Method for determining remaining capacity of battery and vehicle

Abstract

The invention discloses a method for determining the remaining capacity of a battery and a vehicle. The battery is located in a vehicle, and the method for determining the remaining capacity of the battery comprises the steps that in each calculation period, the actual voltage value of the battery is determined; in each determined period, the actual voltage value of the battery is obtained, and if the actual voltage value is smaller than the current discharging voltage threshold value, one is added to the discharging count value; when the discharge count value is greater than the first target cycle number, subtracting the preset electric quantity from the previous remaining electric quantity of the battery as the current remaining electric quantity, and setting the discharge count value to zero; in each determined period, the actual voltage value of the battery is obtained, and if the actual voltage value is larger than the current charging voltage threshold value, one is added to the charging count value; and when the charging count value is greater than the second target cycle number, adding the preset electric quantity to the previous remaining electric quantity of the battery as the current remaining electric quantity, and setting the charging count value to zero. According to the technical scheme, the accuracy of determining the remaining capacity of the vehicle battery is improved.

Description

Technical Field

[0001] The present invention relates to the technical field of batteries, and in particular to a method for determining the remaining power of a battery and a vehicle. Background Art

[0002] With the rapid rise of new energy, the electrification of vehicles has developed rapidly, and batteries, as the power source of electrification, have also been continuously improved. New energy vehicles can include road vehicles and industrial vehicles.

[0003] The remaining battery capacity (state of charge, SOC) is an important indicator of the battery. Regardless of the type of new energy vehicle, a relatively accurate assessment is required to allow the driver to have a basic understanding of the current battery status, whether it needs to be charged immediately, how much remaining battery life is, etc.

[0004] For vehicles with lead-acid batteries as power batteries, the remaining battery capacity is determined by the vehicle controller. Generally, the battery current is detected in real time. The change of battery capacity can be obtained by integrating the current over time. The real-time remaining battery capacity can be determined based on the total battery capacity and the change of capacity. Alternatively, the remaining battery capacity can be determined when the battery is static based on the open circuit voltage of the battery and the relationship curve between the open circuit voltage and the remaining capacity of the battery.

[0005] However, as the battery is used, the total power of the battery will gradually decrease over time, making the accuracy of the remaining battery power determined low. In addition, the relationship curve between the open circuit voltage and the remaining power of the battery can only determine the remaining power of the battery when it is static, and cannot accurately determine the remaining power of the battery when it is actually in use. Summary of the invention

[0006] The present invention provides a method for determining the remaining power of a battery and a vehicle, so as to solve the problem that the remaining power of the battery cannot be determined accurately in real time.

[0007] According to one aspect of the present invention, a method for determining the remaining power of a battery is provided, wherein the battery is located in a vehicle, and the method comprises: In each calculation cycle, determining the actual voltage value of the battery; In each determination cycle, an actual voltage value of the battery is obtained, and if the actual voltage value is less than a current discharge voltage threshold, a discharge count value is increased by one; until the discharge count value is greater than a first target cycle number, a previous remaining power of the battery minus a preset power is used as the current remaining power, and the discharge count value is set to zero; In each determined cycle, the actual voltage value of the battery is obtained. If the actual voltage value is greater than the current charging voltage threshold, the charging count value is increased by one; until the charging count value is greater than the second target cycle number, the previous remaining power of the battery plus the preset power is used as the current remaining power, and the charging count value is set to zero.

[0008] Optionally, in each calculation cycle, determining the actual voltage value of the battery includes: In each calculation cycle, the collected voltage of the battery is obtained, and the collected voltage is filtered to obtain the actual voltage value of the battery.

[0009] Optionally, before determining the actual voltage value of the battery in each calculation cycle, the method further includes: Determine a unit discharge duration of the battery when discharging according to the preset discharge duration of the battery, and determine the first target number of cycles according to the ratio of the unit discharge duration to the cycle duration of each of the determined cycles; wherein the preset discharge duration is the discharge duration required for the battery to discharge from a maximum discharge remaining capacity to a minimum discharge remaining capacity under a discharge state; wherein the cycle duration of the determined cycle is the same as the cycle duration of the calculated cycle; Determine the unit charging time of the battery according to the preset charging time of the battery, and determine the second target number of cycles according to the ratio of the unit charging time to the cycle time of each determined cycle; wherein the preset charging time is the charging time required for the battery to charge from the minimum remaining charge to the maximum remaining charge when in the charging state.

[0010] Optionally, before determining the actual voltage value of the battery in each calculation cycle, the method further includes: Determining the current discharge voltage threshold according to the current remaining power of the battery and the discharge curve of the battery; Determining the current charging voltage threshold according to the current remaining power of the battery and the charging curve of the battery; Alternatively, the difference between the voltage value corresponding to the maximum discharge remaining capacity of the battery and the product of the current remaining capacity of the battery and the unit discharge voltage change value is used as the current discharge voltage threshold; wherein the unit discharge voltage change value is the voltage change value of the battery when the capacity of the battery decreases by 1% during the discharge of the battery; The difference between the voltage value corresponding to the maximum remaining charge of the battery and the product of the current remaining charge of the battery and the unit charging voltage change value is used as the current charging voltage threshold; wherein the unit charging voltage change value is the voltage change value of the battery when the battery charge increases by 1% when the battery is charging.

[0011] Optionally, before determining the current discharge voltage threshold according to the current remaining power of the battery and the discharge curve of the battery, the method further includes: Determine the discharge curve according to the voltage value corresponding to the maximum discharge remaining capacity of the battery and the maximum discharge remaining capacity, and the voltage value corresponding to the minimum discharge remaining capacity and the minimum discharge remaining capacity; Before determining the charging voltage threshold according to the current remaining power of the battery and the charging curve of the battery, the method further includes: The charging curve is determined according to the maximum charging remaining power of the battery and the voltage value corresponding to the maximum charging remaining power, and the minimum charging remaining power and the voltage value corresponding to the minimum charging remaining power.

[0012] Optionally, before determining the actual voltage value of the battery in each calculation cycle, the method further includes: When the vehicle is powered on, obtaining an initial voltage value of the battery; Determining a first remaining power of the battery according to the initial voltage value and a reset curve; wherein the reset curve is a corresponding relationship between an open circuit voltage and a remaining power of the battery; If the absolute value of the difference between the second remaining power stored when the vehicle loses power and the first remaining power is greater than a preset difference, the first remaining power is used as the initial remaining power of the battery; If the absolute value of the difference between the second remaining power and the first remaining power is less than or equal to the preset difference, the second remaining power is used as the initial remaining power of the battery.

[0013] Optionally, the preset power level is 1% of the total power of the battery.

[0014] Optionally, the method further comprises: storing a current remaining power of the battery when the vehicle loses power.

[0015] Optionally, the method further comprises: When the current remaining power of the battery is less than a first power threshold, issuing a first prompt message; When the current remaining power of the battery is less than a second power threshold, a second prompt message is issued, and the motor of the vehicle is controlled to stop running, and the battery is controlled to stop discharging.

[0016] According to another aspect of the present invention, a vehicle is provided. The vehicle includes a controller and a battery. The controller is used to execute the method for determining the remaining power of the battery described in any embodiment of the present invention.

[0017] The technical solution of the embodiment of the present invention determines the actual voltage value of the battery in each calculation cycle. In each determination cycle, if the actual voltage value is less than the current discharge voltage threshold, the discharge count value is increased by one; until the discharge count value is greater than the first target cycle number, the previous remaining power of the battery minus the preset power is used as the current remaining power; in each determination cycle, if the actual voltage value is greater than the current charging voltage threshold, the charging count value is increased by one; until the charging count value is greater than the second target cycle number, the previous remaining power of the battery plus the preset power is used as the current remaining power. In this way, the actual voltage value of the battery can be periodically determined, and it can be determined whether the battery is in a charging state or a discharging state according to the actual voltage value of the battery. The current remaining power of the battery can be periodically determined according to the actual voltage value of the battery and the state of the battery, so that the current remaining power of the battery can be periodically determined when the battery is running or stationary. The duration of the determination cycle is very short, and the current remaining power of the battery can be determined in real time, which can improve the accuracy of determining the remaining power of the battery.

[0018] It should be understood that the contents described in this section are not intended to identify the key or important features of the embodiments of the present invention, nor are they intended to limit the scope of the present invention. Other features of the present invention will become easily understood through the following description. BRIEF DESCRIPTION OF THE DRAWINGS

[0019] In order to more clearly illustrate the technical solutions in the embodiments of the present invention, the following briefly introduces the drawings required for use in the description of the embodiments. Obviously, the drawings described below are only some embodiments of the present invention. For ordinary technicians in this field, other drawings can be obtained based on these drawings without creative work.

[0020] Figure 1 is a flow chart of a method for determining the remaining power of a battery provided by an embodiment of the present invention; Figure 2 is a flow chart of another method for determining the remaining power of a battery provided by an embodiment of the present invention; Figure 3 is a flow chart of another method for determining the remaining power of a battery provided by an embodiment of the present invention; Figure 4 It is a structural schematic diagram of a vehicle provided by an embodiment of the present invention. DETAILED DESCRIPTION

[0021] In order to enable those skilled in the art to better understand the scheme of the present invention, the technical scheme in the embodiments of the present invention will be clearly and completely described below in conjunction with the drawings in the embodiments of the present invention. Obviously, the described embodiments are only part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without creative work should fall within the scope of protection of the present invention.

[0022] It should be noted that the terms "first", "second", etc. in the specification and claims of the present invention and the above-mentioned drawings are used to distinguish similar objects, and are not necessarily used to describe a specific order or sequence. It should be understood that the data used in this way can be interchanged where appropriate, so that the embodiments of the present invention described herein can be implemented in an order other than those illustrated or described herein. In addition, the terms "including" and "having" and any variations thereof are intended to cover non-exclusive inclusions, for example, a process, method, system, product or device that includes a series of steps or units is not necessarily limited to those steps or units that are clearly listed, but may include other steps or units that are not clearly listed or inherent to these processes, methods, products or devices.

[0023] An embodiment of the present invention provides a method for determining the remaining power of a battery, wherein the battery is located in a vehicle, and the battery is a power battery of the vehicle. The vehicle may be an electric vehicle, and the electric vehicle may include a road vehicle and an industrial vehicle, and the industrial vehicle may include a forklift and a shovel truck, etc. For example, the battery is a lead-acid battery. The method for determining the remaining power of a battery may be executed by a controller in the vehicle, and the controller may be a vehicle controller, that is, a controller that controls the operation of a motor, or a separate controller, which is not limited in this embodiment.

[0024] Figure 1 is a flowchart of a method for determining the remaining power of a battery provided by an embodiment of the present invention, with reference to Figure 1 , the remaining battery power determination method includes: S110 , in each calculation cycle, determining the actual voltage value of the battery.

[0025] Specifically, after the vehicle is powered on, the actual voltage value of the battery can be periodically determined. For example, the actual voltage value of the battery can be calculated based on the collected battery voltage, and each calculation to obtain the actual voltage value of the battery based on the collected battery voltage is a calculation cycle. In this way, the actual voltage value of the battery can be periodically determined, which facilitates the determination of the remaining power of the battery based on the actual voltage value of the battery, thereby improving the accuracy of the determination of the remaining power of the battery.

[0026] S120, in each determination cycle, obtaining the actual voltage value of the battery, and determining whether the actual voltage value is less than the current discharge voltage threshold value, if so, executing step S130; if not, executing step S160; S130, the discharge count value is increased by one.

[0027] S140, determining whether the discharge count value is greater than the first target cycle number, if so, executing step S150; if not, returning to executing step S120.

[0028] S150: Subtract the preset power from the previous remaining power of the battery as the current remaining power, and set the discharge count value to zero.

[0029] Specifically, in each determination cycle, the actual voltage value of the battery is obtained, and the actual voltage value of the battery is compared with the current discharge voltage threshold. Due to the presence of the vehicle load, when the battery is discharged, the voltage of the battery will gradually decrease. If the actual voltage value of the battery is less than the current discharge voltage threshold, it indicates that the battery is in a discharge state. In each determination cycle, the actual voltage value of the battery is compared with the current discharge voltage threshold. Each time the actual voltage value is judged to be less than the current discharge voltage threshold, the discharge count value is increased by one. If the discharge count value does not reach the first target cycle number, it is determined that the current remaining power of the battery is equal to the previous remaining power. Until the discharge count value is greater than the first target cycle number, it indicates that the number of discharges (the number of executions of the determination cycle) has reached the number of times the power changes by the preset power when the battery is discharged, that is, the duration of executing the determination cycle has reached the duration of the preset power change when the battery is discharged, then the previous remaining power of the battery is subtracted from the preset power as the current remaining power, thereby obtaining the current remaining power of the battery corresponding to the current determination cycle, thereby updating the remaining power of the battery. Among them, the previous remaining power can be the remaining power of the battery determined when the remaining power of the battery was updated the last time.

[0030] When the previous remaining power of the battery is subtracted from the preset power as the current remaining power, the discharge count value is reset to zero so that the counting can be restarted in the next determination cycle.

[0031] It should be noted that if the actual voltage value of the battery is less than the current discharge voltage threshold when the actual voltage value is compared with the current discharge voltage threshold for the first time, the discharge count value is increased by one. If the actual voltage value of the battery is greater than or equal to the current discharge voltage threshold when the actual voltage value of the battery is compared with the current discharge voltage threshold at a certain time, the discharge count value remains unchanged. The next time the actual voltage value is less than the current discharge voltage threshold, the discharge count value is increased by one again.

[0032] It should also be noted that the determination cycle is executed cyclically. After the previous remaining power of the battery is subtracted from the preset power as the current remaining power and the discharge count value is set to zero, the next determination cycle will continue until the vehicle loses power. If the discharge count value does not reach the first target number of cycles, after determining that the current remaining power of the battery is equal to the previous remaining power, the next determination cycle will continue.

[0033] S160, determine whether the actual voltage value is greater than the current charging voltage threshold, if so, execute step S170; if not, return to execute step S120. Return to execute step S120, that is, perform the next determination cycle.

[0034] S170, the charging count value is increased by one.

[0035] S180, determining whether the charging count value is greater than the second target cycle number, if so, executing step S190; if not, returning to executing step S160.

[0036] S190, adding the previous remaining power of the battery to the preset power as the current remaining power, and setting the charging count value to zero.

[0037] Specifically, in each determination cycle, the actual voltage value of the battery is obtained, and the actual voltage value of the battery is compared with the current charging voltage threshold. Since there is no load when the vehicle is charging, the voltage of the battery will gradually increase as the power increases when the battery is charging. If the actual voltage value of the battery is greater than the current charging voltage threshold, it indicates that the battery is in a charging state. In each determination cycle, the actual voltage value of the battery is compared with the current charging voltage threshold. Each time the actual voltage value is judged to be greater than the current charging voltage threshold, the charging count value is increased by one. If the charging count value does not reach the second target cycle number, it is determined that the current remaining power of the battery is equal to the previous remaining power. Until the charging count value is greater than the second target cycle number, it indicates that the number of charging times has reached the number of times the power changes by the preset power when the battery is charged, then the previous remaining power of the battery plus the preset power is taken as the current remaining power, thereby obtaining the current remaining power of the battery corresponding to the current determination cycle.

[0038] When the previous remaining power of the battery is added to the preset power as the current remaining power, the charging count value is reset to zero so that the counting can be restarted in the next determination cycle.

[0039] It should be noted that if the actual voltage value of the battery is greater than the current charging voltage threshold when the actual voltage value of the battery is compared with the current charging voltage threshold for the first time, the charging count value will be increased by one. If the actual voltage value of the battery is less than or equal to the current charging voltage threshold when the actual voltage value of the battery is compared with the current charging voltage threshold at a certain time, the charging count value will remain unchanged. The next time the actual voltage value is greater than the current charging voltage threshold, the charging count value will be increased by one again.

[0040] By determining the current remaining power of the battery in each determination cycle, the duration of the determination cycle is very short, and thus the remaining power of the battery can be determined in real time, thereby improving the accuracy of determining the remaining power of the battery.

[0041] It should also be noted that the determination cycle is executed cyclically. After the previous remaining power of the battery is added to the preset power as the current remaining power and the charging count value is set to zero, the next determination cycle will continue until the vehicle loses power. If the charging count value does not reach the second target cycle number, after determining that the current remaining power of the battery is equal to the previous remaining power, the next determination cycle will continue.

[0042] The technical solution of this embodiment is to determine the actual voltage value of the battery in each calculation cycle. In each determination cycle, if the actual voltage value is less than the current discharge voltage threshold, the discharge count value is increased by one; until the discharge count value is greater than the first target cycle number, the previous remaining power of the battery minus the preset power is used as the current remaining power; in each determination cycle, if the actual voltage value is greater than the current charging voltage threshold, the charging count value is increased by one; until the charging count value is greater than the second target cycle number, the previous remaining power of the battery plus the preset power is used as the current remaining power. In this way, the actual voltage value of the battery can be periodically determined, and it can be determined whether the battery is in a charging state or a discharging state based on the actual voltage value of the battery. The current remaining power of the battery can be periodically determined based on the actual voltage value of the battery and the state of the battery, so that the current remaining power of the battery can be periodically determined when the battery is running or stationary. The duration of the determination cycle is very short, and the current remaining power of the battery can be determined in real time, which can improve the accuracy of the determination of the remaining power of the battery.

[0043] Based on the above technical solutions, Figure 2 is a flowchart of another method for determining the remaining power of a battery provided by an embodiment of the present invention. Optionally, refer to Figure 2 , the remaining battery power determination method includes: S210 . In each calculation cycle, the collected voltage of the battery is obtained, and the collected voltage is filtered to obtain an actual voltage value of the battery.

[0044] Specifically, the collected voltage of the battery can be collected every 1ms, that is, the real-time voltage of the battery. In each calculation cycle, after obtaining the collected voltage of the battery, the collected voltage can be filtered by low-pass filtering, which can filter out the voltage glitches and spikes caused by external interference, thereby improving the accuracy of the actual voltage value determined, and further improving the accuracy of the remaining power of the battery.

[0045] S220, in each determination cycle, obtaining the actual voltage value of the battery, and determining whether the actual voltage value is less than the current discharge voltage threshold, if so, executing step S230; if not, executing step S260; S230, the discharge count value is increased by one.

[0046] S240, determining whether the discharge count value is greater than the first target cycle number, if so, executing step S250; if not, returning to executing step S220.

[0047] S250: Subtract the preset power from the previous remaining power of the battery as the current remaining power, and set the discharge count value to zero.

[0048] S260, determining whether the actual voltage value is greater than the current charging voltage threshold, if so, executing step S270; if not, returning to executing step S220; S270: The charging count value is increased by one.

[0049] S280, determining whether the charging count value is greater than the second target cycle number, if so, executing step S290; if not, returning to executing step S260.

[0050] S290: Add the previous remaining power of the battery to the preset power as the current remaining power, and set the charging count value to zero.

[0051] Based on the above technical solutions, optionally, before determining the actual voltage value of the battery in each calculation cycle, the method for determining the remaining power of the battery further includes: Step a1, determining a unit discharge time of the battery according to a preset discharge time of the battery, and determining a first target number of cycles according to a ratio of the unit discharge time to a cycle time of each determined cycle; wherein the preset discharge time is the discharge time required for the battery to discharge from a maximum discharge remaining capacity to a minimum discharge remaining capacity under a discharge state; wherein the cycle time of the determined cycle is the same as the cycle time of the calculated cycle.

[0052] The preset discharge time can be determined based on experience or data provided by the battery manufacturer. The unit discharge time is the discharge time corresponding to a 1% change in battery power during battery discharge. The unit discharge time can be obtained by dividing the preset discharge time by 100.

[0053] Specifically, the remaining power of the battery is expressed in percentage. The maximum remaining power of discharge can be 100%, and the minimum remaining power of discharge can be 0%. According to the discharge curve of the battery and the operating conditions of the vehicle, or according to the actual application data of the battery, the preset discharge time of the battery is determined. The ratio of the preset unit discharge time of the battery to the cycle time of each determined cycle is the number of cycles corresponding to a 1% reduction in the remaining power of the battery, which is the first target number of cycles.

[0054] For example, the preset discharge time is , the unit discharge time is ,but , the first target cycle number is , determine the cycle duration of the cycle as , then the first target cycle number is For example, the cycle duration of the determination cycle is 10 ms, or may be 5 ms or 15 ms, etc., which is not limited in this embodiment. Then the cycle duration of the determination cycle is very short, and the current remaining power of the battery can be determined in real time.

[0055] By setting the cycle length of the determination cycle to be the same as the cycle length of the calculation cycle, the latest actual voltage value of the battery can be obtained each time the current remaining battery power is determined, so that the calculation cycle matches the determination cycle, thereby improving the accuracy of determining the remaining battery power.

[0056] Step a2, determining the unit charging time of the battery according to the preset charging time of the battery, and determining the second target number of cycles according to the ratio of the unit charging time to the cycle time of each determined cycle; wherein the preset charging time is the charging time required for the battery to charge from the minimum remaining charge to the maximum remaining charge when it is in the charging state.

[0057] The preset charging time can be determined based on experience or data provided by the battery manufacturer. The unit charging time is the charging time corresponding to a 1% change in battery charge during charging. The unit charging time can be obtained by dividing the preset charging time by 100.

[0058] Specifically, the maximum remaining charge power can be 100%, and the minimum remaining charge power can be 0%. According to the battery charging curve and the vehicle usage conditions, or according to the actual application data of the battery, the preset charging time of the battery is determined, and the ratio of the unit charging time of the battery to the cycle time of each determined cycle is the number of cycles corresponding to a 1% increase in the remaining charge of the battery, which is the second target cycle number.

[0059] For example, the preset charging time is , the unit charging time is ,but , the second target cycle number is , determine the cycle duration of the cycle as , then the second target cycle number is .

[0060] On the basis of the above technical solutions, the method for determining the current discharge voltage threshold and the current charge voltage threshold is described below, but it is not intended to limit the present application.

[0061] In one embodiment, before determining the actual voltage value of the battery in each calculation cycle, the method for determining the remaining power of the battery further includes: Step b1, determining a current discharge voltage threshold value according to the current remaining power of the battery and the discharge curve of the battery.

[0062] Specifically, the current remaining power of the battery is substituted into the discharge curve of the battery to determine the current discharge voltage threshold. Before the first determination cycle is executed, the initial remaining power of the battery can be substituted into the discharge curve of the battery to determine the current discharge voltage threshold. Each time the remaining power of the battery is updated, the discharge voltage threshold is updated, so that the current remaining power of the battery can be determined more accurately.

[0063] Step b2: determining a current charging voltage threshold value according to the current remaining power of the battery and the charging curve of the battery.

[0064] Specifically, the current remaining power of the battery is substituted into the charging curve of the battery to determine the current charging voltage threshold. Before the first execution of the determination cycle, the initial remaining power of the battery can be substituted into the charging curve of the battery to determine the current charging voltage threshold. Each time the remaining power of the battery is updated, the charging voltage threshold is updated, so that the current remaining power of the battery can be determined more accurately.

[0065] In another embodiment, before determining the actual voltage value of the battery in each calculation cycle, the method for determining the remaining power of the battery further includes: Step c1, taking the difference between the voltage value corresponding to the maximum discharge remaining capacity of the battery and the product of the current remaining capacity of the battery and the unit discharge voltage change value as the current discharge voltage threshold; wherein the unit discharge voltage change value is the voltage change value of the battery when the battery capacity decreases by 1% during battery discharge.

[0066] Specifically, for example, the remaining power of a battery during discharge is linearly related to the battery voltage. When the remaining power of a battery during discharge changes by 1%, the change in the battery voltage is , that is, the unit discharge voltage change is The current remaining capacity of the battery is SOC, and the voltage value corresponding to the maximum remaining capacity of the battery is , the current discharge voltage threshold is ,but .

[0067] Step c2, taking the difference between the voltage value corresponding to the maximum remaining charge of the battery and the product of the current remaining charge of the battery and the unit charging voltage change value as the current charging voltage threshold; wherein the unit charging voltage change value is the voltage change value of the battery when the battery charge increases by 1% during charging.

[0068] Specifically, for example, the remaining power of a battery during charging is linearly related to the battery voltage. When the remaining power of the battery during charging changes by 1%, the change in the battery voltage is , that is, the unit charging voltage change is The current remaining capacity of the battery is SOC, and the voltage value corresponding to the maximum remaining charge of the battery is , the current charging voltage threshold is ,but .

[0069] Based on the above technical solution, optionally, before determining the current discharge voltage threshold according to the current remaining power of the battery and the discharge curve of the battery, the method further includes: The discharge curve is determined according to the maximum discharge remaining capacity of the battery and the voltage value corresponding to the maximum discharge remaining capacity, and the minimum discharge remaining capacity and the voltage value corresponding to the minimum discharge remaining capacity.

[0070] Specifically, for example, if the remaining power of the battery during discharge is linearly related to the battery voltage, two points can be determined based on the maximum discharge remaining power of the battery and the voltage value corresponding to the maximum discharge remaining power, and the minimum discharge remaining power and the voltage value corresponding to the minimum discharge remaining power, and then the discharge curve can be determined.

[0071] For example, the voltage corresponding to the maximum remaining discharge capacity is The voltage corresponding to the minimum remaining discharge capacity is , then the unit discharge voltage change is .

[0072] Optionally, before determining the charging voltage threshold according to the current remaining power of the battery and the charging curve of the battery, the method further includes: The charging curve is determined according to the maximum remaining charge of the battery and the voltage value corresponding to the maximum remaining charge, and the minimum remaining charge and the voltage value corresponding to the minimum remaining charge.

[0073] Specifically, for example, the remaining power of the battery during charging is linearly related to the battery voltage. Based on the maximum remaining power of the battery and the voltage value corresponding to the maximum remaining power, and the minimum remaining power and the voltage value corresponding to the minimum remaining power, two points can be determined, and then the charging curve can be determined.

[0074] For example, the voltage corresponding to the maximum remaining charge is The voltage corresponding to the minimum remaining charge is , then the unit charging voltage change is .

[0075] Based on the above technical solutions, optionally, before determining the actual voltage value of the battery in each calculation cycle, the method further includes: Step d1: When the vehicle is powered on, obtain the initial voltage value of the battery.

[0076] Specifically, when the vehicle is powered on, the vehicle controller performs a power-on self-test, and the vehicle has not yet started to drive. At this time, the initial voltage value of the battery is obtained, that is, the open circuit voltage of the battery. In this way, it is convenient to determine the initial remaining power of the battery according to the initial voltage value of the battery.

[0077] Step d2, determining a first remaining capacity of the battery according to the initial voltage value and the reset curve; wherein the reset curve is a corresponding relationship between the open circuit voltage of the battery and the remaining capacity.

[0078] Specifically, for example, the reset curve is a corresponding relationship between the open circuit voltage and the remaining power of the battery provided by the battery manufacturer. The reset curve is stored in the vehicle controller. The initial voltage value of the battery is substituted into the reset curve to determine the first remaining power of the battery.

[0079] Step d3: If the absolute value of the difference between the second remaining power stored when the vehicle loses power and the first remaining power is greater than a preset difference, the first remaining power is used as the initial remaining power of the battery.

[0080] Specifically, when the vehicle loses power, it will store the remaining power of the battery, which is the second remaining power. If the absolute value of the difference between the second remaining power and the first remaining power is greater than the preset difference, it indicates that the second remaining power is significantly different from the first remaining power, and the vehicle may have been charged or left idle for too long after the power is lost, resulting in a large change in power. At this time, the first remaining power can better reflect the remaining power of the battery, so the first remaining power is used as the initial remaining power of the battery.

[0081] Step d4: if the absolute value of the difference between the second remaining power and the first remaining power is less than or equal to the preset difference, the second remaining power is used as the initial remaining power of the battery.

[0082] Specifically, if the absolute value of the difference between the second remaining power and the first remaining power is less than or equal to the preset difference, it indicates that the vehicle has not been charged after power failure and has not been left for too long. The second remaining power is the remaining power determined in real time when the vehicle is running, and the second remaining power is used as the initial remaining power of the battery, which can more accurately reflect the remaining power of the battery.

[0083] In this way, the remaining power of the battery can be corrected when the vehicle is powered on. The initial remaining power of the battery can be accurately determined, and before entering the determination cycle for the first time, the discharge voltage threshold and the charging voltage threshold of the battery can be determined based on the initial remaining power of the battery. In addition, when determining the current remaining power of the battery for the first time, the initial remaining power can be used as the previous remaining power, and the preset power can be added or subtracted to obtain the current remaining power of the battery.

[0084] Based on the above technical solutions, optionally, the preset power is 1% of the total power of the battery. Then the first target cycle number is the number of times the discharge is judged to have reached the number of times the power of the battery changes by 1% when the battery is discharged. Similarly, the second target cycle number is the number of times the charge is judged to have reached the number of times the power of the battery changes by 1% when the battery is charged. In this way, a more precise determination of the current remaining power of the battery can be achieved, which is conducive to improving the accuracy of determining the remaining power of the battery.

[0085] Optionally, the method for determining the remaining power of the battery further includes: storing the current remaining power of the battery when the vehicle loses power. In this way, the stored remaining power (second remaining power) can be obtained when the vehicle is powered on next time, so as to determine the initial remaining power of the battery based on the stored remaining power.

[0086] On the basis of the above technical solutions, Figure 3 is a flowchart of another method for determining the remaining power of a battery provided by an embodiment of the present invention. Optionally, refer to Figure 3 , the remaining battery power determination method includes: S310 . In each calculation cycle, the collected voltage of the battery is obtained, and the collected voltage is filtered to obtain the actual voltage value of the battery.

[0087] S320, in each determination cycle, obtaining the actual voltage value of the battery, and determining whether the actual voltage value is less than the current discharge voltage threshold value, if so, executing step S330; if not, executing step S360; S330, the discharge count value is increased by one.

[0088] S340, determining whether the discharge count value is greater than the first target cycle number, if so, executing step S350; if not, returning to executing step S320.

[0089] S350: Subtract the preset power from the previous remaining power of the battery as the current remaining power, and set the discharge count value to zero.

[0090] S360, determining whether the actual voltage value is greater than the current charging voltage threshold, if so, executing step S270; if not, returning to executing step S320; S370, the charging count value is increased by one.

[0091] S380, determine whether the charging count value is greater than the second target cycle number, if so, execute step S390; if not, return to execute step S360.

[0092] S390: Add the previous remaining power of the battery to the preset power as the current remaining power, and set the charging count value to zero.

[0093] S391. Determine whether the current remaining power of the battery is less than a second power threshold. If so, execute step S392; if not, execute step S393.

[0094] S392: Send a second prompt message, control the motor of the vehicle to stop running, and control the battery to stop discharging.

[0095] Specifically, the second power threshold is less than the first power threshold. The second power threshold is small. When the current remaining power of the battery is less than the second power threshold, it is determined that the remaining power of the battery is too low. By emitting the second prompt information and performing an audible and visual alarm prompt, the driver can be informed in time. By controlling the vehicle's motor to stop running and controlling the battery to stop discharging, over-discharging of the battery can be avoided and damage to the battery can be avoided.

[0096] S393, determine whether the current remaining power of the battery is less than the first power threshold, if so, execute step S394; if not, return to execute step S391.

[0097] S394. Issue a first prompt message.

[0098] Specifically, if the current remaining power of the battery is less than the first power threshold, it is determined that the remaining power of the battery is small. By emitting the first prompt information and performing an audible and visual alarm prompt, the driver can be informed in time and charge the battery in time.

[0099] An embodiment of the present invention further provides a vehicle, Figure 4 is a schematic diagram of a vehicle structure provided by an embodiment of the present invention, with reference to Figure 4 The vehicle includes a controller 101 and a battery 102, and the controller 101 is used to execute the method for determining the remaining energy of the battery provided in any embodiment of the present invention.

[0100] Specifically, the controller 101 can be a vehicle controller, which can control the operation of the motor, that is, the controller 101 is connected between the battery 102 of the vehicle and the motor, and can control the power parameters output to the motor, such as controlling the voltage, current and power output to the motor. The controller 101 can determine the actual voltage value of the battery 102 in each calculation cycle. In each determination cycle, if the actual voltage value is less than the current discharge voltage threshold, the discharge count value is increased by one; until the discharge count value is greater than the first target cycle number, the previous remaining power of the battery minus the preset power is used as the current remaining power; in each determination cycle, if the actual voltage value is greater than the current charging voltage threshold, the charging count value is increased by one; until the charging count value is greater than the second target cycle number, the previous remaining power of the battery 102 plus the preset power is used as the current remaining power. In this way, the actual voltage value of battery 102 can be periodically determined, and based on the actual voltage value of battery 102, it can be determined whether the battery is in a charging state or a discharging state. The current remaining power of battery 102 can be periodically determined based on the actual voltage value of battery 102 and the state of the battery. Thus, the current remaining power of battery 102 can be periodically determined when battery 102 is running or at rest. The duration of the determination cycle is very short, and the current remaining power of battery 102 can be determined in real time, which can improve the accuracy of determining the remaining power of battery 102.

[0101] It should be understood that the various forms of processes shown above can be used to reorder, add or delete steps. For example, the steps described in the present invention can be executed in parallel, sequentially or in different orders, as long as the desired results of the technical solution of the present invention can be achieved, and this document does not limit this.

[0102] The above specific implementations do not constitute a limitation on the protection scope of the present invention. It should be understood by those skilled in the art that various modifications, combinations, sub-combinations and substitutions can be made according to design requirements and other factors. Any modification, equivalent substitution and improvement made within the spirit and principle of the present invention should be included in the protection scope of the present invention.

Claims

1. A method for determining the remaining power of a battery, characterized in that: The battery is located in a vehicle, and the method comprises: In each calculation cycle, determining the actual voltage value of the battery; In each determination cycle, an actual voltage value of the battery is obtained, and if the actual voltage value is less than a current discharge voltage threshold, a discharge count value is increased by one; until the discharge count value is greater than a first target cycle number, a previous remaining power of the battery minus a preset power is used as the current remaining power, and the discharge count value is set to zero; In each determined cycle, the actual voltage value of the battery is obtained. If the actual voltage value is greater than the current charging voltage threshold, the charging count value is increased by one; until the charging count value is greater than the second target cycle number, the previous remaining power of the battery plus the preset power is used as the current remaining power, and the charging count value is set to zero.

2. The method according to claim 1, characterized in that In each calculation cycle, the actual voltage value of the battery is determined, including: In each calculation cycle, the collected voltage of the battery is obtained, and the collected voltage is filtered to obtain the actual voltage value of the battery.

3. The method according to claim 1, characterized in that: In each calculation cycle, before determining the actual voltage value of the battery, the method further includes: Determine a unit discharge duration of the battery when discharging according to the preset discharge duration of the battery, and determine the first target number of cycles according to the ratio of the unit discharge duration to the cycle duration of each of the determined cycles; wherein the preset discharge duration is the discharge duration required for the battery to discharge from a maximum discharge remaining capacity to a minimum discharge remaining capacity under a discharge state; wherein the cycle duration of the determined cycle is the same as the cycle duration of the calculated cycle; Determine the unit charging time of the battery according to the preset charging time of the battery, and determine the second target number of cycles according to the ratio of the unit charging time to the cycle time of each determined cycle; wherein the preset charging time is the charging time required for the battery to charge from the minimum remaining charge to the maximum remaining charge when in the charging state.

4. The method according to claim 1, characterized in that: In each calculation cycle, before determining the actual voltage value of the battery, the method further includes: Determining the current discharge voltage threshold according to the current remaining power of the battery and the discharge curve of the battery; Determining the current charging voltage threshold according to the current remaining power of the battery and the charging curve of the battery; Alternatively, the difference between the voltage value corresponding to the maximum discharge remaining capacity of the battery and the product of the current remaining capacity of the battery and the unit discharge voltage change value is used as the current discharge voltage threshold; wherein the unit discharge voltage change value is the voltage change value of the battery when the capacity of the battery decreases by 1% during the discharge of the battery; The difference between the voltage value corresponding to the maximum remaining charge of the battery and the product of the current remaining charge of the battery and the unit charging voltage change value is used as the current charging voltage threshold; wherein the unit charging voltage change value is the voltage change value of the battery when the battery charge increases by 1% when the battery is charging.

5. The method according to claim 4, characterized in that Before determining the current discharge voltage threshold according to the current remaining power of the battery and the discharge curve of the battery, the method further includes: Determine the discharge curve according to the voltage value corresponding to the maximum discharge remaining capacity of the battery and the maximum discharge remaining capacity, and the voltage value corresponding to the minimum discharge remaining capacity and the minimum discharge remaining capacity; Before determining the charging voltage threshold according to the current remaining power of the battery and the charging curve of the battery, the method further includes: The charging curve is determined according to the maximum charging remaining power of the battery and the voltage value corresponding to the maximum charging remaining power, and the minimum charging remaining power and the voltage value corresponding to the minimum charging remaining power.

6. The method according to any one of claims 1 to 5, characterized in that: In each calculation cycle, before determining the actual voltage value of the battery, the method further includes: When the vehicle is powered on, obtaining an initial voltage value of the battery; Determining a first remaining power of the battery according to the initial voltage value and a reset curve; wherein the reset curve is a corresponding relationship between an open circuit voltage and a remaining power of the battery; If the absolute value of the difference between the second remaining power stored when the vehicle loses power and the first remaining power is greater than a preset difference, the first remaining power is used as the initial remaining power of the battery; If the absolute value of the difference between the second remaining power and the first remaining power is less than or equal to the preset difference, the second remaining power is used as the initial remaining power of the battery.

7. The method according to any one of claims 1 to 5, characterized in that: The preset power is 1% of the total power of the battery.

8. The method according to any one of claims 1 to 5, characterized in that: The method further includes storing a current remaining power of the battery when the vehicle loses power.

9. The method according to any one of claims 1 to 5, characterized in that: The method further comprises: When the current remaining power of the battery is less than a first power threshold, issuing a first prompt message; When the current remaining power of the battery is less than a second power threshold, a second prompt message is issued, and the motor of the vehicle is controlled to stop running, and the battery is controlled to stop discharging.

10. A vehicle, characterized in that: The invention comprises a controller and a battery, wherein the controller is used to execute the method for determining the remaining power of a battery according to any one of claims 1 to 9.

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