Control device, system, method, storage medium and vehicle for vehicle

Abstract

The present invention relates to a control device for a vehicle. The vehicle includes a battery, a power conversion device and a three-phase motor, and has a charging mode and a driving mode. The control device includes a first control device, which is configured to issue a first control signal based on at least the rotor angle of the three-phase motor in the charging mode; and a second control device, which is configured to issue a second control signal based on at least the rotor angle and the charging demand in the charging mode. The first control signal indicates the input phase, so that the charging power is input to the three-phase motor via the input phase, and is output to the corresponding two phases of the power conversion device via the remaining two phases of the three-phase motor. The charging power is output to the battery after conversion by the power conversion device. The second control signal indicates the closing / opening of the switching device of the power conversion device, so that the electromagnetic torque of the three-phase motor is zero. The present invention also relates to a control system, method, storage medium and vehicle for a vehicle.

Description

Technical Field

[0001] The present invention relates to the field of vehicle control, and in particular to a control device, a control system, a control method, a computer-readable storage medium, and a vehicle for a vehicle. Background Art

[0002] Currently, the mainstream high-voltage system platform for electric vehicles on the market is generally 400V. Accordingly, the voltage level of mainstream charging facilities (such as charging stations) on the market is also mostly set to 400V. However, with the continuous development of the electric vehicle industry, higher voltage system platforms are gaining more and more attention and favor.

[0003] For electric vehicles equipped with higher-voltage system platforms, utilizing existing 400V charging infrastructure is a pressing issue. One solution is to equip these electric vehicles with dedicated DC-DC boost converters. However, these additional DC-DC converters are bulky, expensive, and heavy, hindering overall vehicle layout and lightweighting, and increasing overall cost. Summary of the Invention

[0004] According to one aspect of the present invention, a control device for a vehicle is provided. The vehicle includes a battery, a power conversion device, and a three-phase motor. The vehicle has a charging mode and a driving mode. In the driving mode, the power conversion device converts DC power received from the battery into AC power and outputs the AC power to the three-phase motor. The control device includes a first control device configured to, in the charging mode, issue a first control signal based at least on the rotor angle of the three-phase motor. The first control signal indicates an input phase, such that charging power is input to the three-phase motor via the input phase and output to the corresponding two phases of the power conversion device via the remaining two phases of the three-phase motor. Furthermore, after conversion by the power conversion device, the charging power is output to the battery. The control device also includes a second control device configured to, in the charging mode, issue a second control signal based at least on the rotor angle and charging demand. The second control signal instructs the switching elements of the power conversion device to close or open, thereby reducing the electromagnetic torque of the three-phase motor to zero.

[0005] As an alternative or supplement to the above solution, in a control device according to an embodiment of the present invention, the charging power has a first voltage level, the battery has a second voltage level, and the first voltage level is different from the second voltage level.

[0006] As an alternative or supplement to the above solution, in a control device according to an embodiment of the present invention, the second control signal instructs the switching device corresponding to the closing to remain in an open state.

[0007] As an alternative or supplement to the above solution, in a control device according to an embodiment of the present invention, the second control device is further configured to determine a stator current vector angle based on the rotor angle.

[0008] As an alternative or supplement to the above solution, in a control device according to an embodiment of the present invention, the charging requirement at least includes a stator current reference value required for charging.

[0009] As an alternative or supplement to the above solution, in a control device according to an embodiment of the present invention, the second control signal instructs the closing / opening of a switching device of the power conversion device so that the stator q-axis current is zero.

[0010] According to another aspect of the present invention, a control system for a vehicle is provided, comprising: any of the aforementioned control devices for a vehicle; and a switching device connected between the charging power source and the three-phase motor. The switching device is configured to: receive a first control signal; and, based on the first control signal, connect the charging power source to the closed phase of the three-phase motor and disconnect the charging power source from the remaining two phases of the three-phase motor.

[0011] According to another aspect of the present invention, a control method for a vehicle is provided. The vehicle includes a battery, a power conversion device, and a three-phase motor. The vehicle has a charging mode and a driving mode. In the driving mode, the power conversion device converts DC power received from the battery into AC power and outputs the AC power to the three-phase motor. The control method includes: in the charging mode, issuing a first control signal based at least on a rotor angle of the three-phase motor, wherein the first control signal indicates an input phase, so that charging power is input to the three-phase motor via the input phase and output to the corresponding two phases of the power conversion device via the remaining two phases of the three-phase motor, and wherein the charging power is output to the battery after conversion by the power conversion device; and issuing a second control signal based at least on the rotor angle and a charging demand, wherein the second control signal instructs the switching device of the power conversion device to close / open so that the electromagnetic torque of the three-phase motor is zero.

[0012] As an alternative or supplement to the above solution, in a control method according to an embodiment of the present invention, the charging power has a first voltage level, the battery has a second voltage level, and the first voltage level is different from the second voltage level.

[0013] As an alternative or supplement to the above solution, in a control method according to an embodiment of the present invention, the second control signal instructs the switching device corresponding to the closing to remain in an open state.

[0014] As an alternative or supplement to the above solution, a control method according to an embodiment of the present invention further includes: determining a stator current vector angle based on the rotor angle; and issuing a second control signal based at least on the stator current vector angle and a charging requirement.

[0015] As an alternative or supplement to the above solution, in a control method according to an embodiment of the present invention, the charging requirement at least includes a stator current reference value required for charging.

[0016] As an alternative or supplement to the above solution, in a control method according to an embodiment of the present invention, the second control signal instructs the closing / opening of the switching device of the power conversion device so that the stator q-axis current is zero.

[0017] According to another aspect of the present invention, a control device for a vehicle is provided, comprising a memory, a processor, and a computer program stored in the memory and executable on the processor. When the processor executes the computer program, the control method for the vehicle is implemented.

[0018] According to another aspect of the present invention, a computer-readable storage medium having a computer program stored thereon is provided. When the computer program is executed by a processor, the computer program implements the aforementioned control method for a vehicle.

[0019] According to yet another aspect of the present invention, a vehicle is provided, comprising any one of the above-described control devices for a vehicle.

[0020] The vehicle control scheme proposed in this invention reuses the power conversion equipment and motor inductance in the drive system by controlling the switching devices in the switching and power conversion devices. This converts charging power into the power form required by the battery without adding additional power conversion equipment or inductance. This solution offers low hardware cost, compact size, high charging efficiency, and high safety performance, allowing vehicles to flexibly use existing charging infrastructure without being restricted by existing charging infrastructure, such as voltage levels or power forms. BRIEF DESCRIPTION OF THE DRAWINGS

[0021] The above and other objects and advantages of the present invention will become more fully apparent from the following detailed description taken in conjunction with the accompanying drawings.

[0022] Figure 1 A block diagram of a control device 100 for a vehicle 1000 according to one exemplary embodiment of the present invention is shown.

[0023] Figure 2 A schematic diagram of a switching device according to an embodiment of the present invention is shown.

[0024] Figure 3 A schematic diagram showing another switching device according to an embodiment of the present invention is shown.

[0025] Figure 4 A schematic diagram showing a control strategy for a vehicle according to an embodiment of the present invention is shown.

[0026] Figure 5 A flow chart of a control method 5000 for a vehicle according to an embodiment of the present invention is shown.

[0027] Figure 6 A block diagram of a control device 6000 for a vehicle according to an embodiment of the present invention is shown. DETAILED DESCRIPTION

[0028] It should be noted that the terms "first", "second", etc. in this document are used to distinguish similar objects, and are not necessarily used to describe the order of objects in terms of time, space, size, etc. In addition, unless otherwise specifically stated, the terms "including", "having" and similar expressions in this document are intended to indicate non-exclusive inclusion. Furthermore, the term "vehicle" or other similar terms in this document are intended to indicate any appropriate vehicle having a drive system consisting of at least a battery, a power conversion device, and a drive motor, such as a hybrid vehicle, an electric vehicle, a plug-in hybrid electric vehicle, etc. A hybrid vehicle is a vehicle with two or more power sources, such as gasoline-powered and electric vehicles.

[0029] Hereinafter, exemplary embodiments according to the present invention will be described in detail with reference to the accompanying drawings.

[0030] Figure 1 A control device 100 for a vehicle 1000 according to one embodiment of the present invention is shown. Vehicle 1000 has a charging mode and a driving mode. The driving system of vehicle 1000 includes a battery 200, a power conversion device 300, and a three-phase motor 400. In the driving mode, the power conversion device 300 operates as an inverter, specifically converting DC power received from the battery 200 into AC power and outputting the AC power to the three-phase motor 400.

[0031] like Figure 1 As shown, the vehicle 1000 further comprises a control device 100 for use in a charging mode. The control device 100 further comprises a first control unit 110 and a second control unit 120 .

[0032] In the charging mode, the first control device 110 is configured to issue a first control signal based at least on the rotor angle of the three-phase motor 400. The first control signal indicates an input phase, causing charging power to be input to the three-phase motor 400 via the indicated input phase and output to the corresponding two phases of the power conversion device 300 via the remaining two phases of the three-phase motor 400. After conversion by the power conversion device 300, the charging power is further output to the battery 200, thereby charging the battery 200.

[0033] In the context of the present invention, “charging power” is intended to mean input power from a charging facility (such as a charging pile, a charging station, etc.) for charging a vehicle.

[0034] exist Figure 1 In the illustrated embodiment, the charging power from the charging facility has a voltage level of 400V, while the rated voltage level of the battery is 800V. The control device 100 multiplexes the power conversion device 300 in the vehicle drive system as a Boost converter in the charging mode. The Boost converter converts the charging voltage into the voltage level required by the battery, so that the existing charging facilities can more flexibly charge vehicles with higher voltage levels without adding additional power conversion devices. It should be noted that in the context of the present invention, the charging power and the power form required by the battery are not limited to the exemplified form, but can be any situation where the charging power does not match the power form required by the battery, that is, the power conversion device can be multiplexed as any appropriate type of converter in the charging mode. For example, the voltage level of the charging power can be lower than the rated voltage level of the battery, such as Figure 1 In the embodiment shown in , the power conversion device is reused as a Boost converter; the voltage level of the charging power can also be higher than the rated voltage level of the battery, and accordingly, the power conversion device is reused as a Buck converter.

[0035] The second control device 120 is configured to issue a second control signal in the charging mode based at least on the rotor angle of the three-phase motor 400 and the charging demand of the battery 200. The second control signal instructs the switching device of the power conversion device 300 to close / open so that the electromagnetic torque (i.e., bias torque) of the three-phase motor 400 is zero.

[0036] It is easy to understand that in the context of the present invention, "electromagnetic torque is zero" is intended to mean that the electromagnetic torque is approximately zero. In actual operating conditions, the electromagnetic torque may fluctuate to a certain extent, but as long as it is close to zero within the error range, it is considered "electromagnetic torque is zero" as referred to in the present invention.

[0037] As a result, the control device can reuse the inductance of the three-phase motor in the drive system, reducing current ripple during charging without adding additional inductance, thereby improving charging efficiency. Furthermore, through the aforementioned control of the input phases and switching devices, the control device prevents the three-phase motor from generating bias torque during vehicle charging, thus avoiding potential safety risks that bias torque may pose to the vehicle.

[0038] although Figure 1 Not shown, the vehicle 1000 may further include a switching device 500. The switching device 500 is connected between a charging power source that provides charging power and the three-phase motor 400. The switching device 500 is configured to receive a first control signal from the first control device 110, and based on the received first control signal, connect the charging power source to the closed phase of the three-phase motor 400, while disconnecting the charging power source from the remaining two phases of the three-phase motor 400. The control device 100 and the switching device 500 may together constitute a control system for the vehicle 1000. The control system enables the battery 200 to be charged with a charging power that is different from the battery 200 in voltage level or other parameters by reusing the drive system of the vehicle 1000, while ensuring that the motor 400 does not generate bias torque.

[0039] Figure 2 An example of a switching device is shown. The switching device includes three relay switches S1, S2, and S3, which are respectively connected between the charging power supply and the input ports of the three phases of the motor (U phase, V phase, and W phase). Based on the input phase indicated by the received first control signal, the switching device closes the relay switch corresponding to the input and opens the other two corresponding relay switches. For example, when the first control signal indicates that the input phase is U phase, the relay switch S1 corresponding to U phase is closed, and the relay switches S2 and S3 corresponding to V phase and W phase are opened.

[0040] Figure 3 Another example of a switching device is shown. The switching device includes a single-pole, three-throw relay switch. The three-phase input ports of the motor are connected to the three active terminals S1, S2, and S3 of the single-pole, three-throw relay switch, respectively. The stationary terminal of the single-pole, three-throw relay switch is also connected to a charging power source. Similarly, based on the input phase indicated by a received first control signal, the switching device connects the charging power source to the active terminal corresponding to that input, while disconnecting the other two corresponding active terminals from the charging power source. For example, when the first control signal indicates that the input phase is U, the switching device connects the charging power source to the active terminal S1 corresponding to U, while disconnecting the charging power source from the active terminals S2 and S3 corresponding to V and W phases.

[0041] for Figure 2 In the embodiment shown, the control device can adopt Figure 4The control schematic diagram shown is used to determine the first control signal and the second control signal.

[0042] Specifically, the first control device can be part of the angle processing module 420 and can be configured to determine the input phase based on the rotor angle θ of the three-phase motor according to Table 1, thereby issuing a first control signal K to control the switching device so that, under motor convention (i.e., current flowing into the motor midpoint is considered positive), charging power always flows from the input phase into the motor and out of the motor to the power conversion device through the remaining two phases. For example, when the rotor angle θ is within the range of -30 degrees to 30 degrees, the input phase is determined to be the U phase, and a first control signal K indicating this is sent to the switching device (as described above, including three relay switches S1, S2, and S3), thereby closing the relay switch S1 corresponding to the U phase and opening the relay switches S2 and S3 corresponding to the remaining two phases (V phase and W phase). In this case, Iu>0, Iv<0, and Iw<0, that is, charging power flows into the three-phase motor from the U phase and out of the three-phase motor from the V and W phases, and then into the power conversion device.

[0043]

[0044]

[0045] Table 1 Relationship between rotor angle and input phase

[0046] The second control device may include Figure 4 The remaining parts of the second control device except the first control device (i.e., a part of the angle processing module 420) include the voltage regulation module 410, the remaining parts of the angle processing module 420, the Park inverse transformation module 430, and the current control module 440. The second control device can be configured to be based on the rated voltage u Ref , the rotor angle θ of the three-phase motor and the measured parameters to generate the second control signal, that is, the duty cycle of each phase switch device in the power conversion device, D u 、D v and D w The second control signal D u 、D v and D w The current of each phase in the power conversion device can be controlled by instructing the closing / opening of the switching device of the power conversion device so that the stator q-axis current i q is zero, so that the bias torque of the three-phase motor (ie, the electromagnetic torque T em ) is zero. This is because the electromagnetic torque T em It can be obtained by the following formula.

[0047]

[0048] Among them, P n is the number of pole pairs of the three-phase motor,

[0049] i d 、i q are the d-axis and q-axis currents of the three-phase motor respectively,

[0050] L d 、L q are the d-axis and q-axis inductances of the three-phase motor respectively,

[0051] is the permanent magnet flux of the three-phase motor.

[0052] It can be seen that when the q-axis current i q When controlled to zero, the electromagnetic torque T em Always zero.

[0053] Furthermore, in order to make the q-axis current i q is zero, the second control device sends the second control signal D in the following way u 、D v and D w .

[0054] The voltage regulating module 410 receives the rated voltage u of the battery Ref and the measured voltage u Fbk The d-axis current reference voltage I is obtained and output to dRef .

[0055] The angle processing module 420 may be configured to determine the stator current vector angle θ′ based on the rotor angle θ of the three-phase motor according to Table 2 below.

[0056] Rotor angle θ Stator current vector angle θ' -30 degrees to 30 degrees θ 30 degrees to 90 degrees π+θ 90 degrees to 150 degrees θ 150 to 210 degrees θ-π 210 to 270 degrees θ 270 degrees to 330 degrees θ-π

[0057] Table 2 Relationship between rotor angle and stator current vector angle

[0058] The Park inverse transformation module 430 converts the d-axis current reference voltage I from the voltage regulation module 410 into dRef , the stator current vector angle θ′ from the angle processing module 420 and the I required for charging qRef =0 is converted into the three-phase reference current I of the power conversion equipment uRef , I vRef and I wRef The three-phase reference current I directly output by the Park inverse transformation module 430 uRef , I vRef and I wRef The current direction may be in accordance with the generator convention (i.e., the current flowing from the motor to the power conversion device is the positive direction). In this case, the three-phase reference current IuRef , I vRef and I wRef Negate (i.e., multiply by -1, respectively).

[0059] The current control module 440 uses the three-phase reference current I from the Park inverse transformation module 430 uRef , I vRef and I wRef , the stator current vector angle θ' from the angle processing module 420 and the measured three-phase current value I ufbk , I vfbk and I wfbk To generate the second control signal D u 、D v and D w , that is, the duty cycle of the switching devices of each phase of the power conversion equipment.

[0060] In addition, if Figure 4 As shown, the first control signal K (which indicates the output phase) determined by the angle processing module 420 based on the rotor angle θ can also be input to the current control module 440. Accordingly, the second control signal D output by the current control module 440 u 、D v and D w The upper and lower bridge arm switching devices corresponding to the input indicated by the first control signal do not operate and remain in the off state. For example, when the first control signal K indicates the input phase U, the duty cycle D output by the current control module 440 for the U-phase switching device is u It is zero, that is, the upper and lower bridge arm switching devices of phase U are kept in the off state.

[0061] Therefore, the control device can instruct the closing / opening of each phase switching device and the closing / opening of each switching device of the power conversion device based on inputs such as the rotor angle of the three-phase motor and the charging demand, so that when the multiplexed drive system (including power conversion equipment, three-phase motor, etc.) is charged, the electromagnetic torque of the three-phase motor is zero.

[0062] It should be noted that, in the context of the present invention, “charging demand” is intended to mean the demand for parameters such as charging voltage and charging current, for example, Figure 4 The battery rated voltage u shown in Ref , three-phase motor stator q-axis reference current I qRef wait.

[0063] Figure 5A control method 5000 for a vehicle according to one embodiment of the present invention is shown. The vehicle includes a battery, a power conversion device, and a three-phase motor, and has a charging mode and a driving mode. In the driving mode, the power conversion device converts DC power received from the battery into AC power and outputs it to the three-phase motor. Control method 5000 includes the following steps in the charging mode.

[0064] In step S510, a first control signal is issued based on at least the rotor angle of the three-phase motor. The first control signal indicates the input phase, causing charging power to be input to the three-phase motor via the input phase and output to the corresponding two phases of the power conversion device via the remaining two phases of the three-phase motor. Furthermore, after conversion by the power conversion device, the charging power is output to the battery.

[0065] Similar to the above, the first control signal can be issued, for example, according to the relationship between the rotor angle and the input phase shown in Table 1, so that under the motor convention, the charging power always flows into the motor from the input phase and flows out of the motor from the other two phases to the power conversion device.

[0066] In step S520, a second control signal is issued based on at least the rotor angle and the charging requirement, wherein the second control signal instructs the switching device of the power conversion device to turn on / off so that the electromagnetic torque of the three-phase motor is zero.

[0067] Similar to the above, the stator current vector angle can be determined, for example, according to the relationship between the rotor angle and the stator current vector angle shown in Table 2. In addition, the stator current vector angle can be determined, for example, according to Figure 4 As shown, a second control signal is issued based on the stator current vector angle and the charging demand, and the second control signal instructs the closing / opening of the switching device of the power conversion device to make the stator q-axis current zero, thereby making the electromagnetic torque of the three-phase motor zero.

[0068] Similar to the above, “charging requirement” is intended to indicate the requirements for parameters such as charging voltage and charging current, for example, Figure 4 The battery rated voltage u shown in Ref , three-phase motor stator q-axis reference current I qRef wait.

[0069] In step S520 , similar to the above, the second control signal may instruct the switching device corresponding to the closing to remain in the open state, that is, the duty cycle is zero.

[0070] Therefore, the control method 5000 for a vehicle reuses the power conversion device in the drive system and the inductor in the motor to convert the charging power into the power form required by the battery and charge the battery without adding additional power conversion devices or inductors.

[0071] Optionally, the charging power has a first voltage level, the battery has a second voltage level, and the first voltage level is different from the second voltage level. Similarly to the above, the charging power may have a voltage level of 400V, and the battery may have a voltage level of 800V.

[0072] Figure 6 FIG. 6 is a block diagram of a control device 6000 for a vehicle according to an embodiment of the present invention. The control device 6000 includes a memory 610 and a processor 620. Figure 6 , the control device 6000 further includes a computer program stored on the memory 610 and executable on the processor 620 , thereby implementing the control method for the vehicle in the aforementioned embodiment.

[0073] The memory 610 may be a random access memory (RAM), a read-only memory (ROM), an erasable programmable read-only memory (EPROM), an electrically erasable programmable read-only memory (EEPROM), an optical disk storage device, a magnetic disk storage device, or any other medium capable of carrying or storing desired program code in the form of machine-executable instructions or data structures and accessible by the processor 620. The processor 620 may be any appropriate dedicated processor or general-purpose processor, such as a field programmable array (FPGA), an application-specific integrated circuit (ASIC), or a digital signal processing circuit (DSP).

[0074] The control device 6000 may be an independent control device used to multiplex the drive system for charging, or may be integrated into other processing devices such as an electronic control unit ECU and a domain control unit DCU.

[0075] It should be understood that some of the block diagrams shown in the accompanying drawings of the present invention are functional entities and do not necessarily correspond to physically or logically independent entities. These functional entities may be implemented in software, in one or more hardware modules or integrated circuits, or in different networks and / or processor devices and / or microcontroller devices.

[0076] It should also be understood that, in some alternative embodiments, the functions / steps included in the aforementioned method may not occur in the order shown in the flowchart. For example, two functions / steps shown in sequence may be performed substantially simultaneously or even in reverse order. This depends on the functions / steps involved.

[0077] Furthermore, those skilled in the art will readily appreciate that the error detection methods provided in one or more of the above-described embodiments of the present invention may be implemented via a computer program. For example, when a computer storage medium (e.g., a USB flash drive) storing the computer program is connected to a computer, running the computer program can execute the vehicle control method according to one or more of the embodiments of the present invention.

[0078] In summary, the vehicle control scheme of one aspect of the present invention reuses the power conversion equipment and motor inductance in the drive system by controlling the switching devices in the switching and power conversion devices. This converts charging power into the power form required by the battery without adding additional power conversion equipment or inductance. This approach features low hardware cost, a compact size, and ease of control. This allows vehicles to flexibly utilize existing charging infrastructure, without being restricted by existing charging infrastructure's voltage levels or other power form constraints.

[0079] On the one hand, compared with the technical solution of symmetrically inputting the charging power into the motor from the three-phase input terminal, the control solution proposed in the present invention can utilize the inductance in the motor to a greater extent, reduce the ripple in the current, and improve the charging efficiency.

[0080] On the other hand, compared with the traditional technical solution of inputting charging power into the motor from a single-phase input terminal, the control solution proposed in the present invention controls the various switching devices of the power conversion equipment through a second control signal, so that the electromagnetic torque of the motor is zero during the charging process, avoiding the safety hazards that may be brought to the vehicle by unexpected electromagnetic torque.

[0081] Although only some embodiments of the present invention have been described above, it will be understood by those skilled in the art that the present invention may be implemented in many other forms without departing from its spirit and scope. Therefore, the examples and embodiments shown are to be considered illustrative rather than restrictive, and the present invention may encompass various modifications and substitutions without departing from the spirit and scope of the present invention as defined in the appended claims.

Claims

1. A control device for a vehicle, the vehicle comprising a battery, a power conversion device, and a three-phase motor, the vehicle having a charging mode and a driving mode, wherein the power conversion device converts DC power received from the battery into AC power and outputs the AC power to the three-phase motor in the driving mode, characterized in that: The control device includes: a first control device configured to issue a first control signal based on at least a rotor angle of the three-phase motor in the charging mode, wherein the first control signal indicates an input phase so that charging power is input to the three-phase motor via the input phase and output to corresponding two phases of the power conversion device via the remaining two phases of the three-phase motor, and wherein the charging power is output to the battery after conversion by the power conversion device; and A second control device is configured to issue a second control signal in the charging mode based at least on the rotor angle and the charging demand, wherein the second control signal indicates the closing / opening of the switching device of the power conversion device so that the electromagnetic torque of the three-phase motor is zero.

2. The control device according to claim 1, wherein The charging power has a first voltage level, the battery has a second voltage level, and the first voltage level is different from the second voltage level.

3. The control device according to claim 1, wherein The second control signal instructs the switching device corresponding to the input to maintain an off state.

4. The control device according to claim 1, wherein The second control device is further configured to determine a stator current vector angle based on the rotor angle, and to issue the second control signal based on at least the stator current vector angle and the charging demand.

5. The control device according to claim 1, wherein The charging requirement includes at least a stator current reference value required for charging.

6. The control device according to claim 1, wherein The second control signal instructs the switching device of the power conversion apparatus to turn on / off, so that the stator q-axis current is zero.

7. A control system for a vehicle, characterized in that: include: A control device for a vehicle according to any one of claims 1 to 6; as well as A switching device connected between a charging power source and the three-phase motor and configured to: receiving the first control signal, and; Based on the first control signal, the charging power supply providing the charging power is connected to the input phase of the three-phase motor, and the charging power supply is disconnected from the remaining two phases of the three-phase motor.

8. A control method for a vehicle, the vehicle comprising a battery, a power conversion device, and a three-phase motor, the vehicle having a charging mode and a driving mode, wherein the power conversion device converts DC power received from the battery into AC power and outputs the AC power to the three-phase motor in the driving mode, characterized in that: The control method includes, in the charging mode: issuing a first control signal based at least on a rotor angle of the three-phase motor, wherein the first control signal indicates an input phase so that charging power is input to the three-phase motor via the input phase and output to corresponding two phases of the power conversion device via the remaining two phases of the three-phase motor, and wherein the charging power is output to the battery after conversion by the power conversion device; and A second control signal is issued based on at least the rotor angle and the charging requirement, wherein the second control signal instructs the closing / opening of the switching device of the power conversion device so that the electromagnetic torque of the three-phase motor is zero.

9. The control method according to claim 8, wherein: The charging power has a first voltage level, the battery has a second voltage level, and the first voltage level is different from the second voltage level.

10. The control method according to claim 8, wherein: The second control signal instructs the switching device corresponding to the input to maintain an off state.

11. The control method according to claim 8, further comprising: determining a stator current vector angle based on the rotor angle; as well as The second control signal is issued based on at least the stator current vector angle and the charging demand.

12. The control method according to claim 8, wherein: The charging requirement includes at least a stator current reference value required for charging.

13. The control method according to claim 8, wherein: The second control signal instructs the switching device of the power conversion apparatus to turn on / off, so that the stator q-axis current is zero.

14. A control device for a vehicle, comprising a memory, a processor, and a computer program stored in the memory and executable on the processor, wherein: When the processor executes the computer program, the control method according to any one of claims 8 to 13 is implemented.

15. A computer-readable storage medium having a computer program stored thereon, characterized in that: When the computer program is executed by a processor, the control method according to any one of claims 8 to 13 is implemented. 16 . A vehicle comprising the vehicle control device according to claim 1 .

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