SOC calibration method, device, equipment, vehicle, medium and program product

Abstract

The embodiment of the invention provides an SOC calibration method and device, equipment, a vehicle, a medium and a program product, a plurality of candidate SOC groups and theoretical characteristics corresponding to candidate SOCs in the candidate SOC groups are determined based on an estimated SOC, then the estimated SOC is calibrated through the theoretical characteristics and actual characteristics corresponding to the estimated SOC, and the theoretical characteristics of the candidate SOCs change along with the change of the candidate SOCs, so that the SOC calibration accuracy is improved. The actual characteristics corresponding to the estimated SOC change along with the change of the estimated SOC, and compared with a static voltage calibration mode, the calibration precision of the SOC can be improved.

Description

Technical Field

[0001] The present application relates to the field of batteries, and in particular to a SOC calibration method, device, equipment, vehicle, medium and program product. Background Art

[0002] During battery use, it's necessary to estimate the battery's SOC (State of Charge). This helps understand the battery's current condition and facilitates optimal battery planning and usage. As the battery ages, the SOC estimate may drift or become inaccurate, so calibration is necessary.

[0003] Currently, the SOC can be estimated by the ampere-hour integration method and then calibrated by the open circuit voltage (OCV).

[0004] However, if the battery has a voltage platform, even if the SOC changes significantly, the static voltage change is not obvious, which affects the calibration accuracy of the SOC. Summary of the Invention

[0005] The embodiments of the present application provide a SOC calibration method, apparatus, device, vehicle, medium, and program product to improve the calibration accuracy of the SOC.

[0006] In a first aspect, an embodiment of the present application provides a SOC calibration method, comprising:

[0007] determining, based on the estimated SOC, a plurality of candidate SOC groups and theoretical characteristics corresponding to candidate SOCs in the candidate SOC groups;

[0008] The estimated SOC is calibrated based on the theoretical characteristics and the actual characteristics corresponding to the estimated SOC.

[0009] In a possible implementation, the estimated SOC includes a plurality of;

[0010] The determining of a plurality of candidate SOC groups based on the estimated SOC and theoretical characteristics corresponding to the candidate SOCs in the candidate SOC groups includes:

[0011] determining a plurality of candidate SOC groups based on the plurality of estimated SOCs, wherein the plurality of candidate SOCs in each candidate SOC group corresponds to the plurality of estimated SOCs;

[0012] Based on each of the candidate SOCs, a theoretical characteristic corresponding to each of the candidate SOCs is determined.

[0013] In a possible implementation, calibrating the estimated SOC based on the theoretical characteristics and actual characteristics corresponding to the estimated SOC includes:

[0014] Determining a sum of differences corresponding to the candidate SOC group based on a theoretical characteristic corresponding to each candidate SOC in the candidate SOC group and an actual characteristic corresponding to each estimated SOC;

[0015] Determining a target candidate SOC group according to the sum of the differences corresponding to the candidate SOC groups;

[0016] The estimated SOC is calibrated according to the target candidate SOC set.

[0017] In a possible implementation, determining the target candidate SOC group according to the sum of the differences corresponding to the candidate SOC groups includes:

[0018] The target candidate SOC group is determined according to the candidate SOC group corresponding to the minimum value of the sum of the differences.

[0019] In a possible implementation, calibrating the estimated SOC according to the target candidate SOC group includes:

[0020] calibrating a last estimated SOC among the plurality of estimated SOCs according to a last candidate SOC in the target candidate SOC group;

[0021] Make sure the calibrated SOC is the SOC displayed by the fuel gauge.

[0022] In a possible implementation, calibrating the estimated SOC according to the target candidate SOC group includes:

[0023] determining a difference between one of the candidate SOCs in the target candidate SOC group and a first preset value;

[0024] calibrating a last estimated SOC among the plurality of estimated SOCs according to the difference and the one candidate SOC in the target candidate SOC group;

[0025] Make sure the calibrated SOC is the SOC displayed by the fuel gauge.

[0026] In one possible implementation, the method further includes:

[0027] Smoothing is performed on the calibrated SOC.

[0028] In a possible implementation manner, the first preset value is a difference between one of the candidate SOCs in the target candidate SOC group and the last estimated SOC among the multiple estimated SOCs.

[0029] In one possible implementation, determining a plurality of candidate SOC groups based on the estimated SOC includes:

[0030] At least one mathematical operation is performed on the estimated SOC to determine a plurality of candidate SOC groups, wherein the candidate SOC groups include the plurality of candidate SOCs.

[0031] In one possible implementation, performing at least one mathematical operation on the estimated SOC to determine a plurality of candidate SOC groups includes:

[0032] Adding and / or subtracting the estimated SOC to determine a plurality of candidate SOC groups.

[0033] In one possible implementation, determining theoretical characteristics corresponding to candidate SOCs in the candidate SOC group includes:

[0034] Determining characteristic information of the battery corresponding to the estimated SOC;

[0035] The theoretical characteristics corresponding to the candidate SOC are determined based on the candidate SOC, the characteristic information of the battery, and the equivalent circuit model of the battery.

[0036] In a possible implementation, determining the theoretical characteristics corresponding to the candidate SOC based on the candidate SOC, the characteristic information of the battery, and the equivalent circuit model of the battery includes:

[0037] inputting the estimated SOC, the actual characteristics, and characteristic information of the battery into the equivalent circuit model to determine component parameters;

[0038] The candidate SOC, characteristic information of the battery, and the component parameters are input into the equivalent circuit model to determine theoretical characteristics corresponding to the candidate SOC.

[0039] In a possible implementation, the equivalent circuit model is a second-order resistance-capacitance model;

[0040] The model parameters include at least one of the following:

[0041] internal resistance, first polarization resistance, first polarization capacitance, second polarization resistance and second polarization capacitance.

[0042] In a possible implementation, the characteristic information of the battery includes at least one of temperature, current, and SOH.

[0043] In a possible implementation, determining a plurality of candidate SOC groups based on the plurality of estimated SOCs includes:

[0044] determining a plurality of the estimated SOCs when the variation range of the estimated SOC exceeds a second preset value;

[0045] A plurality of the candidate SOC groups are determined based on a plurality of the estimated SOCs.

[0046] In a possible implementation, the second preset value ranges from 0.5% to 10%.

[0047] In a possible implementation, when the variation range of the estimated SOC exceeds a second preset value, determining a plurality of the estimated SOCs includes:

[0048] Determine the start of battery discharge or charging as the starting point of SOC change;

[0049] Starting from the change starting point, a plurality of the estimated SOCs are determined.

[0050] In a possible implementation manner, at least some of the candidate SOC values in the candidate SOC group are greater than the corresponding estimated SOC values, and at least some of the candidate SOC values in the candidate SOC group are less than the corresponding estimated SOC values.

[0051] In a possible implementation, the theoretical characteristic is at least one of theoretical voltage, theoretical capacity, and theoretical internal resistance; and the actual characteristic is at least one of actual voltage, actual capacity, and actual resistance.

[0052] In a second aspect, the present application provides an SOC calibration device, comprising:

[0053] a determination module, configured to determine, based on the estimated SOC, a plurality of candidate SOC groups and theoretical characteristics corresponding to the candidate SOCs in the candidate SOC groups;

[0054] A calibration module is configured to calibrate the estimated SOC based on the theoretical characteristics and actual characteristics corresponding to the estimated SOC.

[0055] In a third aspect, an embodiment of the present application provides an electronic device, including: a memory, a processor;

[0056] The memory stores computer-executable instructions;

[0057] The processor executes the computer-executable instructions stored in the memory, so that the processor executes the above first aspect and / or various possible implementations of the first aspect.

[0058] In a fourth aspect, an embodiment of the present application provides a computer-readable storage medium, in which computer-executable instructions are stored. When the computer-executable instructions are executed by a processor, they are used to implement the first aspect above and / or various possible implementation methods of the first aspect.

[0059] In a fifth aspect, an embodiment of the present application provides a computer program product, including a computer program, which, when executed by a processor, implements the above first aspect and / or various possible implementation methods of the first aspect.

[0060] The SOC calibration method, apparatus, equipment, vehicle, medium and program product provided in the embodiments of the present application determine multiple candidate SOC groups and theoretical characteristics corresponding to the candidate SOCs in the candidate SOC groups based on the estimated SOC, and then calibrate the estimated SOC through the theoretical characteristics and the actual characteristics corresponding to the estimated SOC. Since the theoretical characteristics of the candidate SOC change with the change of the candidate SOC, the actual characteristics corresponding to the estimated SOC change with the change of the estimated SOC. Compared with the static voltage calibration method, the calibration accuracy of the SOC can be improved. BRIEF DESCRIPTION OF THE DRAWINGS

[0061] The accompanying drawings, which are incorporated in and constitute a part of this specification, illustrate embodiments consistent with the present application and, together with the description, serve to explain the principles of the present application.

[0062] Figure 1 Schematic diagram of the SOC calibration method provided in this application Figure 1 ;

[0063] Figure 2 Schematic diagram of the SOC calibration method provided in this application Figure 2 ;

[0064] Figure 3 A schematic diagram of the equivalent circuit model provided for this application;

[0065] Figure 4 Schematic diagram of the second-order RC model provided for this application;

[0066] Figure 5 Schematic diagram of the SOC calibration method provided in this application Figure 3 ;

[0067] Figure 6 Schematic diagram of component parameters of the second-order RC model under different SOCs provided by this application;

[0068] Figure 7 This is a schematic diagram of the structure of the SOC calibration device provided by this application;

[0069] Figure 8 This is a schematic diagram of the structure of the electronic device provided in this application.

[0070] The above drawings illustrate specific embodiments of the present application, which will be described in more detail below. These drawings and the textual description are not intended to limit the scope of the present application in any way, but rather to illustrate the concepts of the present application to those skilled in the art by reference to specific embodiments. DETAILED DESCRIPTION

[0071] Exemplary embodiments will be described in detail herein, with examples illustrated in the accompanying drawings. In the following description, when referring to the drawings, identical numerals in different figures represent identical or similar elements, unless otherwise indicated. The embodiments described in the following exemplary embodiments are not intended to represent all embodiments consistent with the present application. Rather, they are merely examples of apparatus and methods consistent with certain aspects of the present application, as detailed in the appended claims.

[0072] During battery use, the battery's SOC needs to be estimated. This allows us to understand the remaining charge and effectively manage the battery's charge and discharge. Considering that battery characteristic parameters (such as internal resistance and capacitance) may change over time, temperature, charge and discharge cycles, and other factors, these changes will affect the accuracy of SOC estimation. Therefore, the estimated SOC needs to be calibrated to improve its accuracy.

[0073] The most commonly used estimation method is the ampere-hour integration method, which calculates the change in SOC by integrating the battery's charge and discharge currents. After estimating the SOC using the ampere-hour integration method, the estimated SOC is calibrated using the static voltage (open-circuit voltage).

[0074] However, some batteries (such as lithium iron sulphate batteries) have a voltage plateau during the discharge process, that is, within a certain SOC range, the voltage changes very little, resulting in the inability to effectively calibrate the SOC through static voltage, affecting the calibration accuracy.

[0075] To this end, the present application provides an SOC calibration method, which calibrates the estimated SOC based on the theoretical characteristics corresponding to the candidate SOC in the candidate SOC group and the actual characteristics of the battery corresponding to the estimated SOC. Since the theoretical characteristics of the candidate SOC change with the change of the candidate SOC, and the actual characteristics corresponding to the estimated SOC change with the change of the estimated SOC, the calibration accuracy of the SOC can be improved compared with the static voltage calibration method.

[0076] The following specific embodiments describe in detail the technical solution of the present application and how the technical solution of the present application solves the above-mentioned technical problems. The following specific embodiments can be combined with each other, and the same or similar concepts or processes may not be repeated in some embodiments. The embodiments of the present application will be described below in conjunction with the accompanying drawings.

[0077] Figure 1 Schematic diagram of the SOC calibration method provided in this application Figure 1 ,like Figure 1 As shown, the method includes:

[0078] S101 : Based on the estimated SOC, determine multiple candidate SOC groups and theoretical characteristics corresponding to the candidate SOCs in the candidate SOC groups.

[0079] Among them, SOC refers to the state of charge, which represents the ratio of the remaining power of the battery to the capacity in the fully charged state, usually expressed as a percentage.

[0080] For example, the battery SOC can be estimated based on a fuel gauge. The fuel gauge can estimate the battery SOC based on the ampere-hour integration method, the open circuit voltage method, the model estimation method, etc. The open circuit voltage method estimates the battery SOC based on the relationship between the battery's open circuit voltage and SOC; the model estimation method estimates the battery SOC using an equivalent circuit model of the battery.

[0081] In a specific embodiment, the fuel gauge may be a device or module integrated in a device to estimate the SOC of the battery.

[0082] In some embodiments, the number of estimated SOCs can be one. In this case, there is only one corresponding candidate SOC in each candidate SOC group. The theoretical characteristics are calculated based on the corresponding candidate SOC. The target candidate SOC group can also be determined based on the minimum value of the difference between the theoretical characteristics and the actual characteristics, and the estimated SOC can be calibrated.

[0083] In some embodiments, the number of estimated SOCs includes multiple, and accordingly, multiple candidate SOC groups can be determined based on the multiple estimated SOCs, and the multiple candidate SOCs in each candidate SOC group correspond to the multiple estimated SOCs, and then based on each candidate SOC, the theoretical characteristics corresponding to each candidate SOC are determined.

[0084] For example, the theoretical characteristic may be at least one of theoretical voltage, theoretical capacity, and theoretical internal resistance, and the actual characteristic may be at least one of actual voltage, actual capacity, and actual internal resistance.

[0085] For example, at least some of the candidate SOC groups have values greater than the corresponding estimated SOC values, and at least some of the candidate SOC groups have values less than the corresponding estimated SOC values. For example, the estimated SOC is in the middle, and multiple candidate SOC groups are located on both sides of the estimated SOC, so that the estimated SOC can be calibrated more accurately.

[0086] Table 1

[0087]

[0088] For example, as shown in Table 1, the number of estimated SOCs is n, denoted as SOC11, SOC12, ..., SOC1n, and the number of candidate SOC groups is m, denoted as SOC21, SOC22, ..., SOC2m. Therefore, SOC21 includes n candidate SOCs, and the n candidate SOCs in SOC21 correspond one-to-one with SOC11-SOC1n; SOC22 includes n candidate SOCs, and the n candidate SOCs in SOC22 correspond one-to-one with SOC11-SOC1n; and SOC2m includes n candidate SOCs, and the n candidate SOCs in SOC2m correspond one-to-one with SOC11-SOC1n.

[0089] In some embodiments, at least one mathematical operation is performed on the estimated SOC to determine a plurality of candidate SOC groups, each of which may include one or more candidate SOCs. Based on the estimated SOC, a candidate SOC close to the estimated SOC is obtained through the mathematical operation to improve the calibration accuracy of the SOC.

[0090] For example, at least one mathematical operation is performed on the estimated SOC to obtain a preset range of the estimated SOC, and multiple candidate SOC groups are obtained based on the preset range and a preset length. It should be noted that the candidate SOC may include the estimated SOC.

[0091] For example, the estimated SOC is recorded as SOC11-SOC1n, the candidate SOC group is recorded as SOC21-SOC2m, and a mathematical operation is performed on SOC1 to obtain a preset range [SOC1-A, SOC1+A]. If the preset length is a, as shown in Table 1, SOC21 may include SOC11-A+a, SOC12-A+a, SOC13-A+a, SOC14-A+a, ..., SOC1n-A+a, SOC22 may include SOC11-A+2a, SOC12-A+2a, SOC13-A+2a, SOC14-A+2a, ..., SOC1n-A+2a, and SOC2m may include SOC11+A, SOC12+A, SOC13+A, SOC14+A, ..., SOC1n+A.

[0092] It should be noted that the preset length can be determined according to actual conditions. The larger the preset length, the fewer the number of candidate SOCs, and the smaller the preset length, the more the number of candidate SOCs. The preset length can also be an interval that divides the preset range equally.

[0093] In a specific embodiment, the estimated SOC may be added and / or subtracted, so that a plurality of candidate SOC groups may be determined by a simple calculation.

[0094] It should be noted that the estimated SOC can also be subjected to a variety of mathematical operations to obtain multiple candidate SOC groups, which are not limited to addition, subtraction, multiplication, division, and other operations in the field of mathematics. The candidate SOC values obtained by known mathematical operations are all within the scope of protection of this application and are not specifically limited here.

[0095] For example, the lower limit of the preset range is obtained by subtracting the preset value from the estimated SOC, and the upper limit of the preset range is obtained by adding the preset value to the estimated SOC. The preset value can be any value between 10% and 20% of the estimated SOC.

[0096] For example, for any estimated SOC, denoted as SOC1, the candidate SOC group is denoted as SOC2, SOC1 minus A obtains the lower limit of the preset range SOC1-A, SOC1 plus A obtains the upper limit of the preset range SOC1+A, then the preset range is [SOC1-A, SOC1+A].

[0097] Considering that SOC will not be negative, if SOC1-A is less than 0, the preset range can be modified to [0, SOC1+A]. Accordingly, based on the preset range [0, SOC1+A] and the preset length n, multiple SOC2s can be obtained, including 0, n, 2n, 3n, ..., SOC1+A. Considering that SOC will not be greater than 100, if SOC1+A is greater than 100, the preset range can be modified to [SOC1-A, 100]. Accordingly, based on the preset range [SOC1-A, 100] and the preset length n, multiple candidate SOC2s can be obtained, including SOC1-A, SOC1-A+n, SOC1-A+2n, SOC1-A+3n, ..., 100.

[0098] In another specific embodiment, the preset range of the estimated SOC can also be obtained by multiplication and division. For example, the estimated SOC is multiplied by a preset value to obtain the upper limit of the preset range, and the estimated SOC is divided by the preset value to obtain the lower limit of the preset range. The preset value can be, for example, any value between 1.1 and 1.2.

[0099] In other embodiments, after the SOC of the battery is estimated using one estimation method, multiple candidate SOC groups may be obtained using another estimation method different from the estimation method.

[0100] In some embodiments, a vehicle containing a power battery may brake and restart frequently during urban driving or traffic congestion. Frequent braking and restarting refers to the process of accelerating or continuing to drive the vehicle again after stopping or decelerating. When braking, the vehicle can convert kinetic energy into electrical energy and store it in the battery. When restarting, the battery can release energy to start the vehicle. Therefore, the battery voltage will change significantly during braking and restarting. This voltage change can be used to calibrate the SOC estimation model. Under these dynamic conditions, the terminal voltage of the battery may be closer to the open circuit voltage, thereby providing a more accurate SOC reference point.

[0101] Therefore, when the variation range of the estimated SOC exceeds the second preset value, multiple estimated SOCs are determined, multiple candidate SOC groups are determined based on the estimated SOCs, and the estimated SOCs are calibrated by the method of the present application to improve the calibration accuracy.

[0102] For example, the second preset value may range from 0.5% to 10%.

[0103] In one possible implementation, the start of a battery's discharge or charge is determined as the starting point of an SOC change. Multiple SOC estimates are determined starting from this starting point. Over a period of time during which the battery begins to charge or discharge, the battery's temperature, current, time, and voltage are recorded at multiple times, and the SOC is estimated at these multiple times.

[0104] S102 : Calibrate the estimated SOC based on the theoretical characteristics and the actual characteristics corresponding to the estimated SOC.

[0105] In an embodiment of the present application, each candidate SOC has a corresponding theoretical characteristic. Based on each theoretical characteristic and the actual characteristic corresponding to the estimated SOC, the estimated SOC is calibrated. Since the theoretical characteristic corresponding to the candidate SOC changes with the change of the candidate SOC, the actual characteristic of the estimated SOC changes with the change of the estimated SOC. Compared with calibrating the SOC by static voltage, the SOC can be calibrated more accurately.

[0106] For example, the actual feature corresponding to the estimated SOC may be the battery voltage corresponding to the estimated SOC.

[0107] For example, when there are multiple estimated SOCs, each estimated SOC has a corresponding actual characteristic. For example, when the battery starts charging or discharging, the actual characteristics of the battery are recorded and the SOC is estimated. Then, over a period of time while the battery is charging or discharging, multiple actual characteristics and multiple estimated SOCs can be obtained, and the multiple actual characteristics correspond one-to-one to the multiple estimated SOCs.

[0108] In some embodiments, based on the theoretical characteristics corresponding to each candidate SOC in the candidate SOC group and the actual characteristics corresponding to each estimated SOC, the difference sum corresponding to the candidate SOC group is determined; according to the difference sum corresponding to the candidate SOC group, the target candidate SOC group is determined; the estimated SOC is calibrated according to the target candidate SOC group. Calibrating the estimated SOC based on the target candidate SOC group can improve the accuracy of the calibration, so that the calibrated SOC is closer to the actual SOC.

[0109] For example, in a candidate SOC group, each candidate SOC corresponds to an estimated SOC, and the sum of the differences corresponding to the candidate SOC group is determined based on the absolute value of the difference corresponding to each candidate SOC. The absolute value of the difference corresponding to the candidate SOC refers to the absolute value of the difference between the theoretical characteristic corresponding to the candidate SOC and the actual characteristic corresponding to the estimated SOC corresponding to the candidate SOC.

[0110] For example, as shown in Table 1, the estimated SOC includes SOC11-SOC1n, the candidate SOC group includes SOC21-SOC2m, and the actual voltages corresponding to SOC11-SOC1n are V11-V1n respectively. Then the difference sum corresponding to SOC21 = |Theoretical voltage corresponding to SOC11-A+a -V11| + |Theoretical voltage corresponding to SOC12-A+a -V12| + ... + |Theoretical voltage corresponding to SOC11-A+a -V1n|, The sum of the differences corresponding to SOC22 = ︱theoretical voltage corresponding to SOC11-A+2a -V11︱+︱theoretical voltage corresponding to SOC12-A+2a -V12︱+…+︱theoretical voltage corresponding to SOC1n-A+2a -V11︱, and the sum of the differences corresponding to SOC2m = ︱theoretical voltage corresponding to SOC11+A -V11︱+︱theoretical voltage corresponding to SOC12+A -V12︱+…+︱theoretical voltage corresponding to SOC1n+A -V11︱.

[0111] In one possible implementation, the smaller the sum of the differences between the theoretical characteristics and the actual characteristics, the closer the theoretical characteristics are to the actual characteristics, and the closer the candidate SOC is to the actual SOC; the smaller the sum of the differences between the theoretical characteristics and the actual characteristics, the greater the deviation between the theoretical characteristics and the actual characteristics, and the candidate SOC deviates from the actual SOC.

[0112] Therefore, the target candidate SOC group can be determined based on the candidate SOC group corresponding to the minimum value in the sum of the differences corresponding to the candidate SOC groups. Specifically, the candidate SOC group corresponding to the minimum value in the sum of the differences corresponding to the candidate SOC groups is determined as the target candidate SOC group. Accordingly, the estimated SOC can be calibrated more accurately based on the target candidate SOC group, so that the calibrated SOC is closer to the actual SOC.

[0113] In one possible implementation, the last estimated SOC among the multiple estimated SOCs is calibrated based on the last candidate SOC in the target candidate SOC group, and the calibrated SOC is determined to be the SOC displayed by the fuel gauge. By calibrating this initial value, frequent jumps and unreliable displays caused by initial inaccuracies are avoided.

[0114] For example, the SOCs at multiple moments are estimated within a period of time, that is, multiple estimated SOCs are estimated in chronological order within a period of time, and the SOC estimated last in the estimation order is also the last estimated SOC.

[0115] In one possible implementation, a difference between one of the candidate SOCs in the target candidate SOC group and a first preset value is determined, and based on the difference and one of the candidate SOCs in the target candidate SOC group, a last estimated SOC in the estimated SOC is calibrated, and the calibrated OSC is determined to be the SOC displayed on the fuel gauge.

[0116] For example, the first preset value may be 2 to 7, such as 5.

[0117] For example, the first preset value may be a difference between one of the candidate SOCs in the target candidate SOC group and a last estimated SOC among the multiple estimated SOCs.

[0118] In one possible implementation, the xth estimated SOC among the multiple estimated SOCs is calibrated based on the xth candidate SOC in the target candidate SOC group, and the calibrated SOC is determined as the SOC displayed by the fuel gauge. x is an integer greater than 1.

[0119] In one possible implementation, the calibrated SOC is smoothed to gradually adjust the final estimated SOC to the last candidate SOC in the target candidate SOC group, so that the SOC displayed by the fuel gauge can be gradually adjusted to the difference between the last candidate SOC in the target candidate SOC group and the first preset value, thereby preventing the SOC from jumping.

[0120] It should be noted that the accuracy of the SOC estimated at the current moment can affect the accuracy of the SOC estimated at the next moment. For example, when estimating SOC using the ampere-hour integration method, the SOC is based on the SOC at the previous moment plus (or minus) the current integral during the time interval. Furthermore, according to the applicant's research, deviations in the SOC at the previous moment can lead to deviations in subsequent theoretical characteristics. Therefore, calibrating the SOC estimated at the current moment helps to more accurately estimate the SOC at the next moment.

[0121] The SOC calibration method provided in the present application calibrates the estimated SOC based on the theoretical characteristics corresponding to the candidate SOC in the candidate SOC group and the actual characteristics of the battery corresponding to the estimated SOC. Since the theoretical characteristics of the candidate SOC change with the change of the candidate SOC, the actual characteristics corresponding to the estimated SOC change with the change of the estimated SOC. Therefore, compared with the static voltage calibration method, the calibration accuracy of the SOC can be improved.

[0122] Figure 2 Schematic diagram of the SOC calibration method provided in this application Figure 2 , this embodiment Figure 1 Based on the embodiment, the SOC calibration method is described in detail, as shown in FIG. Figure 2 As shown, in step S101, obtaining theoretical characteristics corresponding to candidate SOCs in the candidate SOC group may include the following steps:

[0123] S201: Determine characteristic information of a battery corresponding to an estimated SOC.

[0124] For example, the characteristic information of the battery may include at least one of temperature, current, and SOH (State of Health), where the SOH may be a ratio between the actual available capacity of the battery and the rated capacity of the battery.

[0125] For example, when the battery starts to charge or discharge, the temperature and current of the battery are acquired, and the SOC is estimated.

[0126] For example, when the battery starts to charge or discharge, the voltage and time of the battery may also be obtained, where the time refers to the time when each voltage is recorded.

[0127] S202: Determine theoretical characteristics corresponding to the candidate SOC based on the candidate SOC, characteristic information of the battery, and an equivalent circuit model of the battery.

[0128] The equivalent circuit model of the battery is used to simulate the voltage response of the battery under different current inputs. The battery behavior is simulated by electrical components such as voltage sources, current sources and resistors, so as to facilitate the rapid estimation of battery performance.

[0129] For example, the theoretical voltage of a battery can be estimated at a certain SOC. Specifically, the theoretical voltage of a battery is usually the open circuit voltage minus the voltage caused by current flow. The open circuit voltage is related to the SOC, so the theoretical voltage is related to the SOC.

[0130] For example, the equivalent circuit model of the battery may include, but is not limited to, a Rint (internal resistance) model, a Thevenin model, a PNGV (Partnership for a New Generation of Vehicles Model) model, an RC (resistance-capacitance) model, a Randles model, a FOM (Fractional Order Model) model, and the like.

[0131] The Rint model equates the battery to an ideal voltage source U OC (open circuit voltage) in series with the battery internal resistance R0, such as Figure 3 As shown in (a), the current flowing through the internal resistance R0 is i b , the battery internal resistance R0 corresponds to the voltage U0, accordingly, the theoretical voltage U L =U OC -U0. Open circuit voltage U OC It is a function of SOC and temperature. The open circuit voltage of a battery is related to its internal chemical reactions. Different SOCs correspond to different chemical equilibrium states within the battery. Therefore, the open circuit voltage Uoc will change with SOC. Under constant temperature conditions, the battery SOC can be estimated by measuring the open circuit voltage.

[0132] Thevenin model, also known as the first-order RC model, is a model based on the Rint model with an RC circuit in series to consider the polarization phenomenon of the battery and to describe the battery voltage stabilization characteristics after the battery is charged. Figure 3 As shown in (b), the RC circuit includes a parallel polarization internal resistance R P and polarization capacitance C P , the current flowing through the internal resistance R0 is i b , the battery internal resistance R0 corresponds to the voltage U0, and the RC circuit corresponds to the voltage U P . Correspondingly, the theoretical voltage U L =U OC -U0-U P The Thevenin model can simulate the dynamic voltage response of the battery more accurately and improve the complexity and accuracy of the model.

[0133] The PNGV model is based on the Thevenin model and is connected in series with a capacitor C b ,like Figure 3As shown in (c), the polarization effect is the voltage change caused by the electrochemical reaction and ion movement inside the battery. The series capacitor can simulate these effects and reflect the delay and recovery process of polarization through the RC time constant. L =U OC -U0-U P +U cb , U cb is the capacitance C b voltage.

[0134] The n-order RC model is a model that connects n RC loops in series on the basis of Rint, where n is an integer greater than 1. By increasing the number of RC loops, the dynamic behavior and nonlinear characteristics of the battery can be simulated more accurately. Figure 3 As shown in (d), each RC circuit corresponds to a voltage U P1 、U p2 、……、U pn , accordingly, the theoretical voltage U L =U OC -U0-U P1 -……-U pn .

[0135] Randles model is used to describe the impedance characteristics in electrochemical systems, such as Figure 3 As shown in (e), it includes the series internal resistance R0, inductance L, RC loop and impedance Z w , the RC circuit includes the parallel capacitor CPE and the charge transfer resistor R ct The inductor L is used to simulate the influence of battery connection lines and other inductive components; the capacitor CPE is a constant phase element (Constant Phase Element), which is used to simulate the double-layer capacitance of the electrode interface and can more accurately describe the non-ideal behavior of the electrode interface; the charge transfer resistance Z w Represents the charge transfer impedance of the electrode reaction. In electrochemical impedance spectroscopy (EIS) testing, the Randles model helps explain the voltage response characteristics of the battery, and different frequencies can reveal different electrochemical processes.

[0136] The FOM model introduces fractional-order elements in battery modeling to more accurately describe the dynamic behavior and complex electrochemical processes of the battery. The FOM model can include a first RC loop, a second RC loop and an internal resistance R0 in series, such as Figure 3As shown in (f), the first RC loop includes a parallel resistor R1 and a constant phase element CPE1, and the second RC loop includes a parallel resistor R2 and a constant phase element CPE2. By using constant phase elements, the FOM model can more accurately describe the dynamic response characteristics of the battery, is applicable to a wider frequency range and dynamic conditions, and can better simulate the behavior of the battery under different operating conditions.

[0137] In some examples, the estimated SOC, actual characteristics, and characteristic information of the battery are input into an equivalent circuit model to determine component parameters, and then the candidate SOC, characteristic information of the battery, and component parameters are input into the equivalent circuit model to obtain theoretical characteristics corresponding to the candidate SOC.

[0138] For example, the equivalent circuit model has a corresponding voltage relationship. The model parameters corresponding to the candidate SOC, the temperature and current of the battery, and the candidate SOC can be substituted into the voltage relationship corresponding to the equivalent circuit model to obtain the theoretical characteristics corresponding to the candidate SOC.

[0139] In a specific embodiment, the equivalent circuit model is a second-order resistance-capacitance model, such as Figure 4 As shown, the model parameters include at least one of the following: internal resistance R0, first polarization resistor R1, first polarization capacitor C1, second polarization resistor R2, and second polarization capacitor C2. The first polarization resistor R1 and the first polarization capacitor C1 form a first RC loop, and the second polarization resistor R2 and the second polarization capacitor C2 form a second RC loop. The first RC loop and the second RC loop can be used to simulate the polarization effect of the battery at different times, reflecting the change of voltage over time.

[0140] For example, the voltage relationship for the second-order resistance-capacitance model is as follows:

[0141]

[0142] Among them, the V O (t)' represents the theoretical voltage at the tth moment; U OC Represents a voltage source; I represents the current; R0 represents an internal resistance, R1 represents a first polarized internal resistance; C1 represents a first polarized capacitor; R2 represents a second polarized internal resistance; and C2 represents a second polarized capacitor.

[0143] Accordingly, after obtaining the model parameters corresponding to the candidate SOC, the model parameters corresponding to the candidate SOC may be substituted into the voltage relationship equation of the second-order resistance-capacitance model to determine the theoretical voltage corresponding to the candidate SOC.

[0144] Taking into account that different moments have different theoretical characteristics when the SOC is constant, the moment corresponding to the theoretical characteristics can be determined according to the actual situation.

[0145] The SOC calibration method provided in the embodiment of the present application determines the theoretical characteristics corresponding to the candidate SOC through an equivalent circuit model. The equivalent circuit model can simulate the dynamic behavior of the battery and provide more accurate voltage prediction so that the estimated SOC can be calibrated based on the theoretical characteristics corresponding to the candidate SOC.

[0146] Figure 5 Schematic diagram of the SOC calibration method provided in this application Figure 3 ,like Figure 5 As shown, this embodiment describes in detail how to determine the theoretical characteristics corresponding to the candidate SOC based on the candidate SOC, the battery temperature and current, and the battery equivalent circuit model. For each candidate SOC, the following steps may be included:

[0147] S301 : Determine the time and actual voltage of each SOC of the battery at different temperatures and currents.

[0148] For example, if the battery is in a discharging state, the constant current discharge time and the actual discharge voltage of each SOC are obtained; if the battery is in a charging state, the constant current charge time and the actual charge voltage of each SOC are obtained.

[0149] S302 , substituting the time and actual voltage of each SOC into the relationship formula of the equivalent circuit model to obtain the model parameters corresponding to each SOC.

[0150] For example, if a second-order RC model is selected as the battery equivalent circuit model, the mathematical expression of the model is:

[0151] V O =U OC -U1-U2-IR0

[0152]

[0153] Among them, the model includes five parameter values: R0, R1, C1, R2, and C2.

[0154] During constant current discharge, V O The relationship with time t is:

[0155]

[0156] Among them U OC As a voltage source, it can be obtained through the open circuit voltage in the battery. During the voltage plateau period of the lithium iron phosphate battery, it can be regarded as a constant voltage source. If the open circuit voltage changes significantly with SOC, U OC It is also regarded as a component parameter. The problem of model component parameter identification becomes solving the U OC , the problem of the six parameter values ​​R0, R1, C1, R2, and C2.

[0157] V O (t)' represents the actual voltage at time t; U OC Represents a voltage source; I represents the current; R0 represents an internal resistance, R1 represents a first polarized internal resistance; C1 represents a first polarized capacitor; R2 represents a second polarized internal resistance; and C2 represents a second polarized capacitor.

[0158] For example, based on the nonlinear characteristics of the circuit, the Levenberg-Marquard algorithm (LM algorithm for short) can be used to solve the nonlinear least squares problem. The basic idea of the LM algorithm for solving the parameters of the second-order RC equivalent circuit model is to iteratively search for a numerical solution that minimizes the nonlinearity (local minimum) based on the set initial values. The implementation steps are as follows:

[0159] According to the constant current discharge time and voltage data of the specified SOC segment, m equation groups about formula (1) can be obtained:

[0160]

[0161] Where m is the number of constant current discharge tests of the battery at a specified SOC segment.

[0162] Let X = [R0, R1, C1, R2, C2], r(X) = [r1, r2, ..., r m ] T The sum of squared errors is:

[0163]

[0164] Take the initial value X (0) =[R0(0), R1(0), C1(0), R2(0), C2(0)], and the solution of X is obtained by continuously iteratively minimizing E(X).

[0165] In a specific embodiment, it is considered that the selection of the initial value is closely related to the accuracy of the solution. And V0(0 - ) to V O (0 + ) is mainly caused by the voltage drop across the ohmic resistor R0, which can be expressed as:

[0166]

[0167] When the circuit discharges for a certain time, the two capacitors are fully charged, V O Converges to a stable value:

[0168] V O (∞)=U OC -IR0-I(R1+R2)

[0169] Performing Taylor expansion on the exponential terms in equation (1) and ignoring the second-order and higher terms, we can obtain:

[0170]

[0171] You can order:

[0172] R1(0)=R2(0)

[0173] C1(0)=C2(0)

[0174] X obtained by the above formula (0) As the initial value, the final solution X = [R0, R1, C1, R2, C2] can be obtained by iteration. Finally, the relationship table between X and SOC can be obtained by cubic spline difference. Figure 6 ,like Figure 6 As shown, the X-SOC relationship diagrams obtained at different temperatures and currents are different.

[0175] The SOC calibration method provided in the embodiment of the present application can determine the theoretical characteristics corresponding to the candidate SOC.

[0176] Figure 7 The schematic diagram of the structure of the SOC calibration device provided in this application is as follows: Figure 7 As shown, the calibration device 10 provided in this embodiment includes:

[0177] A determination module 11 is configured to determine, based on the estimated SOC, a plurality of candidate SOC groups and theoretical characteristics corresponding to the candidate SOCs in the candidate SOC groups;

[0178] The calibration module 12 is configured to calibrate the estimated SOC based on the theoretical characteristic and at least one actual characteristic of the battery corresponding to the estimated SOC.

[0179] In one possible embodiment, the number of estimated SOCs is multiple, and accordingly, the determination module 11 is specifically used to determine multiple candidate SOC groups based on the multiple estimated SOCs, and the multiple candidate SOCs in each candidate SOC group correspond one-to-one to the multiple estimated SOCs; based on each candidate SOC, determine the theoretical characteristics corresponding to each candidate SOC.

[0180] In one possible embodiment, the calibration module 12 is specifically used to determine the sum of differences corresponding to the candidate SOC group based on the theoretical characteristics corresponding to each candidate SOC in the candidate SOC group and the actual characteristics corresponding to each estimated SOC; determine the target candidate SOC group according to the sum of differences corresponding to the candidate SOC group; and calibrate the estimated SOC according to the target candidate SOC group.

[0181] In a possible implementation, the calibration module 12 is specifically configured to determine the target candidate SOC group according to the candidate SOC group corresponding to the minimum value in the sum of the differences corresponding to the candidate SOC groups.

[0182] In a possible implementation, the calibration module 12 is specifically configured to calibrate a last estimated SOC among the multiple estimated SOCs according to the last candidate SOC in the target candidate SOC group; and determine the calibrated SOC as the SOC displayed by the fuel gauge.

[0183] In one possible embodiment, the calibration module 12 is specifically used to determine the difference between one of the candidate SOCs in the target candidate SOC group and a first preset value; based on the difference and one of the candidate SOCs in the target candidate SOC group, calibrate the last estimated SOC in the multiple estimated SOCs; and determine that the calibrated SOC is the SOC displayed on the fuel gauge.

[0184] In a possible implementation, the first preset value is a difference between one of the candidate SOCs in the target candidate SOC group and a last estimated SOC among the multiple estimated SOCs.

[0185] In a possible implementation, the calibration module 12 is further configured to smooth the calibrated SOC.

[0186] In a possible implementation, the determination module 11 is specifically configured to perform at least one mathematical operation on the estimated SOC to determine a plurality of candidate SOC groups.

[0187] In a possible implementation, the determination module 11 is specifically configured to add and / or subtract a value from the estimated SOC to determine a plurality of candidate SOC groups.

[0188] In a possible implementation, the determination module 11 is specifically configured to determine characteristic information of a battery corresponding to the estimated SOC; and determine theoretical characteristics corresponding to the candidate SOC based on the candidate SOC, the characteristic information of the battery, and an equivalent circuit model of the battery.

[0189] In one possible implementation, the determination module 11 is specifically used to input the estimated SOC, actual characteristics, and characteristic information of the battery into the equivalent circuit model to determine component parameters; and input the candidate SOC, characteristic information of the battery, and component parameters into the equivalent circuit model to determine the theoretical characteristics corresponding to the candidate SOC.

[0190] In a possible implementation, the equivalent circuit model is a second-order resistance-capacitance model; the model parameters include at least one of the following: internal resistance, first polarization resistance, first polarization capacitance, second polarization resistance, and second polarization capacitance.

[0191] In a possible implementation, the characteristic information of the battery includes at least one of temperature, current, and SOH.

[0192] In a possible implementation, the determination module 11 is specifically configured to determine a plurality of estimated SOCs when the variation range of the estimated SOC exceeds a second preset value; and determine a plurality of candidate SOC groups based on the plurality of estimated SOCs.

[0193] In a possible implementation manner, the second preset value ranges from 0.5% to 10%.

[0194] In a possible implementation manner, the determination module 11 is specifically configured to determine the start of discharging or charging of the battery as a starting point of SOC change; and starting from the starting point of change, determine a plurality of estimated SOCs.

[0195] The SOC calibration device provided in this embodiment can execute the method provided in the above method embodiment. Its implementation principle and technical effects are similar, and are not described in detail in this embodiment.

[0196] Figure 8 This is a schematic diagram of the structure of the electronic device provided in this application. Figure 8 As shown, the electronic device 50 provided in this embodiment includes: at least one processor 501 and a memory 502. Optionally, the electronic device 50 further includes a communication component 503. The processor 501, the memory 502 and the communication component 503 are connected via a bus.

[0197] In a specific implementation process, at least one processor 501 executes the computer-executable instructions stored in the memory 502, so that the at least one processor 501 performs the above method.

[0198] The specific implementation process of the processor 501 can be found in the above method embodiment. Its implementation principle and technical effects are similar and will not be repeated here in this embodiment.

[0199] In the above embodiments, it should be understood that the processor may be a central processing unit (CPU), other general-purpose processors, digital signal processors (DSP), application-specific integrated circuits (ASIC), etc. A general-purpose processor may be a microprocessor or any conventional processor. The steps of the method disclosed in the present invention may be directly executed by a hardware processor or by a combination of hardware and software modules in the processor.

[0200] The memory may include a high-speed memory (Random Access Memory, RAM), and may also include a non-volatile memory (NVM), such as at least one disk memory.

[0201] The bus can be an Industry Standard Architecture (ISA) bus, a Peripheral Component Interconnect (PCI) bus, or an Extended Industry Standard Architecture (EISA) bus. Buses can be classified into address buses, data buses, and control buses. For ease of illustration, the buses in the drawings of this application are not limited to just one bus or just one type of bus.

[0202] The present application also provides a computer program product, including a computer program, which implements the above method when executed by a processor.

[0203] The present application also provides a computer-readable storage medium, in which computer-executable instructions are stored. When a processor executes the computer-executable instructions, the above method is implemented.

[0204] The above-mentioned readable storage medium can be implemented by any type of volatile or non-volatile memory device or a combination thereof, such as static random access memory (SRAM), electrically erasable programmable read-only memory (EEPROM), erasable programmable read-only memory (EPROM), programmable read-only memory (PROM), read-only memory (ROM), magnetic memory, flash memory, magnetic disk or optical disk. The readable storage medium can be any available medium that can be accessed by a general-purpose or special-purpose computer.

[0205] An exemplary readable storage medium is coupled to a processor so that the processor can read information from the readable storage medium and write information to the readable storage medium. Of course, the readable storage medium can also be an integral part of the processor. The processor and the readable storage medium can be located in an application specific integrated circuit (ASIC). Of course, the processor and the readable storage medium can also exist in a device as discrete components.

[0206] The division of units is merely a logical functional division; actual implementations may employ alternative divisions, such as combining or integrating multiple units or components into another system, or omitting or disabling certain features. Furthermore, any direct coupling or communication connection shown or discussed may be an indirect coupling or communication connection between devices or units, either through an interface, electrical, mechanical, or other means.

[0207] Units described as separate components may or may not be physically separate, and components shown as units may or may not be physical units, that is, they may be located in one place or distributed across multiple network units. Some or all of these units may be selected to achieve the purpose of this embodiment according to actual needs.

[0208] In addition, each functional unit in each embodiment of the present invention may be integrated into one processing unit, or each unit may exist physically separately, or two or more units may be integrated into one unit.

[0209] If the function is implemented in the form of a software functional unit and sold or used as an independent product, it can be stored in a computer-readable storage medium. Based on this understanding, the technical solution of the present invention, or the part that contributes to the prior art, or the part of the technical solution, can be embodied in the form of a software product. The computer software product is stored in a storage medium and includes several instructions for enabling a computer device (which can be a personal computer, server, or network device, etc.) to execute all or part of the steps of the various embodiments of the present invention. The aforementioned storage medium includes: U disk, mobile hard disk, read-only memory (ROM, Read-Only Memory), random access memory (RAM, Random Access Memory), disk or optical disk, and other media that can store program code.

[0210] Those skilled in the art will appreciate that all or part of the steps in the above-described method embodiments can be implemented using hardware associated with program instructions. The aforementioned program can be stored in a computer-readable storage medium. When executed, the program performs the steps of the above-described method embodiments. The aforementioned storage medium includes various media capable of storing program code, such as ROM, RAM, magnetic disks, or optical disks.

[0211] Finally, it should be noted that those skilled in the art will readily identify other embodiments of the present invention after considering the specification and practicing the invention disclosed herein. The present invention is intended to cover any variations, uses, or adaptations of the present invention that follow the general principles of the present invention and include common knowledge or customary techniques in the art not disclosed herein. The present invention is not limited to the precise structure described above and illustrated in the accompanying drawings, and various modifications and variations may be made without departing from the scope thereof. The scope of the present invention is limited solely by the appended claims.

Claims

1. A SOC calibration method, characterized in that: include: determining, based on the estimated SOC, a plurality of candidate SOC groups and theoretical characteristics corresponding to candidate SOCs in the candidate SOC groups; The estimated SOC is calibrated based on the theoretical characteristics and the actual characteristics corresponding to the estimated SOC.

2. The method according to claim 1, characterized in that The estimated SOC includes multiple; The determining of a plurality of candidate SOC groups based on the estimated SOC and theoretical characteristics corresponding to the candidate SOCs in the candidate SOC groups includes: determining a plurality of candidate SOC groups based on the plurality of estimated SOCs, wherein the plurality of candidate SOCs in each candidate SOC group corresponds to the plurality of estimated SOCs; Based on each of the candidate SOCs, a theoretical characteristic corresponding to each of the candidate SOCs is determined.

3. The method according to claim 2, characterized in that The calibrating the estimated SOC based on the theoretical characteristics and the actual characteristics corresponding to the estimated SOC includes: Determining a sum of differences corresponding to the candidate SOC group based on a theoretical characteristic corresponding to each candidate SOC in the candidate SOC group and an actual characteristic corresponding to each estimated SOC; Determining a target candidate SOC group according to the sum of the differences corresponding to the candidate SOC groups; The estimated SOC is calibrated according to the target candidate SOC set.

4. The method according to claim 3, characterized in that The determining a target candidate SOC group according to the sum of the differences corresponding to the candidate SOC groups includes: The target candidate SOC group is determined according to the candidate SOC group corresponding to the minimum value of the sum of the differences.

5. The method according to claim 3, characterized in that The calibrating the estimated SOC according to the target candidate SOC group includes: calibrating a last estimated SOC among the plurality of estimated SOCs according to a last candidate SOC in the target candidate SOC group; Make sure the calibrated SOC is the SOC displayed by the fuel gauge.

6. The method according to claim 3, characterized in that The calibrating the estimated SOC according to the target candidate SOC group includes: determining a difference between one of the candidate SOCs in the target candidate SOC group and a first preset value; calibrating a last estimated SOC among the plurality of estimated SOCs according to the difference and the one candidate SOC in the target candidate SOC group; Make sure the calibrated SOC is the SOC displayed by the fuel gauge.

7. The method according to claim 5 or 6, characterized in that The method further comprises: Smoothing is performed on the calibrated SOC.

8. The method according to claim 6, characterized in that The first preset value is a difference between one of the candidate SOCs in the target candidate SOC group and the last estimated SOC among the plurality of estimated SOCs.

9. The method according to any one of claims 1 to 6, characterized in that The step of determining a plurality of candidate SOC groups based on the estimated SOC comprises: At least one mathematical operation is performed on the estimated SOC to determine a plurality of candidate SOC groups, wherein the candidate SOC groups include the plurality of candidate SOCs.

10. The method according to claim 9, characterized in that The performing at least one mathematical operation on the estimated SOC to determine a plurality of candidate SOC groups includes: Adding and / or subtracting the estimated SOC to determine a plurality of candidate SOC groups.

11. The method according to any one of claims 1 to 6, characterized in that: Determining theoretical characteristics corresponding to candidate SOCs in the candidate SOC group includes: Determining characteristic information of the battery corresponding to the estimated SOC; The theoretical characteristics corresponding to the candidate SOC are determined based on the candidate SOC, the characteristic information of the battery, and the equivalent circuit model of the battery.

12. The method according to claim 11, characterized in that Determining theoretical characteristics corresponding to the candidate SOC based on the candidate SOC, characteristic information of the battery, and an equivalent circuit model of the battery includes: inputting the estimated SOC, the actual characteristics, and characteristic information of the battery into the equivalent circuit model to determine component parameters; The candidate SOC, characteristic information of the battery, and the component parameters are input into the equivalent circuit model to determine theoretical characteristics corresponding to the candidate SOC.

13. The method according to claim 12, characterized in that The equivalent circuit model is a second-order resistance-capacitance model; The component parameters include at least one of the following: internal resistance, first polarization resistance, first polarization capacitance, second polarization resistance and second polarization capacitance.

14. The method according to claim 11, characterized in that The characteristic information of the battery includes at least one of temperature, current, and SOH.

15. The method according to any one of claims 2 to 6, characterized in that: The determining of a plurality of candidate SOC groups based on the plurality of estimated SOCs comprises: determining a plurality of the estimated SOCs when the variation range of the estimated SOC exceeds a second preset value; A plurality of the candidate SOC groups are determined based on a plurality of the estimated SOCs.

16. The method according to claim 15, characterized in that The second preset value ranges from 0.5% to 10%.

17. The method according to claim 15, characterized in that When the variation range of the estimated SOC exceeds a second preset value, determining a plurality of the estimated SOCs includes: Determine the start of battery discharge or charging as the starting point of SOC change; Starting from the change starting point, a plurality of the estimated SOCs are determined.

18. The method according to any one of claims 1 to 6, characterized in that The values of the candidate SOCs in at least some of the candidate SOC groups are greater than the corresponding values of the estimated SOCs, and the values of the candidate SOCs in at least some of the candidate SOC groups are smaller than the corresponding values of the estimated SOCs.

19. The method according to any one of claims 1 to 6, characterized in that The theoretical characteristic is at least one of theoretical voltage, theoretical capacity, and theoretical internal resistance; the actual characteristic is at least one of actual voltage, actual capacity, and actual resistance.

20. A SOC calibration device, characterized in that: include: a determination module, configured to determine, based on the estimated SOC, a plurality of candidate SOC groups and theoretical characteristics corresponding to the candidate SOCs in the candidate SOC groups; A calibration module is configured to calibrate the estimated SOC based on the theoretical characteristics and actual characteristics corresponding to the estimated SOC.

21. An electronic device, characterized in that: include: Memory, processor; The memory stores computer-executable instructions; The processor executes the computer-executable instructions stored in the memory, so that the processor performs the method according to any one of claims 1 to 19.

22. A vehicle, characterized in that: The electronic device comprising claim 21.

23. A computer-readable storage medium, characterized in that The computer-readable storage medium stores computer-executable instructions, which, when executed by a processor, are used to implement the method according to any one of claims 1 to 19.

24. A computer program product, characterized in that The invention comprises a computer program, which implements the method according to any one of claims 1 to 19 when being executed by a processor.

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