Power battery SOC estimation method and system based on real-time working condition

Abstract

The embodiment of the invention provides a power battery SOC estimation method and system based on real-time working conditions, and belongs to the technical field of battery management. The estimation method comprises the following steps: acquiring a current driving working condition, and determining an actual torque demand of the current driving working condition; judging whether the actual torque demand is greater than or equal to 0; when it is judged that the actual torque demand is larger than or equal to 0, the electromagnetic torque of the current driving working condition is obtained; when it is judged that the actual torque demand is smaller than 0, the mechanical torque of the hydraulic braking system under the current driving working condition is obtained, and the electromagnetic torque under the current driving working condition is obtained according to the mechanical torque; acquiring charging and discharging current of a power battery under the current driving working condition; and judging whether the charging and discharging current exceeds the allowable maximum current or not. According to the estimation method and system, the SOC of the power battery is estimated through the real-time working condition of vehicle running, the charging and discharging current of the battery does not need to be detected, different working conditions such as running and braking are considered, and the calculation precision is high.

Description

Technical Field

[0001] The present invention relates to the technical field of battery management, and in particular to a method and system for estimating the SOC of a power battery based on real-time operating conditions. Background Art

[0002] The SOC estimation of power batteries requires the detection of charging and discharging currents, and the current detection requires additional current sensors, which increases the size and cost of the system. In addition, due to the influence of sensor accuracy, the SOC estimation may also have errors. Existing technologies eliminate errors through algorithms such as Kalman filtering, but the amount of calculation is large, which will increase the complexity of the battery management system and increase development costs. Summary of the Invention

[0003] The purpose of the present invention is to provide a power battery SOC estimation method and system based on real-time operating conditions. The estimation method and system estimate the SOC of the power battery through the real-time operating conditions of the vehicle, without detecting the battery's charge and discharge current, and taking into account different operating conditions such as driving and braking, with high calculation accuracy.

[0004] To achieve the above objectives, an embodiment of the present invention provides a method for estimating the SOC of a power battery based on real-time operating conditions. The method includes:

[0005] Obtaining a current driving condition and determining an actual torque requirement of the current driving condition;

[0006] Determining whether the actual torque demand is greater than or equal to 0;

[0007] When it is determined that the actual torque demand is greater than or equal to 0, obtaining the electromagnetic torque of the current driving condition;

[0008] When it is determined that the actual torque demand is less than 0, obtaining a mechanical torque of the hydraulic brake system of the current driving condition, and obtaining an electromagnetic torque of the current driving condition based on the mechanical torque;

[0009] Obtaining the charge and discharge current of the power battery under the current driving condition;

[0010] Determining whether the charge and discharge current exceeds the maximum allowable current;

[0011] When it is determined that the charge and discharge current does not exceed the maximum allowable current, obtaining the power battery SOC under the current driving condition;

[0012] When it is determined that the charge and discharge current exceeds the maximum allowable current, the power battery SOC under the current driving condition is estimated according to the maximum current and the ampere-hour integration method, and at the same time, the actual torque demand is limited according to the maximum charge and discharge current, and the step of returning to obtain the current driving condition and determining the actual torque demand of the current driving condition is performed.

[0013] Optionally, obtaining a current driving condition and determining a torque requirement of the current driving condition includes:

[0014] According to formula (1), the torque requirement of the current driving condition is determined.

[0015]

[0016] Among them, T L is the actual torque demand, η L is the mechanical transmission efficiency, and J is the moment of inertia.

[0017] Optionally, obtaining the electromagnetic torque of the current driving condition includes:

[0018] According to formula (2) to formula (4), the electromagnetic torque of the current driving condition is obtained.

[0019]

[0020] Among them, T e is the electromagnetic torque, T b is the mechanical torque of the hydraulic brake system, k is the ratio of the electromagnetic torque to the mechanical torque of the hydraulic brake system, T L * is the maximum allowable braking torque.

[0021] Optionally, obtaining the charge and discharge current of the power battery under the current driving condition includes:

[0022] According to formula (5), the mechanical power of the motor under the current driving condition is obtained:

[0023] P e =T e ω=2πnT e , (5)

[0024] According to formula (6), the output power of the inverter under the current driving condition is obtained:

[0025]

[0026] Among them, P e is the mechanical power of the motor, P INV is the output power of the inverter, ω is the angular velocity of the motor, η eis the motor efficiency at the current torque speed, and n is the motor speed.

[0027] Optionally, obtaining the charge and discharge current of the power battery under the current driving condition further includes:

[0028] According to formula (7), the conduction loss of the power tube in the inverter is obtained:

[0029]

[0030] According to formula (8), the switching loss of the power tube is obtained.

[0031]

[0032] Among them, P cl is the conduction loss of the power tube, T is the switching period of the power tube, U ron U is the conduction voltage drop of the power tube when the rated current flows through it, on is the voltage drop of the power tube when it is lightly loaded, I N is the rated current, I con For D s is the duty cycle of the power tube, P sw is the switching loss of the power tube, E sw(on) is the conduction loss of the power tube at rated current, E sw(off) is the turn-off loss of the power tube at rated current, f s is the switching frequency, I a is the amplitude of the AC current.

[0033] Optionally, obtaining the charge and discharge current of the power battery under the current driving condition further includes:

[0034] According to formula (9), the total loss of the three-phase inverter power tube is obtained:

[0035] P loss =6(P sw +P cl ), (9)

[0036] Among them, P loss is the total loss of the three-phase inverter power tube.

[0037] Optionally, obtaining the charge and discharge current of the power battery under the current driving condition further includes:

[0038] According to formula (10), the power battery charging and discharging current is obtained:

[0039]

[0040] Among them, i DC is the power battery charge and discharge current, U DCis the terminal voltage of the power battery pack.

[0041] Optionally, when it is determined that the charge and discharge current does not exceed the maximum allowable current, obtaining the power battery SOC under the current driving condition includes:

[0042] According to formula (11), the power battery SOC under the current driving condition is obtained:

[0043]

[0044] Among them, SOC is the SOC of the power battery, SOC0 is the initial value of the power battery SOC, C N is the rated capacity of the power battery.

[0045] On the other hand, the present invention further provides a power battery SOC estimation system based on real-time operating conditions, wherein the estimation system includes a processor for executing any of the estimation methods described above.

[0046] Through the above technical solution, the present invention provides a power battery SOC estimation method and system based on real-time operating conditions. The method obtains the current driving condition, determines the actual torque demand of the current driving condition, and determines whether the actual torque demand is greater than or equal to 0. When the actual torque demand is greater than or equal to 0, the power battery discharges, and the driving force is provided entirely by the motor. When the actual torque demand is less than 0, the power battery charges, and the vehicle is in a braking state, with the braking force provided partially by the motor and partially by the hydraulic brake system. The electromagnetic torque of the motor is calculated based on the different actual torque demands, and the power of the motor and inverter is further calculated. The power battery charge and discharge current is calculated based on the principle of conservation of energy. When the current does not exceed the maximum charge and discharge current allowed by the power battery, the power battery SOC is directly estimated according to the formula. When the current exceeds the maximum charge and discharge current allowed by the power battery, the SOC is estimated using the ampere-hour integration method based on the maximum current, and the actual torque is limited based on the maximum charge and discharge current. This estimation method and system estimates the power battery SOC based on the real-time driving condition of the vehicle, without detecting the battery charge and discharge current. It considers different operating conditions such as driving and braking, and calculates the charge and discharge current based on the principle of conservation of energy, resulting in high calculation accuracy.

[0047] Other features and advantages of the embodiments of the present invention will be described in detail in the subsequent detailed description. BRIEF DESCRIPTION OF THE DRAWINGS

[0048] The accompanying drawings are used to provide a further understanding of the embodiments of the present invention and constitute a part of the specification. Together with the following detailed description, they are used to explain the embodiments of the present invention, but do not constitute a limitation of the embodiments of the present invention. In the accompanying drawings:

[0049] Figure 1 This is a flow chart of a method for estimating the SOC of a power battery based on real-time operating conditions according to an embodiment of the present invention;

[0050] Figure 2 This is a flow chart of obtaining the charge and discharge current of a power battery under current driving conditions according to an embodiment of the present invention. DETAILED DESCRIPTION

[0051] The following describes the specific implementation of the embodiment of the present invention in detail with reference to the accompanying drawings. It should be understood that the specific implementation described herein is only used to illustrate and explain the embodiment of the present invention and is not used to limit the embodiment of the present invention.

[0052] like Figure 1 The figure shows a flow chart of a method for estimating the SOC of a power battery based on real-time working conditions according to an embodiment of the present invention. Figure 1 In the example, the estimation method may include:

[0053] In step S1, the current driving condition is obtained and the actual torque requirement of the current driving condition is determined;

[0054] In step S2, it is determined whether the actual torque demand is greater than or equal to 0;

[0055] In step S3, when it is determined that the actual torque demand is greater than or equal to 0, the electromagnetic torque of the current driving condition is obtained;

[0056] In step S4, when it is determined that the actual torque demand is less than 0, the mechanical torque of the hydraulic brake system of the current driving condition is obtained, and the electromagnetic torque of the current driving condition is obtained based on the mechanical torque;

[0057] In step S5, the charge and discharge current of the power battery under the current driving condition is obtained;

[0058] In step S6, it is determined whether the charge and discharge current exceeds the maximum allowable current;

[0059] In step S7, if it is determined that the charge and discharge current does not exceed the maximum allowable current, the power battery SOC under the current driving condition is obtained;

[0060] In step S8, when it is determined that the charge and discharge current exceeds the maximum allowable current, the power battery SOC under the current driving condition is estimated according to the maximum current and the ampere-hour integration method, and at the same time, the actual torque demand is limited according to the maximum charge and discharge current, and the process returns to the step of obtaining the current driving condition and determining the actual torque demand of the current driving condition.

[0061] In steps S1 to S8, the current driving condition is obtained based on the accelerator and brake pedals, and the actual torque demand under the current driving condition is determined. It is determined whether the actual torque demand is greater than or equal to 0. When the actual torque demand is greater than or equal to 0, the power battery is discharged, and the driving force is entirely provided by the motor. The electromagnetic torque of the current driving condition is obtained. When the actual torque demand is less than 0, the power battery is charged, the vehicle is in a braking state, and the braking force is provided partially by the motor and partially by the hydraulic brake system. The mechanical torque of the current driving condition is obtained, and the electromagnetic torque of the current driving condition is obtained based on the mechanical torque. The charge and discharge current of the power battery under the current driving condition is obtained, and it is determined whether the charge and discharge current exceeds the maximum allowable current. If it is determined that the charge and discharge current does not exceed the maximum allowable current, the power battery state of charge (SOC) under the current driving condition is obtained. If it is determined that the charge and discharge current exceeds the maximum allowable current, the power battery state of charge (SOC) under the current driving condition is estimated according to the ampere-hour integration method based on the maximum current. At the same time, the actual torque demand is limited based on the maximum charge and discharge current. The process then returns to the step of obtaining the current driving condition and determining the actual torque demand for the current driving condition. This estimation method estimates the SOC of the power battery based on the real-time operating conditions of the vehicle, without the need to detect the battery's charge and discharge current. It takes into account different operating conditions such as driving and braking, and calculates the charge and discharge current based on the principle of conservation of energy, with high calculation accuracy.

[0062] In this Figure 1 In the method shown, step S1 can be used to obtain the current driving condition and determine the actual torque demand of the current driving condition. The specific method for determining the actual torque demand of the current driving condition can be various forms known to those skilled in the art. In one example of the present invention, the actual torque demand is determined by the current driving condition, and the mechanical transmission efficiency of the current driving condition is obtained based on experience. Then, the torque demand of the current driving condition can be determined according to formula (1):

[0063]

[0064] Among them, T L is the actual torque demand, η L is the mechanical transmission efficiency, and J is the moment of inertia.

[0065] According to the value of the actual torque demand determined in step S1, step S2 can be used to determine whether the actual torque demand is greater than or equal to 0. Step S3 can be used to obtain the electromagnetic torque of the current driving condition when it is determined that the actual torque demand is greater than or equal to 0. Step S4 can be used to obtain the mechanical torque of the hydraulic braking system of the current driving condition when it is determined that the actual torque demand is less than 0, and obtain the electromagnetic torque of the current driving condition based on the mechanical torque. When the actual torque demand is greater than or equal to 0, the driving force is entirely provided by the motor. When the actual torque demand is less than 0, the vehicle is in a braking state, and part of the braking force is provided by the motor and part by the hydraulic braking system. The specific method for obtaining the electromagnetic torque of the current driving condition can be in various forms known to those skilled in the art. In one embodiment of the present invention, the electromagnetic torque can be obtained according to formulas (2) to (4) to obtain the electromagnetic torque of the current driving condition.

[0066]

[0067] Among them, T e is the electromagnetic torque, T b is the mechanical torque of the hydraulic brake system, k is the ratio of the electromagnetic torque to the mechanical torque of the hydraulic brake system, T L * is the maximum allowable braking torque. Since the mechanical torque of the hydraulic brake system is also the braking torque, the mechanical torque of the hydraulic brake system is less than 0. Under braking conditions, the electromagnetic torque and the mechanical torque of the hydraulic brake system provide braking torque at the same time. The relationship between the two can be expressed according to formula (3). Therefore, under braking conditions, the electromagnetic torque and the mechanical torque of the hydraulic brake system can be obtained by formula (2) and formula (3), which is formula (4).

[0068] Step S5 can be used to obtain the charge and discharge current of the power battery under the current driving condition. The specific method for obtaining the charge and discharge current of the power battery under the current driving condition can be various forms known to those skilled in the art. In one example of the present invention, the method for obtaining the charge and discharge current of the power battery under the current driving condition can include the following: Figure 2 The steps shown. Specifically:

[0069] In step S10, the mechanical power of the motor under the current driving condition is obtained according to formula (5):

[0070] P e =T e ω=2πnT e , (5)

[0071] In step S11, the output power of the inverter under the current driving condition is obtained according to formula (6):

[0072]

[0073] Among them, P e is the mechanical power of the motor, P INV is the output power of the inverter, ω is the angular velocity of the motor, η e is the motor efficiency at the current torque speed, and n is the motor speed.

[0074] In step S12, the conduction loss of the power tube in the inverter is obtained according to formula (7):

[0075]

[0076] In step S13, the switching loss of the power tube is obtained according to formula (8):

[0077]

[0078] Among them, P cl is the conduction loss of the power tube, T is the switching period of the power tube, U mon U is the conduction voltage drop of the power tube when the rated current flows through it, on is the voltage drop of the power tube when it is lightly loaded, I N is the rated current, I con For D s is the duty cycle of the power tube, P sw is the switching loss of the power tube, E sw(on) is the conduction loss of the power tube at rated current, E sw(off) is the turn-off loss of the power tube at rated current, f s is the switching frequency, I a is the amplitude of the AC current.

[0079] In step S14, the total loss of the three-phase inverter power tube is obtained according to formula (9):

[0080] P loss =6(P sw +P cl ), (9)

[0081] Among them, P loss is the total loss of the three-phase inverter power tube.

[0082] In step S15, the power battery charge and discharge current is obtained according to formula (10):

[0083]

[0084] Among them, i DC is the power battery charge and discharge current, U DC is the terminal voltage of the power battery pack.

[0085] Step S6 can be used to determine whether the charge and discharge current exceeds the maximum allowable current. Step S7 can be used to obtain the power battery SOC under the current driving condition when it is determined that the charge and discharge current does not exceed the maximum allowable current. The specific method for obtaining the power battery SOC under the current driving condition can be various forms known to those skilled in the art. In one example of the present invention, the power battery SOC under the current driving condition can be obtained according to formula (11):

[0086]

[0087] Among them, SOC is the SOC of the power battery, SOC0 is the initial value of the power battery SOC, C N is the rated capacity of the power battery.

[0088] Step S8 can be used to estimate the power battery SOC under the current driving condition according to the maximum current and the ampere-hour integration method when it is determined that the charge and discharge current exceeds the maximum allowable current, and at the same time limit the actual torque demand according to the maximum charge and discharge current, and return to the step of obtaining the current driving condition and determining the actual torque demand of the current driving condition.

[0089] On the other hand, the present invention further provides a power battery SOC estimation system based on real-time operating conditions, wherein the estimation system includes a processor for executing any of the estimation methods described above.

[0090] Through the above technical solution, the present invention provides a power battery SOC estimation method and system based on real-time operating conditions. The method obtains the current driving condition, determines the actual torque demand of the current driving condition, and determines whether the actual torque demand is greater than or equal to 0. When the actual torque demand is greater than or equal to 0, the power battery discharges, and the driving force is provided entirely by the motor. When the actual torque demand is less than 0, the power battery charges, and the vehicle is in a braking state, with the braking force provided partially by the motor and partially by the hydraulic brake system. The electromagnetic torque of the motor is calculated based on the different actual torque demands, and the power of the motor and inverter is further calculated. The power battery charge and discharge current is calculated based on the principle of conservation of energy. When the current does not exceed the maximum charge and discharge current allowed by the power battery, the power battery SOC is directly estimated according to the formula. When the current exceeds the maximum charge and discharge current allowed by the power battery, the SOC is estimated using the ampere-hour integration method based on the maximum current, and the actual torque is limited based on the maximum charge and discharge current. This estimation method and system estimates the power battery SOC based on the real-time driving condition of the vehicle, without detecting the battery charge and discharge current. It considers different operating conditions such as driving and braking, and calculates the charge and discharge current based on the principle of conservation of energy, resulting in high calculation accuracy.

[0091] Those skilled in the art will appreciate that the embodiments of the present application can be provided as methods, systems, or computer program products. Therefore, the present application can adopt the form of a complete hardware embodiment, a complete software embodiment, or an embodiment in combination with software and hardware. Moreover, the present application can adopt the form of a computer program product implemented on one or more computer-usable storage media (including but not limited to magnetic disk storage, CD-ROM, optical storage, etc.) that contain computer-usable program code.

[0092] The present application is described with reference to the flowcharts and / or block diagrams of the methods, devices (systems), and computer program products according to the embodiments of the present application. It should be understood that each process and / or box in the flowchart and / or block diagram, as well as the combination of the processes and / or boxes in the flowchart and / or block diagram, can be implemented by computer program instructions. These computer program instructions can be provided to a processor of a general-purpose computer, a special-purpose computer, an embedded processor, or other programmable data processing device to produce a machine, so that the instructions executed by the processor of the computer or other programmable data processing device generate instructions for implementing the steps in the process. Figure 1 a process or multiple processes and / or boxes Figure 1 A device that provides the functions specified in a block or multiple blocks.

[0093] These computer program instructions may also be stored in a computer readable memory that can direct a computer or other programmable data processing device to work in a specific manner, so that the instructions stored in the computer readable memory produce an article of manufacture comprising an instruction device, which implements the process Figure 1 a process or multiple processes and / or boxes Figure 1 The function specified in one or more boxes.

[0094] These computer program instructions can also be loaded onto a computer or other programmable data processing device so that a series of operational steps are executed on the computer or other programmable device to produce a computer-implemented process, thereby providing the instructions executed on the computer or other programmable device for implementing the process. Figure 1 a process or multiple processes and / or boxes Figure 1 A step that specifies a function in one or more boxes.

[0095] In a typical configuration, a computing device includes one or more processors (CPUs), input / output interfaces, network interfaces, and memory.

[0096] The memory may include non-permanent memory in a computer-readable medium, random access memory (RAM) and / or non-volatile memory in the form of read-only memory (ROM) or flash RAM. The memory is an example of a computer-readable medium.

[0097] Computer-readable media includes permanent and non-permanent, removable and non-removable media that can be implemented by any method or technology to store information. The information can be computer-readable instructions, data structures, program modules or other data. Examples of computer storage media include, but are not limited to, phase change memory (PRAM), static random access memory (SRAM), dynamic random access memory (DRAM), other types of random access memory (RAM), read-only memory (ROM), electrically erasable programmable read-only memory (EEPROM), flash memory or other memory technology, compact disc read-only memory (CD-ROM), digital versatile disc (DVD) or other optical storage, magnetic cassettes, magnetic disk storage or other magnetic storage devices or any other non-transmission media that can be used to store information that can be accessed by a computing device. As defined herein, computer-readable media does not include transitory computer-readable media (transitory media), such as modulated data signals and carrier waves.

[0098] It should also be noted that the terms "comprises," "includes," or any other variations thereof are intended to encompass non-exclusive inclusion, such that a process, method, commodity, or apparatus that includes a series of elements includes not only those elements but also other elements not explicitly listed, or includes elements inherent to such process, method, commodity, or apparatus. In the absence of further limitations, an element defined by the phrase "comprises a ..." does not exclude the presence of other identical elements in the process, method, commodity, or apparatus that includes the element.

[0099] The above are merely embodiments of the present application and are not intended to limit the present application. For those skilled in the art, the present application may have various changes and variations. Any modifications, equivalent replacements, improvements, etc. made within the spirit and principles of the present application should all be included within the scope of the claims of the present application.

Claims

1. A power battery SOC estimation method based on real-time working conditions, characterized in that: The estimation method includes: Obtaining a current driving condition and determining an actual torque requirement of the current driving condition; Determining whether the actual torque demand is greater than or equal to 0; When it is determined that the actual torque demand is greater than or equal to 0, obtaining the electromagnetic torque of the current driving condition; When it is determined that the actual torque demand is less than 0, obtaining a mechanical torque of the hydraulic brake system of the current driving condition, and obtaining an electromagnetic torque of the current driving condition based on the mechanical torque; Obtaining the charge and discharge current of the power battery under the current driving condition; Determining whether the charge and discharge current exceeds the maximum allowable current; When it is determined that the charge and discharge current does not exceed the maximum allowable current, obtaining the power battery SOC under the current driving condition; When it is determined that the charge and discharge current exceeds the maximum allowable current, the power battery SOC under the current driving condition is estimated according to the maximum current and the ampere-hour integration method, and at the same time, the actual torque demand is limited according to the maximum charge and discharge current, and the step of returning to obtain the current driving condition and determining the actual torque demand of the current driving condition is performed.

2. The estimation method according to claim 1, wherein Obtaining a current driving condition and determining a torque requirement for the current driving condition includes: According to formula (1), the torque requirement of the current driving condition is determined. Among them, T L is the actual torque demand, η L is the mechanical transmission efficiency, and J is the moment of inertia.

3. The estimation method according to claim 2, characterized in that Obtaining the electromagnetic torque of the current driving condition includes: According to formula (2) to formula (4), the electromagnetic torque of the current driving condition is obtained. Among them, T e is the electromagnetic torque, T b is the mechanical torque of the hydraulic brake system, k is the ratio of the electromagnetic torque to the mechanical torque of the hydraulic brake system, T L * is the maximum allowable braking torque.

4. The estimation method according to claim 1, wherein: Obtaining the charge and discharge current of the power battery under the current driving condition, including: According to formula (5), the mechanical power of the motor under the current driving condition is obtained: P e =T e ω=2πnT e , (5) According to formula (6), the output power of the inverter under the current driving condition is obtained: Among them, P e is the mechanical power of the motor, P INV is the output power of the inverter, ω is the angular velocity of the motor, η e is the motor efficiency at the current torque speed, and n is the motor speed.

5. The estimation method according to claim 4, characterized in that Obtaining the charge and discharge current of the power battery under the current driving condition also includes: According to formula (7), the conduction loss of the power tube in the inverter is obtained: According to formula (8), the switching loss of the power tube is obtained. Among them, P cl is the conduction loss of the power tube, T is the switching period of the power tube, U ron U is the conduction voltage drop of the power tube when the rated current flows through it, on is the voltage drop of the power tube when it is lightly loaded, I N is the rated current, I con For D s is the duty cycle of the power tube, P sw is the switching loss of the power tube, E sw(on) is the conduction loss of the power tube at rated current, E sw(off) is the turn-off loss of the power tube at rated current, f s is the switching frequency, I a is the amplitude of the AC current.

6. The estimation method according to claim 5, characterized in that Obtaining the charge and discharge current of the power battery under the current driving condition also includes: According to formula (9), the total loss of the three-phase inverter power tube is obtained: P loss =6(P sw +P cl ), (9) Among them, P loss is the total loss of the three-phase inverter power tube.

7. The estimation method according to claim 6, characterized in that Obtaining the charge and discharge current of the power battery under the current driving condition also includes: According to formula (10), the power battery charging and discharging current is obtained: Among them, i DC is the power battery charge and discharge current, U DC is the terminal voltage of the power battery pack.

8. The estimation method according to claim 7, characterized in that When it is determined that the charge and discharge current does not exceed the maximum allowable current, obtaining the power battery SOC under the current driving condition includes: According to formula (11), the power battery SOC under the current driving condition is obtained: Among them, SOC is the SOC of the power battery, SOC0 is the initial value of the power battery SOC, C N is the rated capacity of the power battery.

9. A power battery SOC estimation system based on real-time working conditions, characterized in that: The estimation system comprises a processor, configured to execute the estimation method according to any one of claims 1 to 8.

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