Charging heating control method, device, vehicle, equipment and medium

Abstract

The present application relates to a charging heating control method, device, vehicle, equipment and medium, which solves the problem that when charging in a low-temperature environment, the charging current during the entire charging process does not reach the advertised current and the charging time does not reach the manufacturer's advertised time. For a vehicle, a PWM switch is connected between the heating element of the power battery and the high-voltage bus. The method includes: during the vehicle charging process, determining the charging heating mode currently executed by the vehicle; in the charging heating mode, obtaining the total voltage of the power battery, the resistance of the heating element, the temperature of the heating element and the PWM switch temperature, and the maximum allowable heating power of the heating element in the target heating mode; determining the heating current of the heating element in the charging heating mode based on the maximum allowable heating power, the total voltage of the power battery, the resistance of the heating element, the temperature of the heating element and the PWM switch temperature; and adjusting the duty cycle of the PWM switch so that the heating element heats the battery according to the heating current.

Description

Technical Field

[0001] The present application relates to the field of vehicle charging control, specifically to a charging heating control method, device, vehicle, equipment and medium. Background Art

[0002] In existing technology, battery heating for new energy vehicles typically utilizes heating films and liquid heating. The current mainstream charging heating technology compares the battery charging map current with the charging station input current. If the battery temperature does not reach the temperature range for the battery's maximum allowable charging current, the battery is heated. However, this charging heating method relies on the heating capacity of the heating hardware itself. Whether using a heating liquid or a heating film, peak heating power is required to heat the battery. Excessive peak heating power can pose thermal safety risks. Therefore, the peak heating power used in existing technology is typically low, for example, limited to 3kW-5kW. However, this low peak heating power is less efficient at low temperatures, resulting in lower charging currents at low temperatures. As the battery's real-time SOC increases, the required charging current begins to decrease. For users, the battery's charging current and charging time throughout the charging process do not meet the manufacturer's advertised current or time, leading to numerous customer complaints. Summary of the Invention

[0003] The present application provides a charging heating control method, device, vehicle, equipment and medium, which are used to solve the problem that when charging in a low-temperature environment, the charging current during the entire charging process does not reach the advertised current and the charging time does not reach the manufacturer's advertised time.

[0004] The technical solution of this application is:

[0005] In one aspect, the present application provides a charging heating control method, wherein a PWM switch is connected between a heating element of a power battery and a high-voltage bus, and the charging heating control method includes:

[0006] During vehicle charging, determining the charging and heating mode currently being executed by the vehicle;

[0007] In the charging and heating mode, obtaining the total voltage of the power battery, the resistance of the heating element, the temperature of the heating element and the PWM switch temperature, and the maximum allowable heating power of the heating element in the target heating mode;

[0008] Determining a heating current of the heating element in the charging and heating mode according to the maximum allowable heating power, the total voltage of the power battery, the resistance of the heating element, the temperature of the heating element, and the PWM switch temperature;

[0009] The duty cycle of the PWM switch is adjusted so that the heating element heats the battery according to the heating current.

[0010] Preferably, the step of determining the charging and heating mode currently executed by the vehicle includes:

[0011] If the vehicle is currently in a slow charging state, the battery SOC of the vehicle is lower than a preset SOC, and the battery temperature of the vehicle is lower than a first preset temperature, determining that the charging and heating mode currently being executed by the vehicle is the first charging and heating mode;

[0012] If the vehicle is currently in a slow charging state, the battery SOC of the vehicle is higher than a preset SOC, and the battery temperature of the vehicle is lower than a second preset temperature, determining that the vehicle is currently executing a second charging and heating mode; and the first preset temperature is lower than the second preset temperature;

[0013] If the vehicle is currently in a fast charging state, the user has not enabled the fast charging function, and the battery temperature of the vehicle is lower than a third preset temperature, determining that the vehicle is currently in the third charging and heating mode;

[0014] If the vehicle is currently in a fast charging state, the user turns on the fast energy replenishment function and the battery temperature of the vehicle is lower than a fourth preset temperature, it is determined that the charging and heating mode currently being executed by the vehicle is the fourth charging and heating mode; the third preset temperature is lower than the fourth preset temperature.

[0015] Preferably, the maximum value of the heating current in the first charging and heating mode is smaller than the maximum value of the heating current in the second charging and heating mode;

[0016] The maximum value of the heating current in the third charging and heating mode is less than the maximum value of the heating current in the fourth charging and heating mode;

[0017] The maximum value of the heating current in the second charging and heating mode is smaller than the maximum value of the heating current in the fourth charging and heating mode.

[0018] Preferably, the step of determining the heating current of the heating element in the charging heating mode according to the maximum allowable heating power, the total voltage of the power battery, the resistance of the heating element, the temperature of the heating element and the PWM switch temperature includes:

[0019] Determine the target PWM duty cycle of the PWM switch based on the maximum allowable heating power, the total voltage of the power battery, the resistance of the heating element, the temperature of the heating element, and the temperature of the PWM switch;

[0020] The heating current of the heating element in the charging and heating mode is determined according to the total voltage of the power battery, the resistance of the heating element and the target PWM duty cycle.

[0021] Preferably, the step of determining a target PWM duty cycle of the PWM switch according to the maximum allowable heating power, the total voltage of the power battery, the resistance of the heating element, the temperature of the heating element, and the temperature of the PWM switch includes:

[0022] Determining a first PWM duty cycle according to the maximum allowable heating power, the total voltage of the power battery, and the resistance of the heating element;

[0023] determining a second PWM duty cycle according to the temperature of the heating element;

[0024] determining a third PWM duty cycle according to the PWM switch temperature;

[0025] The smaller of the first PWM duty cycle, the second PWM duty cycle and the third PWM duty cycle is taken to obtain a target PWM duty cycle of the PWM switch.

[0026] Preferably, when the vehicle is currently executing the first charging and heating mode, the step of determining the target PWM duty cycle of the PWM switch according to the maximum allowable heating power, the total voltage of the power battery, the resistance of the heating element, the temperature of the heating element, and the temperature of the PWM switch further includes:

[0027] The smaller of the obtained target PWM duty cycle of the PWM switch and the preset PWM duty cycle is taken as the final target PWM duty cycle of the PWM switch.

[0028] Preferably, the step of controlling the duty cycle of the PWM switch so that the heating element heats the battery according to the heating current includes:

[0029] When the vehicle is currently operating in the first charging and heating mode, the PWM duty cycle of the PWM switch is set using the target PWM duty cycle of the PWM switch calculated for the first time as a fixed duty cycle, so that the heating element performs constant current heating on the power battery according to the heating current;

[0030] When the vehicle is currently executing any one of the second to fourth charging and heating modes, the PWM duty cycle of the PWM switch is dynamically set according to the target PWM duty cycle of the PWM switch calculated in real time, so that the heating element performs variable frequency heating on the power battery with a heating current that changes in real time.

[0031] Preferably, the method further comprises:

[0032] Battery heating is stopped when at least one of the following conditions is met: the battery temperature reaches the target temperature corresponding to the charging and heating mode, the battery's charging state changes from a charging state to a non-charging state, the PWM switch temperature exceeds a fifth preset temperature, the heating element temperature exceeds a sixth preset temperature, and a battery system fault that prohibits heating occurs.

[0033] On the other hand, the present application also provides a heating control device, comprising:

[0034] A charging and heating mode determination module is used to determine the charging and heating mode currently being executed by the vehicle during the vehicle charging process;

[0035] A parameter acquisition module is used to obtain, in the charging and heating mode, the total voltage of the power battery, the resistance value of the heating element, the temperature of the heating element and the PWM switch temperature, as well as the maximum allowable heating power of the heating element in the target heating mode;

[0036] a heating current determination module, configured to determine a heating current of the heating element in the charging heating mode according to the maximum allowable heating power, the total voltage of the power battery, the resistance of the heating element, the temperature of the heating element, and the PWM switch temperature;

[0037] The heating control module is used to adjust the duty cycle of the PWM switch so that the heating element heats the battery according to the heating current.

[0038] Preferably, the charging and heating mode determination module includes:

[0039] a first charging and heating mode determination submodule, configured to determine that the charging and heating mode currently being executed by the vehicle is the first charging and heating mode if the vehicle is currently in a slow charging state, the battery SOC of the vehicle is lower than a preset SOC, and the battery temperature of the vehicle is lower than a first preset temperature;

[0040] a second charging and heating mode determination submodule, configured to determine that the vehicle is currently in a slow charging state, the vehicle's battery SOC is higher than a preset SOC, and the vehicle's battery temperature is lower than a second preset temperature, and the first preset temperature is lower than the second preset temperature;

[0041] a third charging and heating mode determination submodule, configured to determine that the vehicle is currently in a fast charging state and the user has not enabled the fast charging function, and the vehicle's battery temperature is lower than a third preset temperature, and determine that the vehicle is currently in a third charging and heating mode;

[0042] The fourth charging and heating mode determination submodule is used to determine that the charging and heating mode currently being executed by the vehicle is the fourth charging and heating mode if the vehicle is currently in a fast charging state, the user turns on the fast energy replenishment function, and the battery temperature of the vehicle is lower than a fourth preset temperature; the third preset temperature is lower than the fourth preset temperature.

[0043] Preferably, the maximum value of the heating current in the first charging and heating mode is smaller than the maximum value of the heating current in the second charging and heating mode;

[0044] The maximum value of the heating current in the third charging and heating mode is less than the maximum value of the heating current in the fourth charging and heating mode;

[0045] The maximum value of the heating current in the second charging and heating mode is smaller than the maximum value of the heating current in the fourth charging and heating mode.

[0046] Preferably, the heating current determination module includes:

[0047] A target PWM duty cycle determination submodule is used to determine the target PWM duty cycle of the PWM switch based on the maximum allowable heating power, the total voltage of the power battery, the resistance of the heating element, the temperature of the heating element, and the temperature of the PWM switch;

[0048] The heating current determination submodule is used to determine the heating current of the heating element in the charging heating mode according to the total voltage of the power battery, the resistance of the heating element and the target PWM duty cycle.

[0049] Preferably, the target PWM duty cycle determination submodule includes:

[0050] a first PWM duty cycle determining subunit, configured to determine a first PWM duty cycle according to a maximum allowable heating power, a total voltage of the power battery, and a resistance value of the heating element;

[0051] a second PWM duty cycle determining subunit, configured to determine a second PWM duty cycle according to the temperature of the heating element;

[0052] a third PWM duty cycle determining subunit, configured to determine a third PWM duty cycle according to the PWM switch temperature;

[0053] The target PWM duty cycle determination subunit is configured to obtain a target PWM duty cycle of the PWM switch by taking the smaller of the first PWM duty cycle, the second PWM duty cycle, and the third PWM duty cycle.

[0054] Preferably, the target PWM duty cycle determination submodule further includes:

[0055] The fourth PWM duty cycle determining subunit is configured to take the smaller of the obtained target PWM duty cycle of the PWM switch and the preset PWM duty cycle to obtain the smaller one as the final target PWM duty cycle of the PWM switch.

[0056] Preferably, the heating control module includes:

[0057] a first heating control submodule, configured to, when the vehicle is currently in the first charging and heating mode, use the target PWM duty cycle of the PWM switch calculated for the first time as a fixed duty cycle to set the PWM duty cycle of the PWM switch, so that the heating element performs constant current heating of the power battery according to the heating current;

[0058] The second heating control submodule is used to dynamically set the PWM duty cycle of the PWM switch according to the target PWM duty cycle of the PWM switch calculated in real time when the charging and heating mode currently being executed by the vehicle is any one of the second charging and heating mode to the fourth charging and heating mode, so that the heating element can perform variable frequency heating on the power battery with a heating current that changes in real time.

[0059] Preferably, the device further comprises:

[0060] The exit module is used to stop heating the battery when at least one of the following conditions is met: the battery temperature reaches the target temperature corresponding to the charging and heating mode, the battery charging state changes from a charging state to a non-charging state, the PWM switch temperature exceeds a fifth preset temperature, the heating element temperature exceeds a sixth preset temperature, or a battery system fault prohibiting heating occurs.

[0061] On the other hand, the present application also provides a vehicle comprising the above-mentioned charging and heating control device.

[0062] On the other hand, the present application also provides a device, which includes: a memory, a processor, and a computer program stored in the memory and executable on the processor, wherein the computer program is configured to implement the steps of the charging heating control method as described above.

[0063] On the other hand, the present application also provides a storage medium, which is a computer-readable storage medium. A computer program is stored on the storage medium, and when the computer program is executed by a processor, the steps of the charging heating control method as described above are implemented.

[0064] The beneficial effects of the present invention are:

[0065] By introducing a PWM switch through hardware, the output frequency of the PWM switch is adjusted in real time to control the heating current of the heating element. While ensuring safety, the peak power of the heating element can be significantly increased from the current 3kW-5kW to over 10kW. In slow charging mode, at low temperatures and low SOC, the battery temperature can be raised more quickly, thereby increasing the battery charging current and shortening charging time. In low-temperature, high-SOC scenarios, battery heating can increase the battery's actual capacity and extend battery life. In fast charging mode, when the user selects the fourth charging and heating mode for rapid energy replenishment, the battery heating efficiency is maximized, raising the battery temperature to the fastest charging temperature range in a very short time. This also improves the battery's charging and heating efficiency across the entire temperature range, particularly resolving the issue of charging current not matching advertised values ​​due to slow battery charging and heating at low temperatures. BRIEF DESCRIPTION OF THE DRAWINGS

[0066] Figure 1 Schematic diagram of the flow of the charging control method in the embodiment of the present application;

[0067] Figure 2 Schematic diagram of the flow of the charging control method in the slow charging state in an embodiment of the present application;

[0068] Figure 3 Schematic diagram of the flow of the charging control method in the fast charging state in an embodiment of the present application;

[0069] Figure 4 This is a structural block diagram of the charging control device in an embodiment of the present application;

[0070] Figure 5 This is a structural block diagram of a vehicle in an embodiment of the present application. DETAILED DESCRIPTION

[0071] To facilitate understanding by those skilled in the art, the present invention is further described below with reference to the accompanying drawings. The detailed description is complete, but it should not be construed as limiting the scope of the present invention. Obvious variations and alternative forms of the following examples are all within the scope of protection of this patent.

[0072] Reference Figure 1 The embodiment of the present application provides a charging heating control method, wherein a PWM switch is connected between a heating element of a power battery and a high-voltage bus, and the charging heating control method includes:

[0073] S101, during vehicle charging, determining a charging and heating mode currently being executed by the vehicle;

[0074] S102, in the charging and heating mode, obtaining the total voltage of the power battery, the resistance of the heating element, the temperature of the heating element, the PWM switch temperature, and the maximum allowable heating power of the heating element in the target heating mode;

[0075] S103, determining a heating current of the heating element in the charging and heating mode according to the maximum allowable heating power, the total voltage of the power battery, the resistance of the heating element, the temperature of the heating element, and the PWM switch temperature;

[0076] S104 , adjusting the duty cycle of the PWM switch so that the heating element heats the battery according to the heating current.

[0077] The PWM switch is used to control the heating current of the heating element, thereby controlling the heating power of the heating element. Furthermore, the heating element in the embodiments of the present application uses a relatively high peak heating power, specifically greater than 5 kW, such as 6 kW, 7 kW, or even 10 kW. The selected heating element may be, for example, a heating film or a PTC heater.

[0078] Among them, combined Figure 2 In the embodiment of the present application, after the high voltage start on the vehicle, the battery management system BMS will start to run, real-time monitoring and processing (corresponding to Figure 2 and Figure 3 Steps S201-S202 in the figure); then, the battery management system determines the charging and heating mode currently executed by the vehicle in the following manner:

[0079] 1) If the vehicle is currently in a slow charging state, the vehicle's battery SOC is lower than the preset SOC and the vehicle's battery temperature is lower than the first preset temperature, it is determined that the vehicle is currently executing the first charging and heating mode (corresponding to Figure 2 S203, S217, S218, and S219 in the );

[0080] 2) If the vehicle is currently in a slow charging state, the vehicle's battery SOC is higher than the preset SOC and the vehicle's battery temperature is lower than the second preset temperature, it is determined that the vehicle is currently executing the second charging and heating mode; the first preset temperature is lower than the second preset temperature, (corresponding to Figure 2 S203, S204, S205 and S206 in (a);

[0081] 3) If the vehicle is currently in fast charging state, the user has not turned on the fast charging function and the battery temperature of the vehicle is lower than the third preset temperature, it is determined that the charging and heating mode currently being executed by the vehicle is the third charging and heating mode (corresponding to Figure 3 S230, S231, and S232 in the );

[0082] 4) If the vehicle is currently in a fast charging state, the user turns on the fast charging function and the battery temperature of the vehicle is lower than the fourth preset temperature, it is determined that the charging and heating mode currently being executed by the vehicle is the fourth charging and heating mode; the third preset temperature is lower than the fourth preset temperature, (corresponding to Figure 3 S230, S236 and S237 in the .

[0083] Among them, the first charging heating mode and the second charging heating mode are set for the slow charging state.

[0084] When the vehicle is in slow charging mode, it indicates that there is ample time for charging. If the battery SOC is low at this time, it indicates that the battery is insufficient and the battery temperature needs to be raised as soon as possible to ensure charging efficiency and prevent low temperatures from significantly affecting battery charging performance, so that the battery can charge normally and efficiently. The first preset temperature is set to activate the heating mode in advance when the battery temperature is too low, ensuring a smooth charging process and preventing charging interruptions or low charging efficiency due to low temperatures, which could affect the normal use of the vehicle and the completion of the charging plan.

[0085] In this embodiment of the present application, the first preset temperature is a relatively low temperature, such as -15°C. The preset SOC is set based on the charge cutoff SOC, for example, the product of the charge cutoff SOC and a preset percentage. Assuming the preset percentage is 95%, when the charge cutoff SOC is 100%, the preset SOC is 95%; when the charge cutoff SOC is 95%, the preset SOC is 90.25%.

[0086] Regardless of whether the battery is heated in the early stage of charging, the charging process will inevitably cause the temperature of the battery to rise. Therefore, the second preset temperature in the embodiment of the present application is greater than the first preset temperature.

[0087] When the battery SOC is higher than the preset SOC, the vehicle is nearly fully charged, and the long-term performance and range of the battery are more important. In this case, heating the battery can increase the actual capacity of the battery in a low-temperature environment to close to or equal to the rated capacity, bringing the battery's range closer to the rated range.

[0088] When the second charging heating mode is turned on, the heating element will consume more electricity to heat the battery at the charging end of the battery, thereby increasing the charging cost. For this reason, in an embodiment of the present application, the second charging heating mode can be set to be manually turned on, and the user can choose whether to turn it on according to actual needs. When the user chooses to turn off the second charging heating mode, the battery will not be heated at the charging end.

[0089] Of course, in the embodiment of the present application, the second charging and heating mode can also be set to a default on mode.

[0090] The third charging and heating mode and the fourth charging and heating mode are set for the fast charging state.

[0091] Among them, regarding the third charging and heating mode, in the fast charging state, the vehicle needs to complete charging in a short time, and has higher requirements for charging efficiency and safety. When the user does not actively turn on the fast energy replenishment function, the vehicle automatically judges the battery temperature. If the battery temperature is lower than the third preset temperature, it means that the battery temperature may affect the normal progress of fast charging. The third charging heating mode is started at this time to quickly raise the battery temperature to a temperature range suitable for fast charging during the fast charging process, ensuring that fast charging can be carried out efficiently and safely. At the same time, by heating the battery, the capacity of the battery can also be increased, so that the battery can better accept electricity during the fast charging process, avoiding a significant drop in fast charging efficiency or safety hazards due to too low temperature, thereby achieving the goal of rapid energy replenishment and meeting the user's fast charging needs.

[0092] The fourth charging and heating mode needs to be manually activated because it is a special fast energy replenishment mode that involves a higher heating power. Although it can quickly increase the battery temperature and capacity, it may have a certain impact on the battery life or safety, and will increase the charging cost. The fourth charging and heating mode will only be activated when the user explicitly needs the fast energy replenishment function. In the fast charging state, when the battery temperature is lower than the fourth preset temperature, it means that the battery is in a relatively low temperature environment. Through manual activation, users can choose whether to use this mode according to their actual needs while understanding the possible risks and consequences. After starting the fourth charging and heating mode, the battery temperature and capacity can be quickly increased by rapidly heating the battery, so that the battery can accept more electricity in a short time, thereby achieving the purpose of rapid energy replenishment and meeting the user's fast charging needs in emergency situations.

[0093] In the embodiment of the present application, after determining the current charging and heating mode of the vehicle, before heating the battery, it is necessary to eliminate the heating-related heating element overtemperature, PWM switch overtemperature and battery system failure that does not allow heating. Specifically, refer to Figure 2 and Figure 3 , if at least one of the following conditions occurs: the temperature of the heating element is higher than the sixth preset temperature, the temperature of the PWM switch is higher than the fifth preset temperature, or a fault occurs in the battery system that does not allow heating, the battery is not allowed to be heated (corresponding to Figure 2 Steps S207-S209 and S220-S222 in the Figure 3 On the contrary, if the temperature of the heating element is lower than the sixth preset temperature, the temperature of the PWM switch is lower than the fifth preset temperature, and the battery system has no fault that does not allow heating, heating of the battery is allowed, that is, the process proceeds to step S102.

[0094] In step S102, the maximum allowable heating power of the heating element is determined by the vehicle controller based on the maximum output power of the charging pile and the charging power requirement of the battery, that is, the maximum value of the sum of the maximum allowable heating power of the heating element and the charging power requirement of the battery is the maximum output power of the charging pile.

[0095] The maximum allowable heating power of the heating element varies in different charging and heating modes. The maximum allowable heating power in the first charging and heating mode is lower than the maximum allowable heating power in the second charging and heating mode; and the maximum allowable heating power in the third charging and heating mode is lower than the maximum allowable heating power in the fourth charging and heating mode.

[0096] The total voltage of the power battery, the temperature of the heating element, and the temperature of the PWM switch are all values ​​collected in real time, and the resistance of the heating element is a certain value.

[0097] In the embodiment of the present application, step S103 includes:

[0098] S1031, determining a target PWM duty cycle of the PWM switch based on the maximum allowable heating power, the total voltage of the power battery, the resistance of the heating element, the temperature of the heating element, and the temperature of the PWM switch;

[0099] S1032 : Determine a heating current of the heating element in the charging and heating mode according to the total voltage of the power battery, the resistance of the heating element, and the target PWM duty cycle.

[0100] Specifically, in S1031, the step of determining the target PWM duty cycle of the PWM switch includes:

[0101] S10311, determining a first PWM duty cycle based on the maximum allowable heating power, the total voltage of the power battery, and the resistance of the heating element;

[0102] S10312, determining a second PWM duty cycle according to the temperature of the heating element;

[0103] S10313, determining a third PWM duty cycle according to the PWM switch temperature;

[0104] S10314: Take the smaller of the first PWM duty cycle, the second PWM duty cycle, and the third PWM duty cycle to obtain a target PWM duty cycle of the PWM switch.

[0105] The first PWM duty cycle A is calculated by the following formula: A=min[((P*1000) / ((U 2) / R))*100%), 100%]. It should be noted that since the first PWM duty cycle to be solved is unitless, when substituting the maximum allowable heating power into the formula, only the maximum allowable heating power value P, the power battery total voltage value U, and the heating element resistance value R are entered, but the units of these three parameters are not entered. The purpose of multiplying the value P by 1000 is to convert the maximum allowable heating power from kW to W to avoid inaccurate calculation results.

[0106] The second PWM duty cycle is a value in the range of 0-100%, which is calculated by the following formula:

[0107] ;

[0108] Among them, k p1 is the set first proportional gain coefficient (calibrated in advance through experiments and is a dimensionless parameter), TBD1 is the temperature value that the heating element needs to reach, k i1 is the set first integral gain coefficient (calibrated in advance through experiments and is a dimensionless parameter), T1(k) is the heating element temperature measured in the kth sampling period, Indicates the sampling period of the heating element temperature; As a proportional term, it directly reflects the deviation between the current temperature of the heating element and TBD1; As an integral term, it is used to accumulate historical errors and eliminate steady-state deviations. It should be noted that since the second PWM duty cycle to be solved has no unit, when using the above formula to calculate, only the specific value of the temperature value TBD1 that the heating element needs to reach and the sampling period of the heating element temperature are entered. The specific value of and the specific value of the heating element temperature T1(k) sampled in the current sampling period (i.e., the aforementioned k-th sampling period), but without the respective units of these parameters. The greater the temperature difference between the heating element temperature T1(k) and the desired temperature value TBD1 (corresponding to the aforementioned sixth preset temperature) to be reached by the heating element, the higher the second PWM duty cycle and the greater the heating demand for the battery. For example, in the embodiment of the present application, the specific calculation formula for the second PWM duty cycle is:

[0109] .

[0110] The third PWM duty cycle is a value in the range of 0-100%, which is calculated by the following formula:

[0111] ;

[0112] Among them, k p2is the set second proportional gain coefficient (calibrated in advance by experiment and is a dimensionless unit), TBD2 is the temperature value that the PWM switch needs to reach, k i2 is the set second integral gain coefficient (calibrated in advance by experiment and is a dimensionless unit), T2(k) is the PWM switch temperature measured in the kth sampling period, Indicates the sampling period of the PWM switch temperature, which is the same as the sampling period of the heating element temperature; As a proportional term, it directly reflects the deviation between the current PWM switch temperature T2(k) and the temperature value TBD2 that the PWM switch setting needs to reach; As an integral term, it is used to accumulate historical errors and eliminate steady-state deviations. It should be noted that since the third PWM duty cycle to be solved has no unit, when using the above formula to calculate, only the specific value of the temperature value TBD2 that the PWM switch needs to reach and the sampling period of the PWM switch temperature are entered. The specific value of the PWM switch temperature T2(k) sampled during the current sampling period (i.e., the kth sampling period mentioned above) is used, but the units of these parameters are not used. The greater the temperature difference between the PWM switch temperature T2(k) and the temperature value TBD2 (corresponding to the fifth preset temperature) that the PWM switch setting is required to reach, the higher the third PWM duty cycle is, and the greater the battery heating demand is. For example, in the embodiment of the present application, the specific calculation formula for the third PWM duty cycle is:

[0113] .

[0114] Finally, the target PWM duty cycle of the PWM switch is expressed as: PWM = MIN(A, B, C), and the target PWM duty cycle should be in the range of [0, 100]. If the smaller result is lower than 0, it is set to 0, and if it is higher than 100, it is set to 100.

[0115] In the embodiment of the present application, the heating current (corresponding to Figure 3 The specific process of step S238 in the embodiment includes:

[0116] Calculate the theoretical maximum current of the heating element: Theoretical maximum current = total voltage of the power battery / resistance of the heating element;

[0117] Calculate the heating current of the heating element: Heating current = theoretical maximum current × target PWM percentage.

[0118] The maximum value of the heating current in the first charging and heating mode is less than the maximum value of the heating current in the second charging and heating mode; the maximum value of the heating current in the third charging and heating mode is less than the maximum value of the heating current in the fourth charging and heating mode; the maximum value of the heating current in the second charging and heating mode is less than the maximum value of the heating current in the fourth charging and heating mode.

[0119] In this embodiment, the ultimate goal of battery heating is to maximize the heating element temperature to 60°C while preventing overheating of the PWM switch, while eliminating steady-state errors through the integral term. When the PWM switch temperature approaches its target value (i.e., the fifth preset temperature) or the heating element temperature approaches its target value (i.e., the sixth preset temperature), the PWM is automatically reduced to maintain thermal equilibrium.

[0120] With respect to the aforementioned first charging and heating mode, since the start time of heating in this mode is more likely to occur at a low SOC state, in order to prevent excessive energy from being used for heating and affecting charging efficiency, in the embodiment of the present application, when determining the target PWM duty cycle, the target PWM duty cycle of the PWM switch obtained in the aforementioned S10314 may be further restricted. That is, when the vehicle is currently executing the first charging and heating mode, the step of determining the target PWM duty cycle of the PWM switch based on the maximum allowable heating power, the total voltage of the power battery, the resistance of the heating element, the temperature of the heating element, and the temperature of the PWM switch further includes:

[0121] S10315: The smaller of the obtained target PWM duty cycle of the PWM switch and the preset PWM duty cycle is taken as the final target PWM duty cycle of the PWM switch.

[0122] The preset PWM duty cycle is a fixed duty cycle value, which is used to limit the maximum heating power in this mode.

[0123] In step S104 of the present application, it specifically includes:

[0124] S1041, when the vehicle is currently in the first charging and heating mode, setting the PWM duty cycle of the PWM switch using the target PWM duty cycle of the PWM switch calculated initially as a fixed duty cycle, so that the heating element performs constant current heating on the power battery according to the heating current;

[0125] S1042, when the charging and heating mode currently being executed by the vehicle is any one of the second charging and heating mode to the fourth charging and heating mode, the PWM duty cycle of the PWM switch is dynamically set according to the target PWM duty cycle of the PWM switch calculated in real time, so that the heating element performs variable frequency heating on the power battery with a heating current that changes in real time.

[0126] Among them, in the slow charging state, the first charging and heating mode is the same as the conventional power battery charging and heating mode. Its purpose is to quickly increase the temperature of the power battery in a low SOC and low temperature environment, thereby improving the charging rate of the power battery; in the second charging and heating mode, the heating current of the heating element is adjusted by PWM switching frequency conversion to achieve variable frequency heating of the battery, thereby increasing the actual capacity of the battery and improving battery life.

[0127] When the battery temperature reaches the target temperature corresponding to the charging heating mode (the target temperature corresponds to Figure 2 The eighth preset temperature, the seventh preset temperature and Figure 3 When at least one of the following conditions is met (corresponding to the ninth preset temperature and the tenth preset temperature in the battery), the battery charging state changes from the charging state to the non-charging state, the PWM switch temperature exceeds the fifth preset temperature, the heating element temperature exceeds the sixth preset temperature, and the battery system has a fault that prohibits heating Figure 2 S210-S216 and S223-S229, Figure 3 ), stop heating the battery.

[0128] Among them, the target temperatures corresponding to the first charging heating mode to the fourth charging heating mode are Figure 2 and Figure 3 The seventh preset temperature to the tenth preset temperature in the embodiment.

[0129] The above method, under the premise of meeting the requirements of GB 18384-2025, solves the problem of internal heating of current new energy vehicle batteries due to the power limitation of heating-related hardware, resulting in "the charging current of the entire charging process cannot reach the manufacturer's advertised current and charging time due to the low ambient temperature, resulting in many customer complaints."

[0130] On the other hand, refer to Figure 4 , the embodiment of the present application further provides a heating control device, comprising:

[0131] The charging and heating mode determination module 101 is used to determine the charging and heating mode currently being executed by the vehicle during the vehicle charging process;

[0132] A parameter acquisition module 102 is configured to acquire, in the charging and heating mode, the total voltage of the power battery, the resistance of the heating element, the temperature of the heating element, the PWM switch temperature, and the maximum allowable heating power of the heating element in the target heating mode;

[0133] a heating current determination module 103, configured to determine a heating current of the heating element in the charging and heating mode according to the maximum allowable heating power, the total voltage of the power battery, the resistance of the heating element, the temperature of the heating element, and the PWM switch temperature;

[0134] The heating control module 104 is configured to adjust the duty cycle of the PWM switch so that the heating element heats the battery according to the heating current.

[0135] Preferably, the charging and heating mode determination module 101 includes:

[0136] a first charging and heating mode determination submodule, configured to determine that the charging and heating mode currently being executed by the vehicle is the first charging and heating mode if the vehicle is currently in a slow charging state, the battery SOC of the vehicle is lower than a preset SOC, and the battery temperature of the vehicle is lower than a first preset temperature;

[0137] a second charging and heating mode determination submodule, configured to determine that the vehicle is currently in a slow charging state, the vehicle's battery SOC is higher than a preset SOC, and the vehicle's battery temperature is lower than a second preset temperature, and the first preset temperature is lower than the second preset temperature;

[0138] a third charging and heating mode determination submodule, configured to determine that the vehicle is currently in a fast charging state and the user has not enabled the fast charging function, and the vehicle's battery temperature is lower than a third preset temperature, and determine that the vehicle is currently in a third charging and heating mode;

[0139] The fourth charging and heating mode determination submodule is used to determine that the charging and heating mode currently being executed by the vehicle is the fourth charging and heating mode if the vehicle is currently in a fast charging state, the user turns on the fast energy replenishment function, and the battery temperature of the vehicle is lower than a fourth preset temperature; the third preset temperature is lower than the fourth preset temperature.

[0140] Preferably, the maximum value of the heating current in the first charging and heating mode is smaller than the maximum value of the heating current in the second charging and heating mode;

[0141] The maximum value of the heating current in the third charging and heating mode is less than the maximum value of the heating current in the fourth charging and heating mode;

[0142] The maximum value of the heating current in the second charging and heating mode is smaller than the maximum value of the heating current in the fourth charging and heating mode.

[0143] Preferably, the heating current determination module 103 includes:

[0144] A target PWM duty cycle determination submodule is used to determine the target PWM duty cycle of the PWM switch based on the maximum allowable heating power, the total voltage of the power battery, the resistance of the heating element, the temperature of the heating element, and the temperature of the PWM switch;

[0145] The heating current determination submodule is used to determine the heating current of the heating element in the charging heating mode according to the total voltage of the power battery, the resistance of the heating element and the target PWM duty cycle.

[0146] Preferably, the target PWM duty cycle determination submodule includes:

[0147] a first PWM duty cycle determining subunit, configured to determine a first PWM duty cycle according to a maximum allowable heating power, a total voltage of the power battery, and a resistance value of the heating element;

[0148] a second PWM duty cycle determining subunit, configured to determine a second PWM duty cycle according to the temperature of the heating element;

[0149] a third PWM duty cycle determining subunit, configured to determine a third PWM duty cycle according to the PWM switch temperature;

[0150] The target PWM duty cycle determination subunit is configured to obtain a target PWM duty cycle of the PWM switch by taking the smaller of the first PWM duty cycle, the second PWM duty cycle, and the third PWM duty cycle.

[0151] Preferably, the target PWM duty cycle determination submodule further includes:

[0152] The fourth PWM duty cycle determining subunit is configured to take the smaller of the obtained target PWM duty cycle of the PWM switch and the preset PWM duty cycle to obtain the smaller one as the final target PWM duty cycle of the PWM switch.

[0153] Preferably, the heating control module 104 includes:

[0154] a first heating control submodule, configured to, when the vehicle is currently in the first charging and heating mode, use the target PWM duty cycle of the PWM switch calculated for the first time as a fixed duty cycle to set the PWM duty cycle of the PWM switch, so that the heating element performs constant current heating of the power battery according to the heating current;

[0155] The second heating control submodule is used to dynamically set the PWM duty cycle of the PWM switch according to the target PWM duty cycle of the PWM switch calculated in real time when the charging and heating mode currently being executed by the vehicle is any one of the second charging and heating mode to the fourth charging and heating mode, so that the heating element can perform variable frequency heating on the power battery with a heating current that changes in real time.

[0156] Preferably, the device further comprises:

[0157] The exit module is used to stop heating the battery when at least one of the following conditions is met: the battery temperature reaches the target temperature corresponding to the charging and heating mode, the battery charging state changes from a charging state to a non-charging state, the PWM switch temperature exceeds a fifth preset temperature, the heating element temperature exceeds a sixth preset temperature, or a battery system fault prohibiting heating occurs.

[0158] The charging and heating control device in the embodiment of the present application is a device consistent with the above method, and has the same technical effects as the above method. That is, by introducing a PWM switch through hardware, the output frequency of the PWM switch is adjusted in real time to control the heating current of the heating element. Under the premise of ensuring safety, the peak power of the heating element can be significantly increased from the existing 3KW-5KW to more than 10KW. In the slow charging state, in low temperature and low SOC scenarios, the battery temperature can be increased more quickly, thereby increasing the battery charging current and shortening the charging time; in low temperature and high SOC scenarios, by heating the battery, the actual capacity of the battery is increased and the battery life is increased. In the fast charging state, when the user selects the fourth charging and heating mode for rapid energy replenishment, the battery heating efficiency can be maximized, raising the battery temperature to the fastest charging temperature range in a very short time, while improving the battery's charging and heating efficiency across the entire temperature range. In particular, it solves the problem of charging current not matching the advertised value due to slow battery charging and heating at low temperatures.

[0159] On the other hand, an embodiment of the present application further provides a vehicle comprising the above-mentioned charging and heating control device.

[0160] Figure 5 FIG3 is a block diagram illustrating a vehicle 300 according to an exemplary embodiment. For example, vehicle 300 may be a hybrid vehicle, a non-hybrid vehicle, an electric vehicle, a fuel cell vehicle, or another type of vehicle. Vehicle 300 may be an autonomous vehicle, a semi-autonomous vehicle, or a non-autonomous vehicle.

[0161] Reference Figure 5 Vehicle 300 may include various subsystems, such as an infotainment system 310, a perception system 320, a decision control system 330, a drive system 340, and a computing platform 350. Vehicle 300 may also include more or fewer subsystems, and each subsystem may include multiple components. Furthermore, each subsystem and each component of vehicle 300 may be interconnected via wired or wireless means. In some embodiments, infotainment system 310 may include a communication system, an entertainment system, and a navigation system.

[0162] The perception system 320 may include several sensors for sensing information about the environment surrounding the vehicle 300. For example, the perception system 320 may include a global positioning system (which may be a GPS system, a BeiDou system, or another positioning system), an inertial measurement unit (IMU), a laser radar, a millimeter-wave radar, an ultrasonic radar, and a camera.

[0163] The decision control system 330 may include a computing system, a vehicle controller, a steering system, a throttle, and a braking system. The drive system 340 may include components that provide power and movement for the vehicle 300. In one embodiment, the drive system 340 may include an engine, an energy source, a transmission system, and wheels. The engine may be one or a combination of an internal combustion engine, an electric motor, or an air compression engine. The engine is capable of converting energy provided by the energy source into mechanical energy.

[0164] Some or all functions of the vehicle 300 are controlled by a computing platform 350. The computing platform 350 may include at least one processor 351 and a memory 352. The processor 351 may execute instructions 353 stored in the memory 352.

[0165] The processor 351 can be any conventional processor, such as a commercially available CPU. The processor can also include a graphics processor (GPU), a field programmable gate array (FPGA), a system on chip (SOC), an application specific integrated circuit (ASIC), or a combination thereof.

[0166] The memory 352 can be implemented by any type of volatile or non-volatile memory device or a combination thereof, such as static random access memory (SRAM), electrically erasable programmable read-only memory (EEPROM), erasable programmable read-only memory (EPROM), programmable read-only memory (PROM), read-only memory (ROM), magnetic memory, flash memory, magnetic disk or optical disk.

[0167] In addition to instructions 353 , memory 352 may also store data, such as road maps, route information, and vehicle location, direction, speed, etc. The data stored in memory 352 may be used by computing platform 350 .

[0168] In the embodiment of the present disclosure, the processor 351 may execute the instruction 353 to complete all or part of the steps of the above-mentioned vehicle control method.

[0169] The present disclosure also provides a computer-readable storage medium having computer program instructions stored thereon. When the program instructions are executed by a processor, the steps of the vehicle control method provided by the present disclosure are implemented.

[0170] Furthermore, the word "exemplary" is used herein to mean serving as an example, instance, or illustration. Any aspect or design described herein as "exemplary" is not necessarily to be construed as advantageous over other aspects or designs. Rather, the use of the word exemplary is intended to present concepts in a concrete manner. As used herein, the term "or" is intended to mean an inclusive "or" rather than an exclusive "or." That is, unless otherwise specified or clear from the context, "X applies to A or B" is intended to mean any of the natural inclusive permutations. That is, if X applies to A; X applies to B; or X applies to both A and B, then "X applies to A or B" satisfies any of the aforementioned instances. Furthermore, the articles "a" and "an," as used in this application and the appended claims, are generally understood to mean "one or more," unless otherwise specified or clear from the context to refer to the singular form.

[0171] Likewise, although the present disclosure has been shown and described with respect to one or more implementations, equivalent variations and modifications will occur to those skilled in the art after reading and understanding the specification and drawings. The present disclosure includes all such modifications and variations and is limited only by the scope of the claims. In particular, with respect to the various functions performed by the components described above (e.g., elements, resources, etc.), unless otherwise indicated, the terms used to describe such components are intended to correspond to any component (functionally equivalent) that performs the specific functions of the described components, even if structurally not equivalent to the disclosed structures. In addition, although specific features of the present disclosure may have been disclosed with respect to only one of several implementations, such features may be combined with one or more other features of other implementations as may be desired and beneficial for any given or specific application. In addition, with respect to the terms "including," "having," "having," "having," or variations thereof used in the specific embodiments or claims, such terms are intended to be inclusive in a manner similar to the term "comprising."

[0172] Other embodiments of the present disclosure will readily occur to those skilled in the art after considering the specification and practicing the invention disclosed herein. This application is intended to cover any variations, uses, or adaptations of the present disclosure that follow the general principles of the present disclosure and include common knowledge or customary techniques in the art not disclosed herein. The description and examples are to be considered as exemplary only, with the true scope and spirit of the present disclosure being indicated by the following claims.

[0173] It should be understood that the present disclosure is not limited to the exact structures that have been described above and shown in the drawings, and that various modifications and changes can be made without departing from the scope thereof. The scope of the present disclosure is limited only by the appended claims.

[0174] It should be noted that the terms "first," "second," and the like in the specification and claims of the present disclosure and the above-mentioned drawings are used to distinguish similar objects and are not necessarily used to describe a specific order or precedence. It should be understood that the numbers used in this manner are interchangeable where appropriate so that the embodiments of the present disclosure described herein can be implemented in an order other than those illustrated or described herein. The embodiments described in the following exemplary embodiments do not represent all embodiments consistent with the present disclosure. Instead, they are merely examples of apparatus and methods consistent with certain aspects of the present disclosure as detailed in the appended claims.

[0175] Throughout this specification, reference to terms such as "one embodiment," "some embodiments," "illustrative embodiments," "examples," "specific examples," or "some examples" means that a specific feature, structure, material, or characteristic described in conjunction with an embodiment or example is included in at least one embodiment or example of the present disclosure. In this specification, the illustrative use of the above terms does not necessarily refer to the same embodiment or example. Furthermore, the specific features, structures, materials, or characteristics described may be combined in any suitable manner in any one or more embodiments or examples.

[0176] Any process or method description in a flowchart or otherwise described herein may be understood to represent a module, segment or portion of code that includes one or more executable instructions for implementing the steps of a specific logical function or process, and the scope of the preferred embodiments of the present disclosure includes additional implementations in which functions may be performed out of the order shown or discussed, including performing functions in a substantially simultaneous manner or in the reverse order depending on the functions involved, which should be understood by those skilled in the art to which the embodiments of the present disclosure belong.

[0177] The logic and / or steps represented in the flowcharts or otherwise described herein, for example, can be considered as a sequenced list of executable instructions for implementing the logical functions, and can be embodied in any computer-readable medium for use by, or in conjunction with, an instruction execution system, apparatus, or device (e.g., a computer-based system, a system including a processing module, or other system that can fetch and execute instructions from an instruction execution system, apparatus, or device). For purposes of this specification, a "computer-readable medium" can be any device that can contain, store, communicate, propagate, or transport a program for use by, or in conjunction with, an instruction execution system, apparatus, or device. More specific examples (non-exhaustive list) of computer-readable media include the following: an electrical connection having one or more wires (control method), a portable computer disk cartridge (magnetic device), random access memory (RAM), read-only memory (ROM), erasable and programmable read-only memory (EPROM or flash memory), fiber optic devices, and a portable compact disc read-only memory (CDROM). Furthermore, the computer-readable medium may even be paper or other suitable medium on which the program is printed, since the program may be obtained electronically, for example, by optically scanning the paper or other medium and then editing, interpreting or otherwise processing it in a suitable manner if necessary, and then storing it in a computer memory.

[0178] It should be understood that the various parts of the embodiments of the present disclosure can be implemented using hardware, software, firmware, or a combination thereof. In the above embodiments, multiple steps or methods can be implemented using software or firmware stored in a memory and executed by a suitable instruction execution system. For example, if implemented using hardware, as in another embodiment, any one of the following technologies known in the art or a combination thereof can be used to implement: a discrete logic circuit having a logic gate circuit for implementing a logic function on a data signal, an application-specific integrated circuit having a suitable combination of logic gate circuits, a programmable gate array (PGA), a field programmable gate array (FPGA), etc.

[0179] Those skilled in the art will understand that all or part of the steps in the method of the above embodiment can be completed by instructing related hardware through a program, and the program can be stored in a computer-readable storage medium. When the program is executed, it includes one or a combination of the steps of the method embodiment.

[0180] In addition, the functional units in the various embodiments of the present disclosure may be integrated into a processing module, or each unit may exist physically separately, or two or more units may be integrated into a module. The above-mentioned integrated module may be implemented in the form of hardware or in the form of a software functional module. If the integrated module is implemented in the form of a software functional module and sold or used as an independent product, it may also be stored in a computer-readable storage medium. The above-mentioned storage medium may be a read-only memory, a magnetic disk, an optical disk, etc.

[0181] Although the embodiments of the present disclosure have been shown and described above, it is understood that the above embodiments are exemplary and are not to be construed as limitations on the present disclosure. A person skilled in the art may change, modify, replace and vary the above embodiments within the scope of the present disclosure.

Claims

1. A charging heating control method, characterized in that: A PWM switch is connected between the heating element of the power battery and the high-voltage bus. The charging heating control method includes: During vehicle charging, determining the current charging and heating mode of the vehicle; In the charging and heating mode, obtaining the total voltage of the power battery, the resistance of the heating element, the temperature of the heating element and the PWM switch temperature, and the maximum allowable heating power of the heating element in the charging and heating mode; Determining a heating current of the heating element in the charging and heating mode according to the maximum allowable heating power, the total voltage of the power battery, the resistance of the heating element, the temperature of the heating element, and the PWM switch temperature; The duty cycle of the PWM switch is adjusted so that the heating element heats the battery according to the heating current. The step of determining the charging and heating mode currently executed by the vehicle includes: If the vehicle is currently in a slow charging state, the battery SOC of the vehicle is lower than a preset SOC, and the battery temperature of the vehicle is lower than a first preset temperature, determining that the charging and heating mode currently being executed by the vehicle is the first charging and heating mode; If the vehicle is currently in a slow charging state, the battery SOC of the vehicle is higher than a preset SOC, and the battery temperature of the vehicle is lower than a second preset temperature, determining that the vehicle is currently executing a second charging and heating mode; and the first preset temperature is lower than the second preset temperature; If the vehicle is currently in a fast charging state, the user has not enabled the fast charging function, and the battery temperature of the vehicle is lower than a third preset temperature, determining that the vehicle is currently in the third charging and heating mode; If the vehicle is currently in a fast charging state, the user turns on the fast energy replenishment function and the battery temperature of the vehicle is lower than a fourth preset temperature, it is determined that the charging and heating mode currently being executed by the vehicle is the fourth charging and heating mode; the third preset temperature is lower than the fourth preset temperature.

2. The charging heating control method according to claim 1, characterized in that: The maximum value of the heating current in the first charging and heating mode is less than the maximum value of the heating current in the second charging and heating mode; The maximum value of the heating current in the third charging and heating mode is less than the maximum value of the heating current in the fourth charging and heating mode; The maximum value of the heating current in the second charging and heating mode is smaller than the maximum value of the heating current in the fourth charging and heating mode.

3. The charging heating control method according to claim 1, characterized in that: The step of determining the heating current of the heating element in the charging heating mode according to the maximum allowable heating power, the total voltage of the power battery, the resistance of the heating element, the temperature of the heating element, and the PWM switch temperature includes: Determine the target PWM duty cycle of the PWM switch based on the maximum allowable heating power, the total voltage of the power battery, the resistance of the heating element, the temperature of the heating element, and the temperature of the PWM switch; The heating current of the heating element in the charging and heating mode is determined according to the total voltage of the power battery, the resistance of the heating element and the target PWM duty cycle.

4. The charging heating control method according to claim 3, characterized in that: The steps of determining a target PWM duty cycle of the PWM switch according to the maximum allowable heating power, the total voltage of the power battery, the resistance of the heating element, the temperature of the heating element, and the temperature of the PWM switch include: Determining a first PWM duty cycle according to the maximum allowable heating power, the total voltage of the power battery, and the resistance of the heating element; determining a second PWM duty cycle according to the temperature of the heating element; determining a third PWM duty cycle according to the PWM switch temperature; The smaller of the first PWM duty cycle, the second PWM duty cycle and the third PWM duty cycle is taken to obtain a target PWM duty cycle of the PWM switch.

5. The charging heating control method according to claim 4, characterized in that: When the vehicle is currently executing the first charging and heating mode, the step of determining a target PWM duty cycle of the PWM switch according to the maximum allowable heating power, the total voltage of the power battery, the resistance of the heating element, the temperature of the heating element, and the temperature of the PWM switch further includes: The smaller of the obtained target PWM duty cycle of the PWM switch and the preset PWM duty cycle is taken as the final target PWM duty cycle of the PWM switch.

6. The charging heating control method according to claim 4 or 5, characterized in that: The step of controlling the duty cycle of the PWM switch so that the heating element heats the battery according to the heating current includes: When the vehicle is currently operating in the first charging and heating mode, the PWM duty cycle of the PWM switch is set using the target PWM duty cycle of the PWM switch calculated for the first time as a fixed duty cycle, so that the heating element performs constant current heating on the power battery according to the heating current; When the vehicle is currently executing any one of the second to fourth charging and heating modes, the PWM duty cycle of the PWM switch is dynamically set according to the target PWM duty cycle of the PWM switch calculated in real time, so that the heating element performs variable frequency heating on the power battery with a heating current that changes in real time.

7. The charging heating control method according to claim 1, characterized in that: The method further comprises: Battery heating is stopped when at least one of the following conditions is met: the battery temperature reaches the target temperature corresponding to the charging and heating mode, the battery's charging state changes from a charging state to a non-charging state, the PWM switch temperature exceeds a fifth preset temperature, the heating element temperature exceeds a sixth preset temperature, and a battery system fault that prohibits heating occurs.

8. A heating control device, characterized in that: include: The charging and heating mode determination module is used to determine the charging and heating mode currently being executed by the vehicle during the vehicle charging process; specifically, if the vehicle is currently in a slow charging state, the vehicle's battery SOC is lower than a preset SOC, and the vehicle's battery temperature is lower than a first preset temperature, determine that the vehicle's current charging and heating mode is the first charging and heating mode; If the vehicle is currently in a slow charging state, the battery SOC of the vehicle is higher than a preset SOC, and the battery temperature of the vehicle is lower than a second preset temperature, determining that the vehicle is currently executing a second charging and heating mode; and the first preset temperature is lower than the second preset temperature; If the vehicle is currently in a fast charging state, the user has not enabled the fast charging function, and the battery temperature of the vehicle is lower than a third preset temperature, determining that the vehicle is currently in the third charging and heating mode; If the vehicle is currently in a fast charging state, the user turns on the fast charging function, and the battery temperature of the vehicle is lower than a fourth preset temperature, determining that the vehicle is currently executing a fourth charging and heating mode; the third preset temperature is lower than the fourth preset temperature; A parameter acquisition module, configured to acquire, in the charging and heating mode, the total voltage of the power battery, the resistance of the heating element, the temperature of the heating element, the PWM switch temperature, and the maximum allowable heating power of the heating element in the charging and heating mode; a heating current determination module, configured to determine a heating current of the heating element in the charging heating mode according to the maximum allowable heating power, the total voltage of the power battery, the resistance of the heating element, the temperature of the heating element, and the PWM switch temperature; The heating control module is used to adjust the duty cycle of the PWM switch so that the heating element heats the battery according to the heating current.

9. A vehicle, characterized in that: Includes the heating control device according to claim 8.

10. A device, characterized in that The device includes: a memory, a processor, and a computer program stored in the memory and executable on the processor, wherein the computer program is configured to implement the steps of the charging heating control method according to any one of claims 1 to 7.

11. A storage medium, characterized in that: The storage medium is a computer-readable storage medium, and a computer program is stored on the storage medium. When the computer program is executed by a processor, the steps of the charging heating control method according to any one of claims 1 to 7 are implemented.

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