A control method of a battery heating system of a vehicle, the battery heating system comprising windings of a motor of the vehicle and a control device coupled with the motor, wherein the control method is applied by a current modulation module of the control device, and wherein an inverter is connected to the motor, and wherein the target conduction switch comprises at least one upper bridge-arm switch unit (P21, P23, P25) and at least one lower bridge-arm switch unit (P22, P24, P26), and the at least one upper bridge-arm switch unit (P21, P23, P25) and the at least one lower bridge-arm switch unit (P22, P24, P26) are located on different bridge-arms, the control method comprising: receiving, by a current modulation module, a target modulation signal sent by a parameter determination module of the control device, wherein the target modulation signal is either a first modulation signal or a second modulation signal, wherein the first modulation signal is sent by the parameter determination module when a state of charge, SOC, of a battery of the vehicle that supplies power to the motor is greater than a first SOC threshold, and the second modulation signal is sent by the parameter determination module when the SOC is less than or equal to the first SOC threshold; modulating, by a current modulation module, a first current flowing into windings of the motor from the battery into an alternating current by controlling periodic turn-on and turn-off of a target conduction switch of the inverter of the vehicle in the case that the target modulation signal is the first modulation signal, so as to use heat generated by the alternating current flowing through at least one of the battery and the windings of the motor to heat the battery; and modulating a, by a current modulation module, second current flowing into the windings of the motor from the battery into a direct current by controlling the target conduction switch of the inverter to be continuously in a conduction state in the case that the target modulation signal is the second modulation signal, so as to use heat generated by the direct current flowing through at least one of the battery and the windings of the motor to heat the battery. receiving, by a current modulation module, a target modulation signal sent by a parameter determination module of the control device, wherein the target modulation signal is either a first modulation signal or a second modulation signal, wherein the first modulation signal is sent by the parameter determination module when a state of charge, SOC, of a battery of the vehicle that supplies power to the motor is greater than a first SOC threshold, and the second modulation signal is sent by the parameter determination module when the SOC is less than or equal to the first SOC threshold; modulating, by a current modulation module, a first current flowing into windings of the motor from the battery into an alternating current by controlling periodic turn-on and turn-off of a target conduction switch of the inverter of the vehicle in the case that the target modulation signal is the first modulation signal, so as to use heat generated by the alternating current flowing through at least one of the battery and the windings of the motor to heat the battery; and modulating a, by a current modulation module, second current flowing into the windings of the motor from the battery into a direct current by controlling the target conduction switch of the inverter to be continuously in a conduction state in the case that the target modulation signal is the second modulation signal, so as to use heat generated by the direct current flowing through at least one of the battery and the windings of the motor to heat the battery.