Vehicle control method, electronic equipment, energy management system and vehicle

Abstract

The invention discloses a vehicle control method, electronic equipment, an energy management system and a vehicle, and relates to the technical field of vehicles. The method comprises the steps that environment temperature data of an environment where a vehicle is located within past preset time is obtained, and target duration and target energy consumption needed by working of a heating device (arranged at the front end of a catalyst arranged on a vehicle engine) are determined; historical energy consumption of the vehicle is obtained, and energy consumption required by the vehicle for maintaining normal driving within the target duration is predicted; target total energy consumption is obtained based on the target energy consumption and the required energy consumption, and the target total energy consumption is converted into a target SOC value of the vehicle power battery; solving the optimization function to obtain a target control sequence; at least one of an engine, a heating device, an electric machine of the vehicle, and a battery management system is controlled based on the target control sequence. Therefore, the battery can have sufficient electric quantity to complete preheating of the catalytic converter before next running and before the engine is started, the emission reduction effect is improved, and the running stability of the vehicle is guaranteed.

Description

Technical Field

[0001] This invention relates to the field of vehicle technology, and more particularly to a vehicle control method, electronic equipment, energy management system, and vehicle. Background Technology

[0002] To meet national emission regulations, modern pure gasoline and hybrid vehicles are equipped with after-treatment systems. The existing three-way catalytic converters operate at temperatures above 250°C, which means they cannot convert emissions during engine cold starts. Under the WLTC (Worldwide Harmonized Light Vehicles Test Cycle) conditions, emissions account for more than 80% of total emissions. This will pose a significant challenge in the face of the upcoming stricter China VII emission regulations.

[0003] For hybrid vehicles, adding an electric heating device in front of the three-way catalytic converter to preheat the catalytic converter to a specified temperature can effectively improve the impact of cold start. However, without a good energy management method, problems such as heating interruption will also occur. Summary of the Invention

[0004] This invention aims to at least partially solve one of the technical problems in related technologies. Therefore, the object of this invention is to provide a vehicle control method, electronic equipment, energy management system, and vehicle, so that the battery has sufficient charge to preheat the catalyst before the next trip begins and the engine starts, thereby improving emission reduction and ensuring vehicle operational stability.

[0005] In a first aspect, embodiments of the present invention propose a vehicle control method, wherein the vehicle's engine is equipped with a catalytic converter, and a heating device is disposed at the front end of the catalytic converter. The method includes: acquiring ambient temperature data of the environment in which the vehicle has been operating over a preset period of time, and determining a target duration and target energy consumption required for the heating device to operate based on the ambient temperature data; acquiring the vehicle's historical energy consumption, and predicting the energy consumption required for the vehicle to maintain normal operation within the target duration based on the historical energy consumption; obtaining a target total energy consumption based on the target energy consumption and the required energy consumption, and converting the target total energy consumption into a target SOC value of the vehicle's power battery; solving an optimization function to obtain a target control sequence, wherein the optimization function is used to characterize the minimum fuel consumption of the engine and the difference between the current SOC value of the power battery and the target SOC value; and controlling at least one of the engine, the heating device, the vehicle's motor, and the battery management system based on the target control sequence.

[0006] In some embodiments, determining the target duration and target energy consumption required for the heating device to operate based on the ambient temperature data includes: determining the lowest temperature value in the ambient temperature data; and obtaining the target duration and target energy consumption by looking up a table based on the lowest temperature value.

[0007] In some embodiments, converting the target total energy consumption into a target SOC value for the vehicle's power battery includes: using the current available capacity of the power battery to convert the target total energy consumption into a target SOC value for the vehicle's power battery.

[0008] In some embodiments, the optimization function is expressed by the following formula:

[0009] Where P represents the optimization function. This represents the minimum fuel consumption at time k. This represents the engine power at time k. Represents the current SOC value at time k. The target SOC value at time k The difference, where α represents the weighting coefficient.

[0010] In some embodiments, the constraints of the optimization function include: Battery constraints: SOC_min≤SOC(k)≤SOC_max and -P_batt_charge_max≤P_batt(k)≤P_batt_discharge_max, where SOC_min and SOC_max represent the minimum and maximum SOC values ​​of the power battery, respectively, P_batt(k) represents the power of the power battery at time k, and -P_batt_charge_max and P_batt_discharge_max represent the maximum charging power and maximum discharging power of the power battery, respectively. Engine constraint: 0 ≤ P_engine(k) ≤ P_engine_max, where P_engine_max represents the maximum power of the engine.

[0011] In some embodiments, solving the optimization function to obtain the target control sequence includes: solving the optimization function to obtain a sequence of battery power values ​​starting from the current time; and generating the target control sequence based on the first battery power value in the battery power value sequence.

[0012] In some embodiments, generating the target control sequence based on the first battery power value in the battery power value sequence includes: generating the target control sequence using a PID control algorithm based on the first battery power value.

[0013] In a second aspect, embodiments of the present invention provide an electronic device, including a memory, a processor, and a computer program stored in the memory, wherein when the computer program is executed by the processor, it implements the vehicle control method described in the first aspect embodiment.

[0014] Thirdly, embodiments of the present invention propose an energy management system for a vehicle, wherein the vehicle's engine is equipped with a catalytic converter, and a heating device is disposed at the front end of the catalytic converter. The system includes: a prediction module configured to acquire ambient temperature data of the environment in which the vehicle has been operating over a preset period of time, and determine, based on the ambient temperature data, the target duration and target energy consumption required for the heating device to operate; acquire the vehicle's historical energy consumption, and predict, based on the historical energy consumption, the energy consumption required for the vehicle to maintain normal operation within the target duration; obtain a target total energy consumption based on the target energy consumption and the required energy consumption, and convert the target total energy consumption into a target SOC value of the vehicle's power battery; an optimization module configured to solve an optimization function to obtain a target control sequence, wherein the optimization function is used to characterize the minimum fuel consumption of the engine and the difference between the current SOC value of the power battery and the target SOC value; and an execution module configured to control at least one of the engine, the heating device, the vehicle's motor, and the battery management system based on the target control sequence.

[0015] Fourthly, embodiments of the present invention provide a vehicle comprising: the electronic equipment described in the second aspect embodiment, and / or, the energy management system described in the third aspect embodiment.

[0016] The present invention discloses a vehicle control method, electronic equipment, energy management system, and vehicle. The vehicle's engine is equipped with a catalytic converter, and a heating device is installed at the front end of the catalytic converter. During vehicle control, the following steps are taken: First, ambient temperature data of the environment in which the vehicle has been operating for a preset period of time is acquired. Based on this data, the target duration and target energy consumption required for the heating device to operate are determined. Second, the vehicle's historical energy consumption is acquired, and the energy consumption required for the vehicle to maintain normal operation within the target duration is predicted based on this historical energy consumption. Third, the target total energy consumption is obtained based on the target energy consumption and the required energy consumption, and this target total energy consumption is converted into the target SOC value of the vehicle's power battery. Next, an optimization function is solved to obtain a target control sequence, where the optimization function characterizes the minimum fuel consumption of the engine and the difference between the current SOC value and the target SOC value of the power battery. Finally, at least one of the engine, heating device, vehicle motor, and battery management system is controlled based on the target control sequence. This ensures that the battery has sufficient charge to preheat the catalytic converter before the next driving start and engine start, improving emission reduction and ensuring vehicle operational stability. Attached Figure Description

[0017] Figure 1 This is a flowchart of a vehicle control method according to an embodiment of the present invention; Figure 2 This is a flowchart illustrating how to obtain the target total energy consumption, as an example of the present invention. Figure 3 This is a system structure diagram of an example of a vehicle control method according to the present invention; Figure 4 This is a flowchart of a vehicle control method according to a specific embodiment of the present invention. Detailed Implementation

[0018] Embodiments of the present invention are described in detail below, examples of which are illustrated in the accompanying drawings, wherein the same or similar reference numerals denote the same or similar elements or elements having the same or similar functions throughout. The embodiments described below with reference to the accompanying drawings are exemplary and intended to explain the present invention, and should not be construed as limiting the present invention.

[0019] The following description, with reference to the accompanying drawings, outlines an embodiment of the vehicle control method, electronic equipment, energy management system, and vehicle of the present invention.

[0020] In an embodiment of the present invention, the vehicle's engine is equipped with a catalyst, and a heating device is provided at the front end of the catalyst.

[0021] The heating device can be an electric heating wire, and the vehicle can be a hybrid vehicle.

[0022] For engines (such as gasoline engines), the efficient operating temperature range of their catalytic converters (such as three-way catalytic converters) is typically above a certain threshold (e.g., 250°C). During cold starts, the catalytic converter temperature is far below this threshold, thus exhibiting almost no catalytic conversion capability, leading to severely deteriorated exhaust emissions during this period. To address this, this invention adds a heating device to the automotive aftertreatment system, such as integrating an electric heating wire at the front end of the catalytic converter carrier. If the carrier is made of ceramic, a dedicated bracket is required to fix and support the heating wire; if it is a metal carrier, the heating wire can be directly connected to it. This allows for active preheating of the catalytic converter before engine start, enabling it to quickly reach its operating temperature window, thereby significantly improving cold-start emissions. Given the high energy consumption of the preheating process, a highly efficient vehicle control method or energy management system is required to ensure normal vehicle operation during this phase and intelligently coordinate the relationship between electric heating demands and overall vehicle energy distribution.

[0023] Figure 1 This is a flowchart of a vehicle control method according to an embodiment of the present invention.

[0024] like Figure 1 As shown, the vehicle control methods include: S1, acquire the ambient temperature data of the environment in which the vehicle was located within a preset time period, and determine the target duration and target energy consumption required for the heating device to operate based on the ambient temperature data.

[0025] Among them, determining the target duration and target energy consumption required for the heating device to operate based on ambient temperature data refers to the duration and energy consumption required for the heating device to operate before the next vehicle trip and before the engine starts.

[0026] In one embodiment, determining the target duration and target energy consumption required for the heating device to operate based on ambient temperature data includes: determining the lowest temperature value in the ambient temperature data; and obtaining the target duration and target energy consumption by looking up a table based on the lowest temperature value.

[0027] Specifically, during vehicle operation, its location signal and parameters such as ambient temperature can be uploaded to a cloud data center in real time. The cloud data center extracts the ambient temperature data of the vehicle over a preset period (e.g., within 24 hours), calculates the lowest temperature value, and then feeds this lowest ambient temperature back to the vehicle's engine control system. After receiving this temperature, the engine control system queries a pre-calibrated data map, such as... Figure 2 As shown in the table, the system can obtain the heating time (i.e., target duration) and corresponding energy requirements (i.e., target energy consumption) required to heat the catalyst to a preset target temperature by looking up the table.

[0028] S2 acquires the vehicle's historical energy consumption and predicts the energy consumption required for the vehicle to maintain normal operation within the target duration based on the historical energy consumption.

[0029] For example, the vehicle control method is based on Figure 3 The illustrated architecture includes an energy management system with a three-layer architecture, where the first layer is a model predictive control (MPC) system. See also... Figure 3 The system first receives various input data from the cloud data processing center, including: real-time destination information, remaining mileage, and real-time traffic conditions provided by the in-vehicle navigation system; and driver driving habits based on historical behavior analysis. Simultaneously, the vehicle controller (HCU) and engine management system (EMS) also send real-time information to the MPC, such as the current battery state of charge (SOC), engine coolant temperature, ambient temperature, and current driving mode.

[0030] Based on the acquired navigation data and driver model, and relying on the battery model of the Battery Management System (BMS), the MPC establishes its internal battery state prediction model and uses machine learning algorithms to predict the vehicle's power demand over a future period. Subsequently, the system calculates the energy consumption required to keep the engine off and maintain normal vehicle operation within the heating time range described in step one. See also... Figure 2 The required energy consumption is estimated from historical data in the cloud and added to the energy consumption required by the electric heating system to obtain the total energy E_total required before the vehicle starts again.

[0031] S3, based on the target energy consumption and the required energy consumption, obtains the target total energy consumption and converts the target total energy consumption into the target SOC value of the vehicle's power battery.

[0032] In one embodiment, converting the target total energy consumption into a target SOC value for the vehicle's power battery includes: using the current available capacity of the power battery to convert the target total energy consumption into a target SOC value for the vehicle's power battery.

[0033] See Figure 3 MPC obtains the current available battery capacity Q_available by calling the internal battery model of BMS, and then converts E_total into the required target SOC value, i.e. SOC_target, for subsequent energy management control tracking target.

[0034] S4. Solve the optimization function to obtain the target control sequence, where the optimization function is used to characterize the minimum fuel consumption of the engine and the difference between the current SOC value and the target SOC value of the power battery.

[0035] In one implementation, the optimization function is expressed by the following formula:

[0036] Where P represents the optimization function, This represents the minimum fuel consumption at time k. This represents the engine power at time k. Represents the current SOC value at time k. The target SOC value at time k The difference, where α represents the weighting coefficient.

[0037] For example, the constraints of the optimization function include: Battery constraints: SOC_min≤SOC(k)≤SOC_max and -P_batt_charge_max≤P_batt(k)≤P_batt_discharge_max, where SOC_min and SOC_max represent the minimum and maximum SOC values ​​of the power battery, respectively, P_batt(k) represents the power of the power battery at time k, and -P_batt_charge_max and P_batt_discharge_max represent the maximum charging power and maximum discharging power of the power battery, respectively. Engine constraint: 0≤P_engine(k)≤P_engine_max, where P_engine_max represents the engine's maximum power. This constraint is used to limit the engine's operating range and to ensure the vehicle speed required by the user.

[0038] In one implementation, solving the optimization function to obtain the target control sequence includes: solving the optimization function to obtain a battery power value sequence starting from the current time; and generating the target control sequence based on the first battery power value in the battery power value sequence.

[0039] For example, generating a target control sequence based on the first battery power value in the battery power value sequence includes: generating the target control sequence using a PID control algorithm based on the first battery power value.

[0040] Specifically, see Figure 3 The second layer of the energy management system is the model optimization module. The model optimization function is as shown in the above formula. Its optimization objectives are mainly divided into two items: the first is the minimum fuel consumption Cost_fuel(P_engine(k)), and the second is the SOC tracking term. ,when When the value is far from SOC_target(k), this value is large, and the optimizer prioritizes adjusting the power allocation to bring the SOC closer to the target value. As the target SOC approaches, this value becomes very small, and the optimizer prioritizes fuel economy. α is a weighting coefficient that determines the trade-off between "reaching the SOC target on time" and "saving fuel." This optimization process must satisfy the basic physical rules, namely the constraints described above. See also... Figure 4 Finally, through online optimization by a solver (such as a quadratic programming QP solver), a series of optimal battery power values ​​P_batt*(k), P_batt*(k+1), ..., starting from the current moment are obtained, which is the battery power value sequence. However, only the first step of the plan (i.e. the first battery power value in the battery power value sequence) is executed. The output of the high-level MPC is the optimal battery power demand value P_req (i.e. the first battery power value in the battery power value sequence).

[0041] S5 controls at least one of the engine, heating device, vehicle motor and battery management system based on the target control sequence.

[0042] Specifically, see Figure 3 The third layer of the energy management system is an adaptive PID controller. This controller receives the optimal battery power demand value P_req from the MPC layer and, based on this instruction, uses a PID control algorithm to precisely and stably adjust each actuator (including the engine, motor, and battery management system (BMS)). This ensures that the battery still has sufficient charge to complete the catalytic converter preheating process (i.e., controlling the heating elements in the electrically heated catalytic converter (EHC) based on the battery's charge level, using target duration and target energy consumption) before the next driving start and engine start. Simultaneously, this system effectively suppresses errors caused by model inaccuracies and external disturbances. By introducing a PID controller to build a feedback control system, the PID parameters can be adjusted in real time according to the current battery SOC value, thereby continuously reducing the SOC control deviation and ensuring that the actual SOC efficiently and accurately tracks the target value.

[0043] The present invention also proposes an electronic device, including a memory, a processor, and a computer program stored in the memory, wherein when the computer program is executed by the processor, it implements the vehicle control method of the above embodiments.

[0044] This invention also proposes an energy management system for a vehicle, wherein the vehicle's engine is equipped with a catalytic converter, and a heating element is provided at the front end of the catalytic converter. See [link to relevant documentation]. Figure 3The system includes: a prediction module configured to acquire ambient temperature data of the environment in which the vehicle was located within a preset time period, and determine the target duration and target energy consumption required for the heating device to operate based on the ambient temperature data; acquire the vehicle's historical energy consumption, and predict the energy consumption required for the vehicle to maintain normal operation within the target duration based on the historical energy consumption; obtain the target total energy consumption based on the target energy consumption and the required energy consumption, and convert the target total energy consumption into the target SOC value of the vehicle's power battery; an optimization module configured to solve an optimization function to obtain a target control sequence, wherein the optimization function is used to characterize the minimum fuel consumption of the engine and the difference between the current SOC value and the target SOC value of the power battery; and an execution module configured to control at least one of the engine, heating device, vehicle motor, and battery management system based on the target control sequence.

[0045] See Figure 3 The prediction module is specifically used to predict the target SOC value for the next trip and perform route analysis; the optimization module is used to obtain the optimal battery power demand value based on the model; and the execution module is used to use PID feedback control to precisely control each actuator to perform energy distribution.

[0046] The present invention also proposes a vehicle comprising: electronic equipment as described in the above embodiments, and / or, the energy management system as described in the above embodiments.

[0047] In summary, the vehicle control method, electronic equipment, energy management system, and vehicle of this invention, by adding a heating device to the front end of the catalytic converter to preheat the catalytic converter before engine start, can significantly reduce pollutant emissions during the cold start phase, thereby effectively meeting the increasingly stringent emission limits imposed by the China VII emission standards. Combined with the application of the energy management system or the vehicle control method, the energy distribution of the vehicle battery can be monitored in real time and optimized before the vehicle reaches its destination, ensuring that the battery still has sufficient charge to complete the catalytic converter preheating process before the next trip and engine start. This improves emission reduction while also ensuring vehicle operational stability.

[0048] It should be noted that the logic and / or steps represented in the flowchart or otherwise described herein, for example, can be considered as a sequenced list of executable instructions for implementing logical functions, and can be specifically implemented in any computer-readable medium for use by, or in conjunction with, an instruction execution system, apparatus, or device (such as a computer-based system, a processor-included system, or other system that can fetch and execute instructions from, an instruction execution system, apparatus, or device). For the purposes of this specification, "computer-readable medium" can be any means that can contain, store, communicate, propagate, or transmit programs for use by, or in conjunction with, an instruction execution system, apparatus, or device. More specific examples (a non-exhaustive list) of computer-readable media include: an electrical connection having one or more wires (electronic device), a portable computer disk drive (magnetic device), random access memory (RAM), read-only memory (ROM), erasable and editable read-only memory (EPROM or flash memory), fiber optic devices, and portable optical disc read-only memory (CDROM). Alternatively, the computer-readable medium may be paper or other suitable media on which the program can be printed, since the program can be obtained electronically, for example, by optically scanning the paper or other medium, followed by editing, interpreting, or otherwise processing as necessary, and then stored in a computer memory.

[0049] It should be understood that various parts of the present invention can be implemented in hardware, software, firmware, or a combination thereof. In the above embodiments, multiple steps or methods can be implemented in software or firmware stored in memory and executed by a suitable instruction execution system. For example, if implemented in hardware, as in another embodiment, it can be implemented using any one or a combination of the following techniques known in the art: discrete logic circuits having logic gates for implementing logical functions on data signals, application-specific integrated circuits (ASICs) having suitable combinational logic gates, programmable gate arrays (PGAs), field-programmable gate arrays (FPGAs), etc.

[0050] In the description of this specification, references to terms such as "one embodiment," "some embodiments," "example," "specific example," or "some examples," etc., indicate that a specific feature, structure, material, or characteristic described in connection with that embodiment or example is included in at least one embodiment or example of the invention. In this specification, the illustrative expressions of the above terms do 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 one or more embodiments or examples.

[0051] In the description of this invention, it should be understood that the terms "center," "longitudinal," "lateral," "length," "width," "thickness," "upper," "lower," "front," "rear," "left," "right," "vertical," "horizontal," "top," "bottom," "inner," "outer," "clockwise," "counterclockwise," "axial," "radial," and "circumferential" indicate the orientation or positional relationship based on the orientation or positional relationship shown in the accompanying drawings. They are used only for the convenience of describing this invention and simplifying the description, and are not intended to indicate or imply that the device or element referred to must have a specific orientation, or be constructed and operated in a specific orientation. Therefore, they should not be construed as limitations on this invention.

[0052] Furthermore, the terms "first" and "second" are used for descriptive purposes only and should not be construed as indicating or implying relative importance or implicitly specifying the number of technical features indicated. Thus, a feature defined as "first" or "second" may explicitly or implicitly include at least one of that feature. In the description of this invention, "a plurality of" means at least two, such as two, three, etc., unless otherwise explicitly specified.

[0053] In this invention, unless otherwise explicitly specified and limited, the terms "installation," "connection," "linking," and "fixing," etc., should be interpreted broadly. For example, they can refer to a fixed connection, a detachable connection, or an integral part; they can refer to a mechanical connection or an electrical connection; they can refer to a direct connection or an indirect connection through an intermediate medium; they can refer to the internal communication of two components or the interaction between two components, unless otherwise explicitly limited. Those skilled in the art can understand the specific meaning of the above terms in this invention according to the specific circumstances.

[0054] In this invention, unless otherwise explicitly specified and limited, "above" or "below" the second feature can mean that the first feature is in direct contact with the second feature, or that the first feature is in indirect contact with the second feature through an intermediate medium. Furthermore, "above," "over," and "on top" of the second feature can mean that the first feature is directly above or diagonally above the second feature, or simply that the first feature is at a higher horizontal level than the second feature. "Below," "below," and "under" the second feature can mean that the first feature is directly below or diagonally below the second feature, or simply that the first feature is at a lower horizontal level than the second feature.

[0055] Although embodiments of the present invention have been shown and described above, it is understood that the above embodiments are exemplary and should not be construed as limiting the present invention. Those skilled in the art can make changes, modifications, substitutions and variations to the above embodiments within the scope of the present invention.

Claims

1. A method for controlling a vehicle, characterized in that, The vehicle's engine is equipped with a catalytic converter, and a heating element is provided at the front end of the catalytic converter. The method includes: The system acquires ambient temperature data of the environment in which the vehicle was located over a preset period of time, and determines the target duration and target energy consumption required for the heating device to operate based on the ambient temperature data. The historical energy consumption of the vehicle is obtained, and the energy consumption required for the vehicle to maintain normal operation within the target duration is predicted based on the historical energy consumption. The target total energy consumption is obtained based on the target energy consumption and the required energy consumption, and the target total energy consumption is converted into the target SOC value of the vehicle's power battery; Solving the optimization function yields the target control sequence, where the optimization function characterizes the minimum fuel consumption of the engine and the difference between the current SOC value of the power battery and the target SOC value. The engine, the heating device, the vehicle's motor, and the battery management system are controlled based on the target control sequence.

2. The vehicle control method according to claim 1, characterized in that, Determining the target duration and target energy consumption required for the heating device to operate based on the ambient temperature data includes: Determine the lowest temperature value in the ambient temperature data; The target duration and target energy consumption are obtained by looking up the table based on the minimum temperature value.

3. The vehicle control method according to claim 1, characterized in that, The step of converting the target total energy consumption into the target SOC value of the vehicle's power battery includes: Using the current available capacity of the power battery, the target total energy consumption is converted into the target SOC value of the vehicle's power battery.

4. The vehicle control method according to claim 1, characterized in that, The optimization function is expressed by the following formula: Where P represents the optimization function. This represents the minimum fuel consumption at time k. This represents the engine power at time k. Represents the current SOC value at time k. The target SOC value at time k The difference, where α represents the weighting coefficient.

5. The vehicle control method according to claim 4, characterized in that, The constraints of the optimization function include: Battery constraints: SOC_min≤SOC(k)≤SOC_max and -P_batt_charge_max≤P_batt(k)≤P_batt_discharge_max, where SOC_min and SOC_max represent the minimum and maximum SOC values ​​of the power battery, respectively, P_batt(k) represents the power of the power battery at time k, and -P_batt_charge_max and P_batt_discharge_max represent the maximum charging power and maximum discharging power of the power battery, respectively. Engine constraint: 0 ≤ P_engine(k) ≤ P_engine_max, where P_engine_max represents the maximum power of the engine.

6. The vehicle control method according to claim 5, characterized in that, The solution to the optimization function yields the target control sequence, including: Solving the optimization function yields a sequence of battery power values ​​starting from the current moment; The target control sequence is generated based on the first battery power value in the battery power value sequence.

7. The vehicle control method according to claim 6, characterized in that, The step of generating the target control sequence based on the first battery power value in the battery power value sequence includes: Based on the first battery power value, the target control sequence is generated using a PID control algorithm.

8. An electronic device comprising a memory, a processor, and a computer program stored in the memory, characterized in that, When the computer program is executed by the processor, it implements the vehicle control method as described in any one of claims 1-7.

9. An energy management system, characterized in that, For use in a vehicle, the vehicle's engine is equipped with a catalytic converter, the catalytic converter having a heating element at its front end, the system comprising: The prediction module is configured to acquire ambient temperature data of the environment in which the vehicle was located over a preset period of time, and determine the target duration and target energy consumption required for the heating device to operate based on the ambient temperature data; acquire the historical energy consumption of the vehicle, and predict the energy consumption required for the vehicle to maintain normal operation within the target duration based on the historical energy consumption; obtain the target total energy consumption based on the target energy consumption and the required energy consumption, and convert the target total energy consumption into the target SOC value of the vehicle's power battery; The optimization module is configured to solve an optimization function to obtain a target control sequence, wherein the optimization function is used to characterize the minimum fuel consumption of the engine and the difference between the current SOC value of the power battery and the target SOC value. The execution module is configured to control at least one of the engine, the heating device, the vehicle's motor, and the battery management system based on the target control sequence.

10. A vehicle, characterized in that, include: The electronic device as claimed in claim 8, and / or the energy management system as claimed in claim 9.

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