculation model; Determining the accuracy of the bus current calculation model; If the accuracy of the bus current calculation model is greater than a preset threshold, or the number of training cycles of the bus current calculation model is greater than a preset threshold, it is determined that the training of the bus current calculation model is completed.

9. A bus current calculation device, characterized in that: include: An acquisition module, used for acquiring a target vector, wherein each component in the target vector is working data of the electric drive system at a current time; The obtaining module is used to input the target vector into a trained bus current calculation model to obtain the target bus current output by the bus current calculation model.

10. An electronic device, characterized in that: include: Memory; processor; as well as Computer programs; The computer program is stored in the memory and is configured to be executed by the processor to implement the method according to any one of claims 1 to 8.

11. A computer-readable storage medium having a computer program stored thereon, characterized in that: When the computer program is executed by a processor, the method according to any one of claims 1 to 8 is implemented.

12. A vehicle, characterized in that: include: Memory; processor; as well as Computer programs; The computer program is stored in the memory and is configured to be executed by the processor to implement the method according to any one of claims 1 to 8.

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