Calculation method of state of charge of power battery, vehicle controller and vehicle

Abstract

The invention relates to the technical field of vehicles, in particular to a power battery charge state calculation method, a vehicle controller and a vehicle. The method comprises the following steps: acquiring actual current, actual voltage and net accumulated discharge ampere-hour output by a power battery at each moment; for each moment, determining a filtering voltage based on the actual current and the actual voltage; for each moment, determining a smooth voltage based on the filtering voltage of the adjacent moment; based on a pre-configured discharge threshold value, a net accumulated discharge ampere hour and the smooth voltage, determining a current voltage difference variable quantity at the current moment; determining a target correction value based on a pre-configured change threshold and the current differential pressure variation; and modifying the power battery charge state of the power battery to the target correction value.

Description

Technical Field

[0001] The present disclosure relates to the technical field of vehicles, and particularly to a method for calculating the state of charge of a power battery, a vehicle controller, and a vehicle. Background Art

[0002] Currently, lithium iron phosphate batteries are widely used in electric vehicles and energy storage fields due to their good thermal stability, safety, long cycle life, and low cost. Among them, the remaining battery power of lithium iron phosphate batteries is usually reflected by the state of charge (SOC) of the power battery.

[0003] However, there are two relatively obvious plateau periods in the open circuit voltage (OCV)-SOC curve of the material characteristics of lithium iron phosphate batteries, resulting in a difference between the actually calculated SOC and the actual remaining battery power of lithium iron phosphate batteries, leading to a poor user experience.

[0004] Therefore, how to improve the calculation accuracy of the SOC of lithium iron phosphate batteries has become an urgent problem to be solved. Summary of the Invention

[0005] To solve the above technical problems, the present disclosure provides a method for calculating the state of charge of a power battery, a vehicle controller, and a vehicle.

[0006] In a first aspect, the present application provides a method for calculating the state of charge of a power battery, including: obtaining the actual current, actual voltage, and net cumulative discharge ampere-hours output by the power battery at each moment; for each moment, determining a filtered voltage based on the actual current and actual voltage; for each moment, determining a smoothed voltage based on the filtered voltages of adjacent moments; determining a current differential pressure change amount at the current moment based on a pre-configured discharge threshold, net cumulative discharge ampere-hours, and smoothed voltage; determining a target correction value based on a pre-configured change threshold and the current differential pressure change amount; and modifying the state of charge of the power battery to the target correction value.

[0007] In some feasible examples, for each moment, determining a filtered voltage based on the actual current and actual voltage includes: for each moment, filtering the actual voltage based on the actual current to obtain the filtered voltage.

[0008] In some implementable examples, for each moment, based on the actual current, filter the actual voltage to obtain a filtered voltage, including: for each moment, when the actual current is greater than or equal to the first current value and less than or equal to the second current value, determine the filtered voltage as the actual voltage; for each moment, when the actual current is less than the first current value or greater than the second current value, determine the filtered voltage as the filtered voltage of the previous moment.

[0009] In some implementable examples, for each moment, based on the filtered voltages of adjacent moments, determine a smoothed voltage, including: for each moment, based on the filtered voltage of the previous moment and the filtered voltage of the current moment, perform smoothing processing on the filtered voltage of the current moment to obtain a smoothed voltage.

[0010] In some implementable examples, for each moment, based on the filtered voltage of the previous moment and the filtered voltage of the current moment, perform smoothing processing on the filtered voltage of the current moment to obtain a smoothed voltage, including: for each moment, based on the filtered voltage of the previous moment and the filtered voltage of the current moment, determine a voltage difference; based on a pre-configured filtering coefficient, the filtered voltage of the current moment, and the voltage difference, determine the smoothed voltage.

[0011] In some implementable examples, based on a pre-configured discharge threshold, the net cumulative discharge ampere-hours, and the smoothed voltage, determine the current pressure difference change amount, including: when the net cumulative discharge ampere-hours is greater than or equal to the pre-configured discharge threshold, use the smoothed voltage as the current pressure value; based on the historical pressure value and the current pressure value, determine the current pressure difference change amount; where the historical pressure value is any one of the pressure values other than the current pressure value in the current cycle.

[0012] In some implementable examples, based on a pre-configured change threshold and the current pressure difference change amount, determine a target correction value, including: based on the pre-configured change threshold and the current pressure difference change amount, determine a correction moment; based on the correction moment, determine the target correction value.

[0013] In some implementable examples, based on a pre-configured change threshold and the current pressure difference change amount, determine the correction moment, including: when the current pressure difference change amount is less than the pre-configured change threshold, obtain the historical current values of each moment whose difference from the moment corresponding to the current pressure difference change amount is less than or equal to a preset difference; when the historical maximum current value is less than or equal to the first threshold, the average value of the historical current values is less than or equal to the second threshold, the smoothed voltage at the moment corresponding to the current pressure difference change amount is greater than or equal to the first voltage, and the smoothed voltage at the moment corresponding to the current pressure difference change amount is less than or equal to the second voltage, use the current moment as the correction moment.

[0014] In some feasible examples, determining a target correction value based on a correction moment includes: when the current moment is the correction moment, determining a target state of charge through the states of charge of the power batteries of all historical vehicles at the correction moment; and using the target state of charge as the target correction value.

[0015] In some feasible examples, the target state of charge is equal to the average value of the states of charge of the power batteries of all historical vehicles at the correction moment.

[0016] In a second aspect, the present application provides a vehicle controller, including: an acquisition module, configured to acquire the actual current, actual voltage, and net cumulative discharge ampere-hours output by the power battery at each moment; a processing module, configured to, for each moment, determine a filtered voltage based on the actual current acquired by the acquisition module and the actual voltage acquired by the acquisition module; the processing module is further configured to, for each moment, determine a smoothed voltage based on the filtered voltages of adjacent moments; the processing module is further configured to determine a current differential pressure change amount at the current moment based on a pre-configured discharge threshold, the net cumulative discharge ampere-hours, and the smoothed voltage; the processing module is further configured to determine a target correction value based on a pre-configured change threshold and the current differential pressure change amount; and the processing module is further configured to modify the state of charge of the power battery of the vehicle to the target correction value.

[0017] In a third aspect, the present application provides a vehicle, and the vehicle includes the vehicle controller as described above.

[0018] In a fourth aspect, the present application provides a computer-readable storage medium, in which computer-executable instructions are stored, and when the computer-executable instructions are executed by a processor, they are used to implement the method as described above.

[0019] In a fifth aspect, the present application provides a computer program product, including: when the computer program product runs on a computer, it enables the computer to execute to implement the method as described above.

[0020] The technical solution provided by the present disclosure has the following advantages compared with the prior art:

[0021] The method for calculating the state of charge of a power battery provided by the present disclosure obtains the actual current, actual voltage, and net cumulative discharge ampere-hours output by the power battery at each moment. Thus, for each moment, based on the actual current and actual voltage, the filtered voltage can be determined; for each moment, based on the filtered voltages at adjacent moments, the smoothed voltage can be determined; based on the pre-configured discharge threshold, net cumulative discharge ampere-hours, and smoothed voltage, the current differential pressure change amount can be determined; based on the pre-configured change threshold and the current differential pressure change amount, the target correction value can be determined; in this way, the state of charge of the power battery can be detected in real time. For example, based on the pre-configured change threshold and the current differential pressure change amount, the correction moment can be determined; at this time, it indicates that the state of charge of the power battery needs to be modified. Then, based on the correction moment, the target correction value can be determined; the state of charge of the power battery is modified to the target correction value. In this way, it can be ensured that the state of charge of the power battery can be corrected in real time, thus solving the problem of how to improve the calculation accuracy of the state of charge (SOC) of lithium iron phosphate batteries. BRIEF DESCRIPTION OF THE DRAWINGS

[0022] The accompanying drawings herein are incorporated into the specification and form a part of this specification, showing embodiments consistent with the present disclosure and, together with the specification, are used to explain the principles of the present disclosure.

[0023] To more clearly illustrate the technical solutions in the embodiments of the present disclosure or the prior art, the following will briefly introduce the drawings required for use in the description of the embodiments or the prior art. Obviously, for those of ordinary skill in the art, without creative efforts, other drawings can also be obtained based on these drawings.

[0024] Figure 1 FIG. 1 schematically shows one of the flowcharts of a method for calculating the state of charge of a power battery provided in Embodiment 1 of the present disclosure;

[0025] Figure 2 FIG. 2 schematically shows one of the diagrams of the state of charge of a power battery provided in Embodiment 1 of the present disclosure;

[0026] Figure 3 FIG. 3 schematically shows another diagram of the state of charge of a power battery provided in Embodiment 1 of the present disclosure;

[0027] Figure 4 FIG. 4 schematically shows yet another diagram of the state of charge of a power battery provided in Embodiment 1 of the present disclosure;

[0028] Figure 5 FIG. 5 schematically shows still another diagram of the state of charge of a power battery provided in Embodiment 1 of the present disclosure;

[0029] Figure 6Exemplarily shown is the second schematic flowchart of a method for calculating the state of charge of a power battery provided in the first embodiment of the present disclosure;

[0030] Figure 7 Exemplarily shown is the third schematic flowchart of a method for calculating the state of charge of a power battery provided in the first embodiment of the present disclosure;

[0031] Figure 8 Exemplarily shown is the fourth schematic flowchart of a method for calculating the state of charge of a power battery provided in the first embodiment of the present disclosure;

[0032] Figure 9 Exemplarily shown is the fifth schematic flowchart of a method for calculating the state of charge of a power battery provided in the first embodiment of the present disclosure;

[0033] Figure 10 Exemplarily shown is the sixth schematic flowchart of a method for calculating the state of charge of a power battery provided in the first embodiment of the present disclosure;

[0034] Figure 11 Exemplarily shown is the seventh schematic flowchart of a method for calculating the state of charge of a power battery provided in the first embodiment of the present disclosure;

[0035] Figure 12 Exemplarily shown is the eighth schematic flowchart of a method for calculating the state of charge of a power battery provided in the first embodiment of the present disclosure;

[0036] Figure 13 Exemplarily shown is the ninth schematic flowchart of a method for calculating the state of charge of a power battery provided in the first embodiment of the present disclosure;

[0037] Figure 14 Exemplarily shown is the first schematic structural diagram of a vehicle controller provided in the second embodiment of the present disclosure;

[0038] Figure 15 Exemplarily shown is the second schematic structural diagram of a vehicle controller provided in the second embodiment of the present disclosure. Detailed implementation manners

[0039] In order to be able to more clearly understand the above-mentioned objects, features, and advantages of the present disclosure, the solutions of the present disclosure will be further described below. It should be noted that, without conflict, the embodiments of the present disclosure and the features in the embodiments can be combined with each other.

[0040] Many specific details are set forth in the following description in order to fully understand the present disclosure, but the present disclosure can also be implemented in other ways different from those described herein; obviously, the embodiments in the specification are only a part of the embodiments of the present disclosure, rather than all of the embodiments.

[0041] It should be noted that in this article, relational terms such as "first" and "second" are only used to distinguish one entity or operation from another entity or operation, and do not necessarily require or imply any actual relationship or order between these entities or operations. Moreover, the terms "include", "comprise" or any other variant thereof are intended to cover non-exclusive inclusion, such that a process, method, article or device comprising a series of elements not only includes those elements, but also includes other elements not expressly listed, or also includes elements inherent to such process, method, article or device. Without further limitation, an element defined by the statement "comprising a..." does not exclude the presence of additional identical elements in the process, method, article or device comprising said element.

[0042] Example 1

[0043] Figure 1 A schematic flowchart of a method for calculating the state of charge of a power battery is exemplarily shown. The execution subject of this example can be a vehicle controller, such as Figure 1 As shown, the method includes:

[0044] S11. Obtain the actual current, actual voltage, and net cumulative discharge ampere-hours output by the power battery at each moment.

[0045] In some examples, after the vehicle starts, the power battery works. At this time, by counting the total amount of effective power actually released, the net cumulative discharge ampere-hours (Cumulative Net Discharge Capacity) can be obtained. At the same time, by detecting the output current of the power battery, the actual current can be obtained; by detecting the output voltage of the power battery, the actual voltage can be obtained.

[0046] In some examples, the net cumulative discharge ampere-hours can be calculated based on a cumulative formula; where the cumulative formula includes:

[0047] Among them, AccuAh_Dischg represents the net cumulative discharge ampere-hours, t1 is the starting time point, indicating that the discharge amount of the power battery starts to be calculated from this moment; t2 is the ending time point, indicating that up to this moment, the discharge amount of the power battery during this period is included in the calculation; Current represents the current (which can be the current value of the power battery at a certain moment, with the unit of ampere (A)); dt represents the time increment.

[0048] In some examples, dt is equal to t2 - t1.

[0049] S12. For each moment, determine the filtered voltage based on the actual current and actual voltage.

[0050] In some examples, the actual current and actual voltage can be input into a filtering model for filtering to obtain a filtered voltage.

[0051] Among them, the training process of the filtering model includes:

[0052] Obtain first training sample data and a first labeling result of the first training sample data; the first training sample data includes at least one set of historical acquisition data, the first labeling result includes the filtered voltage corresponding to each set of historical acquisition data, and each set of historical acquisition data includes the historical current and historical voltage of the power battery.

[0053] Input the first training sample data into a first neural network model for learning to obtain a first prediction result of the first neural network model for the first training sample data.

[0054] Based on the first prediction result and the first labeling result, adjust the network parameters of the first neural network model until the first neural network model converges to obtain a filtering model.

[0055] In some examples, different filtering methods can be set for different current intervals, and then based on the current interval to which the actual current belongs, the filtering method is determined; and the actual voltage is filtered according to this filtering method to obtain the filtered voltage. For example: based on the actual voltage V of the cell terminal of the power battery in the current interval Rawi is filtered to obtain the filtered voltage V at the current moment CurFilteri ; where i is the sampling serial number of the actual voltage. For example, if the sampling interval is 0.1 s, then at 0 s, i = 1, at 0.1 s, i, and so on; V CurFilteri The specific calculation method is as follows:

[0056] When the vehicle enters the driving state, V is filtered according to a certain current interval Rawi For example, if the current interval is [-50 A, 20 A], then when the actual current is within the range of -50 A to 20 A, at this time, it is determined that V_CurFilter i is the actual cell terminal voltage V_Raw i ; if the actual current is not within the range of -50 A to 20 A, then V_CurFilter i is the V_CurFilter of the previous moment i-1 .

[0057] Exemplarily, the effects of the actual voltage before filtering and the filtered voltage are as Figure 2 shown. Among them, Figure 2 the abscissa is time and the ordinate is the voltage value. For example: the voltage before filtering is the actual voltage, and the voltage after filtering is the filtered voltage.

[0058] Exemplarily, the target area of the filtered voltage is magnified and a filtered voltage graph as shown in Figure 3 is displayed. Among them, Figure 3 the abscissa in

[0059] is time and the ordinate is the filtered voltage.

[0060] In some examples, the filtered voltages at adjacent times can be input into a smoothing model for smoothing to obtain a smoothed voltage. Among them, the training process of the smoothing model includes:

[0061] Obtain second training sample data and second labeling results of the second training sample data. Among them, the second training sample data includes at least one set of training voltages, the second labeling results include the smoothed voltages of each set of training voltages, and each set of training voltages includes the filtered voltages at adjacent times.

[0062] Input the second training sample data into a second neural network model for learning to obtain a second prediction result of the second neural network model for the second training sample data.

[0063] Based on the second prediction result and the second labeling result, adjust the network parameters of the second neural network model until the second neural network model converges to obtain a smoothing model.

[0064] In some examples, for each moment, based on the filtered voltage at the previous moment and the filtered voltage at the current moment, smooth the filtered voltage at the current moment to obtain the smoothed voltage at the current moment. For example: based on the filtered voltage at the previous moment and the filtered voltage at the current moment, determine the voltage difference; based on a pre-configured filtering coefficient, the filtered voltage at the current moment, and the voltage difference, determine the smoothed voltage. Among them,

[0065] ΔV = V CurFilteri - V CurFilteri-1 ;

[0066] V_LowFilteri = V CurFilteri-1 + factor × ΔV;

[0067] Among them, ΔV represents the voltage difference, V CurFilteri represents the smoothed voltage at the i-th moment, V CurFilteri-1 represents the smoothed voltage at the (i - 1)-th moment, factor is the filtering coefficient, and V_LowFfilteri represents the smoothed voltage at the i-th moment.

[0068] In some examples, determine the filtering coefficient based on the sampling interval. For example: factor = 100 × T, T represents the sampling interval. When the sampling interval is 0.1 s, factor = 0.0001.

[0069] S14. Determine the current differential pressure change amount at the current moment based on a pre-configured discharge threshold, net cumulative discharge ampere-hours, and smoothed voltage.

[0070] In some examples, the pre-configured discharge threshold, net cumulative discharge ampere-hours, and smoothed voltage can be input into a differential pressure model for calculation to obtain the current differential pressure change amount. Among them, the training process of the differential pressure model includes:

[0071] Obtain third training sample data and the third labeled result of the third training sample data. The third training sample data includes at least one set of historical calculation data, the third labeled result includes the current differential pressure change amount of each set of historical calculation data, and each set of historical calculation data includes a pre-configured discharge threshold, net cumulative discharge ampere-hours, and smoothed voltage.

[0072] Input the third training sample data into a third neural network model for learning to obtain the third prediction result of the third neural network model for the third training sample data.

[0073] Based on the third prediction result and the third labeled result, adjust the network parameters of the third neural network model until the third neural network model converges to obtain the differential pressure model.

[0074] In some examples, when the net cumulative discharge ampere-hours is greater than or equal to the pre-configured discharge threshold, use the smoothed voltage as the current pressure value. Based on the historical pressure value and the current pressure value, determine the current differential pressure change amount. Among them, the historical pressure value is any one of the pressure values other than the current pressure value in the current cycle. For example, when the power battery is working, start calculating and recording the current differential pressure change amount VoltAh k , and the calculation method is as follows:

[0075] When AccuAh_Dischg is greater than or equal to the pre-configured discharge threshold Delta_Ah each time, record the current V_LowFilteri as the current pressure value V k , where K is the recording serial number; at the same time, clear AccuAh_Dischg at this time and calculate again.

[0076] In some examples, Delta_Ah can be selected as the power value converted by N system-on-chip (SoC); among them, N can be 0.1% - 1%.

[0077] Exemplarily, when N is equal to 0.25, if the battery capacity is 200Ah, Delta_Ah = 200 * 0.25% = 0.5Ah.

[0078] After that, by recording the current V_LowFilter each time AccuAh_Dischg is greater than or equal to a pre-configured discharge threshold Delta_Ah i , generate V k ={V1, V2, V 3… V k}. Calculate the current pressure difference change VoltAh k =V k -V k-m .

[0079] In some examples, the size of the electricity sliding window is freely selected. For example, when the size m of the electricity sliding window is equal to For example: when N is equal to 0.25, at this time m is equal to 4.

[0080] Exemplarily, by recording the current V_LowFilter each time AccuAh_Dischg is greater than or equal to a pre-configured discharge threshold Delta_Ah i , generate V k ={V1, V2, V3…V k}. Calculate the current pressure difference change VoltAh k As Figure 4 shown. Among them, Figure 4 the abscissa in is time, and the ordinate is the pressure difference change.

[0081] S15. Determine the target correction value based on a pre-configured change threshold and the current pressure difference change.

[0082] In some examples, based on a pre-configured change threshold and the current pressure difference change, determine the correction moment; based on the correction moment, determine the target correction value. For example: when the current pressure difference change is less than the pre-configured change threshold, obtain the historical current values at each moment whose difference from the moment corresponding to the current pressure difference change is less than or equal to a preset difference; when the historical maximum current value is less than or equal to the first threshold, and the average value of the historical current values is less than or equal to the second threshold, and the smoothed voltage at the moment corresponding to the current pressure difference change is greater than or equal to the first voltage, and the smoothed voltage at the moment corresponding to the current pressure difference change is less than or equal to the second voltage, use the current moment as the correction moment.

[0083] In some examples, if VoltAh k is less than the pre-configured change threshold DeltaVThd, then the current moment is the target SOC correction point (i.e., the correction moment), and at this time, the state of charge SOC of the power battery is modified to the target correction value SOC goal .

[0084] In some examples, DeltaVThd can be determined based on the voltage limiting condition and current limiting condition of the power battery. The voltage limiting condition includes one or more of the limited charge voltage (LCV), the discharge cut-off voltage (DCV), and the rated voltage range, and the current limiting condition includes one or more of the maximum charge and discharge current, the maximum charge and discharge current, and the circuit current carrying capacity.

[0085] For example, when the voltage limit conditions include any one of LCV, DCV, and rated voltage range, and the current limit conditions include any one of maximum charge and discharge current, maximum charge and discharge current, and circuit current carrying capacity, DeltaVThd is equal to the ratio of the charge limit voltage to the current limit conditions; For example, when the voltage limit conditions include LCV and the current limit conditions include maximum charge and discharge current, if LCV is -7mV and the maximum charge and discharge current is 100Ah, DeltaVThd is equal to -0.07.

[0086] Alternatively, when the voltage limitation conditions include: multiple items of LCV, DCV, and rated voltage range, and the current limitation conditions include: multiple items of maximum charge and discharge current, maximum charge and discharge current, and circuit current carrying capacity, DeltaVThd is equal to the ratio of the maximum value in the voltage limitation conditions to the maximum value in the current limitation conditions, or DeltaVThd is equal to the ratio of the average value in the voltage limitation conditions to the average value in the current limitation conditions.

[0087] Alternatively, when the voltage limiting condition includes one of LCV, DCV, and rated voltage range, and the current limiting condition includes multiple of maximum charge and discharge current, maximum charge and discharge current, and circuit current carrying capacity, DeltaVThd is equal to the ratio of the maximum value of the voltage limiting condition to the current limiting condition.

[0088] Alternatively, when the voltage limiting condition includes multiple items of LCV, DCV, and rated voltage range, and the current limiting condition includes one item of maximum charge and discharge current, maximum charge and discharge current, and circuit current carrying capacity, DeltaVThd is equal to the ratio of the maximum value of the voltage limiting condition to the current limiting condition.

[0089] In some examples, the first voltage is a 55% SOC converted charge value, and the second voltage is a 65% SOC converted charge value.

[0090] In some examples, when one or more of the historical maximum current value, the average value of the historical current values, and the smoothed voltage at the corresponding moment of the current differential pressure change do not meet the target conditions, it is determined that the current moment is not the target SOC correction point, and the state of charge of the power battery is not modified to prevent miscomputation caused by a sudden voltage drop due to an excessive discharge current. Among them, the target conditions include that the historical maximum current value is less than or equal to the first threshold, the average value of the historical current values is less than or equal to the second threshold, the smoothed voltage at the corresponding moment of the current differential pressure change is greater than or equal to the first voltage, and the smoothed voltage at the corresponding moment of the current differential pressure change is less than or equal to the second voltage.

[0091] In some examples, SOC goal is determined based on the state of charge of the power battery of all historical vehicles at the correction moment. For example, the target state of charge is determined based on the average value of the state of charge of the power battery of all historical vehicles at the correction moment; the target state of charge is used as the target correction value.

[0092] Exemplarily, the SOC can be calculated based on the big data of actual vehicles in the cloud. goal For example, in the case where the current moment is the correction moment, a request for obtaining the SOC is sent to the cloud. goal After receiving the request for obtaining information, the cloud filters all the full-charge moments of the vehicles, and uses these full-charge moments as the 100% SOC reference points; by calculating the target SOC correction points of each vehicle and the state of charge of the power battery corresponding to the target SOC correction points, and performing statistics based on the state of charge of the power battery of all historical vehicles at the correction moment, a distribution map as Figure 5 shown is generated. Among them, Figure 5 the abscissa represents the state of charge of the power battery, and the ordinate represents the proportion of vehicles included in each state of charge of the power battery (this proportion is equal to the ratio of the total number of vehicles included in the state of charge of the power battery to the total number of all historical vehicles). In this way, the target state of charge can be determined based on the state of charge of the power battery of all historical vehicles at the correction moment.

[0093] S16. Modify the state of charge of the power battery to the target correction value.

[0094] As described above, the method for calculating the state of charge of a power battery provided by the embodiments of the present disclosure obtains the actual current, actual voltage, and net cumulative discharge ampere-hours output by the power battery at each moment. Thus, for each moment, based on the actual current and actual voltage, the filtered voltage can be determined; for each moment, based on the filtered voltages of adjacent moments, the smoothed voltage can be determined; based on the pre-configured discharge threshold, net cumulative discharge ampere-hours, and smoothed voltage, the current pressure difference change amount can be determined; based on the pre-configured change threshold and the current pressure difference change amount, the target correction value can be determined; in this way, the state of charge of the power battery can be detected in real time. For example, based on the pre-configured change threshold and the current pressure difference change amount, the correction moment can be determined; at this time, it indicates that the state of charge of the power battery needs to be modified. Then, based on the correction moment, the target correction value can be determined; and the state of charge of the power battery is modified to the target correction value. In this way, it can be ensured that the state of charge of the power battery can be corrected in real time, thus solving the problem of how to improve the calculation accuracy of the state of charge (SOC) of lithium iron phosphate batteries.

[0095] In some feasible examples, in combination with Figure 1 , such as Figure 6 shown, the above S12 can be specifically implemented through the following S120.

[0096] S120: For each moment, filter the actual voltage based on the actual current to obtain the filtered voltage.

[0097] As described above, the method for calculating the state of charge of a power battery provided by the embodiments of the present disclosure obtains the actual current, actual voltage, and net cumulative discharge ampere-hours output by the power battery at each moment. Thus, for each moment, based on the actual current, the actual voltage can be filtered to obtain the filtered voltage; for each moment, based on the filtered voltages of adjacent moments, the smoothed voltage can be determined; based on the pre-configured discharge threshold, net cumulative discharge ampere-hours, and smoothed voltage, the current pressure difference change amount can be determined; based on the pre-configured change threshold and the current pressure difference change amount, the target correction value can be determined; in this way, the state of charge of the power battery can be detected in real time. For example, based on the pre-configured change threshold and the current pressure difference change amount, the correction moment can be determined; at this time, it indicates that the state of charge of the power battery needs to be modified. Then, based on the correction moment, the target correction value can be determined; and the state of charge of the power battery is modified to the target correction value. In this way, it can be ensured that the state of charge of the power battery can be corrected in real time, thus solving the problem of how to improve the calculation accuracy of the state of charge (SOC) of lithium iron phosphate batteries.

[0098] In some feasible examples, in combination with Figure 6 , such as Figure 7 shown, the above S120 can be specifically implemented through the following S1200 and S1201.

[0099] S1200. For each moment, when the actual current is greater than or equal to the first current value and less than or equal to the second current value, determine the filtered voltage as the actual voltage.

[0100] S1201. For each moment, when the actual current is less than the first current value or greater than the second current value, determine the filtered voltage as the filtered voltage of the previous moment.

[0101] As can be seen from the above, the method for calculating the state of charge of the power battery provided by the embodiments of the present disclosure obtains the actual current, actual voltage, and net cumulative discharge ampere-hours output by the power battery at each moment. Thus, for each moment, when the actual current is greater than or equal to the first current value and less than or equal to the second current value, the filtered voltage is determined as the actual voltage. For each moment, when the actual current is less than the first current value or greater than the second current value, the filtered voltage is determined as the filtered voltage of the previous moment; for each moment, based on the filtered voltages of adjacent moments, the smoothed voltage is determined; based on the pre-configured discharge threshold, net cumulative discharge ampere-hours, and smoothed voltage, the current differential pressure change amount is determined; based on the pre-configured change threshold and the current differential pressure change amount, the target correction value is determined; in this way, the state of charge of the power battery can be detected in real time. For example, based on the pre-configured change threshold and the current differential pressure change amount, the correction moment is determined; at this time, it indicates that the state of charge of the power battery needs to be modified. Then, based on the correction moment, the target correction value is determined; the state of charge of the power battery is modified to the target correction value. In this way, it can be ensured that the state of charge of the power battery can be corrected in real time, thus solving the problem of how to improve the calculation accuracy of the SOC of the lithium iron phosphate battery.

[0102] In some feasible examples, in combination with Figure 1 , as Figure 8 shown, the above S13 can be specifically implemented by the following S130.

[0103] S130. For each moment, based on the filtered voltage of the previous moment and the filtered voltage of the current moment, smooth the filtered voltage of the current moment to obtain the smoothed voltage.

[0104] As can be seen from the above, the method for calculating the state of charge of the power battery provided by the embodiments of the present disclosure obtains the actual current, actual voltage, and net cumulative discharge ampere-hour output by the power battery at each moment. Thus, for each moment, based on the actual current and actual voltage, the filtered voltage can be determined; for each moment, based on the filtered voltage at the previous moment and the filtered voltage at the current moment, the filtered voltage at the current moment is smoothed to obtain the smoothed voltage; based on the pre-configured discharge threshold, net cumulative discharge ampere-hour, and smoothed voltage, the current differential pressure change amount is determined; based on the pre-configured change threshold and the current differential pressure change amount, the target correction value is determined; in this way, the state of charge of the power battery can be detected in real time. For example, based on the pre-configured change threshold and the current differential pressure change amount, the correction moment is determined; at this time, it indicates that the state of charge of the power battery needs to be modified. Then, based on the correction moment, the target correction value is determined; the state of charge of the power battery is modified to the target correction value. In this way, it can be ensured that the state of charge of the power battery can be corrected in real time, thus solving the problem of how to improve the calculation accuracy of the SOC of the lithium iron phosphate battery.

[0105] In some feasible examples, in combination with Figure 8 , such as Figure 9 shown, the above S130 can be specifically implemented by the following S1300 and S1301.

[0106] S1300. For each moment, based on the filtered voltage at the previous moment and the filtered voltage at the current moment, determine the voltage difference;

[0107] S1301. Based on the pre-configured filtering coefficient, the filtered voltage at the current moment, and the voltage difference, determine the smoothed voltage.

[0108] As can be seen from the above, the method for calculating the state of charge of a power battery provided by the embodiments of the present disclosure obtains the actual current, actual voltage, and net cumulative discharge ampere-hours output by the power battery at each moment. Thus, for each moment, based on the actual current and actual voltage, the filtered voltage can be determined; for each moment, based on the filtered voltage at the previous moment and the filtered voltage at the current moment, the voltage difference can be determined; based on the pre-configured filtering coefficient, the filtered voltage at the current moment, and the voltage difference, the smoothed voltage can be determined; based on the pre-configured discharge threshold, the net cumulative discharge ampere-hours, and the smoothed voltage, the current pressure difference change amount can be determined; based on the pre-configured change threshold and the current pressure difference change amount, the target correction value can be determined; in this way, the state of charge of the power battery can be detected in real time, for example: based on the pre-configured change threshold and the current pressure difference change amount, the correction moment can be determined; at this time, it indicates that the state of charge of the power battery needs to be modified. Then, based on the correction moment, the target correction value can be determined; the state of charge of the power battery is modified to the target correction value. In this way, it can be ensured that the state of charge of the power battery can be corrected in real time, thus solving the problem of how to improve the calculation accuracy of the state of charge (SOC) of lithium iron phosphate batteries.

[0109] In some feasible examples, in combination with Figure 1 , such as Figure 10 shown, the above S14 can be specifically implemented through the following S140 and S141.

[0110] S140. When the net cumulative discharge ampere-hours is greater than or equal to the pre-configured discharge threshold, the smoothed voltage is used as the current pressure value.

[0111] S141. Based on the historical pressure value and the current pressure value, the current pressure difference change amount is determined. Among them, the historical pressure value is any one of the pressure values other than the current pressure value in the current cycle.

[0112] As described above, the method for calculating the state of charge of a power battery provided by the embodiments of the present disclosure obtains the actual current, actual voltage, and net cumulative discharge ampere-hours output by the power battery at each moment. Thus, for each moment, based on the actual current and actual voltage, a filtered voltage can be determined; for each moment, based on the filtered voltages at adjacent moments, a smoothed voltage can be determined; when the net cumulative discharge ampere-hours is greater than or equal to a pre-configured discharge threshold, the smoothed voltage is used as the current voltage value. Based on the historical voltage value and the current voltage value, a current voltage difference change amount is determined; based on a pre-configured change threshold and the current voltage difference change amount, a target correction value is determined; in this way, the state of charge of the power battery can be detected in real time. For example, based on a pre-configured change threshold and the current voltage difference change amount, a correction moment is determined; at this time, it indicates that the state of charge of the power battery needs to be modified. Then, based on the correction moment, a target correction value is determined; the state of charge of the power battery is modified to the target correction value. In this way, it can be ensured that the state of charge of the power battery can be corrected in real time, thus solving the problem of how to improve the calculation accuracy of the state of charge (SOC) of lithium iron phosphate batteries.

[0113] In some feasible examples, in combination with Figure 1 , such as Figure 11 shown, the above S15 can be specifically implemented through the following S150 and S151.

[0114] S150. Determine a correction moment based on a pre-configured change threshold and the current voltage difference change amount.

[0115] S151. Determine a target correction value based on the correction moment.

[0116] As described above, the method for calculating the state of charge of a power battery provided by the embodiments of the present disclosure obtains the actual current, actual voltage, and net cumulative discharge ampere-hours output by the power battery at each moment. Thus, for each moment, based on the actual current and actual voltage, a filtered voltage can be determined; for each moment, based on the filtered voltages at adjacent moments, a smoothed voltage can be determined; based on a pre-configured discharge threshold, the net cumulative discharge ampere-hours, and the smoothed voltage, a current voltage difference change amount is determined; based on a pre-configured change threshold and the current voltage difference change amount, a target correction value is determined; in this way, the state of charge of the power battery can be detected in real time. For example, based on a pre-configured change threshold and the current voltage difference change amount, a correction moment is determined; at this time, it indicates that the state of charge of the power battery needs to be modified. Then, based on a pre-configured change threshold and the current voltage difference change amount, a correction moment is determined; based on the correction moment, a target correction value is determined. In this way, it can be ensured that the state of charge of the power battery can be corrected in real time, thus solving the problem of how to improve the calculation accuracy of the state of charge (SOC) of lithium iron phosphate batteries.

[0117] In some feasible examples, in combination with Figure 11 as Figure 12 shown, the above S150 can be specifically implemented by the following S1500 and S1501.

[0118] S1500. When the current pressure difference change amount is less than a pre-configured change threshold, obtain the historical current values at each moment whose difference from the moment corresponding to the current pressure difference change amount is less than or equal to a preset difference;

[0119] S1501. When the historical maximum current value is less than or equal to a first threshold, the average value of the historical current values is less than or equal to a second threshold, the smoothed voltage at the moment corresponding to the current pressure difference change amount is greater than or equal to a first voltage, and the smoothed voltage at the moment corresponding to the current pressure difference change amount is less than or equal to a second voltage, take the current moment as the correction moment.

[0120] As can be seen from the above, the method for calculating the state of charge of the power battery provided by the embodiments of the present disclosure obtains the actual current, actual voltage, and net cumulative discharge ampere-hours output by the power battery at each moment. Thus, for each moment, based on the actual current and actual voltage, the filtered voltage can be determined; for each moment, based on the filtered voltages at adjacent moments, the smoothed voltage can be determined; based on the pre-configured discharge threshold, net cumulative discharge ampere-hours, and smoothed voltage, the current pressure difference change amount can be determined; based on the pre-configured change threshold and the current pressure difference change amount, the target correction value can be determined; in this way, the state of charge of the power battery can be detected in real time. For example: based on the pre-configured change threshold and the current pressure difference change amount, the correction moment can be determined; at this time, it indicates that the state of charge of the power battery needs to be modified. Then, when the current pressure difference change amount is less than the pre-configured change threshold, obtain the historical current values at each moment whose difference from the moment corresponding to the current pressure difference change amount is less than or equal to the preset difference; when the historical maximum current value is less than or equal to the first threshold, the average value of the historical current values is less than or equal to the second threshold, the smoothed voltage at the moment corresponding to the current pressure difference change amount is greater than or equal to the first voltage, and the smoothed voltage at the moment corresponding to the current pressure difference change amount is less than or equal to the second voltage, take the moment corresponding to the current pressure difference change amount as the correction moment; based on the correction moment, the target correction value can be determined. In this way, it can be ensured that the state of charge of the power battery can be corrected in real time, thus solving the problem of how to improve the calculation accuracy of the SOC of the lithium iron phosphate battery.

[0121] In some feasible examples, in combination with Figure 11 as Figure 13 shown, the above S151 can be specifically implemented by the following S1510 and S1511.

[0122] S1510. When the current moment is the correction moment, determine the target state of charge based on the state of charge of the power battery of all historical vehicles at the correction moment;

[0123] S1511. Use the target state of charge as the target correction value.

[0124] As can be seen from the above, the calculation method for the state of charge of the power battery provided by the embodiments of the present disclosure obtains the actual current, actual voltage, and net cumulative discharge ampere-hours output by the power battery at each moment. Thus, for each moment, based on the actual current and actual voltage, the filtered voltage can be determined; for each moment, based on the filtered voltages of adjacent moments, the smoothed voltage can be determined; based on the pre-configured discharge threshold, net cumulative discharge ampere-hours, and smoothed voltage, the current pressure difference change amount can be determined; when the current moment is the correction moment, determine the target state of charge based on the state of charge of the power battery of all historical vehicles at the correction moment; use the target state of charge as the target correction value; in this way, the state of charge of the power battery can be detected in real time. For example, based on the pre-configured change threshold and the current pressure difference change amount, determine the correction moment; at this time, it indicates that the state of charge of the power battery needs to be modified. Then, when the current pressure difference change amount is less than the pre-configured change threshold, obtain the historical current values of each moment whose difference from the moment corresponding to the current pressure difference change amount is less than or equal to the preset difference; when the historical maximum current value is less than or equal to the first threshold, and the average value of the historical current values is less than or equal to the second threshold, and the smoothed voltage at the moment corresponding to the current pressure difference change amount is greater than or equal to the first voltage, and the smoothed voltage at the moment corresponding to the current pressure difference change amount is less than or equal to the second voltage, use the moment corresponding to the current pressure difference change amount as the correction moment; based on the correction moment, determine the target correction value. In this way, it can be ensured that the state of charge of the power battery can be corrected in real time, thus solving the problem of how to improve the calculation accuracy of the SOC of lithium iron phosphate batteries.

[0125] In some feasible examples, the target state of charge is equal to the average value of the state of charge of the power battery of all historical vehicles at the correction moment.

[0126] In some examples, the target state of charge is equal to the state of charge of the power battery corresponding to the maximum number of vehicles included in all historical vehicles at the correction moment.

[0127] Embodiment 2

[0128] Figure 14 Exemplarily shows the structural schematic diagram of the vehicle controller provided by Embodiment 2 of the present application, as Figure 14 shown, the vehicle controller includes: an acquisition module 81 and a processing module 82.

[0129] An acquisition module 81 for acquiring the actual current, actual voltage, and net cumulative discharge ampere-hours output by the power battery at each moment;

[0130] A processing module 82 for determining a filtered voltage for each moment based on the actual current acquired by the acquisition module 81 and the actual voltage acquired by the acquisition module 81;

[0131] The processing module 82 is further configured to determine a smoothed voltage for each moment based on the filtered voltages of adjacent moments;

[0132] The processing module 82 is further configured to determine the current differential change amount at the current moment based on a pre-configured discharge threshold, net cumulative discharge ampere-hours, and smoothed voltage;

[0133] The processing module 82 is further configured to determine a target correction value based on a pre-configured change threshold and the current differential change amount;

[0134] The processing module 82 is further configured to modify the state of charge of the power battery to the target correction value.

[0135] In some implementable examples, the processing module 82 is specifically configured to filter the actual voltage acquired by the acquisition module 81 based on the actual current acquired by the acquisition module 81 for each moment to obtain a filtered voltage;

[0136] In some implementable examples, the processing module 82 is specifically configured to determine that the filtered voltage is the actual voltage for each moment when the actual current acquired by the acquisition module 81 is greater than or equal to a first current value and less than or equal to a second current value; the processing module 82 is specifically configured to determine that the filtered voltage is the filtered voltage of the previous moment for each moment when the actual current is less than the first current value or greater than the second current value.

[0137] In some implementable examples, the processing module 82 is specifically configured to smooth the filtered voltage at the current moment based on the filtered voltage of the previous moment and the filtered voltage of the current moment for each moment to obtain a smoothed voltage.

[0138] In some implementable examples, the processing module 82 is specifically configured to determine a voltage difference for each moment based on the filtered voltage of the previous moment and the filtered voltage of the current moment; the processing module 82 is specifically configured to determine a smoothed voltage based on a pre-configured filtering coefficient, the filtered voltage at the current moment, and the voltage difference.

[0139] In some implementable examples, the processing module 82 is specifically configured to use the smoothed voltage as the current voltage value when the net cumulative discharge ampere-hour is greater than or equal to a pre-configured discharge threshold; the processing module 82 is specifically configured to determine the current pressure difference change amount based on the historical voltage value and the current voltage value; wherein, the historical voltage value is any one of the voltage values other than the current voltage value in the current cycle.

[0140] In some implementable examples, the processing module 82 is specifically configured to determine the correction time based on a pre-configured change threshold and the current pressure difference change amount; the processing module 82 is specifically configured to determine the target correction value based on the correction time.

[0141] In some implementable examples, when the current pressure difference change amount is less than a pre-configured change threshold, the processing module 82 is configured to obtain the historical current values at each moment whose difference from the moment corresponding to the current pressure difference change amount is less than or equal to a preset difference; the processing module 82 is configured to use the current moment as the correction time when the historical maximum current value is less than or equal to a first threshold, the average value of the historical current values is less than or equal to a second threshold, the smoothed voltage at the moment corresponding to the current pressure difference change amount is greater than or equal to a first voltage, and the smoothed voltage at the moment corresponding to the current pressure difference change amount is less than or equal to a second voltage.

[0142] In some implementable examples, when the current moment is the correction time, the processing module 82 is specifically configured to determine the target state of charge through the state of charge of the power batteries of all historical vehicles at the correction time; the processing module 82 is specifically configured to use the target state of charge as the target correction value.

[0143] In some implementable examples, the target state of charge is equal to the average value of the state of charge of the power batteries of all historical vehicles at the correction time.

[0144] All relevant contents of each step involved in the above method embodiments can be cited in the function descriptions of the corresponding functional modules, and their functions will not be elaborated here.

[0145] Of course, the vehicle controller provided by the embodiments of the present invention includes but is not limited to the above modules. For example, the vehicle controller may further include a storage module 83. The storage module 83 can be used to store the program code of the vehicle controller and can also be used to store the data generated during the operation of the vehicle controller, such as diagnostic data, etc.

[0146] Figure 15 The structural schematic diagram of a vehicle controller provided by the embodiments of the present invention is shown as Figure 15 shown, and the vehicle controller may include: at least one processor 51, a memory 52, a communication interface 53, and a communication bus 54.

[0147] Next, in combination withFigure 15 Specifically introduce each component of the vehicle controller:

[0148] Among them, the processor 51 is the control center of the vehicle controller, which can be a single processor or a collective term for multiple processing elements. For example, the processor 51 is a central processing unit (CPU), or it can be an application specific integrated circuit (ASIC), or one or more integrated circuits configured to implement the embodiments of the present invention. For example: one or more DSPs, or one or more field programmable gate arrays (FPGAs).

[0149] In a specific implementation, as an embodiment, the processor 51 may include one or more CPUs, such as Figure 15 the CPU0 and CPU1 shown in. And, as an embodiment, the vehicle controller may include multiple processors, such as Figure 15 the processor 51 and the processor 55 shown in. Each of these processors can be a single-core processor (Single-CPU) or a multi-core processor (Multi-CPU). Here, the processor can refer to one or more devices, circuits, and / or processing cores for processing data (such as computer program instructions).

[0150] The memory 52 can be a read-only memory (ROM) or other types of static storage devices that can store static information and instructions, a random access memory (RAM) or other types of dynamic storage devices that can store information and instructions, or it can also be an electrically erasable programmable read-only memory (EEPROM), a compact disc read-only memory (CD-ROM) or other optical disc storage, optical disc storage (including compressed optical discs, laser discs, optical discs, digital versatile discs, Blu-ray discs, etc.), magnetic disk storage media or other magnetic storage devices, or any other medium that can be used to carry or store the desired program code in the form of instructions or data structures and can be accessed by a computer, but not limited to this. The memory 52 can exist independently and be connected to the processor 51 through the communication bus 54. The memory 52 can also be integrated with the processor 51.

[0151] In a specific implementation, the memory 52 is used to store the data in the present invention and execute the software program of the present invention. The processor 51 can execute various functions of the air conditioner by running or executing the software program stored in the memory 52 and calling the data stored in the memory 52.

[0152] The communication interface 53 uses any device such as a transceiver to communicate with other devices or communication networks, such as a Radio Access Network (RAN), a Wireless Local Area Networks (WLAN), a terminal, a cloud, etc. The communication interface 53 may include an acquisition module to implement the acquisition function.

[0153] The communication bus 54 may be an Industry Standard Architecture (ISA) bus, a Peripheral Component Interconnect (PCI) bus, an Extended Industry Standard Architecture (EISA) bus, etc. This bus can be divided into an address bus, a data bus, a control bus, etc. For the sake of representation, Figure 15 only a thick line is used to represent it in the figure, but it does not mean that there is only one bus or one type of bus.

[0154] As an example, in combination with Figure 14 , the function implemented by the acquisition module 81 of the vehicle controller is the same as the function of the communication interface 53 in Figure 15 , the function implemented by the processing module 82 in the vehicle controller is the same as the function of the processor 51 in Figure 15 , and the function implemented by the storage module 83 in the vehicle controller is the same as the function of the memory 52 in Figure 15 .

[0155] The embodiment of the present application further provides a vehicle, which may include the vehicle controller in any embodiment.

[0156] The embodiment of the present application further provides a computer-readable storage medium, in which computer-executable instructions are stored, and when the computer-executable instructions are executed by a processor, they are used to implement the method in any embodiment.

[0157] The above are only specific embodiments of the present disclosure, enabling those skilled in the art to understand or implement the present disclosure. Various modifications to these embodiments will be obvious to those skilled in the art, and the general principles defined herein can be implemented in other embodiments without departing from the spirit or scope of the present disclosure. Therefore, the present disclosure will not be limited to these embodiments described herein, but rather will be accorded the widest scope consistent with the principles and novel features disclosed herein.

Claims

1. A method for calculating the state of charge of a power battery, characterized in that, Including: Obtaining the actual current, actual voltage, and net cumulative discharge ampere-hours output by the power battery at each moment; For each moment, determining a filtered voltage based on the actual current and the actual voltage; For each moment, determining a smoothed voltage based on the filtered voltages of adjacent moments; Determining a current differential pressure change amount at the current moment based on a pre-configured discharge threshold, the net cumulative discharge ampere-hours, and the smoothed voltage; Determining a target correction value based on a pre-configured change threshold and the current differential pressure change amount; Modifying the state of charge of the power battery to the target correction value.

2. The calculation method of the state of charge of the power battery according to claim 1, wherein, The step of, for each moment, determining a filtered voltage based on the actual current and the actual voltage includes: For each moment, filtering the actual voltage based on the actual current to obtain a filtered voltage.

3. The method for calculating the state of charge of a power battery according to claim 2, wherein, The step of, for each moment, filtering the actual voltage based on the actual current to obtain a filtered voltage includes: For each moment, when the actual current is greater than or equal to a first current value and less than or equal to a second current value, determining the filtered voltage as the actual voltage; For each moment, when the actual current is less than the first current value or greater than the second current value, determining the filtered voltage as the filtered voltage of the previous moment.

4. The method for calculating the state of charge of a power battery according to claim 1, wherein The step of, for each moment, determining a smoothed voltage based on the filtered voltages of adjacent moments includes: For each moment, smoothing the filtered voltage at the current moment based on the filtered voltage of the previous moment and the filtered voltage of the current moment to obtain a smoothed voltage.

5. The method for calculating the state of charge of a power battery according to claim 4, wherein, The step of, for each moment, smoothing the filtered voltage at the current moment based on the filtered voltage of the previous moment and the filtered voltage of the current moment to obtain a smoothed voltage includes: For each moment, determining a voltage difference based on the filtered voltage of the previous moment and the filtered voltage of the current moment; Determining a smoothed voltage based on a pre-configured filtering coefficient, the filtered voltage at the current moment, and the voltage difference.

6. The method for calculating the state of charge of a power battery according to claim 1, wherein The step of determining a current differential pressure change amount based on a pre-configured discharge threshold, the net cumulative discharge ampere-hours, and the smoothed voltage includes: When the net cumulative discharge ampere-hours is greater than or equal to a pre-configured discharge threshold, using the smoothed voltage as the current pressure value; Determining a current differential pressure change amount based on a historical pressure value and the current pressure value; wherein the historical pressure value is any one of the pressure values other than the current pressure value in the current cycle.

7. The method for calculating the state of charge of a power battery according to claim 1, characterized in that, The step of determining a target correction value based on a pre-configured change threshold and the current differential pressure change amount includes: Determining a correction moment based on a pre-configured change threshold and the current differential pressure change amount; Determining a target correction value based on the correction moment.

8. The method for calculating the state of charge of a power battery according to claim 7, characterized in that, The step of determining a correction moment based on a pre-configured change threshold and the current differential pressure change amount includes: When the current differential pressure change amount is less than a pre-configured change threshold, obtaining historical current values at each moment whose difference from the moment corresponding to the current differential pressure change amount is less than or equal to a preset difference; When the maximum of the historical current values is less than or equal to the first threshold, and the average value of the historical current values is less than or equal to the second threshold, and the smoothed voltage at the moment corresponding to the current differential pressure change amount is greater than or equal to the first voltage, and the smoothed voltage at the moment corresponding to the current differential pressure change amount is less than or equal to the second voltage, the current moment is taken as the correction moment.

9. The method for calculating the state of charge of a power battery according to claim 7, wherein Determining a target correction value based on the correction moment includes: When the current moment is the correction moment, determining a target state of charge through the state of charge of the power batteries of all historical vehicles at the correction moment; Taking the target state of charge as the target correction value.

10. The method for calculating the state of charge of a power battery according to claim 9, characterized in that, The target state of charge is equal to the average value of the state of charge of the power batteries of all historical vehicles at the correction moment.

11. Vehicle controller, characterized in that, Includes: An acquisition module for acquiring the actual current, actual voltage, and net cumulative discharge ampere-hours output by the power battery at each moment; A processing module for determining a filtered voltage for each moment based on the actual current acquired by the acquisition module and the actual voltage acquired by the acquisition module; The processing module is further configured to determine a smoothed voltage for each moment based on the filtered voltages at adjacent moments; The processing module is further configured to determine a current differential pressure change amount based on a pre-configured discharge threshold, the net cumulative discharge ampere-hours, and the smoothed voltage; The processing module is further configured to determine a target correction value based on a pre-configured change threshold and the current differential pressure change amount; The processing module is further configured to modify the state of charge of the power battery of the vehicle to the target correction value.

12. A vehicle, characterized in that, Includes: The vehicle controller according to claim 11.

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