Method for determining remaining power of a battery and vehicle

Abstract

The present invention discloses a method for determining the remaining power of a battery and a vehicle. The battery is located in the vehicle, and the method for determining the remaining power of the battery includes: in each calculation cycle, determining the actual voltage value of the battery; in each determination cycle, obtaining the actual voltage value of the battery, if the actual voltage value is less than the current discharge voltage threshold, the discharge count value is incremented by one; until the discharge count value is greater than the first target cycle number, subtracting a preset power from the previous remaining power of the battery as the current remaining power, and setting the discharge count value to zero; in each determination cycle, obtaining the actual voltage value of the battery, if the actual voltage value is greater than the current charge voltage threshold, the charge count value is incremented by one; until the charge count value is greater than the second target cycle number, adding a preset power to the previous remaining power of the battery as the current remaining power, and setting the charge count value to zero. The technical solution of the present invention improves the accuracy of determining the remaining power of the vehicle battery.

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 also developed rapidly. As the power source of electrification, batteries have been continuously improved. New energy vehicles can include road vehicles and industrial vehicles.

[0003] As an important indicator of the battery, the state of charge (SOC) of the battery needs to be accurately evaluated for any new energy vehicle, so that the driver can have a basic understanding of the current battery state, whether to charge immediately, and how much remaining range there is.

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

[0005] However, with the use of the battery, the total battery power gradually decreases over time, resulting in a lower accuracy in determining the remaining power of the battery. In addition, based on the relationship curve between the open-circuit voltage of the battery and the remaining power, the remaining power of the battery can only be determined when the battery is static, and the remaining power of the battery during actual use cannot be accurately determined. Summary of the Invention

[0006] The present invention provides a method for determining the remaining power of a battery and a vehicle to solve the problem of being unable to accurately determine the remaining power of the battery in real time.

[0007] According to one aspect of the present invention, there is provided a method for determining the remaining power of a battery, where the battery is located in a vehicle, and the method includes:

[0008] Determining the actual voltage value of the battery in each calculation period;

[0009] Obtaining the actual voltage value of the battery in each determination period. If the actual voltage value is less than the current discharge voltage threshold, the discharge count value is incremented by one; until the discharge count value is greater than the first target period number, the previous remaining power of the battery minus the preset power is used as the current remaining power, and the discharge count value is set to zero;

[0010] In each determination period, obtain the actual voltage value of the battery. If the actual voltage value is greater than the current charging voltage threshold, increment the charging count value by one; until the charging count value is greater than the second target cycle number, add a preset amount of electricity to the previous remaining charge of the battery to obtain the current remaining charge, and reset the charging count value to zero.

[0011] Optionally, in each calculation period, determining the actual voltage value of the battery includes:

[0012] In each of the calculation periods, obtain the sampled voltage of the battery, and after filtering the sampled voltage, obtain the actual voltage value of the battery.

[0013] Optionally, before determining the actual voltage value of the battery in each calculation period, the method further includes:

[0014] Determine the unit discharge duration when the battery discharges according to the preset discharge duration of the battery, and determine the first target cycle number according to the ratio of the unit discharge duration to the cycle duration of each determination period; wherein, the preset discharge duration is the discharge duration required for the battery to discharge from the maximum remaining discharge charge to the minimum remaining discharge charge in the discharge state; wherein, the cycle duration of the determination period is the same as the cycle duration of the calculation period;

[0015] Determine the unit charging duration when the battery charges according to the preset charging duration of the battery, and determine the second target cycle number according to the ratio of the unit charging duration to the cycle duration of each determination period; wherein, the preset charging duration is the charging duration required for the battery to charge from the minimum remaining charge to the maximum remaining charge in the charging state.

[0016] Optionally, before determining the actual voltage value of the battery in each calculation period, the method further includes:

[0017] Determine the current discharge voltage threshold according to the current remaining charge of the battery and the discharge curve of the battery;

[0018] Determine the current charging voltage threshold according to the current remaining charge of the battery and the charging curve of the battery;

[0019] Alternatively, use the difference between the voltage value corresponding to the maximum remaining discharge charge of the battery and the product of the current remaining charge 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's charge decreases by 1% during battery discharge;

[0020] Use 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 battery charging.

[0021] Optionally, before determining the current discharge voltage threshold according to the current remaining charge of the battery and the discharge curve of the battery, it further includes:

[0022] Determine the discharge curve according to the voltage value corresponding to the maximum remaining discharge charge of the battery and the maximum remaining discharge charge, and the minimum discharge remaining charge and the voltage value corresponding to the minimum discharge remaining charge;

[0023] Before determining the current charging voltage threshold according to the current remaining charge of the battery and the charging curve of the battery, it further includes:

[0024] Determine the charging curve 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.

[0025] Optionally, before determining the actual voltage value of the battery in each calculation cycle, the method further includes:

[0026] When the vehicle is powered on, obtain the initial voltage value of the battery;

[0027] Determine the first remaining charge of the battery according to the initial voltage value and the reset curve; wherein, the reset curve is the corresponding relationship between the open circuit voltage of the battery and the remaining charge;

[0028] If the absolute value of the difference between the second remaining charge stored when the vehicle loses power and the first remaining charge is greater than a preset difference, then use the first remaining charge as the initial remaining charge of the battery;

[0029] If the absolute value of the difference between the second remaining charge and the first remaining charge is less than or equal to the preset difference, then use the second remaining charge as the initial remaining charge of the battery.

[0030] Optionally, the preset charge is 1% of the total charge of the battery.

[0031] Optionally, the method further includes: storing the current remaining charge of the battery when the vehicle loses power.

[0032] Optionally, the method further includes:

[0033] When the current remaining power of the battery is less than the first power threshold, a first prompt message is sent.

[0034] When the current remaining power of the battery is less than the second power threshold, a second prompt message is sent, and the motor of the vehicle is controlled to stop running, and the battery is controlled to stop discharging.

[0035] According to another aspect of the present invention, a vehicle is provided, which includes a controller and a battery, and the controller is configured to execute the method for determining the remaining power of the battery according to any embodiment of the present invention.

[0036] In the technical solution of the embodiment of the present invention, in each calculation cycle, the actual voltage value of the battery is determined. In each determination cycle, if the actual voltage value is less than the current discharge voltage threshold, the discharge count value is incremented 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 charge voltage threshold, the charge count value is incremented by one; until the charge 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 determined periodically, 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 determined periodically 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 determined periodically 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.

[0037] It should be understood that the content described in this part is not intended to identify the key or important features of the embodiments of the present invention, nor is it used to limit the scope of the present invention. Other features of the present invention will become easily understood through the following description. Description of the Drawings

[0038] In order to more clearly illustrate the technical solutions in the embodiments of the present invention, the drawings required for the description of the embodiments will be briefly introduced below. Obviously, the drawings in the following description are only some embodiments of the present invention. For those of ordinary skill in the art, other drawings can be obtained based on these drawings without creative efforts.

[0039] Figure 1 It is a flowchart of a method for determining the remaining power of a battery provided by an embodiment of the present invention;

[0040] Figure 2 It is a flowchart of another method for determining the remaining power of a battery provided by an embodiment of the present invention;

[0041] Figure 3 It is a flowchart of another method for determining the remaining power of a battery provided by an embodiment of the present invention;

[0042] Figure 4 It is a schematic structural diagram of a vehicle provided by an embodiment of the present invention. Detailed implementation manners

[0043] In order to enable those skilled in the art to better understand the solution of the present invention, the technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings in the embodiments of the present invention. Obviously, the described embodiments are only part of the embodiments of the present invention, rather than all the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those of ordinary skill in the art without creative efforts shall fall within the protection scope of the present invention.

[0044] 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 do not necessarily need to be used to describe a specific order or sequence. It should be understood that such data can be interchanged under appropriate circumstances so that the embodiments of the present invention described herein can be implemented in an order different from those illustrated or described herein. In addition, the terms "comprising" and "having" and any variations thereof are intended to cover non-exclusive inclusion. For example, a process, method, system, product or device including a series of steps or units does not necessarily have to be limited to those steps or units clearly listed, but may include other steps or units not clearly listed or inherent to these processes, methods, products or devices.

[0045] An embodiment of the present invention provides a method for determining the remaining power of a battery. The battery is located in a vehicle and is the power battery of the vehicle. The vehicle can be an electric vehicle, and the electric vehicle can include road vehicles and industrial vehicles. Industrial vehicles can include forklifts and loaders, etc. For example, the battery is a lead-acid battery. The method for determining the remaining power of the battery can be executed by a controller in the vehicle. The controller can be a vehicle controller, that is, the controller that controls the operation of the motor, or a separate controller. This embodiment does not make a limitation.

[0046] Figure 1 It is a flowchart of a method for determining the remaining power of a battery provided by an embodiment of the present invention. Refer to Figure 1 , the method for determining the remaining power of the battery includes:

[0047] S110. In each calculation cycle, determine the actual voltage value of the battery.

[0048] Specifically, after the vehicle is powered on, the actual voltage value of the battery can be determined periodically. For example, the actual voltage value of the battery can be calculated based on the collected battery voltage. Each process of calculating an 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 determined periodically, which is convenient for determining the remaining power of the battery based on the actual voltage value of the battery, thereby improving the accuracy of determining the remaining power of the battery.

[0049] S120. In each determination cycle, obtain the actual voltage value of the battery, and determine whether the actual voltage value is less than the current discharge voltage threshold. If so, execute step S130; if not, execute step S160.

[0050] S130. Increment the discharge count value by one.

[0051] S140. Determine whether the discharge count value is greater than the first target cycle number. If so, execute step S150; if not, return to execute step S120.

[0052] S150. Subtract the preset power from the previous remaining power of the battery to obtain the current remaining power, and set the discharge count value to zero.

[0053] Specifically, in each determination cycle, obtain the actual voltage value of the battery, and compare the actual voltage value of the battery with the current discharge voltage threshold. Due to the existence of the vehicle load, when the battery discharges, 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, compare the actual voltage value of the battery with the current discharge voltage threshold. Each time it is determined that the actual voltage value is less than the current discharge voltage threshold, the discharge count value is incremented 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 times of judging discharge (the number of executions of the determination cycle) reaches the number of times when the power changes by the preset power during battery discharge, that is, the duration of executing the determination cycle reaches the duration when the power changes by the preset power during battery discharge. Then subtract the preset power from the previous remaining power of the battery to obtain the current remaining power, thereby obtaining the current remaining power of the battery corresponding to the current determination cycle, and thus 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 last time.

[0054] When subtracting the preset power from the previous remaining power of the battery to obtain the current remaining power, set the discharge count value to zero, which is convenient for restarting the counting in the next determination cycle.

[0055] It should be noted that if the actual voltage value of the battery is less than the current discharge voltage threshold when comparing for the first time, the discharge count value is incremented by one. If the actual voltage value is greater than or equal to the current discharge voltage threshold when comparing the actual voltage value of the battery with the current discharge voltage threshold at a certain time, the discharge count value remains unchanged. When the actual voltage value is less than the current discharge voltage threshold next time, the discharge count value is incremented by one again.

[0056] It should also be noted that the determination period is executed cyclically. After subtracting the preset power from the previous remaining power of the battery to obtain the current remaining power and setting the discharge count value to zero, it will continue to enter the next determination period until the vehicle loses power and ends. After the discharge count value does not reach the first target period number and it is determined that the current remaining power of the battery is equal to the previous remaining power, it will also continue to enter the next determination period.

[0057] 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. Returning to execute step S120 means entering the next determination period.

[0058] S170. Increment the charge count value by one.

[0059] S180. Determine whether the charge count value is greater than the second target period number. If so, execute step S190; if not, return to execute step S160.

[0060] S190. Add the preset power to the previous remaining power of the battery to obtain the current remaining power and set the charge count value to zero.

[0061] Specifically, in each determination period, obtain the actual voltage value of the battery and compare the actual voltage value of the battery with the current charging voltage threshold. Since there is no load during vehicle charging, when the battery is charging, the voltage of the battery will gradually increase as the power increases. If the actual voltage value of the battery is greater than the current charging voltage threshold, it indicates that the battery is in the charging state. In each determination period, compare the actual voltage value of the battery with the current charging voltage threshold. Each time it is determined that the actual voltage value is greater than the current charging voltage threshold, the charge count value is incremented by one. If the charge count value does not reach the second target period number, it is determined that the current remaining power of the battery is equal to the previous remaining power. Until the charge count value is greater than the second target period number, it indicates that the number of times of judging charging has reached the number of times when the power changes by the preset power during battery charging. Then add the preset power to the previous remaining power of the battery to obtain the current remaining power, so as to obtain the current remaining power of the battery corresponding to the current determination period.

[0062] When adding the previous remaining power of the battery and a preset power as the current remaining power, set the charge count value to zero to facilitate restarting the count in the next determination cycle.

[0063] It should be noted that if the actual voltage value of the battery is greater than the current charging voltage threshold when comparing the actual voltage value of the battery with the current charging voltage threshold for the first time, the charge count value is incremented by one. If the actual voltage value is less than or equal to the current charging voltage threshold when comparing the actual voltage value of the battery with the current charging voltage threshold at a certain time, the charge count value remains unchanged. When the actual voltage value is greater than the current charging voltage threshold next time, the charge count value is incremented by one again.

[0064] By determining the current remaining power of the battery in each determination cycle and the time of the determination cycle being very short, the remaining power of the battery can be determined in real time, improving the accuracy of determining the remaining power of the battery.

[0065] It should also be noted that the determination cycle is executed cyclically. After adding the previous remaining power of the battery and a preset power as the current remaining power and setting the charge count value to zero, it will continue to enter the next determination cycle until the vehicle loses power and ends. After determining that the current remaining power of the battery is equal to the previous remaining power when the charge count value has not reached the second target cycle number, it will also continue to enter the next determination cycle.

[0066] In the technical solution of this embodiment, the actual voltage value of the battery is determined 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 incremented by one; until the discharge count value is greater than the first target cycle number, subtract the preset power from the previous remaining power of the battery as the current remaining power; in each determination cycle, if the actual voltage value is greater than the current charging voltage threshold, the charge count value is incremented by one; until the charge count value is greater than the second target cycle number, add the preset power to the previous remaining power of the battery as the current remaining power. In this way, the actual voltage value of the battery can be determined periodically, and based on the actual voltage value of the battery, it can be determined whether the battery is in a charging state or a discharging state. The current remaining power of the battery can be determined periodically 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 determined periodically 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, improving the accuracy of determining the remaining power of the battery.

[0067] Based on the above technical solution, 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 method for determining the remaining power of a battery includes:

[0068] S210. In each calculation period, obtain the sampled voltage of the battery, and after filtering the sampled voltage, obtain the actual voltage value of the battery.

[0069] Specifically, the sampled voltage of the battery can be sampled once every 1 ms, which is the real-time voltage of the battery. In each calculation period, after obtaining the sampled voltage of the battery, the sampled voltage can be filtered by means of low-pass filtering, and the voltage spikes and peaks caused by external interference can be filtered out, so as to improve the accuracy of the determined actual voltage value, and further improve the accuracy of determining the remaining power of the battery.

[0070] S220. In each determination period, obtain the actual voltage value of the battery, and determine whether the actual voltage value is less than the current discharge voltage threshold. If so, execute step S230; if not, execute step S260.

[0071] S230. Increment the discharge count value by one.

[0072] S240. Determine whether the discharge count value is greater than the first target cycle number. If so, execute step S250; if not, return to execute step S220.

[0073] S250. Subtract the preset power from the previous remaining power of the battery to obtain the current remaining power, and set the discharge count value to zero.

[0074] S260. Determine whether the actual voltage value is greater than the current charging voltage threshold. If so, execute step S270; if not, return to execute step S220.

[0075] S270. Increment the charge count value by one.

[0076] S280. Determine whether the charge count value is greater than the second target cycle number. If so, execute step S290; if not, return to execute step S260.

[0077] S290. Add the preset power to the previous remaining power of the battery to obtain the current remaining power, and set the charge count value to zero.

[0078] Based on the above technical solutions, optionally, before determining the actual voltage value of the battery in each calculation period, the method for determining the remaining power of the battery further includes:

[0079] Step a1. Determine the unit discharge duration when the battery discharges according to the preset discharge duration of the battery, and determine the first target cycle number according to the ratio of the unit discharge duration to the cycle duration of each determination period; wherein, the preset discharge duration is the discharge duration required for the battery to discharge from the maximum discharge remaining power to the minimum discharge remaining power in the discharge state; wherein, the cycle duration of the determination period is the same as the cycle duration of the calculation period.

[0080] Among them, the preset discharge duration can be determined according to experience or according to data provided by the battery manufacturer. The unit discharge duration is the discharge duration corresponding to a 1% change in the battery power during battery discharge. Dividing the preset discharge duration by 100 can obtain the unit discharge duration.

[0081] Specifically, the remaining battery power is expressed as a percentage. The maximum remaining discharge power can be 100%, and the minimum remaining discharge power can be 0%. According to the battery discharge curve and the vehicle usage conditions, or according to the actual application data of the battery, etc., the preset discharge duration of the battery is determined. The ratio of the unit discharge duration of the battery to the cycle duration of each determination cycle is the number of cycles corresponding to a 1% reduction in the remaining battery power, that is, the first target cycle number.

[0082] Exemplarily, for example, the preset discharge duration is , and the unit discharge duration is , then , the first target cycle number is , the cycle duration of the determination cycle is , then the first target cycle number is . For example, the cycle duration of the determination cycle is 10 ms, or it can also be 5 ms or 15 ms, etc. This embodiment does not limit it. Then the cycle duration of the determination cycle is very short, and the current remaining battery power can be determined in real time.

[0083] By setting the cycle duration of the determination cycle to be the same as the cycle duration of the calculation cycle, it can be ensured that after each determination of the current remaining battery power, the latest actual voltage value of the battery can be obtained, that is, the calculation cycle is matched with the determination cycle, improving the accuracy of the determination of the remaining battery power.

[0084] Step a2: Determine the unit charge duration during battery charging according to the preset charge duration of the battery, and determine the second target cycle number according to the ratio of the unit charge duration to the cycle duration of each determination cycle; among them, the preset charge duration is the charge duration required for the battery to charge from the minimum remaining charge power to the maximum remaining charge power in the charging state.

[0085] Among them, the preset charge duration can be determined according to experience or according to data provided by the battery manufacturer. The unit charge duration is the charge duration corresponding to a 1% change in the battery power during battery charging. Dividing the preset charge duration by 100 can obtain the unit charge duration.

[0086] Specifically, the maximum remaining charge can be 100%, and the minimum remaining charge can be 0%. According to the charging curve of the battery and the usage conditions of the vehicle, or according to the actual application data of the battery, etc., the preset charging duration of the battery is determined. The ratio of the unit charging duration of the battery to the cycle duration of each determination cycle is the number of cycles corresponding to a 1% increase in the remaining charge of the battery, which is the second target number of cycles.

[0087] Exemplarily, for example, the preset charging duration is and the unit charging duration is , then and the second target number of cycles is . If the cycle duration of the determination cycle is , then the second target number of cycles is .

[0088] Based on the above technical solutions, the method for determining the current discharge voltage threshold and the current charging voltage threshold will be described below, but it is not a limitation to the present application.

[0089] In one implementation, before determining the actual voltage value of the battery in each calculation cycle, the method for determining the remaining charge of the battery further includes:

[0090] Step b1: Determine the current discharge voltage threshold according to the current remaining charge of the battery and the discharge curve of the battery.

[0091] Specifically, substituting the current remaining charge of the battery into the discharge curve of the battery can determine the current discharge voltage threshold. Before the first execution of the determination cycle, the initial remaining charge of the battery can be used and substituted into the discharge curve of the battery to determine the current discharge voltage threshold. Each time the remaining charge of the battery is updated, the discharge voltage threshold is updated, so that the current remaining charge of the battery can be determined more accurately.

[0092] Step b2: Determine the current charging voltage threshold according to the current remaining charge of the battery and the charging curve of the battery.

[0093] Specifically, substituting the current remaining charge of the battery into the charging curve of the battery can determine the current charging voltage threshold. Before the first execution of the determination cycle, the initial remaining charge of the battery can be used and substituted into the charging curve of the battery to determine the current charging voltage threshold. Each time the remaining charge of the battery is updated, the charging voltage threshold is updated, so that the current remaining charge of the battery can be determined more accurately.

[0094] In another implementation, before determining the actual voltage value of the battery in each calculation cycle, the method for determining the remaining charge of the battery further includes:

[0095] Step c1: Use the difference between the voltage value corresponding to the maximum remaining discharge 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. Here, the unit discharge voltage change value is the voltage change value when the battery's power decreases by 1% during battery discharge.

[0096] Specifically, for example, when the remaining capacity of the battery during discharge has a linear relationship with the battery voltage, and the remaining capacity of the battery changes by 1% during discharge, the change amount of the battery voltage is , that is, the unit discharge voltage change value is , the current remaining capacity of the battery is SOC, the voltage value corresponding to the maximum remaining discharge capacity of the battery is , and the current discharge voltage threshold is , then .

[0097] Step c2: Use the difference between the voltage value corresponding to the maximum remaining charge capacity of the battery and the product of the current remaining capacity of the battery and the unit charge voltage change value as the current charge voltage threshold. Here, the unit charge voltage change value is the voltage change value when the battery's power increases by 1% during battery charging.

[0098] Specifically, for example, when the remaining capacity of the battery during charging has a linear relationship with the battery voltage, and the remaining capacity of the battery changes by 1% during charging, the change amount of the battery voltage is , that is, the unit charge voltage change value is , the current remaining capacity of the battery is SOC, the voltage value corresponding to the maximum remaining charge capacity of the battery is , and the current charge voltage threshold is , then .

[0099] Based on the above technical solution, optionally, before determining the current discharge voltage threshold according to the current remaining capacity of the battery and the discharge curve of the battery, it further includes:

[0100] Determine the discharge curve according to the maximum remaining discharge capacity of the battery and the voltage value corresponding to the maximum remaining discharge capacity, and the minimum remaining discharge capacity and the voltage value corresponding to the minimum remaining discharge capacity.

[0101] Specifically, for example, when the remaining capacity of the battery during discharge has a linear relationship with the battery voltage, then two points can be determined according to the maximum remaining discharge capacity of the battery and the voltage value corresponding to the maximum remaining discharge capacity, and the minimum remaining discharge capacity and the voltage value corresponding to the minimum remaining discharge capacity, and then the discharge curve can be determined.

[0102] For example, the voltage value corresponding to the maximum remaining discharge capacity is , the voltage value corresponding to the minimum remaining discharge capacity is , then the unit discharge voltage change value is .

[0103] Optionally, before determining the charging voltage threshold according to the current remaining capacity of the battery and the charging curve of the battery, it further includes:

[0104] Determine the charging curve according to the maximum remaining charging capacity of the battery and the voltage value corresponding to the maximum remaining charging capacity, and the minimum remaining charging capacity of the battery and the voltage value corresponding to the minimum remaining charging capacity.

[0105] Specifically, for example, if the relationship between the remaining capacity of the battery during charging and the battery voltage is linear, then according to the maximum remaining charging capacity of the battery and the voltage value corresponding to the maximum remaining charging capacity, and the minimum remaining charging capacity of the battery and the voltage value corresponding to the minimum remaining charging capacity, two points can be determined, and then the charging curve can be determined.

[0106] For example, the voltage value corresponding to the maximum remaining charging capacity is , the voltage value corresponding to the minimum remaining charging capacity is , then the unit charging voltage change value is .

[0107] Based on the above technical solutions, optionally, before determining the actual voltage value of the battery in each calculation cycle, the method further includes:

[0108] Step d1: When the vehicle is powered on, obtain the initial voltage value of the battery.

[0109] Specifically, when the vehicle is powered on, the vehicle controller performs a power-on self-check, and the vehicle has not started driving yet. At this time, obtaining the initial voltage value of the battery is the open-circuit voltage of the battery. In this way, it is convenient to determine the initial remaining capacity of the battery according to the initial voltage value of the battery.

[0110] Step d2: Determine the first remaining capacity of the battery according to the initial voltage value and the reset curve; wherein, the reset curve is the corresponding relationship between the open-circuit voltage of the battery and the remaining capacity.

[0111] Specifically, for example, the reset curve is the corresponding relationship between the open-circuit voltage of the battery provided by the battery manufacturer and the remaining capacity. The reset curve is stored in the vehicle controller. Substitute the initial voltage value of the battery into the reset curve to determine the first remaining capacity of the battery.

[0112] Step d3: If the absolute value of the difference between the second remaining capacity stored when the vehicle loses power and the first remaining capacity is greater than a preset difference, then use the first remaining capacity as the initial remaining capacity of the battery.

[0113] Specifically, when the vehicle loses power, it stores 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 a preset difference, it indicates that the difference between the second remaining power and the first remaining power is relatively large, and the vehicle may have been charged or left idle for too long after losing power, 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.

[0114] 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, then the second remaining power is used as the initial remaining power of the battery.

[0115] 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 and has not been left idle for too long after losing power. The second remaining power is the remaining power determined in real time during the vehicle operation, so 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.

[0116] In this way, the correction of the remaining power of the battery when the vehicle is powered on is realized. The initial remaining power of the battery can be accurately determined. Before the first entry into the determination period, the discharge voltage threshold and the charge voltage threshold of the battery can be determined according to the initial remaining power of the battery. And when the current remaining power of the battery is first determined, the initial remaining power can be used as the previous remaining power, plus or minus the preset power, to obtain the current remaining power of the battery.

[0117] 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 reach 1% of the power change during battery discharge. Similarly, the second target cycle number is the number of times the charge is judged to reach 1% of the power change during battery charge. In this way, a more precise determination of the current remaining power of the battery can be achieved, which is beneficial to improving the accuracy of determining the remaining power of the battery.

[0118] 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, when the vehicle is powered on next time, the stored remaining power (the second remaining power) can be obtained, which is convenient for determining the initial remaining power of the battery according to the stored remaining power.

[0119] Based on the above technical solutions, Figure 3 is a flowchart of another method for determining the remaining power of the battery provided by an embodiment of the present invention. Optionally, referring to Figure 3 , the method for determining the remaining power of the battery includes:

[0120] S310. In each calculation cycle, obtain the collected voltage of the battery, and after filtering the collected voltage, obtain the actual voltage value of the battery.

[0121] S320. In each determination cycle, obtain the actual voltage value of the battery, and determine whether the actual voltage value is less than the current discharge voltage threshold. If so, execute step S330; if not, execute step S360.

[0122] S330. Increment the discharge count value by one.

[0123] S340. Determine whether the discharge count value is greater than the first target cycle number. If so, execute step S350; if not, return to execute step S320.

[0124] S350. Subtract the preset power from the previous remaining power of the battery to obtain the current remaining power, and set the discharge count value to zero.

[0125] S360. Determine whether the actual voltage value is greater than the current charging voltage threshold. If so, execute step S270; if not, return to execute step S320.

[0126] S370. Increment the charging count value by one.

[0127] 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.

[0128] S390. Add the preset power to the previous remaining power of the battery to obtain the current remaining power, and set the charging count value to zero.

[0129] S391. Determine whether the current remaining power of the battery is less than the second power threshold. If so, execute step S392; if not, execute step S393.

[0130] S392. Send a second prompt message, control the motor of the vehicle to stop running, and control the battery to stop discharging.

[0131] Specifically, the second power threshold is less than the first power threshold. The second power threshold is relatively 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 small. By sending the second prompt message for audible and visual alarm, the driver can be informed in time. By controlling the motor of the vehicle to stop running and controlling the battery to stop discharging, over-discharge of the battery can be avoided, and damage to the battery can be avoided.

[0132] 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.

[0133] S394. Send out the first prompt message.

[0134] 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 message for acoustic and optical alarm prompt, the driver can be informed in time, so as to charge in time.

[0135] The embodiment of the present invention also provides a vehicle. Figure 4 It is a schematic structural diagram of a vehicle provided by the embodiment of the present invention. Refer to Figure 4 In the figure, the vehicle includes a controller 101 and a battery 102. The controller 101 is used to execute the method for determining the remaining energy of the battery provided by any implementation scheme of the present invention.

[0136] 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 and the motor of the vehicle, and can control the electrical parameters output to the motor, such as 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 incremented 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 charge voltage threshold, the charge count value is incremented by one; until the charge 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 the battery 102 can be determined periodically, 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 102. The current remaining power of the battery 102 can be determined periodically according to the actual voltage value of the battery 102 and the state of the battery. Thus, the current remaining power of the battery 102 can be determined periodically when the battery 102 is running or stationary. The duration of the determination cycle is very short, and the current remaining power of the battery 102 can be determined in real time, which can improve the accuracy of determining the remaining power of the battery 102.

[0137] It should be understood that the various forms of the processes shown above can be reordered, added, or deleted. For example, the steps described in the present invention can be executed in parallel, sequentially, or in a different order, as long as the desired results of the technical solution of the present invention can be achieved. This is not limited herein.

[0138] The above specific embodiments do not constitute a limitation on the protection scope of the present invention. Those skilled in the art should understand that various modifications, combinations, sub-combinations and substitutions can be made according to design requirements and other factors. Any modifications, equivalent substitutions and improvements made within the spirit and principle of the present invention shall be included within 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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