CN115195521A - A method, device and terminal for estimating remaining charging time - Google Patents

Abstract

The invention discloses a charging remaining time estimation method, a device and a terminal, belonging to the technical field of new energy automobile battery management and comprising the following steps: acquiring the temperature of a power battery, and determining a charging mode according to the temperature of the power battery; determining initial estimated charging remaining time of a corresponding charging mode and corresponding charging mode correction time according to the charging mode; and determining the charging remaining time of the corresponding charging mode according to the initial estimated charging remaining time and the corresponding charging mode correction time. The invention judges the charging remaining time estimation by the temperature T of the power battery, and carries out charging estimation aiming at different charging modes of the power battery, such as a pure heating mode, a heating mode while charging and a pure charging mode, so as to improve the estimation precision of the charging remaining time.

Description

A method, device and terminal for estimating remaining charging time

technical field

The invention discloses a charging remaining time estimation method, device and terminal, which belong to the technical field of battery management of new energy vehicles.

Background technique

The use of pure electric terminals is becoming more and more popular, and users have higher and higher functional requirements for pure electric terminals, as well as higher and higher requirements for user experience. During the charging process of pure electric vehicles, users need to know the remaining charging time of the terminal in real time, in order to for better travel planning. Due to the complex operating conditions of pure electric terminals, affected by ambient temperature, charging pile performance, terminal thermal management performance, battery temperature rise, charging strategy, etc., most of the current remaining charging time calculation models and algorithms are difficult to ensure accuracy.

SUMMARY OF THE INVENTION

The purpose of the present invention is to solve the problem of large error in the estimation accuracy of the existing charging remaining time, and to propose a good solution to improve the charging remaining time due to the influence of ambient temperature, charging pile performance, terminal thermal management performance, battery temperature rise, charging strategy, etc. A method, device and terminal for estimating remaining charging time with accuracy and robustness of time.

The problem to be solved by this invention is realized by the following technical solutions:

A method for estimating remaining charging time, including:

Obtain the temperature of the power battery, and determine the charging mode according to the temperature of the power battery;

Determine the initial estimated charging remaining time of the corresponding charging mode and the correction time of the corresponding charging mode according to the charging mode;

The remaining charging time in the corresponding charging mode is determined according to the initial estimated remaining charging time and the corresponding charging mode correction time.

Preferably, the temperature of the power battery determines the charging mode, including:

When the temperature of the power battery is lower than the minimum allowable charging temperature of the power battery module, the charging mode is a pure heating mode;

When the temperature of the power battery is greater than the minimum allowable charging temperature of the power battery module and less than the minimum temperature of pure charging of the power battery module, the charging mode is a heating-while-charging mode;

When the temperature of the power battery is greater than the minimum temperature of pure charging of the power battery module, the charging mode is a pure charging mode.

Preferably, when the charging mode is the pure charging mode, the determining, according to the charging mode, the initial estimated remaining charging time of the corresponding charging mode and the correction time of the corresponding charging mode, including:

Obtaining pure charging mode estimation parameters according to the pure charging mode;

The pure charging mode estimation parameter determines the pure charging mode initial estimated charging remaining time and the pure charging mode correction time according to formulas (1) and (2):

Among them, t ₃ is the initial estimated charging remaining time in pure charging mode, SOC _target is the target state of charge, SOC is the current _actual state of charge, SOH is the state of health of the power battery, and I(SOC) is the difference between the SOC and temperature corresponding to the charging map. The charging current and the maximum output current of the charging pile take the smaller value, Δt ₃ is the correction time of the pure charging mode, and the SOC _estimation is the estimated state of charge.

The determining the remaining charging time in the corresponding charging mode according to the initial estimated remaining charging time and the correction time in the corresponding charging mode includes:

The pure charging mode initial estimated charging remaining time and the pure charging mode correction time are determined according to formula (3) to determine the pure charging mode charging remaining time:

T _{pure charge} = t ₃ +Δt ₃ (3)

Among them, T _{pure charging} is the remaining time of charging in pure charging mode.

Preferably, when the charging mode is the heating-while-charging mode, the determining, according to the charging mode, the initial estimated remaining charging time of the corresponding charging mode and the correction time of the corresponding charging mode, including:

According to equations (4) and (5), determine the initial estimated charging remaining time in the heating-while-charging mode and the correction time in the heating-while-charging mode:

Among them: t ₂ is the initial estimated charging remaining time in the charging while heating mode, T ₂ is the minimum temperature of the pure charging of the power battery module, K is the temperature rise rate of the power battery module, Δt ₂ is the correction time of the heating while charging mode, and K' is the The actual power battery module temperature rise rate, T is the power battery temperature.

Preferably, when the charging mode is the heating-while-charging mode, the determining the remaining charging time in the corresponding charging mode according to the initial estimated remaining charging time and the corresponding charging mode correction time includes:

Determine the charging time in each temperature interval according to the temperature rise rate of the power battery module;

Obtain the charging current corresponding to the SOC and temperature of the charging map, the maximum output current of the charging pile and the working current of the on-board heating module;

Determine the cumulative state of charge change according to the charging time in each temperature interval, the maximum output current of the charging pile, the charging current corresponding to the SOC and temperature of the charging map, and the working current of the on-board heating module;

According to the cumulative target state of charge change to determine whether it is less than the target state of charge:

Yes, according to formula (6), determine the remaining charging time in the first heating-while-charging mode:

T _{while charging while heating 1} =t ₂ +t ₃ +Δt ₂ +Δt ₃ (6)

Among them, T _{while charging and heating 1} is the remaining charging time of the first charging and heating mode;

No, the charging is completed, and the remaining charging time of the second charging-while-heating mode is determined according to formula (7):

T _{while charging while heating 2} =t ₂ +Δt ₂ (7)

Among them, T _{while charging and heating 2} is the remaining charging time of the second charging and heating mode.

Preferably, the cumulative state of charge change is determined according to the charging time in each temperature interval, the maximum output current of the charging pile, the charging current corresponding to the SOC and temperature of the charging map, and the operating current of the on-board heating module, including:

When the charging current corresponding to the SOC and temperature of the charging map > the maximum output current of the charging pile, the first cumulative state of charge change is determined by formula (8):

Among them, SOC ₁ is the first type of cumulative state of charge change, t is the _temperature range for charging power, I _{charging pile} is the maximum output current of the charging pile, I _{heating module} is the working current of the vehicle heating module, and SOH is the power battery health degree;

When the charging current corresponding to the SOC and temperature of the charging map is less than the maximum output current of the charging pile, the second type of cumulative state of charge change is determined by formula (9):

Among them, SOC ₂ is the second type of cumulative state of charge change, I _map is the charging current corresponding to the SOC and temperature of the charging map, and SOH is the health of the power battery.

Preferably, when the charging mode is the pure heating mode, the determining, according to the charging mode, the initial estimated charging remaining time of the corresponding charging mode and the correction time of the corresponding charging mode, including:

The pure heating mode determines the initial estimated charging remaining time of the pure heating mode and the correction time of the pure heating mode according to formulas (10) and (11):

Among them: t ₁ is the initial estimated charging remaining time in pure heating mode, T is the _pre -heating time, T ₁ is the minimum allowable charging temperature of the power battery module, K is the temperature rise rate of the power battery module, Δt ₁ is the pure heating mode correction time, K' is the actual power battery module temperature rise rate, and T is the power battery temperature.

Preferably, when the charging mode is the pure heating mode, the determining the remaining charging time in the corresponding charging mode according to the initial estimated remaining charging time and the correction time in the corresponding charging mode includes:

determining a cumulative state-of-charge change in performing the heating-while-charging mode;

According to the cumulative target state of charge change to determine whether it is less than the target state of charge:

Yes, according to formula (6), determine the remaining charging time of the first pure heating mode:

T _{pure heating mode 1} =t ₁ +Δt ₁ +t ₂ +t ₃ +Δt ₂ +Δt ₃ (12)

Among them, T _{pure heating mode 1} is the remaining charging time of the first pure heating mode;

No, the charging is completed, and the remaining charging time of the second pure heating mode is determined according to formula (7):

T _{pure heating mode 2} =t ₁ +Δt ₁ +t ₂ +Δt ₂ (13)

Among them, T _{pure heating mode 2} is the remaining charging time of the second pure heating mode.

A charging remaining time estimation device, comprising:

a mode determination module, configured to obtain the temperature of the power battery, and determine the charging mode according to the temperature of the power battery;

an initial calculation module, configured to determine the initial estimated charging remaining time of the corresponding charging mode and the correction time of the corresponding charging mode according to the charging mode;

The final calculation module is configured to determine the remaining charging time of the corresponding charging mode according to the initial estimated remaining charging time and the correction time of the corresponding charging mode.

A terminal, the terminal includes:

One or more sensors to collect the current ambient temperature;

one or more controllers;

storage means for storing one or more programs,

When the one or more programs are executed by the one or more controllers, the one or more controllers implement the one method for estimating the remaining charging time.

The beneficial effects that the present invention has relative to the existing:

(1) In the present invention, the estimation of the remaining charging time is determined by the temperature T of the power battery, and the estimation of the remaining charging time is improved by estimating the charging according to the different charging modes in which the power battery is in the pure heating mode, the heating-while-charging mode, and the pure heating mode. precision;

(2) The present invention fully considers the influence of low temperature on the charging of the power battery, including when the temperature is lower than the allowable charging temperature of the power battery, the power battery is purely heated to reach the allowable charging temperature of the power battery, and the pure heating time of the power battery is estimated;

(3) The present invention fully considers the performance of the charging pile, the performance of the vehicle thermal management system, the abnormality of the vehicle heating module, and the real-time correction of the remaining charging time according to the real SOC change.

Description of drawings

FIG. 1 is a flowchart of a method for estimating remaining charging time according to an exemplary embodiment;

FIG. 2 is a schematic structural block diagram of a device for estimating remaining charging time according to an exemplary embodiment;

Fig. 3 is a schematic block diagram showing the structure of a terminal according to an exemplary embodiment.

Detailed ways

The technical solutions of the present invention will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are a part of the embodiments of the present invention, but not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those of ordinary skill in the art without creative efforts shall fall within the protection scope of the present invention.

In the description of the present invention, it should be noted that the terms "center", "upper", "lower", "left", "right", "vertical", "horizontal", "inner", "outer", etc. The indicated orientation or positional relationship is based on the orientation or positional relationship shown in the accompanying drawings, which is only for the convenience of describing the present invention and simplifying the description, rather than indicating or implying that the indicated device or element must have a specific orientation or a specific orientation. construction and operation, and therefore should not be construed as limiting the invention.

In the description of the present invention, it should be noted that the terms "installed", "connected" and "connected" should be understood in a broad sense, unless otherwise expressly specified and limited, for example, it may be a fixed connection or a detachable connection Connection, or integral connection; can be mechanical connection, can also be electrical connection; can be directly connected, can also be indirectly connected through an intermediate medium, can be internal communication between two elements. For those of ordinary skill in the art, the specific meanings of the above terms in the present invention can be understood in specific situations.

Example 1

FIG. 1 is a flowchart of a method for estimating remaining charging time according to an exemplary embodiment. The method is used in a terminal, and the method includes the following steps:

In step 101, the temperature of the power battery is obtained, and the charging mode is determined according to the temperature of the power battery, and the specific content is as follows:

First, the power battery temperature T is obtained. When the power battery temperature T is less than the minimum allowable charging temperature T1 of the power battery module, the charging mode is a pure heating mode; when the power battery temperature T is greater _than the power battery module allowable charging minimum temperature T1 and less _than When the power battery module pure charging minimum temperature T ₂ , the charging mode is a heating-while-charging mode; when the power battery temperature T is greater than the power battery module pure charging minimum temperature T ₂ , the charging mode is a pure charging mode.

Step 102: Determine the initial estimated charging remaining time of the corresponding charging mode and the correction time of the corresponding charging mode according to the charging mode, and the specific content is as follows:

When the charging mode is the pure charging mode, obtain the estimated parameters of the pure charging mode according to the pure charging mode;

The pure charging mode estimation parameter determines the pure charging mode initial estimated charging remaining time and the pure charging mode correction time according to formulas (1) and (2):

Among them, t ₃ is the initial estimated charging remaining time in pure charging mode, SOC _target is the target state of charge, SOC is the current _actual state of charge, SOH is the state of health of the power battery, and I(SOC) is the difference between the SOC and temperature corresponding to the charging map. The charging current and the maximum output current of the charging pile take the smaller value, Δt ₃ is the correction time of the pure charging mode, and the SOC _estimation is the estimated state of charge.

When the charging mode is the heating-while-charging mode, the initial estimated remaining charging time of the heating-while-charging mode and the correction time of the heating-while-charging mode are determined according to formulas (4) and (5):

Among them: t ₂ is the initial estimated remaining time of charging in the heating mode while charging, T ₂ is the minimum temperature of pure charging of the power battery module, K is the temperature rise rate of the power battery module, Δt ₂ is the correction time of the heating mode while charging, K' is the actual power battery module temperature rise rate, and T is the power battery temperature.

When the charging mode is the pure heating mode, the determining, according to the charging mode, the initial estimated remaining charging time of the corresponding charging mode and the correction time of the corresponding charging mode, including:

The pure heating mode determines the initial estimated charging remaining time of the pure heating mode and the correction time of the pure heating mode according to formulas (10) and (11):

Among them: t ₁ is the initial estimated charging remaining time in pure heating mode, T _pre -heating time refers to the time when the coolant is heated to the target temperature, the coolant temperature and the pre-heating schedule can be obtained through experiments, the temperature rise rate K of the power battery module, It is also possible to obtain the temperature rise rate of the power battery module at the corresponding temperature by conducting tests in different temperature ranges. T ₁ is the minimum allowable charging temperature of the power battery module, K is the temperature rise rate of the power battery module, and Δt ₁ is the correction time of the pure heating mode. , K' is the actual power battery module temperature rise rate, T is the power battery temperature.

Step 103: Determine the remaining charging time of the corresponding charging mode according to the initial estimated remaining charging time and the corresponding charging mode correction time, and the specific content is as follows:

When the charging mode is pure charging mode, the initial estimated charging remaining time in pure charging mode and the correction time in pure charging mode are determined according to formula (3) to determine the remaining charging time in pure charging mode:

T _{pure charge} = t ₃ +Δt ₃ (3)

Among them, T _{pure charging} is the remaining time of charging in pure charging mode.

When the charging mode is the heating-while-charging mode, the charging time in each temperature interval is determined according to the temperature rise rate of the power battery module;

Obtain the charging current corresponding to the SOC and temperature of the charging map, the maximum output current of the charging pile and the working current of the on-board heating module;

According to the charging time in each temperature interval, the maximum output current of the charging pile, the charging current corresponding to the SOC and temperature of the charging map, and the working current of the on-board heating module, the cumulative state of charge change is determined, and the details are as follows:

When the charging current corresponding to the SOC and temperature of the charging map > the maximum output current of the charging pile, the first cumulative state of charge change is determined by formula (8):

Among them, SOC ₁ is the first type of cumulative state of charge change, t is the _temperature range for charging power, I _{charging pile} is the maximum output current of the charging pile, I _{heating module} is the working current of the vehicle heating module, and SOH is the power battery health degree;

When the charging current corresponding to the SOC and temperature of the charging map < the maximum output current of the charging pile, the second type of cumulative state of charge change is determined by formula (9):

Among them, SOC ₂ is the second type of cumulative state of charge change, I _map is the charging current corresponding to the SOC and temperature of the charging map, and SOH is the health of the power battery.

Judging whether it is less than the target state of charge according to the cumulative target state of charge change:

Yes, according to formula (6), determine the remaining charging time in the first heating-while-charging mode:

T _{while charging while heating 1} =t ₂ +t ₃ +Δt ₂ +Δt ₃ (6)

Among them, T _{while charging and heating 1} is the remaining charging time of the first charging and heating mode;

No, the charging is completed, and the remaining charging time of the second charging-while-heating mode is determined according to formula (7):

T _{while charging while heating 2} =t ₂ +Δt ₂ (7)

Among them, T _{while charging and heating 2} is the remaining charging time of the second charging and heating mode.

When the charging mode is the pure heating mode, determining the cumulative state of charge change during the execution of the heating-while-charging mode;

Judging whether it is less than the target state of charge according to the cumulative target state of charge change:

Yes, according to formula (6), determine the remaining charging time of the first pure heating mode:

T _{pure heating mode 1} =t ₁ +Δt ₁ +t ₂ +t ₃ +Δt ₂ +Δt ₃ (12)

Among them, T _{pure heating mode 1} is the remaining charging time of the first pure heating mode;

No, the charging is completed, and the remaining charging time of the second pure heating mode is determined according to formula (7):

T _{pure heating mode 2} =t ₁ +Δt ₁ +t ₂ +Δt ₂ (13)

Among them, T _{pure heating mode 2} is the remaining charging time of the second pure heating mode.

Among them, when calculating the heating-while-charging mode in equations (12) and (13) to initially estimate the remaining charging time t2, if T is less than T1, T is taken as T1 in the formula, and if T is greater than T1, T is used in the formula. When calculating the remaining charging time t ₃ in the pure charging mode in formula (12), if T is less than T ₂ , it is estimated according to T ₂ , and the SOC is calculated according to the SOC after the change of the output of the estimation module while charging; if T is greater than T ₂ , calculated according to T and initial SOC.

Embodiment 2

FIG. 2 is a schematic structural block diagram of an apparatus for estimating remaining charging time according to an exemplary embodiment, the apparatus includes:

a determining mode module 210, configured to acquire the temperature of the power battery, and determine the charging mode according to the temperature of the power battery;

an initial calculation module 220, configured to determine the initial estimated charging remaining time of the corresponding charging mode and the correction time of the corresponding charging mode according to the charging mode;

The final calculation module 230 is configured to determine the remaining charging time in the corresponding charging mode according to the initial estimated remaining charging time and the corresponding charging mode correction time.

In the present invention, the estimation of the remaining charging time is judged by the temperature T of the power battery, and the charging estimation is performed according to the different charging modes of the power battery: pure heating mode, heating-while-charging mode and pure heating mode to improve the estimation accuracy of the remaining charging time; The invention fully considers the influence of low temperature on the charging of the power battery, including that when the temperature is lower than the allowable charging temperature of the power battery, the power battery is purely heated to reach the allowable charging temperature of the power battery, and the pure heating time of the power battery is estimated; the present invention fully considers the charging Pile performance, vehicle thermal management system performance, vehicle heating module abnormalities, and real-time correction of remaining charging time based on real SOC changes.

Embodiment 3

FIG. 3 is a schematic structural diagram of a terminal according to Embodiment 4 of the present invention. The terminal 400 may be a portable mobile terminal, such as a smart phone and a tablet computer. Terminal 400 may also be referred to as a battery management system or the like. The terminal includes: a processor 301 and a memory 302 .

The processor 301 may include one or more processing cores, such as a 4-core processor, an 8-core processor, and the like. The processor 301 may adopt at least one hardware form of DSP (Digital Signal Processing, digital signal processing), FPGA (Field-Programmable Gate Array, field programmable gate array), PLA (Programmable Logic Array, programmable logic array) accomplish. The processor 301 may also include a main processor and a co-processor. The main processor is a processor used to process data in the wake-up state, and is also called a CPU (Central Processing Unit, central processing unit); A low-power processor for processing data in a standby state. In some embodiments, the processor 301 may be integrated with a GPU (Graphics Processing Unit, image processor), and the GPU is used for rendering and drawing the content that needs to be displayed on the display screen. In some embodiments, the processor 301 may further include an AI (Artificial Intelligence, artificial intelligence) processor, where the AI processor is used to process computing operations related to machine learning.

Memory 302 may include one or more computer-readable storage media, which may be tangible and non-transitory. Memory 302 may also include high-speed random access memory, as well as non-volatile memory, such as one or more disk storage devices, flash storage devices. In some embodiments, a non-transitory computer-readable storage medium in memory 302 is used to store at least one instruction for execution by processor 301 to implement a charge remaining time provided in this application Estimation method.

Embodiment 4

In an exemplary embodiment, a computer-readable storage medium is also provided, on which a computer program is stored, and when the program is executed by a processor, implements a method for estimating the remaining charging time provided by all the inventive embodiments of the present application.

Any combination of one or more computer-readable media may be employed. The computer-readable medium may be a computer-readable signal medium or a computer-readable storage medium. The computer-readable storage medium can be, for example, but not limited to, an electrical, magnetic, optical, electromagnetic, infrared, or semiconductor system, apparatus or device, or a combination of any of the above. More specific examples (a non-exhaustive list) of computer readable storage media include: electrical connections having one or more wires, portable computer disks, hard disks, random access memory (RAM), read only memory (ROM), Erasable programmable read only memory (EPROM or flash memory), optical fiber, portable compact disk read only memory (CD-ROM), optical storage devices, magnetic storage devices, or any suitable combination of the foregoing. In this document, a computer-readable storage medium can be any tangible medium that contains or stores a program that can be used by or in conjunction with an instruction execution system, apparatus, or device.

A computer-readable signal medium may include a propagated data signal in baseband or as part of a carrier wave, with computer-readable program code embodied thereon. Such propagated data signals may take a variety of forms including, but not limited to, electromagnetic signals, optical signals, or any suitable combination of the foregoing. A computer-readable signal medium can also be any computer-readable medium other than a computer-readable storage medium that can transmit, propagate, or transport the program for use by or in connection with the instruction execution system, apparatus, or device .

Program code embodied on a computer readable medium may be transmitted using any suitable medium including, but not limited to, wireless, wireline, optical fiber cable, RF, etc., or any suitable combination of the foregoing.

Computer program code for carrying out operations of the present invention may be written in one or more programming languages, including object-oriented programming languages—such as Java, Smalltalk, C++, but also conventional Procedural programming language - such as the "C" language or similar programming language. The program code may execute entirely on the user's computer, partly on the user's computer, as a stand-alone software package, partly on the user's computer and partly on a remote computer, or entirely on the remote computer or server. In the case of a remote computer, the remote computer may be connected to the user's computer through any kind of network, including a local area network (LAN) or a wide area network (WAN), or may be connected to an external computer (eg, using an Internet service provider through Internet connection).

Embodiment 5

In an exemplary embodiment, an application program product is also provided, which includes one or more instructions, and the one or more instructions can be executed by the processor 301 of the above-mentioned apparatus to complete the above-mentioned method for estimating the remaining charging time.

Although embodiments of the present invention have been disclosed above, they are not limited to the applications set forth in the specification and embodiments. It can be fully adapted to various fields suitable for the present invention. Additional modifications can readily be implemented by those skilled in the art. Therefore, the invention is not to be limited to the specific details and illustrations herein shown and described, without departing from the general concept defined by the appended claims and the scope of equivalents.

Claims (10)

1. A method for estimating remaining charging time, comprising: Obtain the temperature of the power battery, and determine the charging mode according to the temperature of the power battery; Determine the initial estimated charging remaining time of the corresponding charging mode and the correction time of the corresponding charging mode according to the charging mode; The remaining charging time in the corresponding charging mode is determined according to the initial estimated remaining charging time and the corresponding charging mode correction time. 2 . The method for estimating the remaining charging time according to claim 1 , wherein determining the charging mode by the power battery temperature comprises: 2 . When the temperature of the power battery is lower than the minimum allowable charging temperature of the power battery module, the charging mode is a pure heating mode; When the temperature of the power battery is greater than the minimum allowable charging temperature of the power battery module and less than the minimum temperature of pure charging of the power battery module, the charging mode is a heating-while-charging mode; When the temperature of the power battery is greater than the minimum temperature of pure charging of the power battery module, the charging mode is a pure charging mode. 3 . The method for estimating the remaining charging time according to claim 2 , wherein when the charging mode is a pure charging mode, the determining of the corresponding charging mode according to the charging mode initially estimates the remaining charging time. 4 . Time and corresponding charging mode correction time, including: Obtaining pure charging mode estimation parameters according to the pure charging mode; The pure charging mode estimation parameter determines the pure charging mode initial estimated charging remaining time and the pure charging mode correction time according to formulas (1) and (2):

Among them, t ₃ is the initial estimated charging remaining time in pure charging mode, SOC _target is the target state of charge, SOC is the current _actual state of charge, SOH is the state of health of the power battery, and I(SOC) is the difference between the SOC and temperature corresponding to the charging map. The charging current and the maximum output current of the charging pile take the smaller value, Δt ₃ is the correction time of the pure charging mode, and the SOC _estimation is the estimated state of charge. The determining the remaining charging time in the corresponding charging mode according to the initial estimated remaining charging time and the correction time in the corresponding charging mode includes: The pure charging mode initial estimated charging remaining time and the pure charging mode correction time are determined according to formula (3) to determine the pure charging mode charging remaining time: T _{pure charge} = t ₃ +Δt ₃ (3) Among them, T _{pure charging} is the remaining time of charging in pure charging mode. 4 . The method for estimating the remaining charging time according to claim 3 , wherein when the charging mode is a heating-while-charging mode, the initial estimation of the corresponding charging mode is determined according to the charging mode. 5 . Remaining charging time and corresponding charging mode correction time, including: According to equations (4) and (5), determine the initial estimated charging remaining time in the heating-while-charging mode and the correction time in the heating-while-charging mode:

Among them: t ₂ is the initial estimated remaining time of charging in the heating mode while charging, T ₂ is the minimum temperature of pure charging of the power battery module, K is the temperature rise rate of the power battery module, Δt ₂ is the correction time of the heating mode while charging, K' is the actual power battery module temperature rise rate, and T is the power battery temperature. 5 . The method for estimating the remaining charging time according to claim 4 , wherein, when the charging mode is a heating-while-charging mode, the charging remaining time and corresponding charging are calculated according to the initial estimation. 6 . The mode correction time determines the remaining charging time of the corresponding charging mode, including: Determine the charging time in each temperature interval according to the temperature rise rate of the power battery module; Obtain the charging current corresponding to the SOC and temperature of the charging map, the maximum output current of the charging pile and the working current of the on-board heating module; Determine the cumulative state of charge change according to the charging time in each temperature interval, the maximum output current of the charging pile, the charging current corresponding to the SOC and temperature of the charging map, and the working current of the on-board heating module; According to the cumulative target state of charge change to determine whether it is less than the target state of charge: Yes, according to formula (6), determine the remaining charging time in the first heating-while-charging mode: T _{while charging while heating 1} =t ₂ +t ₃ +Δt ₂ +Δt ₃ (6) Among them, T _{while charging and heating 1} is the remaining charging time of the first charging and heating mode; No, the charging is completed, and the remaining charging time of the second charging-while-heating mode is determined according to formula (7): T _{while charging while heating 2} =t ₂ +Δt ₂ (7) Among them, T _{while charging and heating 2} is the remaining charging time of the second charging and heating mode. 6 . The method for estimating the remaining charging time according to claim 5 , wherein the charging according to the charging time in each temperature interval, the maximum output current of the charging pile, and the charging map corresponding to SOC and temperature. 7 . Current and on-board heating module operating current determine cumulative state-of-charge changes, including: When the charging current corresponding to the SOC and temperature of the charging map > the maximum output current of the charging pile, the first cumulative state of charge change is determined by formula (8):

Among them, SOC ₁ is the first type of cumulative state-of-charge change, t is the _temperature range for charging power, I _{charging pile} is the maximum output current of the charging pile, I _{heating module} is the working current of the vehicle heating module, and SOH is the battery health; When the charging current corresponding to the SOC and temperature of the charging map is less than the maximum output current of the charging pile, the second type of cumulative state of charge change is determined by formula (9):

Among them, SOC ₂ is the second type of cumulative state of charge change, I _map is the charging current corresponding to the SOC and temperature of the charging map, and SOH is the battery health; 7 . The method for estimating the remaining charging time according to claim 6 , wherein, when the charging mode is a pure heating mode, determining the corresponding charging mode according to the charging mode to initially estimate the remaining charging time. 8 . Time and corresponding charging mode correction time, including: The pure heating mode determines the initial estimated charging remaining time of the pure heating mode and the correction time of the pure heating mode according to formulas (10) and (11):

Among them: t ₁ is the initial estimated charging remaining time in pure heating mode, T is the _pre -heating time, T ₁ is the minimum allowable charging temperature of the power battery module, K is the temperature rise rate of the power battery module, and Δt ₁ is the correction time in pure heating mode , K' is the actual power battery module temperature rise rate, T is the power battery temperature. 8 . The method for estimating the remaining charging time according to claim 7 , wherein when the charging mode is a pure heating mode, the charging remaining time is corrected according to the initial estimation and the corresponding charging mode. 9 . The time determines the remaining time for charging in the corresponding charging mode, including: determining a cumulative state-of-charge change in performing the heating-while-charging mode; According to the cumulative target state of charge change to determine whether it is less than the target state of charge: Yes, according to formula (6), determine the remaining charging time of the first pure heating mode: T _{pure heating mode 1} =t ₁ +Δt ₁ +t ₂ +t ₃ +Δt ₂ +Δt ₃ (12) Among them, T _{pure heating mode 1} is the remaining charging time of the first pure heating mode; No, the charging is completed, and the remaining charging time of the second pure heating mode is determined according to formula (7): T _{pure heating mode 2} =t ₁ +Δt ₁ +t ₂ +Δt ₂ (13) Among them, T _{pure heating mode 2} is the remaining charging time of the second pure heating mode. 9. A device for estimating remaining charging time, comprising: a mode determination module, configured to obtain the temperature of the power battery, and determine the charging mode according to the temperature of the power battery; an initial calculation module, configured to determine the initial estimated charging remaining time of the corresponding charging mode and the correction time of the corresponding charging mode according to the charging mode; The final calculation module is configured to determine the remaining charging time of the corresponding charging mode according to the initial estimated remaining charging time and the correction time of the corresponding charging mode. 10. A terminal, wherein the terminal comprises: One or more sensors to collect the current ambient temperature; one or more controllers; storage means for storing one or more programs, When the one or more programs are executed by the one or more controllers, the one or more controllers implement a charging remaining time estimation method according to any one of claims 1-7.

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