Control method and control equipment for power of power battery and vehicle

Abstract

The invention discloses a control method and control equipment for the power of a power battery and a vehicle. The control method comprises the following steps: acquiring a driving state; acquiring target power and current actual power of a power battery based on the driving state; and obtaining the adjusted actual power based on the target power of the power battery and the current actual power. According to the control method and device for the power of the power battery and the vehicle, the adjusted actual power is obtained through the target power and the current actual power of the power battery, so that the adjusted actual power does not exceed the target power or is quickly called back after exceeding the target power, and the over-discharge or over-charge phenomenon of the power battery is eliminated or weakened.

Description

Technical Field

[0001] The present invention relates to the field of power batteries, and in particular to a method for controlling the power of a power battery, a control device and a vehicle. Background Art

[0002] As the power source of an electric vehicle, overcharging and over-discharging are important reasons for the attenuation of the life of the power battery or internal short circuit and fire. During daily driving, when the power battery is in a low SOC (State of Charge, battery charge state, also called remaining power) or low temperature state and the driver has a high-power driving demand, the power battery is prone to over-discharge; when the power battery is in a high SOC, high temperature state or other specific working conditions (such as stepping on the pedal to accelerate during the driving gear coasting process) and the vehicle generates a large feedback power, the power battery is prone to overcharge.

[0003] The prior art cannot accurately control the discharge or charge power of the power battery under the above working conditions, which will lead to frequent occurrence of overcharging or over-discharging phenomena during actual driving, resulting in performance attenuation or even short circuit and fire of the power battery. Summary of the Invention

[0004] A series of simplified concepts are introduced in the Summary of the Invention section, which will be further described in detail in the Detailed Description section. The Summary of the Invention section of the present invention does not mean to attempt to define the key features and essential technical features of the claimed technical solution, nor does it mean to attempt to determine the protection scope of the claimed technical solution.

[0005] The present invention provides a method for controlling the power of a power battery, including:

[0006] Obtain the driving state;

[0007] Based on the driving state, obtain the target power and the current actual power of the power battery;

[0008] Based on the target power and the current actual power of the power battery, obtain the adjusted actual power.

[0009] Exemplarily, the obtaining the adjusted actual power based on the target power and the current actual power of the power battery includes:

[0010] When the target power is less than or equal to the current actual power, obtain a power adjustment value based on the difference between the target power and the current actual power, so that the adjusted actual power does not exceed the target power.

[0011] Exemplarily, obtaining a power adjustment value based on the difference between the target power and the current actual power includes:

[0012] Obtain a power adjustment value based on the difference between the target power and the current actual power by using a preset function, where the preset function is as follows:

[0013] C trl = K p *(P tar - P act ) + K i *∫(P tar - P act )dt

[0014] Wherein, C trl represents the power adjustment value, P tar represents the target power, P act represents the current actual power, K p represents a preset proportionality coefficient, K i represents a preset integral coefficient.

[0015] Exemplarily, the obtaining of the adjusted actual power based on the target power and the current actual power of the power battery includes:

[0016] When the target power is greater than the current actual power, obtain the adjusted actual power based on the target power.

[0017] Exemplarily, the obtaining of the driving state includes obtaining a driving state flag bit, and the driving state flag bit includes a driving state flag bit or a feedback state flag bit.

[0018] Exemplarily, the obtaining of the target power and the current actual power of the power battery based on the driving state flag bit includes:

[0019] When the driving state flag bit is the driving state flag bit, obtain the target driving power and the actual driving power of the power battery;

[0020] When the driving state flag bit is the feedback state flag bit, obtain the target feedback power and the actual feedback power of the power battery.

[0021] Exemplarily, the obtaining of the driving state flag bit includes:

[0022] Obtain the driving state flag bit based on the gear state and the motor speed; wherein,

[0023] When the gear is in the D gear and the motor speed is less than 0 or the gear is in the R gear and the motor speed is greater than 0, the driving state flag bit is the feedback state flag bit;

[0024] When the gear is in the D gear and the motor speed is greater than 0 or the gear is in the R gear and the motor speed is less than 0, the driving state flag bit is the driving state flag bit.

[0025] Exemplarily, the obtaining of the target power and the current actual power of the power battery includes:

[0026] Determining the target power based on the maximum allowable power and the desired power of the power battery;

[0027] Determining the current actual power based on the three-phase current of the motor, the rotor angle, and the power consumed by the non-driving load.

[0028] The present invention also provides a control device, including a memory, a processor, and a computer program stored on the memory and running on the processor. When the processor executes the computer program, the control method for the power of the power battery described in any one of the above is implemented.

[0029] The present invention also provides a vehicle, which includes the control device described above.

[0030] According to the control method, control device, and vehicle for the power of the power battery provided by the present invention, an adjusted actual power is obtained through the target power and the current actual power of the power battery, so that the adjusted actual power does not exceed the target power or quickly returns after exceeding, eliminating or weakening the over-discharge or over-charge phenomenon of the power battery. BRIEF DESCRIPTION OF THE DRAWINGS

[0031] The following drawings of the present invention are used as a part of the present invention to understand the present invention. The embodiments of the present invention and their descriptions are shown in the drawings to explain the principles of the present invention.

[0032] In the drawings:

[0033] Figure 1 is a flowchart of the control method for the power of the power battery according to an embodiment of the present invention;

[0034] Figure 2 is a working flowchart of obtaining the driving state flag bit according to an embodiment of the present invention;

[0035] Figure 3 is a control principle diagram of the power of the power battery according to an embodiment of the present invention;

[0036] Figure 4 is a control flowchart of the power of the power battery according to an embodiment of the present invention. DETAILED DESCRIPTION OF THE EMBODIMENTS

[0037] In the following description, a large number of specific details are given to provide a more thorough understanding of the present invention. However, it is obvious to those skilled in the art that the present invention can be implemented without one or more of these details. In other examples, in order to avoid confusion with the present invention, some well-known technical features are not described.

[0038] It should be understood that the present invention can be implemented in different forms and should not be construed as limited to the embodiments presented herein. On the contrary, providing these embodiments will make the disclosure thorough and complete, and will fully convey the scope of the present invention to those skilled in the art. In the drawings, for clarity, the dimensions and relative dimensions of layers and regions may be exaggerated. The same reference numerals throughout the drawings denote the same elements.

[0039] The purpose of the terms used herein is only to describe specific embodiments and is not a limitation of the present invention. As used herein, the singular forms "a", "an" and "the" are also intended to include the plural forms unless the context clearly dictates otherwise. It should also be understood that the terms "comprising" and / or "including", when used in this specification, identify the presence of the stated features, integers, steps, operations, elements and / or components, but do not preclude the presence or addition of one or more other features, integers, steps, operations, elements, components and / or groups. As used herein, the term "and / or" includes any and all combinations of the related listed items.

[0040] To fully understand the present invention, detailed steps and detailed structures will be presented in the following description to illustrate the technical solutions proposed by the present invention. The preferred embodiments of the present invention are described in detail below. However, in addition to these detailed descriptions, the present invention may also have other embodiments.

[0041] When the control of the power battery power is determined only by the maximum allowable power of the power battery and the driver's demand power, if the driver's demand power is less than the maximum allowable power of the power battery, the vehicle is driven according to the driver's demand power. If the driver's demand power is greater than the maximum allowable power of the power battery, the vehicle is driven according to the maximum allowable power of the power battery. This open-loop control is simple and easy to implement, but the open-loop control cannot perform real-time feedback adjustment on the current actual power of the power battery, which may cause the power battery to frequently process overcharge or over-discharge states.

[0042] The present invention provides a method for controlling the power of a power battery, as Figure 1 shown, including:

[0043] Step S110: Obtain the driving state;

[0044] Step S120: Obtain the target power and the current actual power of the power battery based on the driving state;

[0045] Step S130: Obtain the adjusted actual power based on the target power and the current actual power of the power battery.

[0046] First, perform step S110 to obtain the driving state. Obtaining the driving state includes obtaining a driving state flag bit, and the driving state flag bit includes a driving state flag bit or a feedback state flag bit.

[0047] Exemplarily, obtaining the driving state flag bit includes obtaining the driving state flag bit based on the gear state and the motor speed; wherein, when the gear is in the D gear and the motor speed is less than 0, or the gear is in the R gear and the motor speed is greater than 0, the driving state flag bit is the feedback state flag bit; when the gear is in the D gear and the motor speed is greater than 0, or the gear is in the R gear and the motor speed is less than 0, the driving state flag bit is the driving state flag bit.

[0048] In one embodiment, as Figure 2 shown, first obtain the state of the OK light. When the OK light is not lit, the vehicle maintains its current state; when the OK light is lit, further obtain the gear state and the EPB (Electrical Park Brake) state. When the gear is in the D gear or the R gear and the EPB is released, then further obtain the motor control state, otherwise the vehicle maintains its current state; when the motor control state is "motor start-up", then further obtain the motor speed, and when the motor control state is not "motor start-up", then no longer obtain the driving state flag bit; when "the gear is in the D gear and the motor speed is less than 0" or "the gear is in the R gear and the motor speed is greater than 0", the driving state flag bit is the feedback state flag bit; when "the gear is in the D gear and the motor speed is greater than 0" or "the gear is in the R gear and the motor speed is less than 0", the driving state flag bit is the driving state flag bit. Among them, "the gear is in the D gear and the motor speed is less than 0" is considered for the coasting working condition that may occur in the actual driving process, and the corresponding judgment condition is added to control the battery feedback power during coasting.

[0049] Next, perform step S120 to obtain the target power and the current actual power of the power battery based on the driving state flag bit.

[0050] Exemplarily, the obtaining the target power and the current actual power of the power battery based on the driving state flag bit includes: when the driving state flag bit is the driving state flag bit, obtain the target driving power and the current actual driving power of the power battery; when the driving state flag bit is the feedback state flag bit, obtain the target feedback power and the current actual feedback power of the power battery.

[0051] Exemplarily, the obtaining the target power of the power battery includes: determining the target power based on the maximum allowable power and the desired power of the power battery.

[0052] In one embodiment, as Figure 3As shown, the target power is calculated based on the maximum allowable power of the power battery and the desired power, where the desired power is the driver's demand power. When the driving state flag bit is the driving state flag bit, the target driving power is calculated based on the maximum allowable discharge power of the battery and the driver's demand driving power. When the driving state flag bit is the feedback state flag bit, the target feedback power is calculated based on the maximum allowable feedback power of the battery and the driver's demand feedback power.

[0053] In one embodiment, the maximum allowable power of the power battery is obtained based on the relevant parameters of the power battery. The relevant parameters of the power battery include but are not limited to SOC, the highest / lowest temperature of the single cell, the highest / lowest voltage of the single cell, and the bus voltage. The maximum allowable discharge power of the power battery (P bat1 ) = min(the maximum current capacity value obtained by looking up the table according to the pre-calibrated highest temperature of the single cell, SOC, and the lowest voltage of the single cell, the maximum current capacity value obtained by looking up the table according to the lowest temperature of the single cell, SOC, and the lowest voltage of the single cell) × the bus voltage. The maximum allowable feedback power of the power battery (P bat2 ) = min(the maximum current capacity value obtained by looking up the table according to the pre-calibrated highest temperature of the single cell, SOC, and the highest voltage of the single cell, the maximum current capacity value obtained by looking up the table according to the highest temperature of the single cell, SOC, and the highest voltage of the single cell) × the bus voltage.

[0054] In one embodiment, the desired power is obtained based on the relevant parameters of the state flag bit. The relevant parameters of the state flag bit include but are not limited to the gear state and the motor speed. The driver's demand driving power (P res1 ) is obtained by looking up the table based on the pre-designed table of accelerator pedal depth - motor speed - acceleration demand power. The driver's demand feedback power (P res2 ) is obtained by looking up the table based on the pre-designed table of vehicle speed - coasting feedback power or brake pedal depth - vehicle speed - braking feedback power.

[0055] In one embodiment, the target power (P tar ) is obtained based on the state flag bit, the maximum allowable power of the power battery, and the desired power. The target power takes the smaller absolute value between the maximum allowable power of the power battery and the desired power. For example, when the vehicle is in the driving state, the target driving power (P tar1 ) takes the smaller absolute value between the maximum allowable discharge power of the power battery (P bat1 ) and the driver's demand driving power (P res1 ); when the vehicle is in the feedback state, the target feedback power (P tar2 ) takes the smaller absolute value between the maximum allowable feedback power of the power battery (P bat2 ) and the driver's demand feedback power (P res2 ).

[0056] Exemplarily, the obtaining of the current actual power of the power battery includes: determining the current actual power based on the three-phase current of the motor, the rotor angle, and the power consumed by the non-driving load.

[0057] In one embodiment, as Figure 3 shown, obtaining the current actual power of the motor based on the three-phase current of the motor and the rotor angle includes: obtaining the direct-axis current and the quadrature-axis current based on the three-phase current of the motor and the rotor angle, obtaining the direct-axis voltage and the quadrature-axis voltage based on the direct-axis current and the quadrature-axis current, the direct-axis inductance and the quadrature-axis inductance, and obtaining the current actual power based on the direct-axis current and the quadrature-axis current, the direct-axis voltage and the quadrature-axis voltage, the motor controller efficiency, and the power consumed by the non-driving load (P nd ).

[0058] In one embodiment, the power consumed by the non-driving load (P nd ) includes the power consumed by the air-conditioning compressor (P AC ), the power consumed by the PTC heater (P PTC ), the power consumed by the DC-DC converter (P DCDC ), etc., which is the sum of the power consumed by non-driving loads. For example, the power consumed by the non-driving load P nd = P AC + P PTC + P DCDC .

[0059] In one embodiment, obtain the three-phase current of the motor winding (i a , i b , i c ), the motor rotor angle (θ), the rotor angle sampling time (T), the permanent magnet flux linkage (Ψ), the direct-axis inductance (L d ), the quadrature-axis inductance (L q ), the motor controller efficiency (eff), etc., which are real-time state parameters of the motor, and combine with the power consumed by the non-driving load (P nd ). According to the following equations (1)-(5), based on the power change method such as clarke-park, calculate the current actual power (P act ) of the power battery in real time, including the actual driving power (P act1 ) and the actual feedback power (P act2 ):

[0060]

[0061]

[0062]

[0063] ω e= θ / T Equation (4)

[0064] Pact1 = 1.5 * (U d i d + U q i q ) / eff + P nd Equation (5)

[0065] Pact2 = 1.5 * (U d i d + U q i q ) * eff - P nd Equation (6)

[0066] It should be noted that the method for estimating the actual power of the power battery through the real-time state parameters of the motor and the power consumption of the non-driving load (P nd ) is only exemplary. It is also possible to directly obtain the current and voltage of the power battery bus through sensors to calculate its actual power, and this application does not limit this.

[0067] Next, step S130 is executed to obtain the adjusted actual power based on the target power and the current actual power of the power battery.

[0068] Exemplarily, obtaining the adjusted actual power based on the target power and the current actual power of the power battery includes: when the target power is greater than or equal to the current actual power, obtaining the adjusted actual power based on the target power, that is, making the adjusted actual power reach or approach the target power.

[0069] In one embodiment, as Figure 4 shown, when the vehicle is in the driving state, the target driving power (P tar1 ) and the actual driving power (P act1 ) are compared. When |P tar1 | > |P act1 |, P tar1 is executed in response, that is, making the adjusted actual driving power reach or approach the target driving power (P tar1 ); when the vehicle is in the feedback state, the target feedback power (P tar2 ) and the actual feedback power (P act2 ) are compared. When |P tar2 | > |P act2 |, P tar2 is executed in response, that is, making the adjusted actual feedback power reach or approach the target feedback power (P tar2 ).

[0070] Exemplarily, obtaining the adjusted actual power based on the target power and the current actual power of the power battery includes: when the target power is less than the current actual power, obtaining a power adjustment value based on the difference between the target power and the current actual power, so that the adjusted actual power does not exceed the target power.

[0071] Exemplarily, obtaining a power adjustment value based on the difference between the target power and the current actual power includes: using a preset function to obtain a power adjustment value based on the difference between the target power and the current actual power, where the preset function is as follows:

[0072] C trl =K p *(P tar -P act )+K i *∫(P tar -P act )dt Equation (7)

[0073] Where C trl represents the power adjustment value, P tar represents the target power, P act represents the current actual power, K p represents a preset proportionality coefficient, K i represents a preset integral coefficient.

[0074] In one embodiment, as Figure 4 shown, when the vehicle is in the driving state, compare the target driving power (P tar1 ) and the actual driving power (P act1 ), when |P tar1 | ≤ |P act1 |, perform PI closed-loop feedback control. Specifically, calculate the difference between the target driving power (P tar1 ) and the actual driving power (P act1 ), and determine the driving power adjustment value based on the difference between the target driving power and the actual driving power:

[0075] C trl1 =K p *(P tar1 -P act1 )+K i *∫(P tar1 -P act1 )dt Equation (8)

[0076] Then, perform a rapid power callback according to the power adjustment value. Specifically, the proportional-integral controller outputs a PWM wave based on the power adjustment value, the inverter controls the output of three-phase current based on the PWM wave, and the motor (PMSM) performs power output based on the three-phase current, so as to ensure that the adjusted actual driving power does not exceed the target driving power (P tar1 ), and eliminate or weaken the over-discharge phenomenon of the power battery. When the vehicle is in the driving state, compare the target feedback power (P tar2 ) with the actual feedback power (P act2 ). When |P tar2 | ≤ |P act2 |, perform PI closed-loop feedback control. Specifically, calculate the difference between the target feedback power (P tar2 ) and the actual feedback power (P act2 ), and determine the feedback power adjustment value based on the difference between the target feedback power and the actual feedback power:

[0077] C trl2 = K p * (P tar2 - P act2 ) + K i * ∫(P tar2 - P act2 )dt Equation (9)

[0078] Then, perform a rapid power callback according to the power adjustment value. Specifically, the proportional-integral controller outputs a PWM wave based on the power adjustment value, the inverter controls the output of three-phase current based on the PWM wave, and the motor (PMSM) performs power output based on the three-phase current, so as to ensure that the adjusted actual feedback power does not exceed the target feedback power (P tar2 ), and eliminate or weaken the overcharge phenomenon of the power battery. It should be noted that the proportional coefficient K p and the integral coefficient K i can be obtained through actual calibration.

[0079] By performing PI closed-loop feedback control on the power of the power battery, using the deviation between the target power and the current actual power of the power battery as the control input, it is possible to correct the actual power until the power deviation is eliminated, ensure that the adjusted actual power does not exceed the target power, and prevent over-discharge or overcharge of the power battery. This PI closed-loop feedback control has high control accuracy and strong anti-interference ability.

[0080] The present invention also provides a control device, including a memory and a processor. The memory stores program codes for implementing the corresponding steps in the control method of the power battery power according to the embodiments of the present invention. The processor is used to run the program codes stored in the memory to execute the corresponding steps of the control method of the power battery power according to the embodiments of the present invention.

[0081] In addition, according to an embodiment of the present invention, a computer-readable storage medium is also provided. Program instructions are stored on the storage medium and are used to execute the corresponding steps of the charging control method of the dual-battery system according to the embodiment of the present invention when the program instructions are run by a computer or a processor. The computer-readable storage medium may include, for example, a storage component of a tablet computer, a hard disk of a personal computer, a read-only memory (ROM), an erasable programmable read-only memory (EPROM), a portable compact disc read-only memory (CD-ROM), a USB memory, or any combination of the above storage media.

[0082] In addition, the present invention also provides a vehicle, and the vehicle is equipped with the control device described above. The vehicle may be a pure electric vehicle or a hybrid vehicle.

[0083] According to the power battery power control method, control device, and vehicle provided by the present invention, an adjusted actual power is obtained through the target power and the current actual power of the power battery, so that the adjusted actual power does not exceed the target power or quickly returns after exceeding, eliminating or weakening the phenomenon of over-discharge or over-charge of the power battery.

[0084] Although example embodiments have been described herein with reference to the accompanying drawings, it should be understood that the above example embodiments are merely exemplary and are not intended to limit the scope of the present application thereto. Those of ordinary skill in the art can make various changes and modifications therein without departing from the scope and spirit of the present application. All such changes and modifications are intended to be included within the scope of the present application as claimed in the appended claims.

[0085] Those of ordinary skill in the art can realize that the units and algorithm steps of each example described in conjunction with the embodiments disclosed herein can be implemented by electronic hardware, or a combination of computer software and electronic hardware. Whether these functions are executed in a hardware or software manner depends on the specific application and design constraints of the technical solution. A professional technician can use different methods to implement the described functions for each specific application, but such implementation should not be considered to exceed the scope of the present application.

[0086] In several embodiments provided by the present application, it should be understood that the disclosed devices and methods can be implemented in other ways. For example, the device embodiments described above are merely illustrative. For example, the division of the units is only a logical function division, and there may be other division methods in actual implementation. For example, multiple units or components can be combined or integrated into another device, or some features can be ignored or not executed.

[0087] In the specification provided herein, a number of specific details are set forth. It will be understood, however, that embodiments of the present application may be practiced without these specific details. In some instances, well-known methods, structures and techniques have not been shown in detail so as not to obscure an understanding of the present specification.

[0088] Similarly, it should be understood that in order to streamline the present application and assist in understanding one or more of the various inventive aspects, in the description of the exemplary embodiments of the present application, the various features of the present application are sometimes grouped together in a single embodiment, figure, or description thereof. However, the methods of the present application should not be construed as reflecting an intention that the claimed present application requires more features than are expressly recited in each claim. Rather, as reflected by the corresponding claims, the inventive point lies in that the corresponding technical problems can be solved with features less than all the features of a single disclosed embodiment. Therefore, the claims following the detailed description are hereby expressly incorporated into the detailed description, where each claim itself serves as a separate embodiment of the present application.

[0089] Those skilled in the art will appreciate that, except where features are mutually exclusive, any combination may be employed of all the features disclosed in this specification (including the accompanying claims, abstract and drawings), as well as of all the processes or units of any method or apparatus so disclosed. Each feature disclosed in this specification (including the accompanying claims, abstract and drawings) may be replaced by alternative features serving the same, equivalent or similar purpose, unless expressly stated otherwise.

[0090] In addition, those skilled in the art will be able to understand that although some of the embodiments described herein include certain features included in other embodiments but not others, the combination of features of different embodiments means that it is within the scope of the present application and forms different embodiments. For example, in the claims, any one of the claimed embodiments may be used in any combination.

[0091] Each component embodiment of the present application can be implemented in hardware, or in software modules running on one or more processors, or in a combination thereof. Those skilled in the art should understand that a microprocessor or a digital signal processor (DSP) can be used in practice to implement some or all of the functions of some modules in the article analysis device according to the embodiments of the present application. The present application can also be implemented as a device program (for example, a computer program and a computer program product) for executing part or all of the methods described herein. Such a program implementing the present application can be stored on a computer-readable medium, or can be in the form of one or more signals. Such signals can be downloaded from an Internet website, or provided on a carrier signal, or in any other form.

[0092] It should be noted that the above embodiments illustrate the present application rather than limit the present application, and those skilled in the art can design alternative embodiments without departing from the scope of the appended claims. In the claims, any reference signs placed between parentheses shall not be construed as limiting the claim. The word "comprising" does not exclude the presence of elements or steps not listed in the claim. The word "a" or "an" preceding an element does not exclude the presence of a plurality of such elements. The present application can be implemented by means of hardware including several different elements and by means of a suitably programmed computer. In a unit claim listing several devices, several of these devices can be embodied by the same item of hardware. The use of the words first, second, and third, etc. does not denote any order. These words can be interpreted as names.

[0093] As described above, it is only the specific implementation manner of the present application or the description of the specific implementation manner, and the protection scope of the present application is not limited thereto. Any person skilled in the art can easily think of changes or substitutions within the technical scope disclosed by the present application, and all of them should be covered by the protection scope of the present application. The protection scope of the present application shall be subject to the protection scope of the claims.

Claims

1. A method for controlling the power of a power battery, characterized in that, Including: Obtain the driving state; Obtain the target power and the current actual power of the power battery based on the driving state; Obtain the adjusted actual power based on the target power and the current actual power of the power battery.

2. The control method according to claim 1, characterized in that The obtaining the adjusted actual power based on the target power and the current actual power of the power battery includes: When the target power is less than or equal to the current actual power, obtain a power adjustment value based on the difference between the target power and the current actual power, so that the adjusted actual power does not exceed the target power.

3. The control method according to claim 2, characterized in that, The obtaining a power adjustment value based on the difference between the target power and the current actual power includes: Use a preset function to obtain a power adjustment value based on the difference between the target power and the current actual power, where the preset function is as follows: C trl = K p *(P tar - P act ) + K i * ∫(P tar - P act )dt Among them, C trl represents the power adjustment value, P tar represents the target power, P act represents the current actual power, K p represents the preset proportionality coefficient, K i represents the preset integral coefficient.

4. The control method according to claim 1, characterized in that, The obtaining the adjusted actual power based on the target power and the current actual power of the power battery includes: When the target power is greater than the current actual power, obtain the adjusted actual power based on the target power.

5. The control method according to claim 1, wherein The obtaining the driving state includes obtaining a driving state flag bit, and the driving state flag bit includes a driving state flag bit or a feedback state flag bit.

6. The control method according to claim 5, characterized in that The obtaining the target power and the current actual power of the power battery based on the driving state flag bit includes: When the driving state flag bit is the driving state flag bit, obtain the target driving power and the actual driving power of the power battery; When the driving state flag bit is the feedback state flag bit, obtain the target feedback power and the actual feedback power of the power battery.

7. The control method according to claim 5, characterized in that The obtaining the driving state flag bit includes: Obtain the driving state flag bit based on the gear state and the motor speed; where, When the gear is in the D gear and the motor speed is less than 0 or the gear is in the R gear and the motor speed is greater than 0, the driving state flag bit is the feedback state flag bit; When the gear is in the D gear and the motor speed is greater than 0 or the gear is in the R gear and the motor speed is less than 0, the driving state flag bit is the driving state flag bit.

8. The control method according to claim 1, characterized in that The obtaining the target power and the current actual power of the power battery includes: Determine the target power based on the maximum allowable power and the desired power of the power battery; Determine the current actual power based on the three-phase current of the motor, the rotor angle, and the power consumed by the non-driving load.

9. A control device, characterized in that, Including a memory, a processor, and a computer program stored on the memory and running on the processor, and when the processor executes the computer program, it implements the control method for the power of the power battery according to any one of claims 1-8.

10. A vehicle, characterized in that, The vehicle includes the control device according to claim 9.

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