A battery pack heating system includes: a main positive switch, a main negative switch, an inverter, an external port, a motor, a control module for auxiliary charging branch, a vehicle control unit, a motor control unit, and a battery management module. The battery management module is configured to send, when an acquired state parameter of the battery pack meets a preset low-temperature-low-power condition, a low-temperature-low-power heating request instruction to the vehicle control unit and the control module respectively. The control module is configured to send a first control signal to control the auxiliary charging branch to be connected. The vehicle control unit is configured to send a second control signal to enable the motor control unit to control on-off of the switch modules in the inverter, and a third control signal to enable the battery management module to control on-off of the main positive switch.