Battery remaining capacity estimation method and device and medium

Abstract

The invention provides a battery remaining capacity estimation method and device and a medium, and the method comprises the steps: obtaining the target initial value, rated capacity and battery health degree of the single battery remaining capacity of a single battery, and determining the charging and discharging state and the equalization state of the single battery, the equalization state comprising an equalization opening state or an equalization closing state; according to the equilibrium state, the charging and discharging state, the target initial value of the single residual electric quantity, the rated capacity and the battery health degree, estimating the single residual electric quantity of the single battery; and according to the single residual electric quantity and the charging and discharging state of the single battery, the single residual electric quantity of the single battery is calibrated, and the calibrated single residual electric quantity of the single battery is determined, so that the estimation precision of the battery residual electric quantity is improved.

Description

Technical Field

[0001] The present application relates to the field of battery management technology, and in particular to a method, device and medium for estimating the remaining battery power. Background Art

[0002] In the field of battery management, the battery system is usually composed of a large number of battery cells connected in series and parallel, which are used for power supply or energy storage of the system. The state of charge (SOC) of the battery system characterizes the remaining capacity of the battery system and is used to evaluate the real-time status of the battery system. Among them, the battery cell SOC characterizes the remaining capacity of the single cell, which is an important parameter for evaluating the real-time status of the whole cell and judging the active balancing / passive balancing logic. The battery cell SOC cannot be directly measured, and the nonlinear characteristics of the battery make the estimation of the battery cell SOC difficult and the estimation accuracy is low.

[0003] At present, the estimation of battery cell SOC through ampere-hour integration method, open circuit voltage method, Kalman filter algorithm, equivalent circuit model or data-driven algorithm modeling has the disadvantages of requiring a large amount of offline sample data and large amount of calculation, which is not suitable for embedded battery management system (Battery Management System, referred to as BMS). In addition, BMS has active balancing or passive balancing. When balancing is turned on, balancing current will be generated. The balancing current will affect the estimation of battery cell SOC, resulting in low estimation accuracy of battery cell SOC.

[0004] Therefore, the prior art does not consider the influence of the balancing current generated by balancing on the SOC estimation result of the battery cell, which has certain limitations. Summary of the invention

[0005] The purpose of the present application is to provide a method, device and medium for estimating the remaining battery capacity in view of the above-mentioned deficiencies in the prior art, so as to solve the practical problem that the prior art does not consider the influence of the balancing current generated by balancing on the SOC estimation result of the battery cell, and has certain limitations.

[0006] To achieve the above purpose, the technical solution adopted in the embodiment of the present application is as follows:

[0007] In a first aspect, an embodiment of the present application provides a method for estimating the remaining battery power, the method comprising:

[0008] Obtaining a target initial value of the remaining power of a single cell, a rated capacity, and a battery health of the single cell, and determining a charge / discharge state and a balance state of the single cell, wherein the balance state includes a balance-on state or a balance-off state;

[0009] estimating the single cell remaining power of the single cell battery according to the balance state, the charge and discharge state, the target initial value of the single cell remaining power, the rated capacity and the battery health;

[0010] The remaining power of the single cell of the single cell is calibrated according to the remaining power of the single cell and the charge and discharge state, and the calibrated remaining power of the single cell of the single cell is determined.

[0011] As an optional implementation, the step of obtaining a target initial value of a single cell remaining power of a single cell battery includes:

[0012] Obtaining an original initial value of the single cell remaining power of the single cell battery, a single cell voltage sampling value, a first preset voltage threshold, a second preset voltage threshold, a third preset voltage threshold, and a mapping table of a preset open circuit voltage and remaining power;

[0013] Determining whether the original initial value of the remaining power of the cell is valid according to the original initial value of the remaining power of the cell, the cell voltage sampling value, the first preset voltage threshold, the second preset voltage threshold, and the third preset voltage threshold;

[0014] If yes, the original initial value of the single cell remaining power is used as the target initial value of the single cell remaining power of the single cell battery;

[0015] If not, the original initial value of the single cell remaining power is calibrated according to the single cell voltage sampling value and the preset open circuit voltage and remaining power mapping table to obtain the target initial value of the single cell remaining power of the single cell battery.

[0016] As an optional implementation, determining whether the original initial value of the remaining power of the single cell is valid according to the original initial value of the remaining power of the single cell, the single cell voltage sampling value, the first preset voltage threshold, the second preset voltage threshold, and the third preset voltage threshold includes:

[0017] If the original initial value of the monomer remaining power is not within the preset interval, and the monomer voltage sampling value is greater than or equal to the first preset voltage threshold, it is determined that the original initial value of the monomer remaining power is invalid, wherein the open circuit remaining power corresponding to the first preset voltage threshold in the preset open circuit voltage and remaining power mapping table is a first value;

[0018] Alternatively, if the original initial value of the monomer remaining power is within the preset interval, and the monomer voltage sampling value is less than or equal to the second preset voltage threshold, it is determined that the original initial value of the monomer remaining power is invalid, wherein the open circuit remaining power corresponding to the second preset voltage threshold in the preset open circuit voltage and remaining power mapping table is a second value;

[0019] Alternatively, if the original initial value of the remaining power of the single cell is greater than or equal to a third value, and the single cell voltage sampling value is less than or equal to the third preset voltage threshold, then it is determined that the initial value of the remaining power of the single cell is invalid, wherein the open circuit remaining power corresponding to the third preset voltage threshold in the mapping table of the preset open circuit voltage and the remaining power is a fourth value.

[0020] As an optional implementation, estimating the single cell remaining power of the single cell battery according to the equilibrium state, the charge and discharge state, the target initial value of the single cell remaining power, the rated capacity, and the battery health includes:

[0021] If the single cell battery is in the balancing on state, determining the balancing current and the balancing time, and estimating the single cell remaining power of the single cell battery according to the charge and discharge state, the target initial value of the single cell remaining power, the rated capacity, the battery health, the balancing current and the balancing time;

[0022] If the single cell battery is in the balance off state, the single cell remaining power of the single cell battery is estimated according to the charge and discharge state, the target initial value of the single cell remaining power, the rated capacity and the battery health.

[0023] As an optional implementation, estimating the remaining power of the single cell battery according to the charge and discharge state, the target initial value of the remaining power of the single cell, the rated capacity, the battery health, the balancing current, and the balancing time includes:

[0024] Determining the actual available capacity of the single battery according to the rated capacity and the battery health;

[0025] Determine the charge and discharge current and the coulombic efficiency of the single cell according to the charge and discharge state, and integrate the product of the charge and discharge current and the coulombic efficiency of the battery to determine the capacity integral value of the single cell;

[0026] taking the quotient of the capacity integral value of the single battery and the actual available capacity of the single battery as a first calculation value;

[0027] Determine a second calculated value of the single cell according to the balancing current, the balancing time and the actual available capacity of the single cell, where the second calculated value is a balancing calculated value;

[0028] The remaining power of the single cell battery is estimated according to the target initial value of the remaining power of the single cell, the first calculated value, and the second calculated value.

[0029] As an optional implementation, the calibrating the single cell remaining power of the single cell battery according to the single cell remaining power of the single cell battery and the charge and discharge state includes:

[0030] Determining whether the charge and discharge state of the single battery changes, wherein the charge and discharge state includes a static state, a charging state, or a discharging state;

[0031] If it is determined that the charge and discharge state of the single cell battery has changed, determining whether the single cell remaining power of the single cell battery is greater than a fifth value or less than a second value;

[0032] If so, the remaining power of the single cell battery is calibrated to smooth out the burrs, and the remaining power of the single cell battery whose remaining power is greater than the fifth value is calibrated to the fifth value, or the remaining power of the single cell battery whose remaining power is less than the second value is calibrated to the second value.

[0033] As an optional implementation, the calibrating the single cell remaining power of the single cell battery according to the single cell remaining power of the single cell battery and the charge and discharge state includes:

[0034] If the charge and discharge state of the single cell battery is the charging state, the single cell remaining power of the single cell battery is calibrated according to the single cell voltage sampling value, the preset charging cut-off voltage, the single cell remaining power of the single cell battery and the preset mapping table of open circuit voltage and remaining power;

[0035] If the charge and discharge state of the single cell battery is a discharge state, the single cell remaining power of the single cell battery is calibrated according to the single cell voltage sampling value, the preset discharge cut-off voltage, the single cell remaining power of the single cell battery, and the preset open circuit voltage and remaining power mapping table;

[0036] If the charge and discharge state of the single cell battery is a static state, determine whether the single cell voltage sampling value is located in the voltage platform area. If not, calibrate the single cell remaining power of the single cell battery according to the single cell voltage sampling value and the preset open circuit voltage and remaining power mapping table.

[0037] As an optional implementation, the calibrating the single cell remaining power of the single cell battery according to the single cell voltage sampling value, the preset charging cut-off voltage, the single cell remaining power of the single cell battery, and the preset open circuit voltage and remaining power mapping table includes:

[0038] According to the single cell voltage sampling value and the preset charging cut-off voltage, determining whether the single cell voltage sampling value is greater than or equal to the preset charging cut-off voltage, and if so, calibrating the single cell remaining power of the single cell battery to a fifth value;

[0039] If not, determining the cell remaining power lookup value corresponding to the cell voltage sampling value according to the cell voltage sampling value and a preset mapping table of open circuit voltage and remaining power, and determining whether the error between the cell remaining power of the cell battery and the cell remaining power lookup value corresponding to the cell voltage sampling value is greater than or equal to a first value;

[0040] If so, the single cell remaining power of the single cell battery is calibrated to the single cell remaining power table value corresponding to the single cell voltage sampling value.

[0041] In a second aspect, an embodiment of the present application provides a battery remaining power estimation device, the device comprising:

[0042] An acquisition module is used to acquire a target initial value of the remaining power of a single cell, a rated capacity, and a battery health of the single cell, and determine a charge / discharge state and a balance state of the single cell, wherein the balance state includes a balance-on state or a balance-off state;

[0043] an estimating module, configured to estimate the single cell remaining power of the single cell battery according to the equilibrium state, the charge and discharge state, the target initial value of the single cell remaining power, the rated capacity and the battery health;

[0044] The calibration module is used to calibrate the single cell remaining power of the single cell according to the single cell remaining power of the single cell and the charge and discharge state, and determine the single cell remaining power of the single cell after calibration.

[0045] As an optional implementation, the acquisition module is specifically used for:

[0046] Obtaining an original initial value of the single cell remaining power of the single cell battery, a single cell voltage sampling value, a first preset voltage threshold, a second preset voltage threshold, a third preset voltage threshold, and a mapping table of a preset open circuit voltage and remaining power;

[0047] Determining whether the original initial value of the remaining power of the cell is valid according to the original initial value of the remaining power of the cell, the cell voltage sampling value, the first preset voltage threshold, the second preset voltage threshold, and the third preset voltage threshold;

[0048] If yes, the original initial value of the single cell remaining power is used as the target initial value of the single cell remaining power of the single cell battery;

[0049] If not, the original initial value of the single cell remaining power is calibrated according to the single cell voltage sampling value and the preset open circuit voltage and remaining power mapping table to obtain the target initial value of the single cell remaining power of the single cell battery.

[0050] As an optional implementation, the acquisition module is specifically used for:

[0051] If the original initial value of the monomer remaining power is not within the preset interval, and the monomer voltage sampling value is greater than or equal to the first preset voltage threshold, it is determined that the original initial value of the monomer remaining power is invalid, wherein the open circuit remaining power corresponding to the first preset voltage threshold in the preset open circuit voltage and remaining power mapping table is a first value;

[0052] Alternatively, if the original initial value of the monomer remaining power is within the preset interval, and the monomer voltage sampling value is less than or equal to the second preset voltage threshold, it is determined that the original initial value of the monomer remaining power is invalid, wherein the open circuit remaining power corresponding to the second preset voltage threshold in the preset open circuit voltage and remaining power mapping table is a second value;

[0053] Alternatively, if the original initial value of the remaining power of the single cell is greater than or equal to a third value, and the single cell voltage sampling value is less than or equal to the third preset voltage threshold, then it is determined that the initial value of the remaining power of the single cell is invalid, wherein the open circuit remaining power corresponding to the third preset voltage threshold in the mapping table of the preset open circuit voltage and the remaining power is a fourth value.

[0054] As an optional implementation, the estimation module is specifically used for:

[0055] If the single cell battery is in the balancing on state, determining the balancing current and the balancing time, and estimating the single cell remaining power of the single cell battery according to the charge and discharge state, the target initial value of the single cell remaining power, the rated capacity, the battery health, the balancing current and the balancing time;

[0056] If the single cell battery is in the balance off state, the single cell remaining power of the single cell battery is estimated according to the charge and discharge state, the target initial value of the single cell remaining power, the rated capacity and the battery health.

[0057] As an optional implementation, the estimation module is specifically used for:

[0058] Determining the actual available capacity of the single battery according to the rated capacity and the battery health;

[0059] Determine the charge and discharge current and the coulombic efficiency of the single cell according to the charge and discharge state, and integrate the product of the charge and discharge current and the coulombic efficiency of the battery to determine the capacity integral value of the single cell;

[0060] taking the quotient of the capacity integral value of the single battery and the actual available capacity of the single battery as a first calculation value;

[0061] Determine a second calculated value of the single cell according to the balancing current, the balancing time and the actual available capacity of the single cell, where the second calculated value is a balancing calculated value;

[0062] The remaining power of the single cell battery is estimated according to the target initial value of the remaining power of the single cell, the first calculated value, and the second calculated value.

[0063] As an optional implementation, the calibration module is specifically used for:

[0064] Determining whether the charge and discharge state of the single battery changes, wherein the charge and discharge state includes a static state, a charging state, or a discharging state;

[0065] If it is determined that the charge and discharge state of the single cell battery has changed, determining whether the single cell remaining power of the single cell battery is greater than a fifth value or less than a second value;

[0066] If so, the remaining power of the single cell battery is calibrated to smooth out the burrs, and the remaining power of the single cell battery whose remaining power is greater than the fifth value is calibrated to the fifth value, or the remaining power of the single cell battery whose remaining power is less than the second value is calibrated to the second value.

[0067] As an optional implementation, the calibration module is specifically used for:

[0068] If the charge and discharge state of the single cell battery is the charging state, the single cell remaining power of the single cell battery is calibrated according to the single cell voltage sampling value, the preset charging cut-off voltage, the single cell remaining power of the single cell battery and the preset mapping table of open circuit voltage and remaining power;

[0069] If the charge and discharge state of the single cell battery is a discharge state, the single cell remaining power of the single cell battery is calibrated according to the single cell voltage sampling value, the preset discharge cut-off voltage, the single cell remaining power of the single cell battery, and the preset open circuit voltage and remaining power mapping table;

[0070] If the charge and discharge state of the single cell battery is a static state, determine whether the single cell voltage sampling value is located in the voltage platform area. If not, calibrate the single cell remaining power of the single cell battery according to the single cell voltage sampling value and the preset open circuit voltage and remaining power mapping table.

[0071] As an optional implementation, the calibration module is specifically used for:

[0072] According to the single cell voltage sampling value and the preset charging cut-off voltage, determining whether the single cell voltage sampling value is greater than or equal to the preset charging cut-off voltage, and if so, calibrating the single cell remaining power of the single cell battery to a fifth value;

[0073] If not, determining the cell remaining power lookup value corresponding to the cell voltage sampling value according to the cell voltage sampling value and a preset mapping table of open circuit voltage and remaining power, and determining whether the error between the cell remaining power of the cell battery and the cell remaining power lookup value corresponding to the cell voltage sampling value is greater than or equal to a first value;

[0074] If so, the single cell remaining power of the single cell battery is calibrated to the single cell remaining power table value corresponding to the single cell voltage sampling value.

[0075] In a third aspect, an embodiment of the present application provides a computer device, comprising: a processor, a memory and a bus, wherein the memory stores machine-readable instructions executable by the processor, and when the computer device is running, the processor communicates with the memory via the bus, and the processor executes the machine-readable instructions to perform the steps of the battery remaining power estimation method as described in the first aspect above.

[0076] In a fourth aspect, an embodiment of the present application provides a computer-readable storage medium having a computer program stored thereon. When the computer program is executed by a processor, the steps of the remaining battery power estimation method as described in the first aspect above are executed.

[0077] The beneficial effects of this application are:

[0078] The present application provides a method, device and medium for estimating the remaining power of a battery. After the battery management system is powered on, the rated capacity and battery health of the single cell are obtained, the target initial value of the single cell remaining power of the single cell is determined, the target initial value of the single cell remaining power of the single cell is determined, and the charge and discharge state and the balanced state of the single cell are determined. Combined with the influence of the single cell in the balanced on state or balanced off state on the estimation of the single cell remaining power, the single cell remaining power of the single cell is estimated according to the balanced state, charge and discharge state, target initial value of the single cell remaining power, rated capacity and battery health of the single cell, and according to the single cell remaining power and charge and discharge state of the single cell, the single cell remaining power of the single cell is calibrated by a variety of calibration means to determine the calibrated single cell remaining power of the single cell. Since the influence of the balanced state of the single cell on the estimation of the single cell remaining power is taken into account, the estimation accuracy of the single cell remaining power of the single cell is greatly improved, and then the estimated single cell remaining power of the single cell is calibrated by a variety of calibration means, which further improves the accuracy of the single cell remaining power of the single cell after calibration. BRIEF DESCRIPTION OF THE DRAWINGS

[0079] In order to more clearly illustrate the technical solutions of the embodiments of the present application, the drawings required for use in the embodiments will be briefly introduced below. It should be understood that the following drawings only show certain embodiments of the present application and therefore should not be regarded as limiting the scope. For ordinary technicians in this field, other related drawings can be obtained based on these drawings without paying creative work.

[0080] Figure 1 A flowchart of a method for estimating the remaining battery power provided in an embodiment of the present application;

[0081] Figure 2 A schematic diagram of a process for obtaining a target initial value of the remaining power of a single cell battery in a method for estimating the remaining power of a single cell battery provided in an embodiment of the present application;

[0082] Figure 3 A schematic diagram of a flow chart of estimating the remaining power of a single cell battery in a method for estimating the remaining power of a single cell battery provided in an embodiment of the present application;

[0083] Figure 4 Another schematic diagram of a process for estimating the remaining power of a single cell battery of the method for estimating the remaining power of a single cell battery provided in an embodiment of the present application;

[0084] Figure 5 A schematic diagram of a process of calibrating the remaining power of a single cell battery in the method for estimating the remaining power of a battery provided in an embodiment of the present application;

[0085] Figure 6Another schematic diagram of a process of calibrating the remaining power of a single cell battery in the method for estimating the remaining power of a battery provided in an embodiment of the present application;

[0086] Figure 7 A schematic diagram of another process of calibrating the remaining power of a single cell battery in the battery remaining power estimation method provided in an embodiment of the present application;

[0087] Figure 8 A module structure diagram of a battery remaining power estimation device provided in an embodiment of the present application;

[0088] Fig. 9 A schematic diagram of the structure of a computer device provided in an embodiment of the present application. DETAILED DESCRIPTION

[0089] To make the purpose, technical scheme and advantages of the embodiments of the present application clearer, the technical scheme in the embodiments of the present application will be clearly and completely described below in conjunction with the drawings in the embodiments of the present application. It should be understood that the drawings in the present application only serve the purpose of explanation and description and are not used to limit the scope of protection of the present application. In addition, it should be understood that the schematic drawings are not drawn in real proportion. The flowchart used in this application shows the operations implemented according to some embodiments of the present application. It should be understood that the operations of the flowchart can be implemented out of sequence, and the steps without logical context can be reversed in order or implemented simultaneously. In addition, those skilled in the art can add one or more other operations to the flowchart under the guidance of the content of the present application, or remove one or more operations from the flowchart.

[0090] In addition, the described embodiments are only a part of the embodiments of the present application, rather than all of the embodiments. The components of the embodiments of the present application described and shown in the drawings here can be arranged and designed in various configurations. Therefore, the following detailed description of the embodiments of the present application provided in the drawings is not intended to limit the scope of the application claimed for protection, but merely represents the selected embodiments of the present application. Based on the embodiments of the present application, all other embodiments obtained by those skilled in the art without making creative work belong to the scope of protection of the present application.

[0091] It should be noted that the term "comprising" will be used in the embodiments of the present application to indicate the existence of the features declared thereafter, but does not exclude the addition of other features.

[0092] At present, BMS usually has active balancing or passive balancing. When balancing is turned on, a balancing current will be generated, and the balancing current affects the estimation of the battery cell SOC. The existing technology does not consider the impact of the balancing current generated by turning on the balancing on the battery cell SOC estimation result, resulting in low estimation accuracy of the battery cell SOC.

[0093] Based on the above problems, the embodiment of the present application proposes a method for estimating the remaining battery power, which estimates the single-cell SOC of the battery based on the ampere-hour integration method, and takes into account the influence of the balancing current generated when active balancing or passive balancing is turned on the single-cell SOC, thereby improving the real-time estimation accuracy of the single-cell SOC, and combining the charge and discharge status of the battery, calibrates the estimated SOC through a variety of calibration means, thereby further improving the accuracy of the calibrated SOC of the single-cell battery.

[0094] Figure 1 This is a flow chart of a method for estimating the remaining battery power provided in an embodiment of the present application. The method can be executed by any computer device with computing processing capabilities. Figure 1 As shown, the method includes:

[0095] S101, obtaining a target initial value of the remaining power of a single cell, a rated capacity, and a battery health of the single cell, and determining a charge and discharge state and a balance state of the single cell, wherein the balance state includes a balance-on state or a balance-off state.

[0096] Optionally, after the embedded BMS is powered on, the rated capacity and battery health (State of Health, SOH) of the single battery are obtained to determine the target initial value SOC of the single battery. 0 , and detect the current flowing through the single cell to determine the charge and discharge state and the balance state of the single cell. The balance state includes the balance on state or the balance off state. The balance mode of the single cell includes active balance and passive balance. Among them, the target initial value SOC of the single cell SOC of the single cell 0 The SOH value is an effective value. The rated capacity of a single cell is the nominal capacity value of the single cell, which is a factory setting value. The SOH value is pre-calculated by the Battery Control Unit in the BMS based on the usage of the single cell. The SOH is used to characterize the attenuation degree of the single cell. The SOH of a new single cell is 1. After a period of use, the SOH of the single cell gradually decreases.

[0097] S102, estimating the remaining power of a single cell battery according to the balance state, the charge and discharge state, the target initial value of the remaining power of the single cell, the rated capacity and the battery health.

[0098] Optionally, the single cell remaining capacity of the single cell is estimated based on the ampere-hour integration method and the balanced state of the single cell, in combination with the influence of the single cell balancing on or off on the single cell SOC estimation of the single cell. Specifically, according to the balanced state of the single cell, the charge and discharge state, and the target initial value SOC of the single cell remaining capacity, the single cell remaining capacity is estimated. 0 , rated capacity and SOH, and estimate the single cell SOC of the single cell.

[0099] S103 , calibrating the remaining power of the single cell battery according to the remaining power of the single cell battery and the charge and discharge status of the single cell battery, and determining the calibrated remaining power of the single cell battery.

[0100] Optionally, based on the estimated single cell SOC of the single cell and the charge and discharge state of the single cell, multiple calibration standards are used to determine whether the single cell SOC of the single cell needs to be calibrated. If it is determined that the single cell satisfies any calibration standard, the single cell SOC of the single cell is calibrated according to the calibration means corresponding to the calibration standard to obtain the calibrated single cell SOC of the single cell, so that the calibrated single cell SOC of the single cell is more in line with the actual application scenario of the single cell. The specific calibration standards and the process of calibrating the single cell SOC of the single cell according to the calibration means corresponding to each calibration standard will be explained in detail in the following embodiments.

[0101] In this embodiment, after the battery management system is powered on, the rated capacity and battery health of the single cell are obtained, the target initial value of the single cell remaining power of the single cell is determined, the target initial value of the single cell remaining power is an effective value, and the charge and discharge state and the balanced state of the single cell are determined. Combined with the influence of the single cell in the balanced on state or balanced off state on the estimation of the single cell remaining power, the single cell remaining power of the single cell is estimated according to the balanced state, charge and discharge state, target initial value of the single cell remaining power, rated capacity and battery health of the single cell, and the single cell remaining power of the single cell is calibrated by a variety of calibration means according to the single cell remaining power and charge and discharge state of the single cell, and the single cell remaining power of the single cell is determined after calibration. Since the influence of the balanced state of the single cell on the estimation of the single cell remaining power is taken into account, the estimation accuracy of the single cell remaining power of the single cell is greatly improved, and then the estimated single cell remaining power of the single cell is calibrated by a variety of calibration means, which further improves the accuracy of the single cell remaining power of the single cell after calibration.

[0102] The following describes in detail the process of obtaining the target initial value of the remaining power of the single battery.

[0103] Figure 2 The following is a flow chart of obtaining a target initial value of the remaining power of a single cell battery in the method for estimating the remaining power of a battery provided in an embodiment of the present application, such as Figure 2 As shown, the step of obtaining the target initial value of the remaining power of the single cell battery in the above step S101 includes:

[0104] S201, obtaining an original initial value of the remaining power of a single cell, a single cell voltage sampling value, a first preset voltage threshold, a second preset voltage threshold, a third preset voltage threshold, and a mapping table of a preset open circuit voltage and remaining power of a single cell.

[0105] Optionally, when the embedded BMS is powered on, the SOC storage value of the single cell is read from the storage medium. The SOC storage value of the single cell is the last fixed value of the SOC of the single cell when the embedded BMS was powered off last time. The SOC storage value of the single cell is used as the original initial value of the single cell SOC of the single cell. After the embedded BMS is powered on, the single cell voltage of the single cell is collected in real time to obtain the single cell voltage sampling value of the single cell, and the first preset voltage threshold, the second preset voltage threshold, the third preset voltage threshold and the preset open circuit voltage and SOC mapping table input by the user are received. Among them, the preset open circuit voltage and SOC mapping table is determined according to the chemical properties of the battery cell in the single cell, and the open circuit voltage and SOC mapping table of single cells with different battery cell materials are different. Exemplarily, the first preset voltage threshold can be 3150V, the second preset voltage threshold can be 2680V, ​​and the third preset voltage threshold can be 3310V.

[0106] S202 , determining whether the original initial value of the remaining power of the cell is valid according to the original initial value of the remaining power of the cell, the cell voltage sampling value, the first preset voltage threshold, the second preset voltage threshold, and the third preset voltage threshold.

[0107] Optionally, after reading the original initial value of the single cell SOC of the single cell battery, it is necessary to perform a valid value judgment on the original initial value of the single cell SOC to determine whether the original initial value of the single cell SOC is a valid value. Specifically, it is determined whether the original initial value of the single cell SOC is a valid value based on the magnitude relationship between the original initial value of the single cell SOC and the single cell voltage sampling value and the first preset voltage threshold, the second preset voltage threshold, and the third preset voltage threshold.

[0108] S203: If yes, the original initial value of the single cell remaining power is used as the target initial value of the single cell remaining power of the single cell battery.

[0109] Optionally, if it is determined that the original initial value of the single SOC is a valid value, there is no need to calibrate the original initial value of the single SOC, and the original initial value of the single SOC is directly used as the target initial value SOC of the single battery. 0 , so that the target initial value SOC of the single cell SOC of the single cell battery 0 , estimate the single cell SOC of the single cell battery.

[0110] S204: If not, calibrate the original initial value of the single cell remaining power according to the single cell voltage sampling value and a preset mapping table of the open circuit voltage and the remaining power to obtain a target initial value of the single cell remaining power of the single cell battery.

[0111] Optionally, if the original initial value of the single SOC is determined to be an invalid value, the original initial value of the single SOC needs to be calibrated first to obtain the target initial value of the single SOC of the single battery, and then based on the target initial value SOC of the single SOC of the single battery 0 , estimate the single cell SOC of the single cell battery. Specifically, according to the single cell voltage sampling value, determine the single cell SOC table value corresponding to the single cell voltage sampling value in the preset open circuit voltage and SOC mapping table, and assign the target initial value of the single cell SOC of the single cell battery to the single cell SOC table value corresponding to the single cell voltage sampling value.

[0112] For example, if it is determined that the original initial value of the single SOC is an invalid value, the single voltage sampling value is 3030V, and the single SOC lookup value corresponding to 3030V in the preset open circuit voltage and SOC mapping table is 10%, then the original initial value of the single SOC is calibrated so that the target initial value SOC of the single SOC of the single battery is 0 is 10%.

[0113] In this embodiment, when the embedded battery management system is powered on, the original initial value of the remaining power of the single cell of the single cell battery is read, the single cell voltage of the single cell battery is collected in real time, the single cell voltage sampling value of the single cell battery is obtained, and the first preset voltage threshold, the second preset voltage threshold, the third preset voltage threshold and the preset open circuit voltage and remaining power mapping table input by the user are received. According to the original initial value of the remaining power of the single cell and the relationship between the single cell voltage sampling value and the first preset voltage threshold, the second preset voltage threshold and the third preset voltage threshold, the original initial value of the remaining power of the single cell is judged as a valid value. If it is determined that the original initial value of the remaining power of the single cell is a valid value, there is no need to calibrate the original initial value of the remaining power of the single cell, and the original initial value of the remaining power of the single cell is directly used as the target initial value of the remaining power of the single cell battery. If the original initial value of the remaining power of the single cell is determined to be an invalid value, it is necessary to first determine the cell remaining power lookup value corresponding to the cell voltage sampling value in the preset open circuit voltage and remaining power mapping table based on the cell voltage sampling value, and assign the target initial value of the cell remaining power of the single cell battery to the cell remaining power lookup value corresponding to the cell voltage sampling value, so as to calibrate the original initial value of the cell remaining power, so as to estimate the cell remaining power of the single cell battery according to the target initial value of the cell remaining power of the single cell battery, and avoid the invalid original initial value of the cell remaining power affecting the estimation accuracy of the cell remaining power.

[0114] As an optional implementation manner, the step of determining whether the original initial value of the remaining power of the cell is valid according to the original initial value of the remaining power of the cell, the cell voltage sampling value, the first preset voltage threshold, the second preset voltage threshold and the third preset voltage threshold in the above step S202 includes:

[0115] If the original initial value of the remaining power of the single cell is not within the preset interval, and the single cell voltage sampling value is greater than or equal to the first preset voltage threshold, then the original initial value of the remaining power of the single cell is determined to be invalid, wherein the open circuit remaining power corresponding to the first preset voltage threshold in the mapping table of the preset open circuit voltage and the remaining power is the first value.

[0116] Optionally, first determine whether the original initial value of the single SOC of the single battery is within a preset interval, if not, then continue to determine whether the single voltage sampling value is greater than or equal to the first preset voltage threshold, if so, determine that the original initial value of the single SOC is invalid, wherein the open circuit SOC corresponding to the first preset voltage threshold in the preset open circuit voltage and SOC mapping table is the first value. Exemplarily, the preset interval can be 0%-100%, and the first value can be 5%. If the original initial value of the single SOC of the single battery is not within 0%-100%, and the single voltage sampling value is greater than or equal to 3150V, that is, if the original initial value of the single SOC of the single battery is less than 0% or greater than 100%, and the single voltage sampling value is greater than or equal to 3150V, then determine that the original initial value of the single SOC is invalid.

[0117] Alternatively, if the original initial value of the remaining power of the single cell is within the preset interval and the single cell voltage sampling value is less than or equal to the second preset voltage threshold, the original initial value of the remaining power of the single cell is determined to be invalid, wherein the open circuit remaining power corresponding to the second preset voltage threshold in the mapping table of the preset open circuit voltage and the remaining power is the second value.

[0118] Optionally, first determine whether the original initial value of the single cell SOC of the single cell battery is within a preset interval, if so, then continue to determine whether the single cell voltage sampling value is less than or equal to the second preset voltage threshold, if so, determine that the original initial value of the single cell SOC is invalid, wherein the open circuit SOC corresponding to the second preset voltage threshold in the preset open circuit voltage and SOC mapping table is the second value. Exemplarily, the preset interval can be 0%-100%, and the second value can be 0%. If the original initial value of the single cell SOC of the single cell battery is within 0%-100%, and the single cell voltage sampling value is less than or equal to 2680V, ​​that is, if the original initial value of the single cell SOC of the single cell battery is greater than or equal to 0% and less than or equal to 100%, and the single cell voltage sampling value is less than or equal to 2680V, ​​then determine that the original initial value of the single cell SOC is invalid.

[0119] Alternatively, if the original initial value of the remaining power of the single cell is greater than or equal to the third value, and the single cell voltage sampling value is less than or equal to the third preset voltage threshold, then the initial value of the remaining power of the single cell is determined to be invalid, wherein the open circuit remaining power corresponding to the third preset voltage threshold in the mapping table of preset open circuit voltage and remaining power is the fourth value.

[0120] Optionally, first determine whether the original initial value of the single SOC of the single battery is greater than or equal to the third value, if so, then continue to determine whether the single voltage sampling value is less than or equal to the third preset voltage threshold, if so, determine that the original initial value of the single SOC is invalid, wherein the open circuit SOC corresponding to the third preset voltage threshold in the preset open circuit voltage and SOC mapping table is the fourth value. Exemplarily, the third value can be 95%, and the fourth value can be 60%. If the original initial value of the single SOC of the single battery is greater than or equal to 95%, and the single voltage sampling value is less than or equal to 3310V, then determine that the original initial value of the single SOC is invalid.

[0121] Optionally, if the original initial value of the single-cell SOC is within a preset interval, and the single-cell voltage sampling value is greater than the second preset voltage threshold, the original initial value of the SOC is determined to be valid; or, if the original initial value of the single-cell SOC is less than a third value, and the single-cell voltage sampling value is greater than the third preset voltage threshold, the initial value of the SOC is determined to be valid. In other words, if the original initial value of the single-cell SOC is greater than or equal to 0% and less than or equal to 100%, and the single-cell voltage sampling value is greater than 2680V, ​​the original initial value of the SOC is determined to be valid; or, if the original initial value of the single-cell SOC is less than 95%, and the single-cell voltage sampling value is greater than 3310V, the initial value of the SOC is determined to be valid.

[0122] In this embodiment, first determine whether the original initial value of the remaining power of the single cell of the single cell battery is within the preset interval. If not, then continue to determine whether the single cell voltage sampling value is greater than or equal to the first preset voltage threshold. If so, determine that the original initial value of the remaining power of the single cell is invalid. Alternatively, first determine whether the original initial value of the remaining power of the single cell of the single cell battery is greater than or equal to a third value. If so, then continue to determine whether the single cell voltage sampling value is less than or equal to the third preset voltage threshold. If so, determine that the original initial value of the remaining power of the single cell is invalid. Alternatively, first determine whether the original initial value of the remaining power of the single cell of the single cell battery is greater than or equal to the third value. If so, then continue to determine whether the single cell voltage sampling value is less than or equal to the third preset voltage threshold. If so, determine that the original initial value of the remaining power of the single cell is invalid. The validity of the original initial value of the remaining power of the single cell is determined by three judgment criteria, so as to calibrate the invalid original initial value of the remaining power of the single cell.

[0123] The following describes in detail a process of estimating the remaining power of a single battery according to the balance state, the charge and discharge state, the target initial value of the remaining power of the single battery, the rated capacity, and the battery health.

[0124] Figure 3 A schematic diagram of a process for estimating the remaining power of a single cell battery according to the method for estimating the remaining power of a single cell battery provided in an embodiment of the present application is shown in FIG. Figure 3 As shown, the step of estimating the single cell remaining power of the single cell battery according to the balance state, the charge and discharge state, the target initial value of the single cell remaining power, the rated capacity and the battery health in the above step S102 includes:

[0125] S301. If the single cell is in the balancing on state, determine the balancing current and balancing time, and estimate the single cell remaining power of the single cell according to the charge and discharge state, the target initial value of the single cell remaining power, the rated capacity, the battery health, the balancing current and the balancing time.

[0126] Optionally, if the single cell is determined to be in a balanced on state according to the detected current flowing through the single cell, a balanced current will be generated in the single cell, and the current value I of the balanced current in the single cell is detected. a , and determine the accumulated duration of the balanced opening according to the balanced control strategy, and then according to the current value of the balanced current I a , the accumulated balance opening time T a , the charge and discharge state of the single battery, the target initial value of the single SOC, the rated capacity and the SOH, and the single remaining power of the single battery is estimated based on the ampere-hour integration method. Among them, the current value of the balancing current I a Depends on the balancing mode of the single cell, for example, if the single cell is in the active balancing on state, the current value of the balancing current I a It can be 2A; if the single battery is in the passive balancing on state, the current value of the balancing current is I a It can be 100mA.

[0127] S302: If the single cell battery is in a balanced off state, the single cell remaining power of the single cell battery is estimated according to the charge and discharge state, the target initial value of the single cell remaining power, the rated capacity and the battery health.

[0128] Optionally, if the single cell is determined to be in the balanced off state according to the detected current flowing through the single cell, there is no balanced current in the single cell, and there is no need to consider the influence of the balanced current on the single cell SOC estimation, and the single cell remaining power of the single cell can be directly estimated based on the charge and discharge state of the single cell, the target initial value of the single cell SOC, the rated capacity and the SOH, based on the ampere-hour integration method. The specific single cell SOC estimation process when the single cell is in the balanced off state will be described in detail in the following embodiments.

[0129] In this embodiment, if it is determined that the single cell is in the balanced on state according to the current flowing through the single cell, the current value of the balanced current in the single cell is detected, and the accumulated balanced on time is determined according to the balanced control strategy, and the single cell remaining power of the single cell is estimated based on the ampere-hour integration method according to the current value of the balanced current, the accumulated balanced on time, the charge and discharge state of the single cell, the target initial value of the single cell remaining power, the rated capacity and the battery health. If it is determined that the single cell is in the balanced off state, there is no balanced current in the single cell, and the single cell remaining power of the single cell is directly estimated based on the ampere-hour integration method according to the charge and discharge state of the single cell, the target initial value of the single cell remaining power, the rated capacity and the battery health. The influence of the balanced current generated by the balanced on state and the accumulated balanced on time on the estimation of the single cell remaining power is taken into account, and the estimation accuracy of the single cell remaining power is improved.

[0130] The following describes in detail the process of estimating the remaining power of a single cell according to the charge and discharge state, the target initial value of the remaining power of the single cell, the rated capacity, the battery health, the balancing current, and the balancing time.

[0131] Figure 4 Another schematic diagram of a process for estimating the remaining power of a single cell battery of the battery remaining power estimation method provided in the embodiment of the present application is as follows: Figure 4 As shown, the step of estimating the remaining power of a single cell of a single cell according to the charge and discharge state, the target initial value of the remaining power of the single cell, the rated capacity, the battery health, the balancing current and the balancing time in the above step S301 includes:

[0132] S401. Determine the actual available capacity of a single battery according to the rated capacity and battery health.

[0133] Alternatively, the product of the rated capacity of the single cell and the SOH is taken as the actual available capacity C of the single cell. A , where SOH is less than or equal to 1, and the actual available capacity of the single battery is C A Used to characterize the actual available capacity of a single battery at the current degradation level.

[0134] S402, determining the charge and discharge current and the coulombic efficiency of the single cell according to the charge and discharge state, and integrating the product of the charge and discharge current and the coulombic efficiency to determine the capacity integral value of the single cell.

[0135] Optionally, if the charge and discharge state of the single battery is the charging state, the battery coulomb efficiency η during charging is determined as c 98%, detect the charging current I of the single battery c , and the charging current I c The coulombic efficiency of the battery during charging is η cThe product η c I c Integrate to determine the capacity integral value Q of the single battery during charging c Specifically, the capacity integral value Q of the single battery during charging is determined based on the following formula: c :

[0136] Q c =∫η c I c dt

[0137] Among them, Q c is the capacity integral value of the single battery during charging, η c is the battery coulomb efficiency during charging, I c is the charging current.

[0138] Correspondingly, if the charge and discharge state of the single battery is the discharge state, the battery coulomb efficiency η during discharge is determined d 100%, detect the discharge current I of the single battery d , and the discharge current I d The coulombic efficiency of the battery during discharge is η d The product η d I d Integrate to determine the capacity integral value Q of the single battery during discharge d Specifically, the capacity integral value Q of the single battery during discharge is determined based on the following formula: d :

[0139] Q d =∫η d I d dt

[0140] Among them, Q d is the capacity integral value of the single battery during discharge, η d is the battery coulombic efficiency during discharge, I d is the discharge current.

[0141] S403: taking the quotient of the capacity integral value of the single cell and the actual available capacity of the single cell as a first calculated value.

[0142] Optionally, if the charge and discharge state of the single battery is the charging state, the capacity integral value Q of the single battery during charging is c The actual available capacity of the single battery C A The quotient of is used as the first calculation value during charging. Specifically, the first calculation value SOC during charging is determined based on the following formula: 1c :

[0143]

[0144] Among them, SOC1c is the first calculated value during charging, C A is the actual available capacity of the single battery, Q c is the capacity integral value of the single battery during charging, η c is the battery coulomb efficiency during charging, I c is the charging current.

[0145] Correspondingly, if the charge and discharge state of the single battery is the discharge state, the capacity integral value Q of the single battery during discharge is d The actual available capacity of the single battery C A The quotient of is used as the first calculation value during discharge. Specifically, the first calculation value SOC during discharge is determined based on the following formula: 1d :

[0146]

[0147] Among them, SOC 1d is the first calculated value during discharge, C A is the actual available capacity of the single battery, Q d is the capacity integral value of the single battery during discharge, η d is the battery coulombic efficiency during discharge, I d is the discharge current.

[0148] It is worth noting that if the charge and discharge state of the single battery is the charging state, the first calculated value SOC during charging is 1c is a negative value; if the charge and discharge state of the single battery is the discharge state, the first calculated value SOC during discharge is 1d Is a positive value.

[0149] S404: Determine a second calculated value of the single cell according to the balancing current, the balancing time, and the actual available capacity of the single cell, where the second calculated value is the balancing calculated value.

[0150] Optionally, determine the current value I of the balancing current a The accumulated balanced opening time T a Then calculate the product of this product and the actual available capacity C of the single battery. A The quotient of the quotient and 100% is taken as the second calculated value SOC of the single battery. 2 , where SOC 2 is the balanced calculation value. Specifically, according to the current value I of the balanced current a , the accumulated balance opening time T a And the actual available capacity C of the single battery A , determine the second calculated value SOC of the single battery based on the following formula 2 :

[0151]

[0152] Among them, SOC 2 is the second calculated value of the single cell, I a is the current value of the balancing current, T a is the cumulative balance opening time, C A It is the actual available capacity of the single battery.

[0153] For example, if the current value of the balancing current I a For 2A, the cumulative balanced opening time is T a For 1h, the actual available capacity of the single battery is C A If the battery is 280Ah, the second calculated value SOC of the single battery is calculated based on the following formula: 2 :

[0154]

[0155] S405 , estimating the remaining power of the single cell battery according to the target initial value of the remaining power of the single cell, the first calculated value, and the second calculated value.

[0156] Optionally, if the charge / discharge state of the single battery is the charging state, according to the target initial value SOC of the single battery 0 , the first calculated value SOC during charging 1c and the second calculated value SOC 2 , the remaining power SOC of the single cell battery during charge equalization is determined based on the following formula: c :

[0157] SOC c =SOC 0 +SOC 1c -SOC 2

[0158] Among them, SOC c is the single cell SOC of the single cell battery during charge equalization, SOC 0 is the target initial value of the single-cell SOC, SOC 1c The first calculated value during charging, SOC 2 is the second calculated value.

[0159] Correspondingly, if the charge and discharge state of the single battery is the discharge state, according to the target initial value SOC of the single battery 0 , the first calculated value SOC during discharge 1d and the second calculated value SOC 2 , the remaining power SOC of the single cell battery during discharge balancing is determined based on the following formula: d :

[0160] SOC d =SOC 0 -SOC 1d -SOC 2

[0161] Among them, SOC d is the single cell SOC of the single cell battery during discharge balance, SOC 0 is the target initial value of the single-cell SOC, SOC 1d is the first calculated value during discharge, SOC 2 is the second calculated value.

[0162] In this embodiment, based on the rated capacity and battery health of the single cell, the product of the rated capacity and battery health of the single cell is used as the actual available capacity of the single cell. Based on the charge and discharge state of the single cell, the charge and discharge current of the single cell and the battery coulomb efficiency during charge and discharge are determined, and the product of the charge and discharge current and the battery coulomb efficiency is integrated to obtain the capacity integral value of the single cell during charge and discharge, and the quotient of the capacity integral value of the single cell during charge and discharge and the actual available capacity of the single cell is used as the first calculated value during charge and discharge. Based on the balancing current, balancing time and the actual available capacity of the single cell, the second calculated value of the single cell is determined, and the single cell remaining power of the single cell is estimated based on the target initial value, the first calculated value and the second calculated value of the single cell remaining power. The estimation accuracy of the single cell remaining power during charge and discharge balancing of the single cell is improved.

[0163] The following describes in detail a process of estimating the remaining power of a single battery according to the charge and discharge state, the target initial value of the remaining power of the single battery, the rated capacity, and the battery health.

[0164] Optionally, when the single battery is in the balanced off state, the first calculated value SOC during charging is determined in steps S401-S403 in the above embodiment. 1c And the first calculated value SOC during discharge 1d Based on this description, there is no need to calculate the second calculated value SOC of the single battery 2 If the charge and discharge state of the single battery is the charging state, directly according to the target initial value SOC of the single battery 0 And the first calculated value SOC during charging 1c , the remaining charge SOC of a single cell battery during charging is estimated based on the following formula: c :

[0165] SOC c =SOC 0 +SOC 1c

[0166] Among them, SOC c is the single SOC of the single battery during charging, SOC 0 is the target initial value of the single-cell SOC, SOC 1c This is the first calculated value during charging.

[0167] If the charge and discharge state of the single battery is the discharge state, directly according to the target initial value SOC of the single battery 0 And the first calculated value SOC during discharge 1d , the remaining charge SOC of the single cell battery during discharge is estimated based on the following formula: d :

[0168] SOC d =SOC 0 -SOC 1d

[0169] Among them, SOC d is the single cell SOC of the single cell battery during discharge, SOC 0 is the target initial value of the single-cell SOC, SOC 1d is the first calculated value during discharge.

[0170] The following describes in detail the process of calibrating the remaining power of the single cell battery according to the remaining power of the single cell battery and the charge and discharge state of the single cell battery.

[0171] Figure 5 A schematic diagram of a process for calibrating the remaining power of a single cell battery in the battery remaining power estimation method provided in an embodiment of the present application, such as Figure 5 As shown, the step of calibrating the single cell remaining power of the single cell battery according to the single cell remaining power and the charge and discharge state of the single cell battery in the above step S103 includes:

[0172] S501. Determine whether the charge and discharge state of a single battery changes, wherein the charge and discharge state includes a static state, a charging state, or a discharging state.

[0173] Optionally, first, according to the detected current flowing through the single cell, it is determined whether the charge and discharge state of the single cell has changed. Exemplarily, the change in charge and discharge state may be that the single cell changes from a charging state to a discharging state, from a charging state to a static state, from a discharging state to a charging state, from a discharging state to a static state, from a static state to a charging state, or from a static state to a discharging state.

[0174] S502: If it is determined that the charge and discharge state of the single cell battery has changed, determine whether the single cell remaining power of the single cell battery is greater than a fifth value or less than a second value.

[0175] Optionally, if it is determined that the charge and discharge state of the single cell has changed, the burr smoothing calibration standard is continued to determine whether the single cell SOC of the single cell is greater than the fifth value or less than the second value. The fifth value is 100% and the second value is 0%, that is, it is determined whether the single cell SOC of the single cell is within the range of 0%-100%.

[0176] S503, if yes, then perform burr smoothing calibration on the single cell remaining power of the single cell, calibrate the single cell remaining power of the single cell whose remaining power is greater than the fifth value to the fifth value, or calibrate the single cell remaining power of the single cell whose remaining power is less than the second value to the second value.

[0177] Optionally, if it is determined that the single cell SOC of the single cell battery is greater than the fifth value or less than the second value, that is, it is determined that the single cell SOC of the single cell battery is not in the range of 0%-100%, then the burr smoothing calibration standard is met, and the single cell SOC of the single cell battery is calibrated to the fifth value; if the single cell SOC of the single cell battery is less than the second value, the single cell SOC of the single cell battery is calibrated to the second value. Exemplarily, if the single cell SOC of the single cell battery is 105%, which is greater than the fifth value 100%, the single cell SOC of the single cell battery is calibrated from 105% to 100%; if the single cell SOC of the single cell battery is -5%, which is less than the second value 0%, the single cell SOC of the single cell battery is calibrated to 0%.

[0178] In this embodiment, the burr smoothing calibration standard is that the charge and discharge state of the single cell battery changes and the single cell remaining power of the single cell battery is greater than the fifth value or less than the second value, and whether to perform burr smoothing calibration on the single cell remaining power of the single cell battery is determined according to the burr smoothing calibration standard. If so, the single cell remaining power of the single cell battery whose single cell remaining power is greater than the fifth value is calibrated to the fifth value, or the single cell remaining power of the single cell battery whose single cell remaining power is less than the second value is calibrated to the second value, so that the single cell remaining power of the single cell battery after calibration is within the preset range, and the consistency of the change of the remaining power of the single cell battery is improved.

[0179] Figure 6 Another schematic diagram of a process for calibrating the remaining power of a single cell battery of the battery remaining power estimation method provided in an embodiment of the present application is as follows: Figure 6 As shown, the step of calibrating the single cell remaining power of the single cell battery according to the single cell remaining power and the charge and discharge state of the single cell battery in the above step S103 includes:

[0180] S601. If the charge and discharge state of the single cell is the charging state, the single cell remaining power of the single cell is calibrated according to the single cell voltage sampling value, the preset charging cut-off voltage, the single cell remaining power of the single cell and the preset open circuit voltage and remaining power mapping table.

[0181] Optionally, if the charge and discharge state of the single cell is determined to be a charging state according to the detected current flowing through the single cell, then according to the single cell voltage sampling value, the preset charge cut-off voltage, the single cell SOC of the single cell, and the preset open circuit voltage and SOC mapping table, it is determined whether to perform dynamic charge calibration or full charge calibration on the single cell. If so, the single cell SOC of the single cell is calibrated according to the calibration means corresponding to the dynamic charge calibration; or, the single cell SOC of the single cell is calibrated according to the calibration means corresponding to the full charge calibration. Among them, the preset charge cut-off voltage changes with the current rate and temperature of the single cell.

[0182] S602: If the charge and discharge state of the single cell is the discharge state, the single cell remaining power of the single cell is calibrated according to the single cell voltage sampling value, the preset discharge cut-off voltage, the single cell remaining power of the single cell and the preset open circuit voltage and remaining power mapping table.

[0183] Optionally, if the charge and discharge state of the single cell is determined to be a discharge state according to the detected current flowing through the single cell, then according to the single cell voltage sampling value, the preset discharge cut-off voltage, the single cell SOC of the single cell, and the preset open circuit voltage and SOC mapping table, it is determined whether to perform dynamic discharge calibration or full discharge calibration on the single cell. If so, the single cell SOC of the single cell is calibrated according to the calibration means corresponding to the dynamic discharge calibration; or, the single cell SOC of the single cell is calibrated according to the calibration means corresponding to the full discharge calibration. Among them, the preset discharge cut-off voltage changes with the current rate and temperature of the single cell.

[0184] S603: If the charge and discharge state of the single cell battery is a static state, determine whether the single cell voltage sampling value is located in the voltage platform area; if not, calibrate the single cell remaining power of the single cell battery according to the single cell voltage sampling value and a preset mapping table of open circuit voltage and remaining power.

[0185] Optionally, if the charge and discharge state of the single cell battery is determined to be a static state based on the detected current flowing through the single cell, it is determined whether the single cell voltage sampling value is in the voltage platform area, wherein the voltage platform area is an area where the single cell SOC does not change significantly with the voltage. For example, the SOC corresponding to the starting voltage of the voltage platform area is 30%, and the SOC corresponding to the ending voltage of the voltage platform area is 95%. If it is determined that the single cell voltage sampling value is not in the voltage platform area, that is, the single cell SOC of the single cell battery is in the range of 0%-30% or in the range of 95%-100%, it is determined that the single cell battery meets the static calibration standard, and the single cell SOC of the single cell battery is calibrated according to the calibration means corresponding to the static calibration standard.

[0186] Specifically, if the charge and discharge state of the single cell battery is a static state, and the single cell SOC of the single cell battery is in the range of 0%-30% or in the range of 95%-100%, then according to the single cell voltage sampling value, the single cell SOC lookup value corresponding to the single cell voltage sampling value in the preset open circuit voltage and SOC mapping table is determined, and the single cell SOC of the single cell battery is calibrated to the single cell SOC lookup value corresponding to the single cell voltage sampling value.

[0187] In this embodiment, if the charge and discharge state of the single cell is the charge state, then according to the single cell voltage sampling value, the preset charge cut-off voltage, the single cell remaining power of the single cell, and the preset open circuit voltage and the remaining power mapping table, it is determined whether to perform dynamic charge calibration or full charge calibration on the single cell. If so, the single cell remaining power of the single cell is subjected to dynamic charge calibration or full charge calibration. If the charge and discharge state of the single cell is the discharge state, then according to the single cell voltage sampling value, the preset discharge cut-off voltage, the single cell remaining power of the single cell, and the preset open circuit voltage and the remaining power mapping table, it is determined whether to perform dynamic discharge calibration or full discharge calibration on the single cell. If so, the single cell remaining power of the single cell is subjected to dynamic discharge calibration or full discharge calibration. If the charge and discharge state of the single cell is the static state, it is determined whether the single cell voltage sampling value is located in the voltage platform area. If not, it is determined that the single cell meets the static calibration standard, and the single cell remaining power of the single cell is calibrated according to the single cell voltage sampling value and the preset open circuit voltage and the remaining power mapping table. By performing dynamic charge and discharge calibration or static calibration on the single cell, the flexibility and accuracy of the residual power calibration of the single cell are improved.

[0188] The following describes in detail the process of calibrating the cell remaining capacity of the single cell according to the cell voltage sampling value, the preset charge cut-off voltage, the cell remaining capacity of the single cell and the preset mapping table of the open circuit voltage and the remaining capacity.

[0189] Figure 7 Another schematic diagram of a process for calibrating the remaining power of a single cell battery of the battery remaining power estimation method provided in an embodiment of the present application is as follows: Figure 7 As shown, the step of calibrating the single cell remaining power of the single cell battery according to the single cell voltage sampling value, the preset charging cut-off voltage, the single cell remaining power of the single cell battery and the preset open circuit voltage and remaining power mapping table in the above step S601 includes:

[0190] S701: Determine whether the single cell voltage sampling value is greater than or equal to the preset charge cut-off voltage according to the single cell voltage sampling value and the preset charge cut-off voltage; if so, calibrate the single cell remaining power of the single cell battery to a fifth value.

[0191] Optionally, whether to perform full charge calibration on the single cell battery is determined according to the magnitude relationship between the single cell voltage sampling value and the preset charge cut-off voltage. Specifically, if the single cell voltage sampling value is greater than or equal to the preset charge cut-off voltage, the single cell battery is fully charged and calibrated to the single cell SOC of the single cell battery to a fifth value. The preset charge cut-off voltage may be 3650V, and the fifth value is 100%.

[0192] S702. If not, determine the cell remaining power lookup value corresponding to the cell voltage sampling value according to the cell voltage sampling value and the preset mapping table between the open circuit voltage and the remaining power, and determine whether the error between the cell remaining power of the single cell battery and the cell remaining power lookup value corresponding to the cell voltage sampling value is greater than or equal to the first value.

[0193] Optionally, if the single cell voltage sampling value is less than the preset charging cut-off voltage, the single cell SOC lookup value corresponding to the single cell voltage sampling value is determined according to the single cell voltage sampling value and the preset open circuit voltage and SOC mapping table, and the error between the single cell SOC lookup value corresponding to the single cell voltage sampling value and the single cell SOC of the single cell battery is calculated. If the error is greater than or equal to the first value, it is determined that the single cell battery is dynamically charged and calibrated. Wherein, the first value is 5%. Exemplarily, if the single cell voltage sampling value is 3450V, the single cell SOC lookup value corresponding to the single cell voltage sampling value is 90%, and the single cell SOC of the single cell battery is 80%, then the error is 10%, which is greater than the first value 5%, and it is determined that the single cell battery needs to be dynamically charged and calibrated. If the single cell voltage sampling value is 3500V, the single cell SOC lookup value corresponding to the single cell voltage sampling value is 95%, and the single cell SOC of the single cell battery is 91%, then the error is 4%, which is less than the first value 5%, and it is determined that there is no need to perform dynamic charging calibration on the single cell battery.

[0194] S703: If yes, calibrate the single cell remaining power of the single cell battery to the single cell remaining power table value corresponding to the single cell voltage sampling value.

[0195] Optionally, if the error between the single cell SOC lookup value corresponding to the single cell voltage sampling value and the single cell SOC of the single cell battery is greater than or equal to a first value, it is determined that dynamic charging calibration of the single cell battery is required, then based on the single cell voltage sampling value, the single cell SOC lookup value corresponding to the single cell voltage sampling value in a preset open circuit voltage and SOC mapping table is determined, and the single cell SOC of the single cell battery is calibrated to the single cell SOC lookup value corresponding to the single cell voltage sampling value.

[0196] In this embodiment, according to the magnitude relationship between the single cell voltage sampling value and the preset charging cut-off voltage, the single cell battery is fully charged and calibrated. If the single cell voltage sampling value is greater than or equal to the preset charging cut-off voltage, the single cell battery is fully charged and calibrated to the fifth value. If the single cell voltage sampling value is less than the preset charging cut-off voltage, the single cell remaining power look-up value corresponding to the single cell voltage sampling value is determined according to the single cell voltage sampling value and the preset open circuit voltage and remaining power mapping table, and the error between the single cell remaining power look-up value corresponding to the single cell voltage sampling value and the single cell remaining power of the single cell battery is calculated. According to the error, it is determined whether to perform dynamic charging calibration on the single cell battery. If the error is greater than or equal to the first value, it is determined to perform dynamic charging calibration on the single cell battery, and the single cell remaining power of the single cell battery is calibrated to the single cell remaining power look-up value corresponding to the single cell voltage sampling value. The full charge calibration or dynamic charging calibration of the single cell remaining power when charging the single cell battery is realized.

[0197] The following describes in detail the process of calibrating the cell remaining capacity of the single cell according to the cell voltage sampling value, the preset discharge cut-off voltage, the cell remaining capacity of the single cell and the preset mapping table of the open circuit voltage and the remaining capacity.

[0198] Optionally, according to the single cell voltage sampling value and the preset discharge cut-off voltage, determine whether the single cell voltage sampling value is greater than or equal to the preset discharge cut-off voltage, and if so, calibrate the single cell SOC of the single cell battery to the second value. If not, determine the single cell SOC lookup value corresponding to the single cell voltage sampling value according to the single cell voltage sampling value and the preset open circuit voltage and SOC mapping table, and determine whether the error between the single cell SOC of the single cell battery and the single cell SOC lookup value corresponding to the single cell voltage sampling value is greater than or equal to the first value. If so, calibrate the single cell SOC of the single cell battery to the single cell SOC lookup value corresponding to the single cell voltage sampling value.

[0199] Specifically, whether to perform full discharge calibration on the single cell is determined based on the magnitude relationship between the single cell voltage sampling value and the preset discharge cut-off voltage. If the single cell voltage sampling value is less than or equal to the preset discharge cut-off voltage, the single cell is fully discharged and calibrated to a second value. The preset discharge cut-off voltage may be 32500V, and the second value is 0%.

[0200] If the single cell voltage sampling value is less than the preset discharge cut-off voltage, the single cell SOC lookup value corresponding to the single cell voltage sampling value is determined according to the single cell voltage sampling value and the preset open circuit voltage and SOC mapping table, and the error between the single cell SOC lookup value corresponding to the single cell voltage sampling value and the single cell SOC of the single cell battery is calculated. If the error is greater than or equal to the first value, it is determined that the single cell battery is subjected to dynamic discharge calibration. Wherein, the first value is 5%. Exemplarily, if the single cell voltage sampling value is 3100V, the single cell SOC lookup value corresponding to the single cell voltage sampling value is 15%, and the single cell SOC of the single cell battery is 20%, then the error is 5%, which is equal to the first value 5%, and it is determined that the single cell battery needs to be subjected to dynamic discharge calibration. If the single cell voltage sampling value is 2950V, the single cell SOC lookup value corresponding to the single cell voltage sampling value is 5%, and the single cell SOC of the single cell battery is 4%, then the error is 1%, which is less than the first value 5%, and it is determined that there is no need to perform dynamic discharge calibration on the single cell battery.

[0201] If the error between the single SOC lookup value corresponding to the single voltage sampling value and the single SOC of the single battery is greater than or equal to the first value, it is determined that the single battery needs to be dynamically discharged. Then, according to the single voltage sampling value, the single SOC lookup value corresponding to the single voltage sampling value in the preset open circuit voltage and SOC mapping table is determined, and the single SOC of the single battery is calibrated to the single SOC lookup value corresponding to the single voltage sampling value. The full discharge calibration or dynamic discharge calibration of the single battery remaining power is realized when charging the single battery.

[0202] It is worth noting that the single cell remaining power of the single cell battery can also be calibrated according to the configuration information of the single cell battery in the battery pack, the single cell voltage sampling value, the single cell remaining power of the single cell battery, and the preset open circuit voltage and remaining power mapping table. Among them, the configuration information of the single cell battery can be the number of single cells. Specifically, when it is detected that the number of single cells in the battery pack has changed, that is, the configuration of a single cell battery has changed from nothing to something, the identification of the single cell battery is identified, and the single cell SOC table value corresponding to the single cell voltage sampling value in the preset open circuit voltage and SOC mapping table is determined according to the single cell voltage sampling value, and the single cell SOC of the single cell battery is assigned to the single cell SOC table value corresponding to the single cell voltage sampling value. The single cell SOC of other single cells remains unchanged, so as to realize the single cell SOC calibration when the configuration of the single cell battery in the battery pack changes.

[0203] In addition, the single-cell SOC of a single single cell can also be actively calibrated individually. Specifically, the flag bit of the individual calibration, the identifier of the single cell to be calibrated, and the target calibration value of the single cell are obtained. According to the flag bit of the individual calibration, the identifier of the single cell to be calibrated, and the target calibration value of the single cell, the single-cell SOC of the single cell to be calibrated is calibrated to the target calibration value, thereby realizing the individual calibration of the single cell, so that the single-cell SOCs of the remaining single cells remain unchanged.

[0204] Alternatively, the single cell SOC of all single cells may be uniformly calibrated. Specifically, a uniform calibration flag and a uniform target calibration value of the single cell are obtained. According to the uniform calibration flag and the uniform target calibration value of the single cell, the single cell SOC of all single cells are calibrated to the uniform target calibration value, thereby improving the calibration efficiency.

[0205] Based on the same inventive concept, a battery remaining power estimation device corresponding to the battery remaining power estimation method is also provided in the embodiment of the present application. Since the principle of solving the problem by the device in the embodiment of the present application is similar to the above-mentioned battery remaining power estimation method in the embodiment of the present application, the implementation of the device can refer to the implementation of the method, and the repeated parts will not be repeated.

[0206] Figure 8 The module structure diagram of the battery remaining power estimation device provided in the embodiment of the present application is as follows: Figure 8 As shown, the device comprises:

[0207] The acquisition module 801 is used to obtain the target initial value of the remaining power of the single cell, the rated capacity and the battery health of the single cell, and determine the charge and discharge state and the balance state of the single cell, the balance state including the balance on state or the balance off state.

[0208] The estimation module 802 is used to estimate the remaining power of a single cell battery according to the equilibrium state, the charge and discharge state, the target initial value of the remaining power of the single cell, the rated capacity and the battery health.

[0209] The calibration module is used to calibrate the single cell remaining power of the single cell battery according to the single cell remaining power and the charge and discharge state of the single cell battery, and determine the single cell remaining power of the single cell battery after calibration.

[0210] As an optional implementation, the acquisition module 801 is specifically used for:

[0211] The original initial value of the single cell remaining power of the single cell battery, the single cell voltage sampling value, the first preset voltage threshold, the second preset voltage threshold, the third preset voltage threshold and the mapping table of the preset open circuit voltage and the remaining power are obtained.

[0212] Whether the original initial value of the remaining power of the cell is valid is determined according to the original initial value of the remaining power of the cell, the cell voltage sampling value, the first preset voltage threshold, the second preset voltage threshold and the third preset voltage threshold.

[0213] If so, the original initial value of the single cell remaining power is used as the target initial value of the single cell remaining power of the single cell battery.

[0214] If not, the original initial value of the single cell remaining power is calibrated according to the single cell voltage sampling value and a preset mapping table of open circuit voltage and remaining power to obtain a target initial value of the single cell remaining power of the single cell battery.

[0215] As an optional implementation, the acquisition module 801 is specifically used for:

[0216] If the original initial value of the remaining power of the single cell is not within the preset interval, and the single cell voltage sampling value is greater than or equal to the first preset voltage threshold, then the original initial value of the remaining power of the single cell is determined to be invalid, wherein the open circuit remaining power corresponding to the first preset voltage threshold in the mapping table of the preset open circuit voltage and the remaining power is the first value.

[0217] Alternatively, if the original initial value of the remaining power of the single cell is within the preset interval and the single cell voltage sampling value is less than or equal to the second preset voltage threshold, the original initial value of the remaining power of the single cell is determined to be invalid, wherein the open circuit remaining power corresponding to the second preset voltage threshold in the mapping table of the preset open circuit voltage and the remaining power is the second value.

[0218] Alternatively, if the original initial value of the remaining power of the single cell is greater than or equal to the third value, and the single cell voltage sampling value is less than or equal to the third preset voltage threshold, then the initial value of the remaining power of the single cell is determined to be invalid, wherein the open circuit remaining power corresponding to the third preset voltage threshold in the mapping table of preset open circuit voltage and remaining power is the fourth value.

[0219] As an optional implementation, the estimation module 802 is specifically configured to:

[0220] If the single cell is in the balancing on state, the balancing current and balancing time are determined, and the single cell remaining power of the single cell is estimated based on the charge and discharge state, the target initial value of the single cell remaining power, the rated capacity, the battery health, the balancing current and the balancing time.

[0221] If the single cell battery is in the balanced off state, the single cell remaining power of the single cell battery is estimated according to the charge and discharge state, the target initial value of the single cell remaining power, the rated capacity and the battery health.

[0222] As an optional implementation, the estimation module 802 is specifically configured to:

[0223] Determine the actual available capacity of a single battery based on the rated capacity and battery health.

[0224] According to the charge and discharge state, the charge and discharge current and the battery coulomb efficiency of the single cell are determined, and the product of the charge and discharge current and the battery coulomb efficiency is integrated to determine the capacity integral value of the single cell.

[0225] The quotient of the capacity integrated value of the single battery and the actual available capacity of the single battery is taken as the first calculated value.

[0226] A second calculated value of the single cell is determined according to the balancing current, the balancing time and the actual available capacity of the single cell, where the second calculated value is the balancing calculated value.

[0227] The remaining power of the single cell battery is estimated according to the target initial value of the remaining power of the single cell, the first calculated value and the second calculated value.

[0228] As an optional implementation manner, the calibration module 803 is specifically used for:

[0229] Determine whether the charge and discharge state of the single battery changes, wherein the charge and discharge state includes a static state, a charging state, or a discharging state.

[0230] If it is determined that the charge and discharge state of the single cell battery has changed, it is determined whether the single cell remaining power of the single cell battery is greater than a fifth value or less than a second value.

[0231] If so, the remaining power of the single cell battery is calibrated to smooth out the burrs, and the remaining power of the single cell battery whose remaining power is greater than the fifth value is calibrated to the fifth value, or the remaining power of the single cell battery whose remaining power is less than the second value is calibrated to the second value.

[0232] As an optional implementation manner, the calibration module 803 is specifically used for:

[0233] If the charge and discharge state of the single cell battery is the charging state, the single cell remaining power of the single cell battery is calibrated according to the single cell voltage sampling value, the preset charging cut-off voltage, the single cell remaining power of the single cell battery and the preset open circuit voltage and remaining power mapping table.

[0234] If the charge and discharge state of the single cell battery is the discharge state, the single cell remaining power of the single cell battery is calibrated according to the single cell voltage sampling value, the preset discharge cut-off voltage, the single cell remaining power of the single cell battery and the preset open circuit voltage and remaining power mapping table.

[0235] If the charge and discharge state of the single cell battery is a static state, determine whether the single cell voltage sampling value is in the voltage platform area. If not, calibrate the single cell remaining power of the single cell battery according to the single cell voltage sampling value and a preset mapping table of open circuit voltage and remaining power.

[0236] As an optional implementation manner, the calibration module 803 is specifically used for:

[0237] According to the single cell voltage sampling value and the preset charge cut-off voltage, determining whether the single cell voltage sampling value is greater than or equal to the preset charge cut-off voltage, and if so, calibrating the single cell remaining power of the single cell battery to a fifth value;

[0238] If not, determine the cell remaining power lookup value corresponding to the cell voltage sampling value based on the cell voltage sampling value and the preset mapping table of open circuit voltage and remaining power, and determine whether the error between the cell remaining power of the single cell battery and the cell remaining power lookup value corresponding to the cell voltage sampling value is greater than or equal to the first value.

[0239] If so, the single cell remaining capacity of the single cell battery is calibrated to the single cell remaining capacity look-up table value corresponding to the single cell voltage sampling value.

[0240] The present application also provides a computer device, such as Fig. 9 , which is a schematic diagram of the structure of a computer device provided in an embodiment of the present application, includes: a processor 91, a memory 92 and a bus 93. The memory 92 stores machine-readable instructions executable by the processor 91 (for example, Figure 8 In the device, the execution instructions corresponding to the acquisition module 801, the estimation module 802 and the calibration module 803 are obtained, etc. When the computer device is running, the processor 91 communicates with the memory 92 through the bus 93. When the machine-readable instructions are executed by the processor 91, the steps of the battery remaining power estimation method in the above embodiment are executed.

[0241] The embodiment of the present application further provides a computer-readable storage medium, on which a computer program is stored. When the computer program is executed by a processor, the steps of the battery remaining power estimation method in the above embodiment are executed.

[0242] Those skilled in the art can clearly understand that, for the convenience and simplicity of description, the specific working process of the system and device described above can refer to the corresponding process in the method embodiment, and will not be repeated in this application. In the several embodiments provided in this application, it should be understood that the disclosed system, device and method can be implemented in other ways. The device embodiments described above are merely schematic. For example, the division of the modules is only a logical function division. There may be other division methods in actual implementation. For example, multiple modules or components can be combined or integrated into another system, or some features can be ignored or not executed. Another point is that the mutual coupling or direct coupling or communication connection shown or discussed can be through some communication interfaces, indirect coupling or communication connection of devices or modules, which can be electrical, mechanical or other forms.

[0243] In addition, each functional unit in each embodiment of the present application can be integrated into a processing unit, or each unit can exist physically separately, or two or more units can be integrated into one unit. If the function is implemented in the form of a software functional unit and sold or used as an independent product, it can be stored in a computer-readable storage medium. Based on this understanding, the technical solution of the present application is essentially or the part that contributes to the prior art or the part of the technical solution can be embodied in the form of a software product, and the computer software product is stored in a storage medium, including several instructions to enable a computer device (which can be a personal computer, a server, or a network device, etc.) to perform all or part of the steps of the method described in each embodiment of the present application. The aforementioned storage medium includes: U disk, mobile hard disk, read-only memory (ROM, Read-Only Memory), random access memory (RAM, RandomAccess Memory), disk or optical disk and other media that can store program code.

[0244] The above are only specific implementation methods of the present application, but the protection scope of the present application is not limited thereto. Any technician familiar with the technical field can easily think of changes or substitutions within the technical scope disclosed in the present application, which should be covered by the protection scope of the present application.

Claims

1. A method for estimating remaining battery power, characterized in that: include: Obtaining a target initial value of the remaining power of a single cell, a rated capacity, and a battery health of the single cell, and determining a charge / discharge state and a balance state of the single cell, wherein the balance state includes a balance-on state or a balance-off state; estimating the single cell remaining power of the single cell battery according to the balance state, the charge and discharge state, the target initial value of the single cell remaining power, the rated capacity and the battery health; The remaining power of the single cell of the single cell is calibrated according to the remaining power of the single cell and the charge and discharge state, and the calibrated remaining power of the single cell of the single cell is determined.

2. The method according to claim 1, characterized in that: The step of obtaining a target initial value of the remaining power of a single cell battery includes: Obtaining an original initial value of the single cell remaining power of the single cell battery, a single cell voltage sampling value, a first preset voltage threshold, a second preset voltage threshold, a third preset voltage threshold, and a mapping table of a preset open circuit voltage and remaining power; Determining whether the original initial value of the remaining power of the cell is valid according to the original initial value of the remaining power of the cell, the cell voltage sampling value, the first preset voltage threshold, the second preset voltage threshold, and the third preset voltage threshold; If yes, the original initial value of the single cell remaining power is used as the target initial value of the single cell remaining power of the single cell battery; If not, the original initial value of the single cell remaining power is calibrated according to the single cell voltage sampling value and the preset open circuit voltage and remaining power mapping table to obtain the target initial value of the single cell remaining power of the single cell battery.

3. The method according to claim 2, characterized in that The determining whether the original initial value of the remaining power of the cell is valid according to the original initial value of the remaining power of the cell, the cell voltage sampling value, the first preset voltage threshold, the second preset voltage threshold, and the third preset voltage threshold includes: If the original initial value of the monomer remaining power is not within the preset interval, and the monomer voltage sampling value is greater than or equal to the first preset voltage threshold, it is determined that the original initial value of the monomer remaining power is invalid, wherein the open circuit remaining power corresponding to the first preset voltage threshold in the preset open circuit voltage and remaining power mapping table is a first value; Alternatively, if the original initial value of the monomer remaining power is within the preset interval, and the monomer voltage sampling value is less than or equal to the second preset voltage threshold, it is determined that the original initial value of the monomer remaining power is invalid, wherein the open circuit remaining power corresponding to the second preset voltage threshold in the preset open circuit voltage and remaining power mapping table is a second value; Alternatively, if the original initial value of the remaining power of the single cell is greater than or equal to a third value, and the single cell voltage sampling value is less than or equal to the third preset voltage threshold, then it is determined that the initial value of the remaining power of the single cell is invalid, wherein the open circuit remaining power corresponding to the third preset voltage threshold in the mapping table of the preset open circuit voltage and the remaining power is a fourth value.

4. The method according to claim 1, characterized in that: The estimating the single cell remaining power of the single cell battery according to the balance state, the charge and discharge state, the target initial value of the single cell remaining power, the rated capacity and the battery health includes: If the single cell battery is in the balancing on state, determining the balancing current and the balancing time, and estimating the single cell remaining power of the single cell battery according to the charge and discharge state, the target initial value of the single cell remaining power, the rated capacity, the battery health, the balancing current and the balancing time; If the single cell battery is in the balance off state, the single cell remaining power of the single cell battery is estimated according to the charge and discharge state, the target initial value of the single cell remaining power, the rated capacity and the battery health.

5. The method according to claim 4, characterized in that The estimating the single cell remaining power of the single cell battery according to the charge and discharge state, the target initial value of the single cell remaining power, the rated capacity, the battery health, the balancing current and the balancing time includes: Determining the actual available capacity of the single battery according to the rated capacity and the battery health; Determine the charge and discharge current and the coulombic efficiency of the single cell according to the charge and discharge state, and integrate the product of the charge and discharge current and the coulombic efficiency of the battery to determine the capacity integral value of the single cell; taking the quotient of the capacity integral value of the single battery and the actual available capacity of the single battery as a first calculation value; Determine a second calculated value of the single cell according to the balancing current, the balancing time and the actual available capacity of the single cell, where the second calculated value is a balancing calculated value; The remaining power of the single cell battery is estimated according to the target initial value of the remaining power of the single cell, the first calculated value, and the second calculated value.

6. The method according to claim 1, characterized in that The step of calibrating the remaining power of the single cell battery according to the remaining power of the single cell battery and the charge and discharge state includes: Determining whether the charge and discharge state of the single battery changes, wherein the charge and discharge state includes a static state, a charging state, or a discharging state; If it is determined that the charge and discharge state of the single cell battery has changed, determining whether the single cell remaining power of the single cell battery is greater than a fifth value or less than a second value; If so, the remaining power of the single cell battery is calibrated to smooth out the burrs, and the remaining power of the single cell battery whose remaining power is greater than the fifth value is calibrated to the fifth value, or the remaining power of the single cell battery whose remaining power is less than the second value is calibrated to the second value.

7. The method according to claim 1, characterized in that The step of calibrating the remaining power of the single cell battery according to the remaining power of the single cell battery and the charge and discharge state includes: If the charge and discharge state of the single cell battery is the charging state, the single cell remaining power of the single cell battery is calibrated according to the single cell voltage sampling value, the preset charging cut-off voltage, the single cell remaining power of the single cell battery and the preset mapping table of open circuit voltage and remaining power; If the charge and discharge state of the single cell battery is a discharge state, the single cell remaining power of the single cell battery is calibrated according to the single cell voltage sampling value, the preset discharge cut-off voltage, the single cell remaining power of the single cell battery, and the preset open circuit voltage and remaining power mapping table; If the charge and discharge state of the single cell battery is a static state, determine whether the single cell voltage sampling value is located in the voltage platform area. If not, calibrate the single cell remaining power of the single cell battery according to the single cell voltage sampling value and the preset open circuit voltage and remaining power mapping table.

8. The method according to claim 7, characterized in that The calibrating the single cell remaining power of the single cell battery according to the single cell voltage sampling value, the preset charging cut-off voltage, the single cell remaining power of the single cell battery and the preset open circuit voltage and remaining power mapping table includes: According to the single cell voltage sampling value and the preset charging cut-off voltage, determining whether the single cell voltage sampling value is greater than or equal to the preset charging cut-off voltage, and if so, calibrating the single cell remaining power of the single cell battery to a fifth value; If not, determining the cell remaining power lookup value corresponding to the cell voltage sampling value according to the cell voltage sampling value and a preset mapping table of open circuit voltage and remaining power, and determining whether the error between the cell remaining power of the cell battery and the cell remaining power lookup value corresponding to the cell voltage sampling value is greater than or equal to a first value; If so, the single cell remaining power of the single cell battery is calibrated to the single cell remaining power table value corresponding to the single cell voltage sampling value.

9. A computer device, characterized in that: include: A processor, a memory and a bus, wherein the memory stores machine-readable instructions executable by the processor, and when the computer device is running, the processor communicates with the memory via the bus, and the processor executes the machine-readable instructions to perform the steps of the battery remaining power estimation method as described in any one of claims 1 to 8.

10. A computer-readable storage medium, characterized in that: The computer-readable storage medium stores a computer program, and when the computer program is executed by a processor, the steps of the battery remaining power estimation method according to any one of claims 1 to 8 are executed.

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