Battery heating control method, device and electronic device

Abstract

This application discloses a battery heating control method, device, and electronic device. The method includes collecting battery parameters of a battery module, and controlling a power battery and a power supply battery in the battery module to charge and discharge each other when the battery parameters of the battery module satisfy a preset heating condition, thereby heating the battery module by mutual charging and discharging between the power battery and the power supply battery, and controlling the power battery in the battery module to supply power to a vehicle motor to run the vehicle. This solves the problem of inconvenience caused by the need to preheat the battery in order to use the vehicle in a low-temperature environment, and not only ensures the safety of the vehicle in a low-temperature environment but also improves the convenience of the vehicle.

Description

[Technical field]

[0001] The present application relates to the field of battery technology, and in particular to a battery heating control method, device and electronic device.

[0002] CROSS-REFERENCE TO RELATED APPLICATIONS This application claims priority to Chinese Patent Application No. 202111616541.3, entitled "Battery Heating Control Method, Apparatus and Electronic Device," filed on December 27, 2021, the entire contents of which are incorporated herein by reference. [Background technology]

[0003] Energy conservation and emission reduction are key to the sustainable development of the automotive industry. Electric vehicles, due to their energy-saving and environmentally friendly advantages, have become an important component of the sustainable development of the automotive industry. Battery technology has become a key element in the development of electric vehicles.

[0004] The battery of an electric vehicle has a problem of poor discharge performance in a low-temperature environment. To solve this problem, it is currently common to preheat the battery of the vehicle in a low-temperature environment and run the vehicle after the battery of the vehicle is completely heated. However, this method requires preheating the battery before using the vehicle, which is inconvenient to use and reduces the user's experience. Summary of the Invention

[0005] In view of the above problems, the present application provides a battery heating control method, device, and electronic device that can solve the problem of inconvenience caused by the need to pre-heat the battery in order to use a vehicle in a low-temperature environment.

[0006] According to a first aspect, the present application provides a battery heating control method, which includes collecting battery parameters of a battery module; when the battery parameters of the battery module satisfy a preset heating condition, controlling a power battery and a power supply battery in the battery module to mutually charge and discharge, thereby heating the battery module through mutual charging and discharging between the power battery and the power supply battery; and controlling the power battery in the battery module to supply power to a vehicle motor to run the vehicle.

[0007] In the technical solution of the embodiment of the present application, when the battery parameters of the battery module satisfy the preset heating conditions, the present embodiment controls the power battery and the power supply battery in the battery module to charge and discharge each other. Since both the power battery and the power supply battery have internal resistance, the power battery and the power supply battery charge and discharge each other, generating thermal energy in the internal resistance, thereby heating the battery module. When the battery is heated, the power battery supplies power to the vehicle motor to enable the vehicle to run. That is, the present embodiment realizes the aspect and effect of self-heating the battery while the vehicle is running. This solves the problem of inconvenience caused by the need to preheat the battery in order to use the vehicle in a low-temperature environment at present. This ensures the safety of the vehicle in use, particularly in a low-temperature environment, and improves the convenience of the vehicle in use.

[0008] In some embodiments, controlling the power battery and the power supply battery in the battery module to charge and discharge each other includes controlling one of the power battery and the power supply battery in the battery module to discharge to an energy storage element to charge the energy storage element, and controlling the energy storage element to charge the other of the power battery and the power supply battery. The embodiments of the present application realize the mutual charging and discharging of the power battery and the power supply battery by utilizing the energy storage element as an intermediate element in the charging and discharging process, thereby realizing the self-heating of the battery module based on existing devices and a technical solution that is simple and easy to operate.

[0009] In some embodiments, controlling the energy storage element to charge the other of the power battery and the power supply battery as described above includes controlling the energy storage element to charge the other of the power battery and the power supply battery after the charging of the energy storage element is completed. In an embodiment of the present application, the energy storage element is controlled to charge the battery only when the charging of the energy storage element is completed. Thus, the timing and amount of power of the battery can be controlled by controlling the energy storage element.

[0010] In some embodiments, the motor of the vehicle includes a first motor and a second motor, the power battery powers the second motor to drive the vehicle, and the stator inductance of the first motor is the energy storage element. The embodiments of the present application can also be applied when the vehicle is in a dual motor mode, in which the stator inductance of one motor is the energy storage element and the other motor is the power source of the vehicle. Thus, the stator inductance of the existing motor is utilized as the energy storage element in a manner that ensures the self-heating of the battery during vehicle running, thereby realizing a design that saves a single energy storage element, and further reducing the circuit structure design and the cost of the energy storage element.

[0011] In some embodiments, the above-mentioned control of the power battery and the power supply battery in the battery module to charge and discharge each other includes obtaining the effective discharge value of the power battery and the effective discharge value of the power supply battery, calculating the power discharge time length corresponding to the power battery and the power supply discharge time length corresponding to the power supply battery based on the effective discharge value of the power battery and the effective discharge value of the power supply battery, controlling the power battery to discharge electrical energy of the power discharge time length when the power battery discharges, and controlling the power supply battery to discharge electrical energy of the power supply discharge time length when the power supply battery discharges. The embodiments of the present application achieve current equalization between the power battery and the power supply battery by controlling the discharge time length of the power battery and the power supply battery.

[0012] In some embodiments, the aforementioned control of the power battery and the power supply battery in the battery module to charge and discharge each other includes obtaining a motor power supply current and an initial discharge effective value of the power supply battery, calculating a discharge adjustment value of the power supply battery according to the motor power supply current and the initial discharge effective value of the power supply battery, and adjusting the discharge current of the power supply battery according to the discharge adjustment value when the power supply battery discharges. The embodiments of the present application achieve current equalization between the power battery and the power supply battery by adjusting the discharge amount of the power supply battery.

[0013] In some embodiments, after controlling the power battery and the power supply battery in the battery module to charge and discharge each other as described above, the method further includes controlling the power battery and the power supply battery in the battery module to stop charging and discharging when the temperature of the battery module reaches a temperature requirement. In an embodiment of the present application, the power battery and the power supply battery in the battery module are controlled to stop charging and discharging when the temperature of the battery module reaches a temperature requirement, thereby eliminating safety concerns caused by the temperature of the battery module continuing to rise.

[0014] In some embodiments, after controlling the power battery and the power supply battery in the battery module to stop charging and discharging as described above, the method further includes: when the voltage difference between the power battery and the power supply battery is not within a preset threshold range, controlling the battery with a higher voltage among the power battery and the power supply battery to discharge to the battery with a lower voltage among the power battery and the power supply battery; when it is determined in real time during the discharging process that the voltage difference between the power battery and the power supply battery is not within the preset threshold range, continuing the discharging process; and when it is determined in real time during the discharging process that the voltage difference between the power battery and the power supply battery is within the preset threshold range, stopping the discharging process. The embodiments of the present application further determine the voltage difference between the batteries after the mutual charging and discharging is completed, thereby ensuring that the voltage difference between the power battery and the power supply battery is within the preset threshold range in the discharging manner, realizing voltage equalization between the power battery and the power supply battery, and further ensuring that the battery is not damaged after the power battery and the power supply battery are connected in parallel.

[0015] In some embodiments, after stopping the discharging process as described above, the method further includes controlling the power battery and the power supply battery to be connected in parallel to power the vehicle motor when the vehicle motor requests starting.

[0016] In some embodiments, the battery parameter includes a battery temperature, and the preset heating condition includes a battery temperature of the battery module being lower than a preset temperature.

[0017] In some embodiments, the battery parameters include a battery temperature and a battery power, and the preset heating condition includes a battery temperature of the battery module being lower than a preset temperature and a battery power being higher than a preset power. An embodiment of the present application heats the battery module only when the temperature is lower than the preset temperature and the battery power is higher than the preset power, thereby ensuring that there is enough electrical energy to maintain the self-heating of the battery.

[0018] In some embodiments, before controlling the power battery and the power supply battery in the battery module to charge and discharge each other as described above, the method further includes controlling the power battery and the power supply battery in the battery module to be connected in reverse series, in which the power battery and the power supply battery in the battery module are connected in parallel in a non-heating condition to supply power to the motor. In an embodiment of the present application, when the battery module is self-heating, the power battery and the power supply battery are controlled to be connected in reverse series, so that the power battery and the power supply battery form a self-heating circuit topology to efficiently perform self-heating.

[0019] In a second aspect, the present application provides a battery heating control device including a collection module for collecting battery parameters of a battery module, and a control module for controlling a power battery and a power supply battery in a battery module to mutually charge and discharge when the battery parameters of the battery module satisfy predetermined heating conditions, thereby heating the battery module by mutually charging and discharging the power battery and the power supply battery, and for controlling the power battery in the battery module to supply power to a vehicle motor to run the vehicle.

[0020] In the technical solution of the embodiment of the present application, when the battery parameters of the battery module satisfy the preset heating conditions, the present embodiment controls the power battery and the power supply battery in the battery module to charge and discharge each other. Since both the power battery and the power supply battery have internal resistance, the power battery and the power supply battery charge and discharge each other, generating thermal energy in the internal resistance, thereby heating the battery module. When the battery is heated, the present embodiment allows the power battery to supply power to the vehicle motor to run the vehicle. That is, the present embodiment realizes the aspect and effect of self-heating the battery while the vehicle is running. This solves the problem of inconvenience caused by the need to preheat the battery in order to use the vehicle in a low-temperature environment. Not only does it ensure the safety of the vehicle in particular in a low-temperature environment, but it also improves the convenience of the vehicle.

[0021] In some embodiments, the control module is specifically used to control one of the power battery and the power supply battery in the battery module to discharge to the energy storage element and charge the energy storage element, and to control the energy storage element to charge the other of the power battery and the power supply battery. The embodiments of the present application realize mutual charging and discharging of the power battery and the power supply battery by utilizing the energy storage element as an intermediate element in the charging and discharging process, so that the self-heating of the battery module can be realized with existing devices and a technical solution that is simple and easy to operate.

[0022] In some embodiments, the control module is specifically further used for: obtaining the effective discharge value of the power battery and the effective discharge value of the power supply battery; calculating the power discharge time length corresponding to the power battery and the power supply discharge time length corresponding to the power supply battery based on the effective discharge value of the power battery and the effective discharge value of the power supply battery; controlling the power battery to discharge the electric energy of the power discharge time length when the power battery discharges; and controlling the power supply battery to discharge the electric energy of the power supply discharge time length when the power supply battery discharges. The embodiments of the present application achieve current equalization between the power battery and the power supply battery by controlling the discharge time length of the power battery and the power supply battery.

[0023] In some embodiments, the control module is further specifically used for obtaining the motor power supply current and the initial discharge effective value of the power supply battery, calculating the discharge adjustment value of the power supply battery according to the motor power supply current and the initial discharge effective value of the power supply battery, and adjusting the discharge current of the power supply battery according to the discharge adjustment value when the power supply battery discharges. The embodiments of the present application achieve current equalization between the power battery and the power supply battery by adjusting the discharge amount of the power supply battery.

[0024] In some embodiments, the control module is further used to control the power battery and the power battery in the battery module to stop charging and discharging when the temperature of the battery module reaches a temperature requirement.

[0025] In some embodiments, the control module is further adapted to control the battery having a higher voltage among the power battery and the power supply battery to discharge to the battery having a lower voltage among the power battery and the power supply battery when a voltage difference between the power battery and the power supply battery is no longer within a preset threshold range. The control module is further adapted to continue controlling the discharge process when it is determined in real time that the voltage difference between the power battery and the power supply battery is not within the preset threshold range, and to stop the discharge process when it is determined in real time that the voltage difference between the power battery and the power supply battery is within the preset threshold range.

[0026] In some embodiments, the control module is further used for controlling the power battery and the power supply battery in the battery module to be connected in reverse series, in which the power battery and the power supply battery in the battery module are connected in parallel under a non-heated condition to power the motor.

[0027] According to a third aspect, the present application provides an electronic device including a memory in which a computer program is stored and a processor, the electronic device executing the computer program to perform a method according to the first aspect or any of the implementations selectable from the first aspect.

[0028] According to a fourth aspect, the present application provides a computer-readable storage medium having a computer program stored therein, the computer program being adapted to execute the method according to the first aspect, any one of the implementations selectable from the first aspect.

[0029] According to a fifth aspect, the present application provides a computer program product, which, when run on a computer, causes the computer to execute a method according to the first aspect, any implementation of which can be selected from the first aspect.

[0030] The above description is merely an outline of the technical solution of the embodiments of the present invention. In order to make the technical means of the embodiments of the present invention more clearly understood and implemented according to the content of the specification, and to make the above and other objectives, features and advantages of the embodiments of the present invention more obvious and easy to understand, the following specific embodiments of the present invention are given below. [Brief description of the drawings]

[0031] Various other advantages and benefits will become apparent to those skilled in the art upon reading the following detailed description of the preferred embodiments. The accompanying drawings are used only to illustrate the preferred embodiments and are not to be considered as limiting the present application. And, in the accompanying drawings, the same parts are represented by the same reference numerals. In the accompanying drawings, [Figure 1] 1 is a structural schematic diagram of a vehicle according to some embodiments of the present application. [Diagram 2] 1 is a first flowchart of a battery heating control method according to some embodiments of the present application. [Diagram 3] FIG. 1 is a circuit diagram of a single motor power topology according to some embodiments of the present application. [Figure 4] 4 is a second flowchart of a battery heating control method according to some embodiments of the present application. [Diagram 5] FIG. 2 is a circuit diagram of a dual motor power topology according to some embodiments of the present application. [Figure 6] 13 is a third flowchart of a battery heating control method according to some embodiments of the present application. [Figure 7] 11 is a fourth flowchart of a battery heating control method according to some embodiments of the present application. [Figure 8] 5 is a fifth flowchart of a battery heating control method according to some embodiments of the present application. [Figure 9] 6 is a sixth flowchart of a battery heating control method according to some embodiments of the present application. [Figure 10] 7 is a seventh flowchart of a battery heating control method according to some embodiments of the present application. [Figure 11] 1 is a structural schematic diagram of a battery heating control device according to some embodiments of the present application; [Figure 12] 1 is a structural schematic diagram of an electronic device according to some embodiments of the present application. [Figure 13] 4 is a flow chart of a preferred embodiment of a battery heating control method according to some embodiments of the present application. DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS

[0032] The following detailed description will be given of the embodiments of the technical solution of the present application in conjunction with the accompanying drawings. The following embodiments are provided to more clearly explain the technical solution of the present application, and are merely illustrative and do not limit the scope of protection of the present application.

[0033] Unless otherwise defined, all scientific and technical terms used herein have the same meaning as commonly understood by those skilled in the art. The terms used herein are used only to describe specific embodiments and are not intended to limit the present application. The terms "include", "have" and any variations thereof in the specification and claims of this application and the above description of the drawings are intended to cover the non-exclusive "include".

[0034] In the description of the embodiments of the present application, the terms "first", "second", etc. are used only to distinguish different objects, and are not understood to express or imply relative importance, or to implicitly indicate the number, specific order, or primary / subordinate relationship of the technical features of interest. In the description of the embodiments of the present application, "plurality" means two or more, unless otherwise specified by specific limitations.

[0035] An "embodiment" referred to in this specification means that a particular feature, structure, or characteristic described in conjunction with the embodiment may be included in at least one embodiment of the present application. The phases described in each place in the specification do not necessarily all refer to the same embodiment, nor are they exclusively independent or alternative to other embodiments. Those skilled in the art can explicitly and implicitly understand that the embodiments described in this specification may be combined with other embodiments.

[0036] In the description of the embodiments of the present application, the term "and / or" merely describes the related relationship of related objects and indicates that three relationships may exist, for example, A and / or B may indicate that it includes three cases: A, a combination of A and B, and B. In addition, the character " / " in this specification generally indicates that the related objects before and after are in an "or" relationship.

[0037] In the description of the embodiments of the present application, the term "plurality" means two or more (including two). For the same reason, "multiple groups" means two or more groups (including two groups), and "multiple sheets" means two or more sheets (including two sheets).

[0038] In describing the embodiments of the present application, the orientations or positional relationships indicated by the terms "center," "longitudinal," "lateral," "length," "width," "thickness," "upper," "lower," "front," "rear," "left," "right," "vertical," "horizontal," "top," "bottom," "inner," "outer," "clockwise," "counterclockwise," "axial," "radial," "circumferential," and the like are based on the orientations or positional relationships shown in the drawings, and are for the convenience or simplification of the description of the embodiments of the present application, and are not intended to indicate or suggest that the devices or elements referred to have a specific orientation and are required to be configured and operated in a specific orientation, and should not be understood as limiting the embodiments of the present application.

[0039] In the description of the embodiments of the present application, unless otherwise clearly specified or limited, the terms "attached", "connected", "connected", "fixed" and the like should be understood in a broad sense, for example, they may be fixedly connected, detachably connected, or integrated. They may be mechanically connected or electrically connected. They may be directly connected, indirectly connected via an intermediate medium, or the internal communication of both elements or the interaction relationship of both elements. Those skilled in the art can understand the specific meaning of the above terms in the embodiments of the present application according to the specific situation.

[0040] At present, in view of the development of the market situation, the application of batteries is becoming more and more widespread. Batteries are not only widely used in energy storage power systems such as hydroelectric, thermal, wind and solar power stations, but also in multiple fields such as electric transportation means such as electric bicycles, electric motorcycles and electric cars, military equipment, aerospace and other fields. With the expansion of the application fields of power batteries, the market demand for them is also constantly expanding.

[0041] The inventor has found that electric vehicles currently on the market need to first self-heat the vehicle battery in a low temperature environment, and the vehicle can only be started when the self-heating of the battery is completed, which brings great inconvenience to vehicle users, and the inconvenience problem becomes more serious especially when the vehicle needs to be used urgently but the battery has not been pre-heated.

[0042] In order to solve the above problem, the applicant has studied and found that the reason why the heating needs to be completed in order to run the vehicle at present is that the current motor power supply circuit topology of the vehicle and the corresponding power supply control strategy do not support the vehicle running while heating the battery. Based on this discovery, the applicant has conducted extensive research and believes that if a reasonable power supply circuit topology is designed and a reasonable control strategy is designed according to the topology design, the battery self-heating process can be realized even when the vehicle is running.

[0043] After extensive research, the inventor has designed a battery module, which includes a power supply battery and a power battery. When the battery does not need to be self-heated, the power supply battery and the power battery are connected in parallel to power the vehicle motor and provide power to the vehicle. When the battery is self-heated, the power supply battery and the power battery are converted into an inverse series manner to realize mutual charging and discharging through an intermediate energy storage element to realize the self-heating of the battery module, and the power battery supplies power to the vehicle motor while providing power to the vehicle, thereby realizing the self-heating process of the battery during the vehicle running.

[0044] The battery self-heating control method disclosed in the embodiments of the present application can be applied to power devices that use batteries as a power source, including, but not limited to, electrically-operated devices such as vehicles, ships, or aircraft.

[0045] For convenience of explanation, the following embodiment will be described taking as an example a case where an electricity-using device according to an embodiment of the present application is a vehicle 10. As shown in FIG.

[0046] Please refer to FIG. 1. FIG. 1 is a structural schematic diagram of a vehicle 10 according to some embodiments of the present application. The vehicle 10 may be a fuel vehicle, a gas vehicle, or a new energy vehicle, and the new energy vehicle may be a pure electric vehicle, a hybrid vehicle, or a range extender vehicle, etc. A battery 100 is provided inside the vehicle 10, and the battery 100 may be provided at the bottom, head, or tail of the vehicle 10. The battery 100 may be used to supply power to the vehicle 10. For example, the battery 100 can be the operating power source of the vehicle 10. The vehicle 10 may further include a controller 200 and a motor 300, and the controller 200 is for controlling the battery 100 to supply power to the motor 300, for example, for operating power needs during starting, navigation, and running of the vehicle 10.

[0047] In some embodiments of the present application, the battery 100 can be used not only as an operating power source for the vehicle 10, but also as a driving power source for the vehicle 10, in place of or in place of fuel or natural gas or a portion thereof to provide driving power to the vehicle 10.

[0048] In the present application, the battery 100 is the driving power source for the vehicle 10 and is the driving force provided to the vehicle 10 .

[0049] According to some embodiments of the present application, the battery heating control method according to an embodiment of the present application can be applied to a vehicle controller, and the battery heating control method can realize the self-heating process of the battery during the vehicle running. As shown in FIG. 2, the battery heating control method includes: Step S200: Collect battery parameters of the battery modules.

[0050] Step S210: If the battery parameters of the battery module satisfy the preset heating conditions, the power battery and the power supply battery in the battery module are controlled to be mutually charged and discharged.

[0051] Step S220: Control the power battery in the battery module to supply power to the motor of the vehicle.

[0052] In step S200, this embodiment may collect battery parameters of the battery module by a battery management system (BMS), among which the battery parameters of the battery module may include the battery temperature of the battery module, the power amount of the battery module, the voltage of the battery module, etc.

[0053] Based on the above, this embodiment executes step S210, and controls the power battery and the power supply battery in the battery module to charge and discharge each other when the battery parameters of the battery module satisfy a preset heating condition. The preset heating condition indicates that the battery parameters of the battery module satisfy the condition that the battery module needs to self-heat. The battery module includes a power battery and a power supply battery, and the power battery and the power supply battery charge and discharge each other under the condition that the battery module heats up, and heat energy is generated in the internal resistance of each battery module, thereby heating the battery module.

[0054] In step S220, this embodiment controls the power battery in the battery module to supply power to the vehicle motor. This not only enables the power battery and the power supply battery to charge and discharge each other to realize self-heating, but also supplies power to the vehicle motor so that the vehicle can run while the battery is self-heating. Note that steps S210 and S220, which control the power battery and the power supply battery in the battery module to charge and discharge each other, may be executed one after the other, or may be executed simultaneously without dividing the order, and the execution order of the two is not limited in this application.

[0055] As a possible example, FIG. 3 is a topology diagram of a single motor power supply circuit to which the battery heating control method according to the present application can be applied. Referring to FIG. 3, Bat1 is a power supply battery, and the power battery Bat2 is a power battery. When the battery module is not heated, the switch K1 is closed. When K1 is closed, the power supply battery Bat1 and the power battery Bat2 are connected in parallel to supply power to the motor M. Specifically, in FIG. 3, when K1 is closed, the power supply battery Bat1 and the power battery Bat2 supply power to the vehicle motor through the controllable switch tubes S1, S2, S3, S4, S5, S6, and the current path is the positive pole of the power supply battery Bat1 and the power battery Bat2 → the switches S1, S3, S5 → the motor M → the switches S2, S4, S6 → the negative pole of the power supply battery Bat1 and the power battery Bat2.

[0056] When the battery parameters of the battery module satisfy the preset heating conditions, the battery heating control method of the present application can control the switch K1 to be disconnected. When K1 is disconnected, the power supply battery Bat1 and the power battery Bat2 are connected in reverse series, so that the power supply battery Bat1 and the power battery Bat2 realize mutual charging and discharging through a reverse series connection topology. This allows the power supply battery Bat1 and the power battery Bat2 to generate thermal energy during the charging and discharging process, thereby heating the entire battery module. In addition, when K1 is disconnected, the power supply battery Bat1 no longer provides electrical energy to the motor M, and the power battery Bat2 provides electrical energy to the motor M, so that the vehicle can run during the self-heating of the battery.

[0057] According to the battery heating control method designed as above, when the battery parameters of the battery module satisfy the preset heating conditions, the present embodiment controls the power battery and the power supply battery in the battery module to charge and discharge each other. Since both the power battery and the power supply battery have internal resistance, the power battery and the power supply battery charge and discharge each other to generate thermal energy in the internal resistance, thereby heating the battery module. In addition, when the battery is heated, the present embodiment allows the vehicle to run by supplying power from the power battery to the vehicle motor. That is, the present embodiment realizes self-heating of the battery while the vehicle is running, thereby solving the problem of inconvenience caused by the need to preheat the battery in order to use the vehicle in a low-temperature environment, and not only ensures the safety of using the vehicle in a low-temperature environment, but also improves the convenience of using the vehicle.

[0058] According to some embodiments of the present application, as shown in FIG. 4, controlling the power battery and the power supply battery in the battery module to charge and discharge each other in the aforementioned step S210 may be realized by a method including the following steps.

[0059] Step S400: One of the power battery and the power supply battery in the battery module is controlled to discharge to the energy storage element and charge the energy storage element.

[0060] Step S410: The energy storage element is controlled to charge the other of the power battery and the power supply battery.

[0061] In the above embodiment, the present embodiment uses an energy storage element as an intermediate element to realize mutual charging and discharging between the power battery and the power supply battery, where the energy storage element includes, but is not limited to, components such as inductance and capacitor.

[0062] In addition, in the above embodiment, the present aspect does not limit the battery that is discharged first or charged first, i.e., does not limit which battery, the power battery or the power supply battery, discharges to the energy storage element in the initial state. Based on this, the present method includes the following multiple situations. As one possible form, in the initial state, the power battery may first discharge to the energy storage element to charge the energy storage element, and then the energy storage element may discharge to the power supply battery to charge the power supply battery. As another possible form, in the initial state, the power supply battery may first discharge to the energy storage element to charge the energy storage element, and then the energy storage element may discharge to the power battery to charge the power battery.

[0063] Continuing to refer to FIG. 3, let us take the case where the power battery is first discharged in the initial state as an example. In this embodiment, when K1 is disconnected, the switches S9 and S8 may be controlled to be closed, and the switches S10 and S7 may be controlled to be disconnected. This allows the power battery Bat2 to charge the inductance L. At this time, the current path is the positive pole of the power battery Bat2 → switch S9 → inductance L → switch S8 → negative pole of the power battery Bat2.

[0064] Next, by disconnecting switch S8 and closing switch S7, the inductance L is controlled to charge the power supply battery Bat1. At this time, the current path is the positive electrode of the power battery Bat2 → switch S9 → inductance L → switch S7 → positive electrode of the power supply battery Bat1 → negative electrode of the power supply battery Bat1 → negative electrode of the power battery Bat2.

[0065] The embodiments of the present application utilize an energy storage element as an intermediate element in the charging and discharging process, thereby realizing mutual charging and discharging between the power battery and the power supply battery, and realizing self-heating of the battery module with a simple device.

[0066] According to some embodiments of the present application, optionally, in step S410, controlling the energy storage element to charge the other of the power battery and the power supply battery may include the following situations: As one possible embodiment, the present aspect may control the energy storage element to charge the other of the power battery and the power supply battery after charging of the energy storage element is completed.

[0067] As another possible embodiment, the present aspect may control the energy storage element to charge the other of the power battery and the power supply battery while the energy storage element is charging.

[0068] In the above embodiment, according to the above example, in this aspect, the inductance L may be controlled so that the other of the power battery and the power supply battery is charged only when charging of the inductance L is completed. For example, only when charging of the inductance L by the power battery Bat2 is completed, the switch S8 is controlled to be disconnected and the switch S7 is controlled to be closed. This causes the inductance L to charge the power supply battery.

[0069] As another possible embodiment, in this aspect, the inductance L may be controlled so as to charge the other of the power battery and the power supply battery while the inductance L is charging. For example, while the power battery Bat2 is charging the inductance L, that is, when the charging of the inductance L is not completed, the switch S8 is controlled to be disconnected and the switch S7 is controlled to be closed, thereby causing the inductance L to charge the power supply battery.

[0070] The embodiment of the present application controls the energy storage element to charge the battery when the energy storage element is fully charged or is being charged, so that various control methods can be adopted to control the mutual charging and discharging of the power battery and the power supply battery.

[0071] According to some embodiments of the present application, the present embodiment can be selectively applied not only to a vehicle driven by a single motor, but also to a vehicle driven by a dual motor. Please refer to FIG. 5. FIG. 5 is a topology diagram of another dual motor power supply circuit to which the battery heating control method of the present application can be applied. The circuit diagram includes a first motor M1 and a second motor M2. In the absence of heating, that is, when K1 is closed, the power supply battery Bat1 and the power battery Bat2 are connected in parallel to supply power to the first motor M1 and the second motor M2.

[0072] When heating, this embodiment controls so that K1 is disconnected. At this time, the power battery Bat2 supplies power to the second motor M2, and the power battery Bat2 and the power supply battery Bat1 are connected in reverse series. Also, at this time, the energy storage element is the stator inductance of the first motor M1. That is, the power battery Bat2 and the power supply battery Bat1 realize mutual charging and discharging with the stator inductance of the first motor M1 as an intermediate element.

[0073] When the stator inductance of the first motor M1 is used as the energy storage element, the charging and discharging processes of the power battery Bat2 and the power supply battery Bat1 are the same as those when the energy storage element is the inductance L, and therefore will not be described further here.

[0074] In the embodiment of the present application, when the vehicle is in dual motor mode, the stator inductance of one of the motors is used as an energy storage element, and the other motor is used as the vehicle's power source, thereby ensuring the self-heating of the battery during vehicle operation, and using the stator inductance of the existing motor as an energy storage element to realize a design that saves the need for a single energy storage element, and further reducing the circuit configuration design and the costs of the energy storage element.

[0075] According to some embodiments of the present application, optionally, in step S210, controlling the power battery and the power battery in the battery module to charge and discharge each other may specifically include the following steps, as shown in FIG. 6 .

[0076] Step S600: The effective discharge value of the power battery and the effective discharge value of the power supply battery are obtained.

[0077] Step S610: Calculate the power discharge time length corresponding to the power battery and the power supply discharge time length corresponding to the power supply battery based on the power battery discharge effective value and the power supply battery discharge effective value.

[0078] Step S620: When the power battery is discharging, the power battery is controlled to discharge electrical energy for a power discharging time length, and when the power supply battery is discharging, the power supply battery is controlled to discharge electrical energy for a power supply discharging time length.

[0079] In step S600, the discharge effective value indicates the current effective value in the discharge process. As can be seen by referring to FIG. 3, the power battery Bat2 performs mutual charging and discharging with the power supply battery Bat1, and not only generates thermal energy but also provides power to the motor M. Thus, the power battery Bat2 has a large energy loss and a faster heating rate than the power supply battery Bat1. For this reason, it is necessary to control the discharge difference between the power supply battery Bat1 and the power battery Bat2 in order to ensure that the effective values ​​when the power supply battery Bat1 and the power battery Bat2 are self-heating and when they are operating in cooperation with the motor are equal, and to ensure that the heating rates are equal.

[0080] Therefore, in the above embodiment, the present embodiment calculates the discharge time length of each of the power battery and the power supply battery based on the discharge effective values ​​of the power battery and the power supply battery. This allows the power supply battery Bat1 to discharge more energy to the power battery Bat2 than its reverse charging energy, thereby compensating for the energy lost by the power battery Bat2, realizing current equalization of the power supply battery Bat1 and the power battery Bat2, and ensuring equalization of the state of charge (SOC) of the power battery and the power supply battery.

[0081] As one possible embodiment, this aspect may control the discharge time of the power supply battery by calculating the discharge duty ratio of the power supply battery based on the discharge effective values ​​of the power battery and the power supply battery. Specifically, the discharge duty ratio of the power supply battery Bat1 is D=Irms2 / (Irms1+Irms2), where Irms1 is the discharge effective value of the power supply battery, and Irms2 is the discharge effective value of the power battery. Since the discharge effective value of the power battery is relatively large, the discharge duty ratio of the power supply battery Bat1 is relatively large. Specifically, the discharge time of the power supply battery Bat1 is increased by increasing the time when the switch in FIG. 3 is closed when the power supply battery Bat1 is discharged. Thereby, the energy discharged by the power supply battery Bat1 to the power battery Bat2 is made larger than its reverse charging energy, thereby compensating for the energy lost by the power battery Bat2, realizing current equalization of the power supply battery Bat1 and the power battery Bat2, and ensuring SOC equalization of the power battery and the power supply battery.

[0082] The embodiment of the present application controls the discharge time length of the power battery and the power supply battery to make the energy discharged by the power supply battery greater than its reverse charging energy, thereby compensating for the energy lost by the power battery, realizing current equalization between the power supply battery and the power battery, and ensuring SOC equalization between the power battery and the power supply battery, thereby meeting the requirements of different operating conditions during the running and heating process.

[0083] According to some embodiments of the present application, in addition to increasing the discharge time length of the power supply battery as described above, in step S220, the power battery and the power supply battery in the battery module are controlled to charge and discharge each other, as shown in FIG. 7, this embodiment may further achieve current equalization between the power supply battery and the power battery by the following steps.

[0084] Step S700: The motor power supply current and the initial discharge effective value of the power supply battery are obtained.

[0085] Step S710: Calculate the discharge adjustment value of the power supply battery according to the motor power supply current and the initial discharge effective value of the power supply battery.

[0086] Step S720: When the power supply battery is discharging, adjust the discharge current of the power supply battery according to the discharge adjustment value.

[0087] In step S700, the motor power supply current is the motor required current, and this motor required current can be calculated from the motor rotation speed corresponding to the accelerator pedal depressed while the vehicle is running. The initial discharge effective value of the power supply battery is the discharge effective value of the power supply battery in the initial state.

[0088] After obtaining the motor power supply current and the initial discharge effective value of the power supply battery, this embodiment calculates the discharge adjustment value of the power supply battery based on the motor power supply current and the initial discharge effective value of the power supply battery. Specifically, the sum of the motor power supply current and the initial discharge effective value of the power supply battery may be calculated to obtain this discharge adjustment value. This increases the discharge current of the power supply battery to recover energy from the power battery to the motor, realizes current equalization between the power supply battery and the power battery, and ensures SOC equalization between the power battery and the power supply battery.

[0089] Specifically, in order to realize mutual charging and discharging between the power battery and the power supply battery using an inductance as an intermediate element, this embodiment may increase the time that the power supply battery charges the inductance, thereby increasing the current discharged by the inductance and increasing the discharge current when the power supply battery discharges to the power battery.

[0090] In the embodiment of the present application, the energy provided to the motor by the power battery is recovered by adjusting the discharge amount of the power battery, current equalization between the power battery and the power battery is achieved, and SOC equalization between the power battery and the power battery is ensured.

[0091] According to some embodiments of the present application, optionally, after controlling the power battery and the power battery in the battery module to be mutually charged and discharged in step S210, as shown in FIG. 8, the present embodiment may further include the following steps:

[0092] Step S800: When the temperature of the battery module reaches a required temperature, the power battery and the power supply battery in the battery module are controlled to stop charging and discharging.

[0093] In this embodiment, after the battery module is heated by mutual charging and discharging between the power battery and the power supply battery, the embodiment determines whether the temperature of the battery module reaches a temperature requirement. If the temperature requirement is reached, the embodiment can control the power battery and the power supply battery in the battery module to stop mutual charging and discharging, so that the battery module stops heating. Here, the temperature requirement can be set according to the specific usage situation of the battery.

[0094] In this embodiment, the power battery and the power supply battery in the battery module are controlled to stop charging and discharging when the temperature of the battery module reaches the required temperature, thereby eliminating safety concerns caused by the temperature of the battery module continuing to rise.

[0095] According to some embodiments of the present application, optionally, after the battery module stops heating, the present embodiment can further determine the voltage difference between the power supply battery and the power battery to prevent the battery from being damaged due to the voltage difference being too large after the power supply battery and the power battery are connected in parallel. As shown in Figure 9, the following steps may be included:

[0096] Step S900: The voltage difference between the power battery and the power supply battery is within a preset threshold range. do not have In this case, the battery having the higher voltage among the power battery and the power supply battery is controlled to discharge to the battery having the lower voltage among the power battery and the power supply battery.

[0097] Step S910: In the discharging process, if the voltage difference between the power battery and the power supply battery is not within the preset threshold range, the discharging process is Keep it running .

[0098] Step S920: In the discharging process, if the voltage difference between the power battery and the power supply battery is within a preset threshold range, the discharging process is Stop .

[0099] In step S900, there are multiple ways to determine whether the voltage difference between the power battery and the power supply battery is within a preset threshold range. As one possible embodiment, this aspect may obtain the voltage of the power battery and the voltage of the power supply battery, calculate the difference between the voltage of the power battery and the voltage of the power supply battery, obtain the voltage difference between the power battery and the power supply battery, and determine whether the voltage difference is within a preset threshold range.

[0100] As another possible embodiment, for example, a parameter that indirectly reflects the voltage difference may be used for the determination. For example, the SOC difference of a ternary lithium battery can accurately reflect the voltage difference. Therefore, when the power battery and the power supply battery are both ternary lithium batteries, this embodiment may further obtain the SOC of the power battery and the power supply battery, and determine whether the SOC difference between the power battery and the power supply battery is within a preset threshold range.

[0101] If it is determined that the voltage difference between the power battery and the power supply battery is within the preset threshold range, it indicates that the voltage difference between the power battery and the power supply battery meets the requirement, and no damage will be caused to the batteries after parallel connection, and there is no need to perform a subsequent discharge operation.

[0102] If it is determined that the voltage difference is not within the preset threshold range, it indicates that the voltage difference between the power battery and the power supply battery does not meet the requirement. In this case, the battery with the higher voltage among the power battery and the power supply battery is controlled to discharge to the battery with the lower voltage among the power battery and the power supply battery. Assuming that the voltage of the power supply battery is higher than the voltage of the power battery, the power supply battery is controlled to discharge to the energy storage element, and the energy storage element charges the power battery.

[0103] In the above-mentioned discharge process, this embodiment judges in real time whether the voltage difference between the power battery and the power supply battery is within a preset threshold range, and if it is within the preset threshold range, it indicates that the voltage difference between the power battery and the power supply battery meets the requirement, and immediately stops the above-mentioned discharge process, and if it is still not within the preset threshold range, no processing is performed and the above-mentioned discharge process continues to be executed.

[0104] In the embodiment of the present application, after the mutual charging and discharging is completed, the voltage difference between the batteries is further determined, so as to ensure that the voltage difference between the power battery and the power supply battery is within a preset threshold range in the discharging manner, so as to realize the voltage equalization between the power battery and the power supply battery, and further ensure that the batteries are not damaged after the power battery and the power supply battery are connected in parallel.

[0105] According to some embodiments of the present application, optionally, as shown in FIG. 10, after performing step S910 to stop the discharging process, the present embodiment may further perform the following steps.

[0106] Step S1000: When the vehicle motor requests starting, the power battery and the power supply battery are connected in parallel to supply power to the vehicle motor.

[0107] Step S1100: If the vehicle motor does not require starting, the entire vehicle is in standby.

[0108] In the above steps, after equalizing the voltages of the power battery and the power supply battery, this embodiment determines whether or not the vehicle motor requires starting, and if starting is required, controls the power battery and the power supply battery to be connected in parallel to supply power to the vehicle motor, and if starting is not required, the entire vehicle is in standby mode.

[0109] In the event that a start is required, still referring to Fig. 3, this embodiment controls switch K1 to be closed, thereby controlling the power battery Bat2 and the power supply battery Bat1 to be connected in parallel to supply power to the vehicle motor M. This allows the vehicle to run without heating.

[0110] In one possible embodiment, the preset heating condition may be that the battery temperature of the battery module is lower than the preset temperature, that is, in step S110, if the battery temperature of the battery module is lower than the preset temperature, it indicates that the battery parameters of the battery module satisfy the preset heating condition.

[0111] In another possible embodiment, since the battery module consumes the power amount of the battery module during self-heating, in this case, the designed preset heating condition may include that the battery temperature of the battery module is lower than the preset temperature and the power amount of the battery is higher than the preset power amount. That is, in step S110, if the battery temperature is lower than the preset temperature and the power amount is higher than the preset power amount, it indicates that the battery parameters of the battery module satisfy the preset heating condition.

[0112] The embodiment of the present application heats the battery module only when the temperature is lower than the preset temperature and the power of the battery is higher than the preset power, thereby ensuring that there is enough electric energy to maintain the self-heating of the battery, and not incurring the problem of insufficient voltage caused by the power of the battery being too low after self-heating.

[0113] FIG. 11 is a schematic block diagram of a battery heating control device according to the present application. This device corresponds to the method embodiment executed in FIG. 2 to FIG. 10 and can execute the steps of the above-mentioned method. For the specific functions of this device, the above description can be referred to, so that detailed description will be omitted here as appropriate to avoid repetition. This device includes at least one software function module stored in a memory in the form of software or firmware (firmware) or incorporated into the operating system (OS) of the device. Specifically, this device includes a collection module 1100 for collecting battery parameters of the battery module, and a control module 1110 for controlling the power battery and the power supply battery in the battery module to be mutually charged and discharged when the battery parameters of the battery module satisfy a preset heating condition, thereby heating the battery module by mutually charging and discharging the power battery and the power supply battery, and for controlling the power battery in the battery module to supply power to the motor of the vehicle to run the vehicle.

[0114] In the technical solution of the embodiment of the present application, when the battery parameters of the battery module satisfy the preset heating conditions, the present embodiment controls the power battery and the power supply battery in the battery module to charge and discharge each other. Since both the power battery and the power supply battery have internal resistance, the power battery and the power supply battery charge and discharge each other to generate thermal energy in the internal resistance, thereby heating the battery module. In addition, when the battery is heated, the present embodiment allows the vehicle to run by supplying power from the power battery to the motor of the vehicle. That is, the present embodiment realizes self-heating of the battery while the vehicle is running, thereby solving the problem of inconvenience caused by the need to preheat the battery in order to use the vehicle in a low-temperature environment, and not only ensures the safety of the use of the vehicle in a low-temperature environment, but also improves the convenience of the use of the vehicle.

[0115] In some embodiments of the present application, optionally, the control module 1110 is specifically used to control one of the power battery and the power supply battery in the battery module to discharge to an energy storage element and charge the energy storage element, and to control the energy storage element to charge the other of the power battery and the power supply battery.

[0116] In some embodiments of the present application, optionally, the control module 1110 is specifically further used for obtaining the effective discharge value of the power battery and the effective discharge value of the power supply battery, calculating the power discharge time length corresponding to the power battery and the power supply discharge time length corresponding to the power supply battery based on the effective discharge value of the power battery and the effective discharge value of the power supply battery, controlling the power battery to release electrical energy of the power discharge time length when the power battery discharges, and controlling the power supply battery to release electrical energy of the power discharge time length when the power supply battery discharges.

[0117] In some embodiments of the present application, optionally, the control module 1110 is specifically further used for obtaining a motor power supply current and an initial discharge effective value of a power supply battery, calculating a discharge adjustment value of the power supply battery based on the motor power supply current and the initial discharge effective value of the power supply battery, and adjusting the discharge current of the power supply battery based on the discharge adjustment value when the power supply battery discharges.

[0118] In some embodiments of the present application, the control module 1110 is further used to control the power battery and the power battery in the battery module to stop charging and discharging when the temperature of the battery module reaches a temperature requirement.

[0119] In some embodiments of the present application, the control module 1110 is further used to control the battery with a higher voltage among the power battery and the power supply battery to discharge to the battery with a lower voltage among the power battery and the power supply battery when the voltage difference between the power battery and the power supply battery is not within a preset threshold range. The control module 1110 is further used to continue to control the discharge process when it is determined in real time that the voltage difference between the power battery and the power supply battery is not within the preset threshold range, and to stop the discharge process when it is determined in real time that the voltage difference between the power battery and the power supply battery is within the preset threshold range.

[0120] In some embodiments of the present application, the control module 1110 is further used to control the power battery and the power supply battery in the battery module to be connected in reverse series, in which the power battery and the power supply battery in the battery module are connected in parallel under non-heating conditions to power the motor.

[0121] According to some embodiments of the present application, as shown in Fig. 12, the present application provides an electronic device 12 including a processor 1201 and a memory 1202, the processor 1201 and the memory 1202 are connected to each other and communicate with each other by a communication bus 1203 and / or other types of connection mechanism (not shown), the memory 1202 stores a computer program executable by the processor 1201, and when the computing device is operated, the processor 1201 executes the computer program to execute the method executed by the external machine in any of the selectable embodiments, for example, steps S200 to S220. That is, the battery parameters of the battery module are obtained, and when the battery parameters of the battery module satisfy a preset heating condition, the power battery and the power supply battery in the battery module are controlled to be mutually charged and discharged, and the power battery in the battery module is controlled to supply power to the motor of the vehicle.

[0122] The present application provides a computer readable storage medium having stored thereon a computer program which, when executed by a processor, performs the method according to any of the selectable implementations.

[0123] Among them, the storage medium can be realized by any kind of volatile or non-volatile storage device, such as a Static Random Access Memory (SRAM), an Electrically Erasable Programmable Read-Only Memory (EEPROM), an Erasable Programmable Read Only Memory (EPROM), a Programmable Read-Only Memory (PROM), a Read-Only Memory (ROM), a magnetic memory, a flash memory, a magnetic disk, an optical disk, or a combination thereof.

[0124] The present application provides a computer program product which, when run on a computer, causes the computer to carry out the method described in any of the selectable implementations.

[0125] According to some embodiments of the present application, referring to FIG. 13 , FIG. 13 shows a preferred embodiment of the present aspect, in which self-heating of the battery can be performed while the vehicle is running, and current equalization and voltage equalization of the battery can be realized in the self-heating process, which includes the following steps:

[0126] Step S1300: Collect battery parameters of the battery modules.

[0127] Step S1310: If the battery parameters of the battery module satisfy the preset heating conditions, control the power battery and the power supply battery in the battery module to charge and discharge each other based on a current equalization strategy, and control the power battery in the battery module to supply power to the vehicle motor.

[0128] Step S1320: When the temperature of the battery module reaches the required temperature, control the power battery and the power supply battery in the battery module to stop charging and discharging.

[0129] Step S1330: If the voltage difference between the power battery and the power supply battery is not within a preset threshold range, the battery with the higher voltage among the power battery and the power supply battery is controlled to discharge to the battery with the lower voltage among the power battery and the power supply battery.

[0130] Step S1340: During the discharging process, if it is determined in real time that the voltage difference between the power battery and the power supply battery is within the preset threshold range, stop the discharging process and proceed to step S1350.

[0131] Step S1350: When the vehicle motor requests starting, the power battery and the power supply battery are connected in parallel to supply power to the vehicle motor.

[0132] The above process has been described in the above embodiment, so it will not be described further here. Note that the current equalization strategy in step S1320 refers to the above-mentioned method of increasing the discharge time length or increasing the discharge current of the power battery to achieve current equalization between the power battery and the power battery, and will not be described further here.

[0133] Finally, the above-mentioned embodiments are only used to explain the technical solution of the present application, and are not limited thereto. Although the present application has been described in detail with reference to the above-mentioned embodiments, those skilled in the art may still modify the technical solutions described in the above-mentioned embodiments, or replace some or all of the technical features therein with equivalents, and these modifications or replacements do not deviate the essence of the corresponding technical solution from the scope of the technical solution of each embodiment of the present application, and should be included in the scope of the claims and the specification of the present application. In particular, the technical features mentioned in each embodiment may be combined in any manner, as long as there is no contradiction in the configuration. The present application is not limited to the specific embodiments disclosed herein, and includes all technical solutions included within the scope of the claims. [Explanation of symbols]

[0134] The symbols in the description for implementing the invention are as follows. 10: Vehicle 100:Battery 200: Controller 300:Motor Bat1: Power supply battery Bat2: Power battery M: Motor M1: First motor M2: Second motor 1100: Collection module 1110: Judgment module 1120: Control module 12:Electronic equipment 1201: Processor 1202:Memory 1203: Communication bus

Claims

1. collecting battery parameters of the battery module; When the battery parameters of the battery module satisfy a preset heating condition, controlling the power battery and the power supply battery in the battery module to be mutually charged and discharged, thereby heating the battery module by mutually charging and discharging the power battery and the power supply battery; and controlling a power battery in the battery module to supply power to a motor of the vehicle to run the vehicle; The step of controlling the power battery and the power supply battery in the battery module to charge and discharge each other is as follows: Obtaining a motor power supply current and an initial discharge effective value of a power supply battery; calculating a discharge adjustment value of the power supply battery based on the motor power supply current and the initial discharge effective value of the power supply battery; and adjusting a discharge current of the power supply battery based on the discharge adjustment value when the power supply battery discharges.

2. collecting battery parameters of the battery module; When the battery parameters of the battery module satisfy a preset heating condition, controlling the power battery and the power supply battery in the battery module to be mutually charged and discharged, thereby heating the battery module by mutually charging and discharging the power battery and the power supply battery; and controlling a power battery in the battery module to supply power to a motor of the vehicle to run the vehicle; The step of controlling the power battery and the power supply battery in the battery module to charge and discharge each other is as follows: Controlling one of the power battery and the power supply battery in the battery module to discharge to an energy storage element and charge the energy storage element; controlling the energy storage element to charge the other of the power battery and the power supply battery; A battery heating control method, characterized in that the vehicle motor includes a first motor and a second motor, the power battery supplies power to the second motor to run the vehicle, and a stator inductance of the first motor is the energy storage element.

3. The step of controlling the energy storage element to charge the other of the power battery and the power supply battery described above includes:

3. The method of claim 2, further comprising the step of controlling the energy storage element to charge the other of the power battery and the power supply battery after charging of the energy storage element is completed.

4. The step of controlling the power battery and the power supply battery in the battery module to charge and discharge each other is as follows: Obtaining an effective discharge value of the power battery and an effective discharge value of the power supply battery; calculating a power discharge time length corresponding to the power battery and a power supply discharge time length corresponding to the power supply battery based on the discharge effective value of the power battery and the discharge effective value of the power supply battery; controlling the power battery to discharge electrical energy for the power discharging time length when the power battery is discharging; 3. The method according to claim 1, further comprising the step of: controlling the power supply battery to release electrical energy for the power supply discharge time length when the power supply battery is discharged.

5. After the step of controlling the power battery and the power supply battery in the battery module to be mutually charged and discharged, the method further comprises: The method according to claim 1 or 2, further comprising the step of controlling a power battery and a power supply battery in the battery module to stop charging and discharging when the temperature of the battery module reaches a temperature requirement.

6. After the above-mentioned step of controlling the power battery and the power supply battery in the battery module to stop charging and discharging, the method further comprises: When a voltage difference between the power battery and the power supply battery is not within a preset threshold range, controlling the battery having a higher voltage among the power battery and the power supply battery to discharge to the battery having a lower voltage among the power battery and the power supply battery; In the discharging process, when it is determined in real time that the voltage difference between the power battery and the power supply battery is not within a preset threshold range, continuing to execute the discharging process; The method according to claim 5, further comprising: stopping the discharging process when it is determined in real time that the voltage difference between the power battery and the power supply battery is within a preset threshold range during the discharging process.

7. After the step of stopping the discharge process as described above, the method further comprises:

7. The method according to claim 6, further comprising the step of controlling the power battery and the power supply battery to be connected in parallel to supply power to a motor of the vehicle when the motor of the vehicle requests starting.

8. 3. The method according to claim 1 or 2, wherein the battery parameter includes a battery temperature, and the preset heating condition includes a battery temperature of the battery module being lower than a preset temperature.

9. 3. The method according to claim 1 or 2, wherein the battery parameters include a battery temperature and a battery power amount, and the preset heating conditions include a battery temperature of the battery module being lower than a preset temperature and a battery power amount being higher than a preset power amount.

10. Before the step of controlling the power battery and the power supply battery in the battery module to be mutually charged and discharged, the method further comprises:

3. The method according to claim 1 or 2, further comprising the step of controlling the power battery and the power supply battery in the battery module to be connected in reverse series, wherein the power battery and the power supply battery in the battery module are connected in parallel under a non-heating condition to supply power to the motor.

11. a collection module for collecting battery parameters of the battery module; and a control module for acquiring a motor power supply current and an initial discharge effective value of a power supply battery when battery parameters of the battery module satisfy preset heating conditions, calculating a discharge adjustment value of the power supply battery based on the motor power supply current and the initial discharge effective value of the power supply battery, and adjusting the discharge current of the power supply battery based on the discharge adjustment value when the power supply battery discharges, thereby heating the battery module by mutual charging and discharging between a power battery and a power supply battery, and controlling the power battery in the battery module to supply power to a vehicle motor to run the vehicle.

12. a collection module for collecting battery parameters of the battery module; a control module for controlling one of the power battery and the power supply battery in the battery module to discharge to an energy storage element and charge the energy storage element when battery parameters of the battery module satisfy a preset heating condition, and controlling the energy storage element to charge the other of the power battery and the power supply battery, thereby heating the battery module through mutual charging and discharging between the power battery and the power supply battery, and controlling the power battery in the battery module to supply power to a motor of the vehicle to run the vehicle; A battery heating control device characterized in that the vehicle motor includes a first motor and a second motor, the power battery supplies power to the second motor to run the vehicle, and the stator inductance of the first motor is the energy storage element.

13. An electronic device including a memory in which a computer program is stored and a processor, the electronic device realizing the method according to any one of claims 1 to 3 when the processor executes the computer program.

14. A computer-readable storage medium having a computer program stored thereon, the computer program causing a method according to any one of claims 1 to 3 to be implemented when executed by a processor.

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