CN107933317A - Method, apparatus, equipment and the pure electric automobile of the remaining continual mileage of estimation - Google Patents
Method, apparatus, equipment and the pure electric automobile of the remaining continual mileage of estimation Download PDFInfo
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- CN107933317A CN107933317A CN201710972520.2A CN201710972520A CN107933317A CN 107933317 A CN107933317 A CN 107933317A CN 201710972520 A CN201710972520 A CN 201710972520A CN 107933317 A CN107933317 A CN 107933317A
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60L—PROPULSION OF ELECTRICALLY-PROPELLED VEHICLES; SUPPLYING ELECTRIC POWER FOR AUXILIARY EQUIPMENT OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRODYNAMIC BRAKE SYSTEMS FOR VEHICLES IN GENERAL; MAGNETIC SUSPENSION OR LEVITATION FOR VEHICLES; MONITORING OPERATING VARIABLES OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRIC SAFETY DEVICES FOR ELECTRICALLY-PROPELLED VEHICLES
- B60L3/00—Electric devices on electrically-propelled vehicles for safety purposes; Monitoring operating variables, e.g. speed, deceleration or energy consumption
- B60L3/12—Recording operating variables ; Monitoring of operating variables
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60L—PROPULSION OF ELECTRICALLY-PROPELLED VEHICLES; SUPPLYING ELECTRIC POWER FOR AUXILIARY EQUIPMENT OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRODYNAMIC BRAKE SYSTEMS FOR VEHICLES IN GENERAL; MAGNETIC SUSPENSION OR LEVITATION FOR VEHICLES; MONITORING OPERATING VARIABLES OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRIC SAFETY DEVICES FOR ELECTRICALLY-PROPELLED VEHICLES
- B60L2260/00—Operating Modes
- B60L2260/40—Control modes
- B60L2260/50—Control modes by future state prediction
- B60L2260/52—Control modes by future state prediction drive range estimation, e.g. of estimation of available travel distance
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60L—PROPULSION OF ELECTRICALLY-PROPELLED VEHICLES; SUPPLYING ELECTRIC POWER FOR AUXILIARY EQUIPMENT OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRODYNAMIC BRAKE SYSTEMS FOR VEHICLES IN GENERAL; MAGNETIC SUSPENSION OR LEVITATION FOR VEHICLES; MONITORING OPERATING VARIABLES OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRIC SAFETY DEVICES FOR ELECTRICALLY-PROPELLED VEHICLES
- B60L2260/00—Operating Modes
- B60L2260/40—Control modes
- B60L2260/50—Control modes by future state prediction
- B60L2260/54—Energy consumption estimation
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- Life Sciences & Earth Sciences (AREA)
- Sustainable Development (AREA)
- Sustainable Energy (AREA)
- Power Engineering (AREA)
- Transportation (AREA)
- Mechanical Engineering (AREA)
- Electric Propulsion And Braking For Vehicles (AREA)
Abstract
The invention discloses a kind of method, apparatus, equipment and computer-readable recording medium for estimating remaining continual mileage, including；Calculate the measured value of average current drain of the pure electric automobile in the first pre-determined distance；Judge the pure electric automobile current working；If the pure electric automobile current working travels for driving, optimize the measured value of the average current drain using Kalman filtering, to obtain the maximum likelihood estimate of the average current drain in first pre-determined distance；Using the maximum likelihood estimate of the average current drain and the remaining capacity of the pure electric automobile, the remaining continual mileage of the pure electric automobile is estimated.Method, apparatus, equipment and computer-readable storage medium provided by the present invention can suppress fluctuating widely for remaining continual mileage estimated value.Present invention also offers a kind of pure electric automobile, includes the equipment of above-mentioned estimation residue continual mileage, more can quickly and accurately estimate remaining continual mileage.
Description
Technical field
The present invention relates to Control of Electric Vehicles technical field, more particularly to a kind of method for estimating remaining continual mileage,
Device, equipment, computer readable storage devices and a kind of pure electric automobile.
Background technology
Pure electric automobile is the means of transport using battery as power source, and the development of electric automobile can be with effectively save resource
Instrument, reduces environmental pollution.The driver of pure electric automobile continues in driving procedure according to the residue that pure electric automobile instrument is shown
Mileage is sailed, judges the driveability of pure electric automobile.The driving cycle of whole pure electric vehicle is complicated, running environment is changeable and
The accuracy that many factors such as the driving habit difference of different drivers estimate remaining continual mileage causes very big influence.
Remaining continual mileage overestimate may mislead driver to whether needing to find charging pile charging generation in the process of moving
False judgment；Remaining continual mileage estimation is excessively accurate, and remaining continual mileage may change because of each moment throttle, reason
The change of the series of factors such as resistance, the gradient and produce it is too fast, cross significantly beat, increase driver's sense of urgency, drop significantly
The low confidence level of remaining continual mileage.So rational residue continual mileage estimation should be successively decreased by a small margin, high SOC
When (State of charge battery charge states) can suitably excessive estimation, when low SOC, should conservative estimation.
In the prior art, the average current drain of whole pure electric vehicle is estimated using operating condition method or electric quantity integration method.
Electric quantity integration method, which refers to, integrates one section of distance travelled consumption electricity of electric automobile, obtains the electricity of consumption in the mileage, uses
The ratio of mileage and the electricity of consumption in mileage represents average current drain.Average current drain represents the power consumption in a product life cycle
Level, since Electric Vehicles Driving Cycle is complicated, for different driving environments and driver, average current drain have it is certain up and down
Floating deviation, the deviation is ± 10~20% or so, if there is excessive bounce in the calculated value of average current drain, such as：Upper one
It is 6km/kWh that a computation of Period, which obtains average current drain, and current period causes to calculate since the power needed for driver is more
Average current drain be changed into 5km/kWh, then for the electric automobile of average current drain renewable time remaining capacity 10kWh, just
Occur that remaining continual mileage jumps to 50km from 60km, considerably increase the sense of urgency of driver.
It is remaining with the power consumption horizontal estimated in the past period or mileage to select electric quantity integration algorithm in the prior art
Driveability under battery capacity, longer using mileage during calculating, the electricity of integration is more, and the average current drain finally obtained is just
Closer to the average current drain of vehicle traveling, but average current drain calculated value is convergent also slower, and that estimates before the mileage is reached is flat
Equal power consumption fluctuation is also bigger, causes initial remaining continual mileage fluctuation when driving violent and very inaccurate.Therefore, obtain it is flat
After equal power consumption, limitation processing is carried out to the average current drain being estimated to, it is existing so as to the significantly bounce of remaining continual mileage show value
Have and instantaneous optimization strategy is used in technology, but the calculated value of average current drain cannot estimate overall average current drain, the prior art
The calculated value fluctuation of middle average current drain is big, and then estimates that obtained remaining continual mileage is with a low credibility.
In summary as can be seen that how to suppress remaining continual mileage estimated value fluctuate widely be have at present it is to be solved
The problem of.
The content of the invention
The object of the present invention is to provide a kind of method, apparatus for estimating remaining continual mileage, equipment and computer-readable
Storage device, has solved the problems, such as that remaining continual mileage estimated value amplitude fluctuation is big in the prior art.Present invention also offers one
Kind pure electric automobile, residue continual mileage quickly, is relatively accurately estimated using the equipment of the remaining continual mileage of the estimation.
In order to solve the above technical problems, the present invention provides a kind of method for estimating remaining continual mileage, including：Calculate pure electricity
The measured value of average current drain of the electrical automobile in the first pre-determined distance；Judge the pure electric automobile current working；It is if described pure
Electric automobile current working travels for driving, optimizes the measured value of the average current drain using Kalman filtering, to obtain
State the maximum likelihood estimate of the average current drain in the first pre-determined distance；Maximum likelihood estimate and the pure electricity using the average current drain
The remaining capacity of electrical automobile, estimates the remaining continual mileage of the pure electric automobile.
Preferably, the measured value of average current drain of the calculating pure electric automobile in the first pre-determined distance includes：Utilize
The ratio of first pre-determined distance and the consumption electricity of pure electric automobile in first pre-determined distance, calculates the pure electric vehicle
The measured value of average current drain of the automobile in first pre-determined distance；The pure electric automobile often travels the second pre-determined distance,
Recalculate once the measured value of the average current drain.
Preferably, it is described to judge that the pure electric automobile current working includes：Using finite state machine according to electrical management
System charging signals, speed signal, battery current signal, battery charge state signal, driver's air-conditioning request signal and air-conditioning
Approving signal judges the pure electric automobile current working.
Preferably, it is described to judge that the pure electric automobile current working includes：Judge the pure electric automobile battery charge
Whether state is less than predetermined threshold value, if so, then judging that remaining continual mileage is zero；If it is not, then judge that the pure electric automobile is
It is no to be in charged state；If the pure electric automobile is in charged state, judge that average current drain is fixed value, if the pure electricity
Electrical automobile is in non-charged state, then the pure electric automobile is in operating mode of awaiting orders；Await orders when the pure electric automobile is in non-
During operating mode, judge whether the pure electric automobile is that charged state and/or battery charge state are less than predetermined threshold value, if it is not, institute
The operating mode for stating pure electric automobile travels for driving.
Preferably, if the pure electric automobile current working travels for driving, optimized using Kalman filtering described in
The measured value of average current drain, includes to obtain the maximum likelihood estimate of the average current drain in first pre-determined distance：Judge institute
Whether the measured value for stating t moment average current drain of the pure electric automobile in pre-determined distance changes；If so, according to the pure electric vehicle vapour
The average current drain at t-1 moment of the car in pre-determined distance, obtains the average electricity of t moment of the pure electric automobile in pre-determined distance
The predicted value of consumption；According to the covariance of the average current drain at the t-1 moment, the prediction covariance of the predicted value is obtained；Root
According to the prediction covariance, the t moment Kalman filtering coefficient is obtained, to calculate the optimal of the t moment average current drain
The covariance of estimated value；During according to the t moment Kalman filtering coefficient, the predicted value of the t moment average current drain and the t
The measured value of average current drain is carved, obtains the maximum likelihood estimate of the average current drain of the t moment.
Present invention also offers a kind of device for estimating remaining continual mileage, including：
Measurement module, for calculating the measured value of average current drain of the pure electric automobile in the first pre-determined distance；
Judgment module, for judging the pure electric automobile current working；
Optimization module, for the pure electric automobile current working to drive when driving, utilizes Kalman filtering to optimize institute
The measured value of average current drain is stated, to obtain the maximum likelihood estimate of the average current drain in first pre-determined distance；
Estimation block, for utilizing the maximum likelihood estimate of the average current drain and the remaining capacity of the pure electric automobile,
Estimate the remaining continual mileage of the pure electric automobile.
Preferably, the optimization module is specifically used for：Judge that t moment of the pure electric automobile in pre-determined distance is averaged
Whether the measured value of power consumption changes；If so, the average current drain at the t-1 moment according to the pure electric automobile in pre-determined distance,
Obtain the predicted value of t moment average current drain of the pure electric automobile in pre-determined distance；According to being averaged for the t-1 moment
The covariance of power consumption, obtains the prediction covariance of the predicted value；According to the prediction covariance, the t moment karr is obtained
Graceful filter factor, to calculate the covariance of the maximum likelihood estimate of the t moment average current drain；According to the t moment Kalman
The measured value of filter factor, the predicted value of the t moment average current drain and the t moment average current drain, obtains the t moment
The maximum likelihood estimate of average current drain.
Present invention also offers a kind of equipment for estimating remaining continual mileage, including：Memory, for storing computer journey
Sequence；Processor, for performing computer program when realize it is above-mentioned it is a kind of estimate remaining continual mileage method the step of.
It is described computer-readable present invention also offers a kind of computer-readable recording medium for estimating remaining continual mileage
Computer program is stored with storage medium, the computer program realizes that a kind of above-mentioned estimation is remaining continuous when being executed by processor
The step of sailing the method for mileage.
Present invention also offers a kind of pure electric automobile, including a kind of above-mentioned equipment for estimating remaining continual mileage.
A kind of method, apparatus for estimating remaining continual mileage, equipment and computer-readable storage provided by the present invention are situated between
Matter, calculates the measured value of pure electric automobile average current drain；When the pure electric automobile current working for driving travel, utilize karr
The measured value of average current drain described in graceful filtering optimization, obtains the maximum likelihood estimate of the pure electric automobile average current drain；Using institute
The maximum likelihood estimate of average current drain and the remaining capacity of the pure electric automobile are stated, estimates the remaining driving of the pure electric automobile
Mileage.According to above-mentioned method, apparatus, equipment and computer-readable recording medium, it is contemplated that the operating condition of pure electric automobile,
In different operating modes, the renewal situation of the average current drain of the pure electric automobile is different, goes in the pure electric automobile in driving
When sailing, using the measured value of Kalman filtering optimization pure electric automobile average current drain, suppress fluctuating widely for average current drain, into
And fluctuating widely for the remaining continual mileage of estimation is inhibited, the pure electric automobile is accurately estimated residue
Continual mileage.
Brief description of the drawings
, below will be to embodiment or existing for the clearer explanation embodiment of the present invention or the technical solution of the prior art
Attached drawing is briefly described needed in technology description, it should be apparent that, drawings in the following description are only this hair
Some bright embodiments, for those of ordinary skill in the art, without creative efforts, can be with root
Other attached drawings are obtained according to these attached drawings.
Fig. 1 is the flow chart of the first specific embodiment of the method for the remaining continual mileage of estimation provided by the present invention；
Fig. 2 is the flow chart that pure electric automobile operating mode judges；
Fig. 3 is the flow chart of second of specific embodiment of the method for the remaining continual mileage of estimation provided by the present invention；
Fig. 4 is circulation electric quantity integration algorithm schematic diagram；
Fig. 5 is effect simulation comparison figure after a specific embodiment average current drain global optimization；
Fig. 6 is effect simulation comparison figure after the remaining continual mileage global optimization of Fig. 5 specific embodiments；
Fig. 7 is a kind of structure diagram of device for estimating remaining continual mileage provided in an embodiment of the present invention.
Embodiment
The core of the present invention is to provide a kind of estimation remaining driving method, apparatus, equipment and computer-readable storage medium can be with
Suppress fluctuating widely for remaining continual mileage estimated value.Present invention also offers a kind of pure electric automobile, including above-mentioned estimation
The equipment of remaining continual mileage, more can quickly and accurately estimate remaining continual mileage.
In order to make those skilled in the art more fully understand the present invention program, with reference to the accompanying drawings and detailed description
The present invention is described in further detail.Obviously, described embodiment is only part of the embodiment of the present invention, rather than
Whole embodiments.Based on the embodiments of the present invention, those of ordinary skill in the art are not making creative work premise
Lower all other embodiments obtained, belong to the scope of protection of the invention.
Please refer to Fig.1, Fig. 1 is the first specific embodiment of the method for the remaining continual mileage of estimation provided by the present invention
Flow chart；Concrete operation step is as follows：
Step S101：Calculate the measured value of average current drain of the pure electric automobile in the first pre-determined distance；
Step S102；Judge the pure electric automobile current working；
The pure electric automobile current working can be divided into：In charging, air-conditioning open, air-conditioning close, await orders, drive traveling,
SOC is less than six kinds of operating modes of predetermined threshold value；Operating mode judges to use finite state machine according to BMS (electric power management system) charging letters
Number, speed signal, battery current signal, battery SOC signal, driver's air-conditioning request signal and air-conditioning approving signal etc. be to described
Pure electric automobile current working is judged.
Please refer to Fig.2, Fig. 2 is the flow chart that pure electric automobile operating mode judges.
As shown in Fig. 2, during initialization, corresponding Drive_States=0；When the pure electric automobile is to await orders operating mode,
The operating mode of awaiting orders includes：Parking, feedback and slide (cell output current is non-just), and the pure electric automobile average current drain is not
Become, corresponding Drive_States=1；When the pure electric automobile is in charging, the pure electric automobile average current drain is
Fixed value, corresponding Drive_States=3；When the pure electric automobile current working is air-conditioning switch, the pure electric vehicle vapour
The average current drain saltus step of car is once；When the pure electric automobile current working is less than predetermined threshold value for SOC, remaining driving is shown
Mileage is 0, corresponding Drive_States=4；When the pure electric automobile current working for driving when driving, corresponding Drive_
States=2.It should be noted that air-conditioning switch operating mode not operating mode judge flow in, since air-conditioning switch is to described pure
The amendment only one cycle of electric automobile average current drain, the calculating of the average current drain under air-conditioning switch operating mode after a cycle
Still handled in presently described operating mode, so when the operating mode of the pure electric automobile is air-conditioning switch, to the pure electricity
The air-conditioning switch amendment of electrical automobile average current drain directly carries out the amendment of corresponding multiple on average current drain value is calculated.
Step S103：It is described flat using Kalman filtering optimization if the pure electric automobile current working travels for driving
The measured value of equal power consumption, to obtain the maximum likelihood estimate of the average current drain in first pre-determined distance；
Step S104：Utilize the maximum likelihood estimate of the average current drain and the remaining capacity of the pure electric automobile, estimation
The remaining continual mileage of the pure electric automobile.
The maximum likelihood estimate for the average current drain that the remaining continual mileage of the pure electric automobile is calculated by each cycle with
The product of current residual SOE (State of energy remaining capacities) obtains.
In this embodiment, it is contemplated that the operating condition of pure electric automobile, in different operating modes, the pure electric vehicle vapour
The renewal situation of the average current drain of car is different, is driving when driving, is being optimized using Kalman filtering pure in the pure electric automobile
The measured value of electric automobile average current drain, suppresses fluctuating widely for average current drain, and then inhibits in the remaining driving of estimation
Journey fluctuates widely, and the pure electric automobile is accurately estimated remaining continual mileage.
Please refer to Fig.3, Fig. 3 is second of specific embodiment of the method for the remaining continual mileage of estimation provided by the present invention
Flow chart.
According to judgement of the above-mentioned specific embodiment to pure electric automobile current working, when the pure electric automobile current working
Travelled for driving, this specific embodiment comprises the following steps that：
Step S301：Under the operating mode of driving traveling, the measured value of pure electric automobile average current drain is calculated；
In this embodiment, the calculating to pure electric automobile average current drain uses the circulation electric quantity accumulation of first in first out
Method, select the ratio of the electricity of consumption in 15Km and the mileage to represent the measurement of the pure electric automobile average current drain
Value, the pure electric automobile often travels the measured value that 1.5Km updates once the average current drain, shown in specific algorithm schematic diagram 4.
Step S302：Judge whether the pure electric automobile changes in the measured value of t moment average current drain；
The pure electric automobile is in driving travels, due to driver's driving habit, speed, battery current sensor precision
And the influence of the traveling factor such as road conditions, the fluctuation during measured value renewal for the average current drain for calculating gained is larger, described
The departure degree increase of measured value and actual average power consumption, so judging whether the measured value updates, card is selected in renewal
Kalman Filtering optimizes the measured value of presently described average current drain with global average current drain that vehicle travels.
Step S303：If so, the average current drain at the t-1 moment according to the pure electric automobile in pre-determined distance, obtains
The predicted value of t moment average current drain of the pure electric automobile in pre-determined distance；
Time update equation just like： Represent t-1 moment average current drains
Maximum likelihood estimate,Represent the predicted value of t moment average current drain.In this embodiment, Kalman make use of to filter
" prediction " effect of ripple, in time update equation, measured value and the average electricity of previous moment of average current drain described in current time
The measured value of the mean consumption can be modified by consuming equal prediction, thus carry out that the average electricity of current period is calculated
The maximum likelihood estimate of consumption.
The measured value of average current drain described in the current time specific derivation process equal with previous moment average current drain is as follows：
For pure electric automobile, using AvePCRatedRepresent the average current drain of traveling in a product life cycle,
Then AvePCRatedEqual to the ratio for amounting to distance travelled with amounting to consumption electricity, and if the average current drain meter of each driving cycle
The mean consumption calculated value that calculation value can obtain the k moment is：
If：
Amount to distance travelled (k-1) ＞ ＞ distance travelleds (k)
Amount to consumption electricity (k-1) ＞ ＞ consumption electricity (k)
So from fraction characteristic：
AvePC(k)≈AvePC(k-1)
Step S304：According to the covariance of the average current drain at the t-1 moment, the prediction association side of the predicted value is obtained
Difference；
Time update equation two is such as：Pt|t-1=Pt-1|t-1+ Q%, Pt|t-1Represent that predicted value described in t moment and average current drain are real
The prediction covariance of actual value；Pt-1|t-1Represent the covariance of the average current drain maximum likelihood estimate at t-1 moment；Q represents prediction process
Noise covariance, wherein Q can be zero, can also be set to a minimum (such as 1e-8).
Step S305：Obtain the t moment Kalman filtering coefficient；
State more new formula just like：
Wherein R is measurement noise covariance, and Q is arranged to a minimum is easier to demarcating, and R depends on driving
Under transport condition average current drain calculate error level, R values can use 5~100%SOC of vehicle when driving each cycle calculating
The average value of average current drain average error is that reference is demarcated.
Step S306：According to the t moment Kalman filtering coefficient, the predicted value of the t moment average current drain and the t
The measured value of moment average current drain, obtains the maximum likelihood estimate of the average current drain of the t moment；
State more new formula two is：Wherein,Represent the maximum likelihood estimate of the average current drain of t moment.
Step S307：Calculate the covariance of the maximum likelihood estimate of the t moment average current drain.
State more new formula three is：Pt|t=(1-Kt)Pt|t-1, wherein, Pt|tRepresent that the optimal of average current drain of t moment is estimated
The covariance of calculation value.The covariance at t+1 moment can be predicted using the covariance of t moment so that Kalman filtering is calculated
Method can be gone down with autoregressive computing.
Gather in the case of certain pure electric automobile semi-load under 1 NEDC (new European automotive legislation state of cyclic operation) circulation, be used for
The coherent signal of remaining continual mileage is calculated, optimization algorithm is emulated in MATLAB, obtains effect such as Fig. 5 and Fig. 6 institutes
Show.
It can be seen from simulation comparison result before the algorithm is not used, due to the high-power need in NEDC circulation later stages
Ask, average current drain measured value is greatly lowered, and causes the remaining continual mileage of estimation the phenomenon reduced rapidly occur, this is followed
Ring amounts to traveling 11km, and remaining continual mileage declines 17.2km, and effect is undesirable；And use the global optimization approach in the present invention
Afterwards, the significantly saltus step of average current drain is effectively controlled, 12km under the whole remaining continual mileage calculated value of NEDC circulations, with reality
Border traveling value is closer to, and circulates one section big demand power traveling section below, and what accelerating also occurred in continual mileage decrease speed shows
As embodying the change of drive demand.
In this embodiment, the average current drain measured value for the pure electric automobile being calculated using circulation electric quantity integration
Theoretically average current drain exact value, but the measured value obtained in actual calculating has very big deviation, and reason is as described below：
(1) vehicle speed sensor, the precision of battery feedback current are inadequate.The electric current for vehicle speed sensor and the battery feedback that automobile uses, its
Precision is not high, and when being suitable for controlling in real time, but carrying out integral operation to it, the integral and calculating value of each cycle 10ms is smaller,
Since controller during this progress single precision calculating to that can produce precision missing, and electric quantity integration fractional part precision prescribed is higher than
Mileage integrates, so there are two parts error for the average current drain calculated：Sensor detection error and average current drain computational accuracy
Lack error, integration periods are more, and the accumulation of error is also bigger, so the average current drain value and inaccurate calculated, it exist compared with
Big error.(2) being slided in driving cycle influences the calculating of vehicle average current drain with feedback operating mode.Put down using the circulation of first in first out
Although power consumption computational methods can avoid the occurrence of the excessive phenomenon of data accumulation value, in feedback and when sliding, power consumption value subtracts
Small or constant, mileage still increases, and SOE can increase because of feedback, and the average current drain not only calculated at this time is not allowed, remaining
The calculated value of continual mileage also can be bigger than normal, so electricity when cannot consider feedback when calculating average current drain and slide, inner
Journey adds up, but the average current drain so calculated can only represent the average current drain of driving, can not represent vehicle normally travel
Average current drain, it is lower than the average current drain normally calculated.
It can be seen from the above, the measured value inaccuracy being calculated using electric quantity integration is circulated, it is therefore desirable to utilize card
The forecast function of Kalman Filtering carries out global optimization to average current drain measured value, and the optimal of average current drain obtained using optimization is estimated
The trend of slow reduction is presented in the remaining driving that calculation value is calculated, without going out to fluctuate widely；Utilize Kalman filtering
It can also make the average current drain Fast Convergent of pure electric automobile, it is not necessary to which larger accumulative mileage and accumulative electricity, driver is every
The secondary average current drain when driving that powers on can be rapidly converged near average current drain, it fluctuates the power that situation depends on driver
Demand.The susceptibility that average current drain changes operating mode is thus effectively reduced, but does not lose the body to operating mode power consumption degree
It is existing.
Fig. 7 is refer to, Fig. 7 is a kind of structural frames of device for estimating remaining continual mileage provided in an embodiment of the present invention
Figure；Specific device can include：
Measurement module 100, for calculating the measured value of average current drain of the pure electric automobile in the first pre-determined distance；
Judgment module 200, for judging the pure electric automobile current working；
Optimization module 300, for the pure electric automobile current working to drive when driving, is optimized using Kalman filtering
The measured value of the average current drain, to obtain the maximum likelihood estimate of the average current drain in first pre-determined distance；
Estimation block 400, for the maximum likelihood estimate using the average current drain and the residue electricity of the pure electric automobile
Amount, estimates the remaining continual mileage of the pure electric automobile.
The method that the device of the remaining continual mileage of estimation of the present embodiment is used for realization the remaining continual mileage of foregoing estimation,
Therefore the method for estimating the remaining continual mileage of the visible estimation hereinbefore of embodiment in the device of remaining continual mileage
Embodiment part, for example, measurement module 100, judgment module 200, optimization module 300, estimation block 400, is respectively used to reality
Step S101, S102, S103 and S104 in the method for existing above-mentioned estimation residue continual mileage, so, its embodiment can
With the description with reference to corresponding various pieces embodiment, details are not described herein.
The specific embodiment of the invention additionally provides a kind of equipment for estimating remaining continual mileage, including：Memory, for depositing
Store up computer program；Processor, for performing computer program when, realize a kind of above-mentioned side for estimating remaining continual mileage
The step of method.
The specific embodiment of the invention additionally provides a kind of computer-readable recording medium for estimating remaining continual mileage, described
Computer program is stored with computer-readable recording medium, the computer program realizes above-mentioned one kind when being executed by processor
The step of method of the remaining continual mileage of estimation.
The specific embodiment of the invention additionally provides a kind of pure electric automobile, including above-mentioned a kind of estimates remaining continual mileage
Equipment.
Each embodiment is described by the way of progressive in this specification, what each embodiment stressed be with it is other
The difference of embodiment, between each embodiment same or similar part mutually referring to.For dress disclosed in embodiment
For putting, since it is corresponded to the methods disclosed in the examples, so description is fairly simple, related part is referring to method part
Explanation.
Professional further appreciates that, with reference to each exemplary unit of the embodiments described herein description
And algorithm steps, can be realized with electronic hardware, computer software or the combination of the two, in order to clearly demonstrate hardware and
The interchangeability of software, generally describes each exemplary composition and step according to function in the above description.These
Function is performed with hardware or software mode actually, application-specific and design constraint depending on technical solution.Specialty
Technical staff can realize described function to each specific application using distinct methods, but this realization should not
Think beyond the scope of this invention.
Can directly it be held with reference to the step of method or algorithm that the embodiments described herein describes with hardware, processor
Capable software module, or the two combination are implemented.Software module can be placed in random access memory (RAM), memory, read-only deposit
Reservoir (ROM), electrically programmable ROM, electrically erasable ROM, register, hard disk, moveable magnetic disc, CD-ROM or technology
In any other form of storage medium well known in field.
The method and device of the remaining continual mileage of estimation provided by the present invention are described in detail above.Herein
In apply specific case the principle of the present invention and embodiment be set forth, the explanation of above example is only intended to side
Assistant solves the method and its core concept of the present invention.It should be pointed out that for those skilled in the art, not
On the premise of departing from the principle of the invention, some improvement and modification can also be carried out to the present invention, these are improved and modification is also fallen into
In the protection domain of the claims in the present invention.
Claims (10)
- A kind of 1. method for estimating remaining continual mileage, it is characterised in that including：Calculate the measured value of average current drain of the pure electric automobile in the first pre-determined distance；Judge the pure electric automobile current working；If the pure electric automobile current working travels for driving, optimize the measurement of the average current drain using Kalman filtering Value, to obtain the maximum likelihood estimate of the average current drain in first pre-determined distance；Using the maximum likelihood estimate of the average current drain and the remaining capacity of the pure electric automobile, the pure electric automobile is estimated Remaining continual mileage.
- 2. the method as described in claim 1, it is characterised in that described to calculate pure electric automobile putting down in the first pre-determined distance The measured value of equal power consumption includes：Using the ratio of the consumption electricity of pure electric automobile in first pre-determined distance and first pre-determined distance, institute is calculated State the measured value of average current drain of the pure electric automobile in first pre-determined distance；It is pre- that the pure electric automobile often travels second If distance, the measured value of the average current drain is recalculated once.
- 3. the method as described in claim 1, it is characterised in that described to judge that the pure electric automobile current working includes：Adopt With finite state machine according to electric power management system charging signals, speed signal, battery current signal, battery charge state signal, Driver's air-conditioning request signal and air-conditioning approving signal judge the pure electric automobile current working.
- 4. method as claimed in claim 3, it is characterised in that described to judge that the pure electric automobile current working includes：Judge whether the pure electric automobile battery charge state is less than predetermined threshold value, if so, then judging that remaining continual mileage is Zero；If it is not, then judging whether the pure electric automobile is in charged state；If the pure electric automobile is in charged state, judge that average current drain is fixed value, if the pure electric automobile is in Non- charged state, then the pure electric automobile is in operating mode of awaiting orders；When the pure electric automobile be in it is non-await orders operating mode when, judge whether the pure electric automobile is charged state and/or electricity Pond state-of-charge is less than predetermined threshold value, if it is not, the operating mode of the pure electric automobile travels for driving.
- 5. such as Claims 1-4 any one of them method, it is characterised in that if the pure electric automobile current working Travelled for driving, optimize the measured value of the average current drain using Kalman filtering, to obtain in first pre-determined distance The maximum likelihood estimate of average current drain include：Judge whether the measured value of t moment average current drain of the pure electric automobile in pre-determined distance changes；If so, the average current drain at the t-1 moment according to the pure electric automobile in pre-determined distance, obtains the pure electric automobile The predicted value of t moment average current drain in pre-determined distance；According to the covariance of the average current drain at the t-1 moment, the prediction covariance of the predicted value is obtained；According to the prediction covariance, the t moment Kalman filtering coefficient is obtained, to calculate the t moment average current drain Maximum likelihood estimate covariance；According to the t moment Kalman filtering coefficient, the predicted value of the t moment average current drain and the t moment average current drain Measured value, obtain the maximum likelihood estimate of the average current drain of the t moment.
- A kind of 6. device for estimating remaining continual mileage, it is characterised in that including：Measurement module, for calculating the measured value of average current drain of the pure electric automobile in the first pre-determined distance；Judgment module, for judging the pure electric automobile current working；Optimization module, it is described flat using Kalman filtering optimization for the pure electric automobile current working to drive when driving The measured value of equal power consumption, to obtain the maximum likelihood estimate of the average current drain in first pre-determined distance；Estimation block, for the maximum likelihood estimate and the remaining capacity of the pure electric automobile using the average current drain, estimation The remaining continual mileage of the pure electric automobile.
- 7. device as claimed in claim 6, it is characterised in that the optimization module is specifically used for：Judge whether the measured value of t moment average current drain of the pure electric automobile in pre-determined distance changes；If so, the average current drain at the t-1 moment according to the pure electric automobile in pre-determined distance, obtains the pure electric automobile The predicted value of t moment average current drain in pre-determined distance；According to the covariance of the average current drain at the t-1 moment, the prediction covariance of the predicted value is obtained；According to the prediction covariance, the t moment Kalman filtering coefficient is obtained, to calculate the t moment average current drain Maximum likelihood estimate covariance；According to the t moment Kalman filtering coefficient, the predicted value of the t moment average current drain and the t moment average current drain Measured value, obtain the maximum likelihood estimate of the average current drain of the t moment.
- A kind of 8. equipment for estimating remaining continual mileage, it is characterised in that including：Memory, for storing computer program；Processor, is realized during for performing the computer program in the estimation residue driving as described in any one of claim 1 to 5 The step of method of journey.
- 9. a kind of computer-readable recording medium, it is characterised in that be stored with computer on the computer-readable recording medium Program, realizes when the computer program is executed by processor and remaining continual mileage is estimated as described in any one of claim 1 to 5 Method the step of.
- 10. a kind of pure electric automobile, it is characterised in that include the equipment of the remaining continual mileage of estimation as claimed in claim 8.
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