Charging method of low-voltage battery of vehicle, control device of vehicle and vehicle

Abstract

The invention provides a charging method of a low-voltage battery of a vehicle, a control device of the vehicle and the vehicle. The charging method of the vehicle low-voltage battery comprises the steps of obtaining a first detection voltage of the low-voltage battery in a vehicle operation environment; acquiring a predetermined compensation voltage of the low-voltage battery; summing the first detection voltage and the compensation voltage to obtain an adjustment voltage of the low-voltage battery; whether the low-voltage battery meets a charging condition or not is judged, the charging condition comprises a first condition, and the first condition is that the adjusting voltage is located in a charging voltage interval; and when the low-voltage battery meets the first condition, charging the low-voltage battery. The accuracy degree of the adjustment voltage is higher than that of the first detection voltage, so that the influence of the voltage drop of the low-voltage battery wire harness on the detection result of the vehicle management system is reduced, and the risk of frequent starting of power compensation is reduced.

Description

Technical Field

[0001] The present application relates to the field of vehicle batteries, and in particular to a charging method for a vehicle low-voltage battery, a vehicle control device, and a vehicle. Background Art

[0002] Because electric vehicles have many functions, they need to frequently start low-voltage electrical appliances, which consumes the onboard 12V lead-acid battery. In order to solve the problem of lead-acid battery feeding during the driving process of electric vehicles, electric vehicles need to start the high-voltage power battery to charge the lead-acid battery at the right time. In the related art, there are two solutions for intelligent charging: (1) Setting up a special battery manager (IBS) to determine the start conditions of intelligent charging through the battery manager, which will increase the production cost of the whole vehicle. (2) Detecting the voltage of the lead-acid battery through the battery management system (BMS), and the battery management system determines the start conditions of intelligent charging. Because the difference between the charge state of the lead-acid battery and the voltage curve is small, the battery management system has high requirements for the detection accuracy of the lead-acid voltage. However, there is a harness voltage drop on the vehicle harness, which causes the battery management system to be unable to accurately detect the accurate voltage of the lead-acid battery, resulting in the abnormally frequent start of intelligent charging. Summary of the invention

[0003] The present application provides a method for charging a low-voltage battery of a vehicle, a vehicle control device and a vehicle, which reduce vehicle manufacturing costs and improve the detection accuracy of a battery management system.

[0004] The present application provides a method for charging a low-voltage battery of a vehicle, comprising:

[0005] Acquire a first detection voltage of a low-voltage battery under a vehicle operating environment;

[0006] Acquiring a predetermined compensation voltage of the low-voltage battery;

[0007] Summing the first detection voltage and the compensation voltage to obtain an adjustment voltage of the low-voltage battery;

[0008] Determine whether the low-voltage battery meets the charging condition, the charging condition includes a first condition, the first condition is: the adjustment voltage is within the charging voltage range;

[0009] When the low-voltage battery meets the first condition, the low-voltage battery is recharged.

[0010] The vehicle management system detects the voltage of the low-voltage battery harness, and there is a voltage drop in the low-voltage battery harness. During vehicle operation, the vehicle management system obtains the first detection voltage of the low-voltage battery under the vehicle operation environment, and sums the first detection voltage and the compensation voltage to obtain the adjusted voltage. The adjusted voltage is more accurate than the first detection voltage, thereby reducing the impact of the voltage drop of the low-voltage battery harness on the detection results of the vehicle management system and reducing the risk of frequent starting after replenishment.

[0011] Optionally, the vehicle has different operating modes, and the compensation voltage is predetermined by the vehicle according to the different operating modes under a test environment, and the compensation voltage determined by different operating modes is different;

[0012] The obtaining of a predetermined compensation voltage of the low-voltage battery includes:

[0013] Obtaining a current operating mode of the vehicle under an operating environment;

[0014] According to the current operation mode, the compensation voltage corresponding to the current operation mode is acquired.

[0015] Optionally, the method further includes a method for predetermining the compensation voltage, and the predetermining method includes:

[0016] Obtaining the actual voltage at the output end of the low-voltage battery of the vehicle under the test environment;

[0017] Acquire a second detection voltage of the low-voltage battery detected by a vehicle management system under a test environment;

[0018] The actual voltage is subtracted from the second detection voltage to obtain the compensation voltage of the low-voltage battery of the vehicle under the test environment and store the compensation voltage.

[0019] Optionally, the vehicle has different operating modes, and the compensation voltage is predetermined by the vehicle under a test environment according to the different operating modes;

[0020] The pre-determination method comprises:

[0021] Under different operating modes, respectively obtaining the actual voltage of the output terminal of the low-voltage battery of the vehicle under the test environment;

[0022] Under different operation modes, respectively obtaining a second detection voltage of the low-voltage battery detected by a vehicle management system under a test environment;

[0023] The actual voltage and the second detection voltage obtained in the same operation mode are subtracted to obtain the compensation voltage of the low-voltage battery corresponding to the operation mode, and the compensation voltage is stored.

[0024] Optionally, the operating modes include an adaptive cruise mode and a normal driving mode.

[0025] Optionally, the power replenishment conditions include multiple conditions, and the first condition is one of them;

[0026] The determining whether the low-voltage battery meets the charging condition includes:

[0027] Determine whether the low-voltage battery meets the multiple charging conditions,

[0028] When the low-voltage battery meets all the charging conditions, the low-voltage battery is charged.

[0029] Optionally, the power supplement condition further includes a second condition, and the second condition is: the time duration for which the adjusted voltage is maintained within the power supplement voltage interval reaches a first set time duration; and / or

[0030] The vehicle includes a battery management system, and the power replenishment condition further includes a third condition, and the third condition is: the operating state of the battery management system is a dischargeable state; and / or

[0031] The vehicle includes a vehicle controller, and the power replenishment condition further includes a fourth condition, and the fourth condition is: the operating state of the vehicle controller is a power replenishment allowing state; and / or

[0032] The vehicle includes a power battery, and the power replenishment condition further includes a fifth condition, which is: the remaining power of the power battery is not less than a set remaining power.

[0033] Optionally, the charging the low-voltage battery includes:

[0034] The low-voltage battery is recharged and maintained for a second set time period.

[0035] Optionally, the method for charging the vehicle low-voltage battery further includes: after the low-voltage battery is fully charged, reacquiring the first detection voltage and determining whether the low-voltage battery meets the charging condition.

[0036] Optionally, the method for charging the vehicle low-voltage battery further includes:

[0037] When the low-voltage battery does not meet the charging condition, after a third set time period, the first detection voltage is reacquired to determine whether the low-voltage battery meets the charging condition.

[0038] In a second aspect, the present application provides a vehicle control device, comprising one or more processors, for implementing the vehicle low-voltage battery charging method described in the first aspect.

[0039] The control device obtains a first detection voltage of the low-voltage battery under the vehicle operating environment, and sums the first detection voltage and the compensation voltage to obtain an adjusted voltage. Compared with the first detection voltage, the adjusted voltage is closer to the actual voltage of the low-voltage battery and has a higher degree of accuracy, thereby reducing the impact of the voltage drop of the low-voltage battery wiring harness on the detection results of the vehicle management system and reducing the risk of frequent starting during power replenishment.

[0040] In a third aspect, the present application provides a vehicle, comprising the vehicle control device described in the second aspect.

[0041] The vehicle uses a control device to improve the accuracy of the vehicle management system in measuring the voltage of the low-voltage battery, reducing the risk of frequent starting during power replenishment. BRIEF DESCRIPTION OF THE DRAWINGS

[0042] The accompanying drawings, which are incorporated in and constitute a part of this specification, illustrate embodiments consistent with the present disclosure and, together with the description, serve to explain the principles of the present disclosure.

[0043] Figure 1 Shown is a schematic diagram of an embodiment of a method for charging a low-voltage battery of a vehicle according to the present application.

[0044] Figure 2 Shown is a schematic diagram of another embodiment of a method for charging a low-voltage battery of a vehicle according to the present application.

[0045] Figure 3 Shown is a schematic diagram of another embodiment of a method for charging a low-voltage battery of a vehicle of the present application.

[0046] Figure 4 Shown is a schematic diagram of another embodiment of a method for charging a low-voltage battery of a vehicle of the present application.

[0047] Figure 5 Shown is a schematic diagram of another embodiment of a method for charging a low-voltage battery of a vehicle of the present application.

[0048] Figure 6 Shown is a structural block diagram of an embodiment of a vehicle control device of the present application. DETAILED DESCRIPTION

[0049] Here, the technical solutions in the embodiments (or "implementations") of the present application will be described clearly and completely in conjunction with the accompanying drawings. When the following description refers to the drawings, unless otherwise indicated, the same numbers in different drawings represent the same or similar elements.

[0050] If there are terms involving directional indications or positional relationships in the embodiments of the present application (such as up, down, left, right, front, back, inside, outside, top, bottom, center, vertical, horizontal, longitudinal, transverse, length, width, counterclockwise, clockwise, axial, radial, circumferential, etc.), such terms are only used to explain the relative positional relationship, movement, etc. between the components under a certain specific posture (as shown in the accompanying drawings); if the specific posture changes, the directional indication or positional relationship will also change accordingly. In addition, the terms "first", "second", etc. involved in the embodiments of the present application are only used for the purpose of convenience of description and cannot be understood as indicating or implying relative importance.

[0051] The present application provides a method for charging a low-voltage battery of a vehicle, a control device of the vehicle, and a vehicle. The method for charging a low-voltage battery of a vehicle, the control device of the vehicle, and the vehicle of the present application are described in detail below in conjunction with the accompanying drawings. The features of the following embodiments and implementations may be combined with each other if there is no conflict.

[0052] This application provides a method for charging a low-voltage battery in a vehicle, see Figure 1 As shown, it includes step S10, step S20, step S30, step S40 and step S50.

[0053] In step S10, a first detection voltage of a low-voltage battery under a vehicle operating environment is obtained.

[0054] In step S20 , a predetermined compensation voltage of the low-voltage battery is obtained.

[0055] In step S30, the first detection voltage and the compensation voltage are summed to obtain an adjustment voltage of the low-voltage battery.

[0056] In step S40, it is determined whether the low voltage battery meets the charging condition. The charging condition includes a first condition, which is that the adjustment voltage is within the charging voltage range.

[0057] In step S50, when the low-voltage battery meets the first condition, the low-voltage battery is recharged.

[0058] When the vehicle is in an operating environment, low-voltage electrical appliances will consume the remaining power in the low-voltage battery. As the low-voltage battery is used, the actual voltage of the low-voltage battery will drop. The vehicle management system detects the voltage of the low-voltage battery harness, and there is a voltage drop in the low-voltage battery harness. During vehicle operation, the vehicle management system obtains the first detection voltage of the low-voltage battery under the vehicle operating environment, and sums the first detection voltage and the compensation voltage to obtain an adjusted voltage. The adjusted voltage is closer to the actual voltage of the low-voltage battery than the first detection voltage, and the adjusted voltage is more accurate, which improves the accuracy of the vehicle management system's judgment on the remaining power of the low-voltage battery, thereby reducing the impact of the voltage drop of the low-voltage battery harness on the detection results of the vehicle management system and reducing the risk of frequent starting for power replenishment.

[0059] In an optional embodiment, the vehicle has different operating modes. In different operating modes, the low-voltage electrical appliances have different powers, and the low-voltage battery harness has different voltage drops. The compensation voltage is predetermined by the vehicle under a test environment according to different operating modes, and the compensation voltages determined by different operating modes are different.

[0060] See also Figure 2 As shown, step S20, obtaining a predetermined compensation voltage of the low-voltage battery, includes step S21 and step S22.

[0061] In step S21, the current operating mode of the vehicle in the operating environment is obtained.

[0062] In step S22, according to the current operation mode, a compensation voltage corresponding to the current operation mode is obtained.

[0063] Through the above method, under different vehicle operation modes, the compensation voltage corresponding to the current vehicle operation mode is obtained according to the different powers of low-voltage electrical appliances, so that the adjusted voltage is closer to the actual voltage of the low-voltage battery, and the adjusted voltage is more accurate, thereby reducing the impact of the voltage drop of the low-voltage battery harness on the detection results of the vehicle management system and reducing the risk of frequent starting after supplementary power.

[0064] In an alternative embodiment, see Figure 3 As shown, the method further includes a method for predetermining the compensation voltage. The predetermining method includes steps S60, S70 and S80.

[0065] In step S60, the actual voltage of the output terminal of the low-voltage battery of the vehicle under the test environment is obtained.

[0066] In step S70, a second detection voltage of the low-voltage battery detected by the vehicle management system under the test environment is obtained.

[0067] In step S80, the actual voltage and the second detection voltage are subtracted to obtain the compensation voltage of the low-voltage battery of the vehicle under the test environment and store the compensation voltage.

[0068] Through the above method, the corresponding compensation voltage can be set according to the specific situation of the low-voltage battery installed in the vehicle, so that the adjusted voltage is closer to the actual voltage of the low-voltage battery and the adjusted voltage is more accurate, thereby reducing the impact of the voltage drop of the low-voltage battery wiring harness on the detection results of the vehicle management system.

[0069] In an alternative embodiment, see Figure 4 As shown, in the predetermined method:

[0070] Step S60, obtaining the actual voltage of the output end of the low-voltage battery of the vehicle under the test environment, includes step S61.

[0071] In step S61, in different operation modes, the actual voltage of the output terminal of the low-voltage battery of the vehicle under the test environment is obtained respectively.

[0072] Step S70, obtaining a second detection voltage of the low-voltage battery detected by the vehicle management system under a test environment, includes step S71.

[0073] In step S71, in different operation modes, a second detection voltage of the low-voltage battery detected by the vehicle management system under a test environment is respectively obtained.

[0074] Step S80, subtracting the actual voltage from the second detection voltage to obtain and store the compensation voltage of the low-voltage battery of the vehicle under the test environment, including step S81.

[0075] In step S81, the actual voltage and the second detection voltage obtained in the same operation mode are subtracted to obtain the compensation voltage of the low-voltage battery corresponding to the operation mode of the vehicle under the test environment, and the compensation voltage is stored.

[0076] In different operating modes, low-voltage electrical appliances have different powers, and low-voltage battery harnesses have different voltage drops. Through the above method, the corresponding compensation voltage can be set according to the specific situation of the low-voltage battery installed in the vehicle, so that the adjusted voltage is closer to the actual voltage of the low-voltage battery, and the adjusted voltage is more accurate, thereby reducing the impact of the voltage drop of the low-voltage battery harness on the detection results of the vehicle management system and reducing the risk of frequent starting of supplementary power.

[0077] In other embodiments, when a new low-voltage battery is replaced in the vehicle, the above steps S61, S71 and S81 may be used to predetermine the compensation voltage of the new low-voltage battery again so that the compensation voltage matches the low-voltage battery.

[0078] In an optional embodiment, the operating mode includes an adaptive cruise mode and a normal driving mode. In other embodiments, the operating mode also includes a cruise control mode and a full-speed adaptive cruise mode. When the vehicle is in the operating mode of the normal driving mode, the sensor components on the vehicle can be turned off; when the vehicle is in the operating mode of the adaptive cruise mode, the sensor components on the vehicle, such as cameras, radars, etc., will be activated to achieve adaptive cruising, and the power of low-voltage electrical appliances will increase, resulting in different voltage drops in the low-voltage battery harness of the vehicle under different operating modes. Through the above settings, according to the different operating numbers and powers of the low-voltage electrical appliances of the vehicle, the compensation voltage corresponding to the current operating mode of the vehicle is obtained respectively, so that the adjusted voltage is closer to the actual voltage of the low-voltage battery, and the accuracy of the adjusted voltage is higher, thereby reducing the impact of the voltage drop of the low-voltage battery harness on the detection results of the vehicle management system and reducing the risk of frequent starting of supplementary power.

[0079] In an optional embodiment, the charging condition includes multiple conditions, and the first condition is one of them. Step S40, judging whether the low-voltage battery meets the charging condition, includes step S41.

[0080] In step 41, it is determined whether the low-voltage battery meets multiple charging conditions.

[0081] In step S51, when the low-voltage battery meets all the charging conditions, the low-voltage battery is charged.

[0082] In some embodiments, the vehicle may include multiple methods for confirming whether the low-voltage battery is in a charging condition where it can be charged, which helps ensure that the operation of charging the low-voltage battery does not affect the normal driving process of the vehicle, thereby improving the vehicle's driving safety and driving experience.

[0083] In an optional embodiment, the recharging condition further includes a second condition, which is: the time for which the adjusted voltage is maintained within the recharging voltage interval reaches a first set time. When the time for which the adjusted voltage is maintained within the recharging voltage interval reaches the first set time, the low-voltage battery meets the second recharging condition. Through the above arrangement, the risk of misjudging the need for recharging of the low-voltage battery due to fluctuations in the first detection voltage is reduced.

[0084] In an optional embodiment, the vehicle includes a battery management system. The charging condition also includes a third condition, which is: the operating state of the battery management system is a dischargeable state. Among them, when the battery management system monitors and detects the battery and circuit of the vehicle and confirms that there is no discharge fault in the battery and circuit of the current vehicle, the operating state of the battery management system is a dischargeable state. Through the above settings, the risk of failure of low-voltage battery charging and damage to the low-voltage battery caused by discharge faults is reduced.

[0085] In an optional embodiment, the vehicle includes a vehicle controller. The charging condition also includes a fourth condition, which is: the operating state of the vehicle controller is a charging-allowed state. The vehicle controller can determine whether the vehicle is in a charging-allowed state based on the vehicle's state information, including but not limited to the vehicle's current temperature, speed, position and other information. Through the above settings, the risk of the vehicle interfering with the vehicle's journey while charging the low-voltage battery is reduced.

[0086] In an optional embodiment, the vehicle includes a power battery. The charging condition further includes a fifth condition, which is: the remaining power of the power battery is not less than the set remaining power. Through the above setting, it is ensured that the power battery can still maintain the driving of the vehicle after charging the low-voltage battery.

[0087] In an alternative embodiment, see Figure 5 As shown, step S50, recharging the low-voltage battery, includes step S52.

[0088] In step S52, the low-voltage battery is charged and maintained for a second set time period, wherein the second set time period may be 30 minutes, 40 minutes or 1 hour, and this application does not impose any specific limitation on this.

[0089] In some other embodiments, step S50, recharging the low-voltage battery, includes step S53. In step S53, the low-voltage battery is recharged until the remaining power of the low-voltage battery exceeds a set threshold.

[0090] Through the above settings, the amount of power replenished by the low-voltage battery is controlled to reduce the risk of frequent starting of replenishment; the risk of excessive power loss of the power battery is reduced to ensure that the power battery can still maintain the vehicle's driving after replenishing the low-voltage battery.

[0091] In an alternative embodiment, see Figure 5 As shown, the method for charging the low-voltage battery of a vehicle further includes step S54. In step S54, after the low-voltage battery is charged, the first detection voltage is re-acquired and it is determined whether the low-voltage battery meets the charging condition.

[0092] By controlling the amount of power recharged to the low-voltage battery, if the remaining power of the low-voltage battery is small after the low-voltage battery is recharged, and the low-voltage battery meets all the recharging conditions, the low-voltage battery will continue to be recharged, thereby ensuring that the remaining power of the low-voltage battery can maintain the operation of the low-voltage electrical appliances and reducing the risk of frequent starting after recharging; reducing the risk of excessive power loss in the power battery and ensuring that the power battery can still maintain the vehicle's driving after the low-voltage battery is recharged.

[0093] In an alternative embodiment, see Figure 5 As shown, the method for charging the vehicle low-voltage battery also includes step S55.

[0094] In step S55, when the low-voltage battery does not meet the recharging condition, after the third set time, the first detection voltage is reacquired and it is determined whether the low-voltage battery meets the recharging condition. The third set time may be 30 minutes, 40 minutes or 1 hour, and this application does not impose any specific restrictions on this.

[0095] Through the above arrangement, the residual current of the low-voltage battery can be detected regularly, reducing the risk that the low-voltage battery cannot supply power to low-voltage electrical appliances due to insufficient power replenishment, which is beneficial to the normal driving of the vehicle.

[0096] The present application also provides a vehicle control device, which includes one or more processors for implementing a charging method for a vehicle low-voltage battery.

[0097] Figure 6 FIG. 1 is a structural block diagram of an embodiment of the control device 100 of the present application. Figure 6 As shown, the control device 100 includes one or more processors 110 for implementing a charging method for a vehicle low-voltage battery.

[0098] In some embodiments, the control device 100 may include a computer-readable storage medium 120, which may store a program that can be called by the processor 110 and may include a non-volatile storage medium. In some embodiments, the control device 100 may include a memory 130 and an interface 140. In some embodiments, the control device 100 may also include other hardware according to actual applications.

[0099] The computer-readable storage medium 120 of the embodiment of the present application stores a program thereon, which, when executed by the processor 110, is used to implement the above-mentioned method for charging the low-voltage battery of a vehicle.

[0100] The present application may take the form of a computer program product implemented on one or more computer-readable storage media 120 (including but not limited to disk storage, CD-ROM, optical storage, etc.) containing program code. The computer-readable storage medium 120 includes permanent and non-permanent, removable and non-removable media, and information storage can be implemented by any method or technology. The information can be a computer-readable instruction, a data structure, a module of a program, or other data. Examples of computer-readable storage media 120 include but are not limited to: phase change memory (PRAM), static random access memory (SRAM), dynamic random access memory (DRAM), other types of random access memory (RAM), read-only memory (ROM), electrically erasable programmable read-only memory (EEPROM), flash memory or other memory technology, read-only compact disk read-only memory (CD-ROM), digital versatile disk (DVD) or other optical storage, magnetic cassette, tape disk storage or other magnetic storage device or any other non-transmission medium that can be used to store information that can be accessed by a computing device.

[0101] The control device 100 obtains a first detection voltage of the low-voltage battery under the vehicle operating environment, and sums the first detection voltage and the compensation voltage to obtain an adjusted voltage. Compared with the first detection voltage, the adjusted voltage is closer to the actual voltage of the low-voltage battery and has a higher degree of accuracy, thereby reducing the impact of the voltage drop of the low-voltage battery wiring harness on the detection results of the vehicle management system and reducing the risk of frequent starting during power replenishment.

[0102] The present application also provides a vehicle, including a vehicle control device 100. The vehicle improves the accuracy of the vehicle management system in measuring the voltage of the low-voltage battery through the control device 100, thereby improving the accuracy of the judgment of the remaining power of the low-voltage battery and reducing the risk of frequent power replenishment startup.

[0103] It should be noted that the technical solutions or technical features described in the above embodiments can be combined or supplemented with each other without causing conflicts. The scope of protection of this application is not limited to the precise structures described in the above embodiments and shown in the drawings; all modifications, equivalent substitutions, improvements, etc. made within the spirit and principles of this application should be included in the scope of protection of this application.

Claims

1. A method for charging a low-voltage battery of a vehicle, characterized in that: include: Acquire a first detection voltage of a low-voltage battery under a vehicle operating environment; Acquiring a predetermined compensation voltage of the low-voltage battery; Summing the first detection voltage and the compensation voltage to obtain an adjustment voltage of the low-voltage battery; Determine whether the low-voltage battery meets the charging condition, the charging condition including a first condition, the first condition being: the adjustment voltage is within the charging voltage range; When the low-voltage battery meets the first condition, the low-voltage battery is recharged.

2. The method for charging a vehicle low-voltage battery according to claim 1, characterized in that: The vehicle has different operating modes, and the compensation voltage is predetermined by the vehicle under a test environment according to the different operating modes, and the compensation voltage determined by different operating modes is different; The obtaining of a predetermined compensation voltage of the low-voltage battery includes: Obtaining a current operating mode of the vehicle under an operating environment; According to the current operation mode, the compensation voltage corresponding to the current operation mode is acquired.

3. The method for charging a vehicle low-voltage battery according to claim 1, characterized in that: The method further includes a method for predetermining the compensation voltage, the method comprising: Obtaining the actual voltage at the output end of the low-voltage battery of the vehicle under the test environment; Acquire a second detection voltage of the low-voltage battery detected by a vehicle management system under a test environment; The actual voltage is subtracted from the second detection voltage to obtain the compensation voltage of the low-voltage battery of the vehicle under the test environment and store the compensation voltage.

4. The method for charging a vehicle low-voltage battery according to claim 3, characterized in that: The vehicle has different operating modes, and the compensation voltage is predetermined by the vehicle under the test environment according to the different operating modes; The pre-determination method comprises: Under different operating modes, respectively obtaining the actual voltage of the output terminal of the low-voltage battery of the vehicle under the test environment; Under different operation modes, respectively obtaining a second detection voltage of the low-voltage battery detected by a vehicle management system under a test environment; The actual voltage and the second detection voltage obtained in the same operation mode are subtracted to obtain the compensation voltage of the low-voltage battery corresponding to the operation mode, and the compensation voltage is stored.

5. The method for charging a vehicle low-voltage battery according to claim 4, characterized in that: The operating modes include an adaptive cruise mode and a normal driving mode.

6. The method for charging a vehicle low-voltage battery according to claim 1, characterized in that: The power replenishment conditions include multiple conditions, and the first condition is one of them; The determining whether the low-voltage battery meets the charging condition includes: Determine whether the low-voltage battery meets the multiple charging conditions, When the low-voltage battery meets all the charging conditions, the low-voltage battery is charged.

7. The method for charging a vehicle low-voltage battery according to claim 6, characterized in that: The supplementary power condition further includes a second condition, wherein the second condition is that the time duration for which the adjusted voltage is maintained within the supplementary power voltage interval reaches a first set time duration; and / or The vehicle includes a battery management system, and the power replenishment condition further includes a third condition, and the third condition is: the operating state of the battery management system is a dischargeable state; and / or The vehicle includes a vehicle controller, and the power replenishment condition further includes a fourth condition, and the fourth condition is: the operating state of the vehicle controller is a power replenishment allowing state; and / or The vehicle includes a power battery, and the power replenishment condition further includes a fifth condition, which is: the remaining power of the power battery is not less than a set remaining power.

8. The method for charging a vehicle low-voltage battery according to claim 1, characterized in that: The step of replenishing power for the low-voltage battery comprises: The low-voltage battery is recharged and maintained for a second set time period.

9. The method for charging a vehicle low-voltage battery according to claim 1, characterized in that: The vehicle low-voltage battery charging method further includes: after the low-voltage battery is fully charged, reacquiring the first detection voltage and determining whether the low-voltage battery meets the charging condition.

10. The method for charging a vehicle low-voltage battery according to claim 1, characterized in that: The method for charging the vehicle low-voltage battery also includes: When the low-voltage battery does not meet the charging condition, after a third set time period, the first detection voltage is reacquired to determine whether the low-voltage battery meets the charging condition.

11. A vehicle control device, characterized in that: It comprises one or more processors for implementing the charging method of the vehicle low-voltage battery as described in any one of claims 1-10.

12. A vehicle, characterized in that: A control device for a vehicle comprising the control device of claim 11.

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