In view of the rapid deterioration of the charging and discharging performance of lithium battery at low temperature environment, based on the analysis of the equivalent circuit model and temperature rise model of the battery, the internal resistance thermal heating battery produced by low temperature discharge is introduced. Taking the time and capacity decay of the heating process as the optimization goal, a dynamic programming algorithm is used to solve the objective function. Through simulation analysis, the validity and flexibility of the heating method are verified. The simulation results show that the proposed heating method has certain advantages and can meet the requirements of lithium batteries in low temperature environments. This study provides a reference for the development of low temperature heating methods of lithium batteries in China.