CN102167040B - Vehicle running speed control method and device thereof - Google Patents
Vehicle running speed control method and device thereof Download PDFInfo
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- CN102167040B CN102167040B CN201110085347.7A CN201110085347A CN102167040B CN 102167040 B CN102167040 B CN 102167040B CN 201110085347 A CN201110085347 A CN 201110085347A CN 102167040 B CN102167040 B CN 102167040B
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Abstract
The invention provides a vehicle running speed control method and a device thereof. The method comprises the steps of: obtaining a steering angle of a vehicle steering wheel; judging whether the steering angle of the vehicle steering wheel is within a preset steering range; and controlling a vehicle to run according to a preset speed which corresponds to the steering angle within the preset steering range when the steering angle is arranged within the preset steering angle range. In the embodiment of the invention, the vehicle is controlled to run according to the preset speed within the preset steering range when the steering angle of the vehicle steering wheel is arranged within the preset steering range, so that the vehicle can be accurately and timely controlled to run according to the preset speed on the basis of the steering angle and the road gradient when the vehicle is steered, and the danger when the vehicle steers at a overspeed can be avoided. In the embodiment of the invention, the vehicle running speed control method is simple and easy to realize, and can be effectively avoid the lateral turning or the lateral sliding when the vehicle steers, so that the safety of a driver and the vehicle can be guaranteed.
Description
Technical field
The present invention relates to automobile control technology field, be specifically related to a kind of automobile driving speed control method and device.
Background technology
Vehicle is during in negotiation of bends or at Turning travel, and the whole-control system being arranged on automobile is realized corresponding negotiation of bends or steering operation by controlling the rotational angle of bearing circle.At turning radius or Turning radius, when larger, control bearing circle and turn over larger angle, corresponding, at turning radius or Turning radius hour, control bearing circle and turn over less angle.
In actual driving process, if turning radius or Turning radius are too large, need large-scale steering wheel rotation to obtain larger turning angle of steering wheel, if when vehicle travels with higher moving velocity under larger turning angle of steering wheel, vehicle has the danger that sideslip or rollover occur.Therefore, for reducing vehicle bend, travel because excessive velocities produces sideslip or rollover accident, need to control the negotiation of bends speed of vehicle or Turning travel speed.
In prior art, generally according to the experience of the attribute of bend or steering operation, control Vehicle Driving Cycle under certain speed.Concrete can obtain by vehicle GPS the bend attribute information in the place ahead of travelling, the whole-control system of automobile carries out a large amount of analytical calculations and according to result of calculation, Vehicle Speed is controlled the information of obtaining, its implementation procedure is more loaded down with trivial details, and the status attribute accuracy of obtaining bend by vehicle GPS is lower, and real-time is poor; In addition, by operating experience, turn to and there is larger randomness, the safety traffic in the time of cannot realizing steering operation.
Summary of the invention
The present invention proposes a kind of automobile driving speed control method and device, for solve that prior art vehicle bend travels or during Turning travel car speed control inaccurate, the problem that real-time is poor.
In order to achieve the above object, the present invention proposes a kind of automobile driving speed control method, wherein, comprising:
Obtain the deflection angle of vehicle steering;
Judge that whether the deflection angle of described bearing circle is in default steering range;
At described deflection angle, when presetting steering range, control automobile and travel according to pre-set velocity corresponding to deflection angle in described default steering range.
Preferably, at described deflection angle, when presetting steering range, control automobile and travel and comprise according to pre-set velocity corresponding to deflection angle in described default steering range:
Obtain the road grade of automobile institute travel;
Judge whether road grade is less than gradient threshold value;
When described road grade is less than gradient threshold value, controls automobile and travel according to the First Speed in the first steering range;
When described road grade is more than or equal to gradient threshold value, controls automobile and travel according to the second speed in described the first steering range.
Preferably, also comprise:
First Speed V1 and the second speed V2 of automobile in described the first steering range is set;
Wherein, V1=K1/ α;
V2=K2/ α or V2=R/ β;
K1 is First Speed coefficient, and K2 is second speed coefficient, and R is gradient coefficient, and α is deflection angle, and β is road grade.
Preferably, also comprise:
Third speed V3 and the four-speed degree V4 of automobile in the second steering range is set;
Wherein, V3=K3/ α,
V4=K4/ α or V4=R/ β;
K3 is third speed coefficient, and K4 is the 4th velocity coefficient, and R is gradient coefficient, and α is deflection angle, and β is road grade.
Preferably, also comprise:
Judge that whether the deflection angle of described bearing circle is in the second steering range;
At the deflection angle of described bearing circle, during in the second steering range, judge whether described road grade is less than gradient threshold value;
When described road grade is less than gradient threshold value, controls automobile and travel according to the third speed in described the second steering range;
When described road grade is more than or equal to gradient threshold value, controls automobile and travel according to the four-speed degree in described the second steering range.
The present invention also provides a kind of automobile driving speed control setup, wherein, comprising:
Acquiring unit, for obtaining the deflection angle of vehicle steering;
Judging unit, judges that whether the deflection angle of described bearing circle is in default steering range;
Control unit, for, controlling automobile and travel according to pre-set velocity corresponding to deflection angle in described default steering range during in default steering range at described deflection angle.
Preferably, described acquiring unit is also for obtaining the road grade of automobile institute travel;
Described judging unit is also for judging whether road grade is less than gradient threshold value;
When described road grade is less than gradient threshold value, described control unit is controlled automobile and is travelled according to the First Speed in the first steering range;
When described road grade is more than or equal to gradient threshold value, described control unit is controlled automobile and is travelled according to the second speed in described the first steering range.
Preferably, also comprise:
Setting unit, for arranging First Speed V1 and the second speed V2 of automobile in described the first steering range;
Wherein, V1=K1/ α;
V2=K2/ α or V2=R/ β;
K1 is First Speed coefficient, and K2 is second speed coefficient, and R is gradient coefficient, and α is deflection angle, and β is road grade.
Preferably, described setting unit is also for arranging third speed V3 and the four-speed degree V4 of automobile in the second steering range;
Wherein, V3=K3/ α,
V4=K4/ α or V4=R/ β;
K3 is third speed coefficient, and K4 is the 4th velocity coefficient, and R is gradient coefficient, and α is deflection angle, and β is road grade.
Preferably, described judging unit also for the deflection angle that judges bearing circle whether in the second steering range;
At the deflection angle of described outgoing direction dish, during in the second steering range, described judging unit judges whether described road grade is less than gradient threshold value;
When described road grade is less than gradient threshold value, described control unit is controlled automobile and is travelled according to the third speed in described the second steering range;
When described road grade is more than or equal to gradient threshold value, described control unit is controlled automobile and is travelled according to the four-speed degree in described the second steering range.
Compared with prior art, the present invention has following beneficial effect:
In embodiment provided by the invention, when the deflection angle of vehicle steering is during in default steering range, controlling automobile travels according to the pre-set velocity in default steering range, thereby when motor turning, can precisely and in real time control automobile according to deflection angle and road grade travels according to pre-set velocity, avoid automobile to cause danger when hypervelocity turns to, the control method of the present embodiment automobile driving speed not only simple, be easy to realize, and can effectively prevent that automobile from rollover occurring when turning or break away, and guarantees the safety of chaufeur and automobile.
Accompanying drawing explanation
In order to be illustrated more clearly in the embodiment of the present invention or technical scheme of the prior art, to the accompanying drawing of required use in embodiment or description of the Prior Art be briefly described below, apparently, accompanying drawing in the following describes is only some embodiments of the present invention, for those of ordinary skills, do not paying under the prerequisite of creative work, can also obtain according to these accompanying drawings other accompanying drawing.
Fig. 1 is the diagram of circuit of automobile driving speed control method the first embodiment provided by the invention;
Fig. 2 is the diagram of circuit of automobile driving speed control method the second embodiment provided by the invention;
Fig. 3 is the structural representation of automobile driving speed control setup the first embodiment provided by the invention;
Fig. 4 is the structural representation of automobile driving speed control setup the second embodiment provided by the invention.
The specific embodiment
For making those skilled in the art understand better technical scheme of the present invention, the automobile driving speed control method and the device that the present invention are proposed below in conjunction with accompanying drawing are described in detail.
Fig. 1 is the diagram of circuit of automobile driving speed control method the first embodiment provided by the invention.As shown in Figure 1, the specific works flow process of automobile driving speed control method the first embodiment provided by the invention comprises the steps:
Step 101, obtain the deflection angle of vehicle steering.
When running car runs into turning around a curve, can, by being arranged on the deflection angle of the angular transducer collection bearing circle on bearing circle, after collecting the deflection angle of bearing circle, enter step 102.
Step 102, judge bearing circle deflection angle whether in default steering range.
In the present embodiment, to preset steering range is arranged between 20-900 °, wherein, the deflection angle of direction initialization dish is 900 ° to the maximum, judges that whether the deflection angle of bearing circle is in default steering range, if judgment result is that, be, the deflection angle that is bearing circle is less than 20 °, and automobile is sailed according to the statusline that normally travels, if the determination result is NO, be the deflection angle of bearing circle between default steering range 20-900 °, enter step 103.
Step 103, control automobile travel according to pre-set velocity corresponding to deflection angle in default steering range.
Setting the automobile pre-set velocity that motor turning travels in default steering range is V, pre-set velocity V as shown in formula (1),
V＝K/α (1)
Wherein, the deflection angle that α is bearing circle, K is pre-set velocity coefficient.
In the present embodiment, pre-set velocity COEFFICIENT K can be set as to 200, for example, when deflection angle α is 50 °, the pre-set velocity V of automobile is:
V＝200/50°＝4(km/h)。
Calculate after the pre-set velocity of automobile, adjust in real time the moving velocity of automobile, make automobile according to pre-set velocity, carry out Turning travel within the scope of default deflection angle, safety when guaranteeing that motor turning travels, if the moving velocity of automobile surpasses pre-set velocity in the time of within the scope of default deflection angle, can remind chaufeur now to exceed the speed limit so that chaufeur reduces moving velocity in time by sound or image display, the speed in the time of also can making running car by the moving velocity of whole-control system ACTIVE CONTROL automobile be less than or equal to pre-set velocity.
In the present embodiment, when the deflection angle of vehicle steering is during in default steering range, controlling automobile travels according to the pre-set velocity in default steering range, thereby when motor turning, can precisely and in real time control automobile according to deflection angle and road grade travels according to pre-set velocity, avoid automobile to cause danger when hypervelocity turns to, the control method of the present embodiment automobile driving speed not only simple, be easy to realize, and can effectively prevent that automobile from rollover occurring when turning or break away, and guarantees the safety of chaufeur and automobile.
Fig. 2 is the diagram of circuit of automobile driving speed control method the second embodiment provided by the invention.As shown in Figure 2, the specific works flow process of the present embodiment automobile driving speed control method comprises the steps:
In the present embodiment, the default steering range of bearing circle is set as to the first steering range and the second steering range, by dividing two or more deflection angle scopes, moving velocity while more accurately controlling motor turning according to the residing deflection angle scope of the deflection angle of bearing circle, thereby can make automobile driving speed neither can significantly frequently be reduced because turning to, guarantee conveying efficiency, the driving safety in the time of motor turning can being guaranteed again, assurance chaufeur and passenger's safety.In the present embodiment, by the high sensor of axle, gather road grade, speed while then suitably adjusting motor turning according to the gradient of running car road, when road grade is less than gradient threshold value, illustrate that now the road of running car is milder, can travel according to normal condition, when if road grade is more than or equal to gradient threshold value, illustrate that now automobile up slope travels or descent run, because more easily turn on one's side when automobile up slope or descending Turning travel, the moving velocity while at this moment needing further to reduce motor turning.In actual applications, the first steering range can be set between 30-90 °, the second steering range is set between 90-900 °, 900 ° of steering locking angles that are bearing circle, meanwhile, by 10 ° of the gradient Thresholds of road.
The First Speed V1 that direction initialization dish deflection angle motor turning in the first steering range time travels as shown in formula (2),
V1＝K1/α (2)
Wherein, the deflection angle that α is bearing circle, K1 is First Speed coefficient.
Second speed V2 that turning angle of steering wheel motor turning in the first steering range time travels is set as shown in formula (3),
V2=K2/ α or V2=R/ β (3)
Wherein, K2 is second speed coefficient, and R is gradient coefficient, and α is deflection angle, and β is road grade.
Second speed V2 can value K2/ α, also can value R/ β, and generally, second speed V2 gets little one of numerical value in K2/ α and R/ β, so that automobile can guaranteed Turning travel safe in the situation that.
In the present embodiment, the second Proportional coefficient K 2 can be set as to 150, for example, when deflection angle α is 50 °, the second speed V2 of automobile is:
V2＝150/50°＝3(km/h)。
Calculate after the second speed of automobile, adjust in real time the moving velocity of automobile, make automobile according to second speed, carry out Turning travel within the scope of the first deflection angle, to guarantee the safety of automobile when the Turning travel, if the moving velocity of automobile surpasses second speed in the time of within the scope of the first deflection angle, can remind chaufeur now to exceed the speed limit so that chaufeur reduces moving velocity in time, speed when moving velocity that also can ACTIVE CONTROL automobile makes running car is less than or equal to second speed.
In the present embodiment, third speed V3 and the four-speed degree V4 of turning angle of steering wheel automobile when the second steering range also will be set, third speed V3 and four-speed degree V4 are respectively as shown in formula (4) and formula (5)
V3＝K3/α (4)
V4=K4/ α or V4=R/ β (5)
Wherein, K3 is third speed coefficient, and K4 is the 4th velocity coefficient, and R is gradient coefficient, and α is deflection angle, and β is road grade.
Four-speed degree V4 can value K4/ α, also can value R/ β, and generally, four-speed degree V4 gets little one of numerical value in K4/ α and R/ β, so that automobile can guaranteed Turning travel safe in the situation that.
In the present embodiment, the numerical value of K1, K2, K3 and K4 of take is respectively 300,200,150 and 100 and introduces technical scheme as example, wherein, K1 > K2 is set and K3 > K4 is set, object is that automobile will further reduce turning velocity when upward slope or descending, prevent automobile quick steering and occur to break away or rollover on ramp, to guarantee the driving safety of automobile.
Deflection angle and the road grade of step 202, collection bearing circle.
In this step, by steering wheel angle sensor, gather the deflection angle α of bearing circle and the road grade β that gathers running car road by the high sensor of axle, during minimum value in deflection angle α is less than the first steering range, automobile travels according to normal condition, during minimum value in deflection angle α is more than or equal to the first steering range, deflection angle α is described in the first steering range or the second steering range, enters step 203.
In this step, judging whether road grade is less than gradient threshold value, is that road grade is less than gradient threshold value, illustrates that automobile travels on mild road, enters step 204 if judgment result is that; If the determination result is NO, road grade is more than or equal to gradient threshold value, illustrates that automobile up slope travels or descent run, enters step 205.
In this step, in the situation that road grade is less than 10 ° of gradient threshold values, if the deflection angle of vehicle steering is in the first steering range, according to formula (2), calculate the First Speed V1 in the first steering range, for example K1 is 300, deflection angle is while being 50 °, according to formula (2), calculating First Speed V1 is 6km/h, then controls automobile according to the speed Turning travel of 6km/h; If turning angle of steering wheel is in the second steering range, according to formula (4), calculate the third speed V3 in the 3rd steering range, for example K3 is 150, deflection angle is while being 50 °, according to formula (4), calculating third speed V3 is 3km/h, then controls automobile according to the speed Turning travel of 3km/h.
In this step, when road grade is more than or equal to 10 ° of gradient threshold values, if the deflection angle of vehicle steering is in the first steering range, according to formula (3), calculate the second speed V2 of automobile in the first steering range, for example, K2 is 200, deflection angle is while being 50 °, and according to formula (3), calculating second speed V2 is 4km/h, then controls automobile according to the speed Turning travel of 4km/h; If the deflection angle of vehicle steering is in the second steering range, according to formula (5), calculate the four-speed degree V4 in the second steering range, for example, K4 is 100, deflection angle is while being 50 °, according to formula (5), calculating First Speed V4 is 2.5km/h, then controls automobile according to the speed Turning travel of 2.5km/h.
In the present embodiment, if road grade is less than gradient threshold value, according to the size of turning angle of steering wheel, controls automobile and travel according to the First Speed in the first steering range, or control automobile and travel according to the third speed in the second steering range; If road grade is more than or equal to gradient threshold value, according to the size of turning angle of steering wheel, controlling automobile travels according to the second speed in the first steering range or controls automobile and travel according to the four-speed degree in the second steering range, thereby the Turning travel speed of automobile precisely and is in real time controlled in realization according to turning angle of steering wheel and road grade, effectively to prevent that automobile from rollover occurring when turning or break away, guarantee the safety of chaufeur and automobile, and the control method of automobile driving speed is simple and be easy to realize.
Fig. 3 is the structural representation of automobile driving speed control setup the first embodiment provided by the invention.As shown in Figure 3, the present embodiment automobile driving speed control setup comprises: acquiring unit 301, judging unit 302 and control unit 303, acquiring unit 301 is for obtaining the deflection angle of vehicle steering, judging unit 302 is for judging that whether turning angle of steering wheel is in the first steering range, control unit 303 is for, controlling automobile and travel according to the pre-set velocity in the first steering range during in the first steering range at turning angle of steering wheel.
In the present embodiment, when the deflection angle of vehicle steering is during in the first steering range, control unit is controlled automobile and is travelled according to the pre-set velocity in the first steering range, thereby making control unit precisely and in real time control automobile according to the size of turning angle of steering wheel travels according to pre-set velocity, effectively prevent that automobile from rollover occurring when turning or break away, and the control method of the present embodiment automobile driving speed is simple, be easy to realize, guaranteed the safety of chaufeur and automobile.
Fig. 4 is the structural representation of automobile driving speed control setup the second embodiment provided by the invention.As shown in Figure 4, on the basis shown in Fig. 3, the present embodiment automobile driving speed control setup also comprises setting unit 304, wherein, acquiring unit 301 is also for obtaining the road grade of automobile institute travel, setting unit 304 is for arranging First Speed V1 and the second speed V2 of automobile in the first steering range, and wherein, First Speed V1 and second speed V2 are respectively as shown in formula (2) and formula (3); Further, setting unit 304 is also for arranging third speed V3 and the four-speed degree V4 of automobile in the second steering range, and wherein, third speed V3 and four-speed degree V4 are respectively as shown in formula (4) and formula (4).
In the present embodiment, by setting unit 304, the scope of the deflection angle of bearing circle is arranged to the first steering range and the second steering range, by judging unit 302, judge that whether deflection angle is in the first steering range or no in the second steering range, when the deflection angle of bearing circle is in the first steering range, judging unit 302 continues to judge whether road grade is less than gradient threshold value, when road grade is less than gradient threshold value, control unit 303 is controlled automobile and is travelled according to the First Speed in the first steering range, when road grade is more than or equal to gradient threshold value, control unit is controlled 303 automobiles and is travelled according to the second speed in the first steering range, when the deflection angle of bearing circle is when second turns to threshold range, judging unit 302 judges whether road grade is less than gradient threshold value, when judging unit 302 judgement road grades are less than gradient threshold value, control unit 303 is controlled automobile and is travelled according to the third speed in the second steering range, when judging unit 302 judgement road grades are more than or equal to gradient threshold value, control unit 303 is controlled automobile and is travelled according to the four-speed degree in the second steering range.
In actual applications, the function of the present embodiment automobile driving speed control setup can be carried out by whole-control system, and wherein, acquiring unit 301 is connected with the angular transducer on bearing circle with the high sensor of axle respectively.When turning angle of steering wheel is not in the first steering range or the second steering range, also can directly obtain road grade, when road grade is more than or equal to gradient threshold value, moving velocity in the time of can calculating motor turning according to the V2=R/ β in formula (3), then controls automobile and travels according to above-mentioned moving velocity.
In the present embodiment, if judging unit judgement road grade is less than gradient threshold value, control unit travels according to the First Speed in the first steering range according to turning angle of steering wheel control automobile, or controls automobile and travel according to the third speed in the second steering range; If road grade is more than or equal to gradient threshold value, control unit travels according to the second speed in the first steering range according to turning angle of steering wheel control automobile, or control automobile and travel according to the four-speed degree in the second steering range, thereby make control unit realize and precisely and in real time to control automobile and travel according to different speed according to turning angle of steering wheel and road grade, not only the control method simple and fast of automobile driving speed, be easy to realize, and can effectively prevent that automobile from rollover occurring when turning or break away, and guarantees the safety of chaufeur and automobile.
The foregoing is only preferred embodiment of the present invention, in order to limit the present invention, within the spirit and principles in the present invention not all, any modification of doing, be equal to replacement, improvement etc., within all should being included in protection scope of the present invention.
Claims (8)
1. an automobile driving speed control method, is characterized in that, comprising:
Obtain the deflection angle of vehicle steering;
Judge that whether the deflection angle of described bearing circle is in default steering range;
At described deflection angle, when presetting steering range, control automobile and travel according to pre-set velocity corresponding to deflection angle in described default steering range;
At described deflection angle, when presetting steering range, control automobile and travel and comprise according to pre-set velocity corresponding to deflection angle in described default steering range:
Obtain the road grade of automobile institute travel;
Judge whether road grade is less than gradient threshold value;
When described road grade is less than gradient threshold value, controls automobile and travel according to the First Speed in the first steering range;
When described road grade is more than or equal to gradient threshold value, controls automobile and travel according to the second speed in described the first steering range.
2. automobile driving speed control method as claimed in claim 1, is characterized in that, also comprises:
First Speed V1 and the second speed V2 of automobile in described the first steering range is set;
Wherein, V1=K1/ α;
V2=K2/ α or V2=R/ β;
K1 is First Speed coefficient, and K2 is second speed coefficient, and R is gradient coefficient, and α is deflection angle, and β is road grade.
3. automobile driving speed control method as claimed in claim 2, is characterized in that, also comprises:
Third speed V3 and the four-speed degree V4 of automobile in the second steering range is set;
Wherein, V3=K3/ α,
V4=K4/ α or V4=R/ β;
K3 is third speed coefficient, and K4 is the 4th velocity coefficient, and R is gradient coefficient, and α is deflection angle, and β is road grade.
4. automobile driving speed control method as claimed in claim 3, is characterized in that, also comprises:
Judge that whether the deflection angle of described bearing circle is in the second steering range;
At the deflection angle of described bearing circle, during in the second steering range, judge whether described road grade is less than gradient threshold value;
When described road grade is less than gradient threshold value, controls automobile and travel according to the third speed in described the second steering range;
When described road grade is more than or equal to gradient threshold value, controls automobile and travel according to the four-speed degree in described the second steering range.
5. an automobile driving speed control setup, is characterized in that, comprising:
Acquiring unit, for obtaining the deflection angle of vehicle steering;
Judging unit, judges that whether the deflection angle of described bearing circle is in default steering range;
Control unit, for, controlling automobile and travel according to pre-set velocity corresponding to deflection angle in described default steering range during in default steering range at described deflection angle;
Described acquiring unit is also for obtaining the road grade of automobile institute travel;
Described judging unit is also for judging whether road grade is less than gradient threshold value;
When described road grade is less than gradient threshold value, described control unit is controlled automobile and is travelled according to the First Speed in the first steering range;
When described road grade is more than or equal to gradient threshold value, described control unit is controlled automobile and is travelled according to the second speed in described the first steering range.
6. automobile driving speed control setup as claimed in claim 5, is characterized in that, also comprises:
Setting unit, for arranging First Speed V1 and the second speed V2 of automobile in described the first steering range;
Wherein, V1=K1/ α;
V2=K2/ α or V2=R/ β;
K1 is First Speed coefficient, and K2 is second speed coefficient, and R is gradient coefficient, and α is deflection angle, and β is road grade.
7. automobile driving speed control setup as claimed in claim 6, is characterized in that,
Described setting unit is also for arranging third speed V3 and the four-speed degree V4 of automobile in the second steering range;
Wherein, V3=K3/ α,
V4=K4/ α or V4=R/ β;
K3 is third speed coefficient, and K4 is the 4th velocity coefficient, and R is gradient coefficient, and α is deflection angle, and β is road grade.
8. automobile driving speed control setup as claimed in claim 7, is characterized in that,
Described judging unit also for the deflection angle that judges bearing circle whether in the second steering range;
At the deflection angle of described bearing circle, during in the second steering range, described judging unit judges whether described road grade is less than gradient threshold value;
When described road grade is less than gradient threshold value, described control unit is controlled automobile and is travelled according to the third speed in described the second steering range;
When described road grade is more than or equal to gradient threshold value, described control unit is controlled automobile and is travelled according to the four-speed degree in described the second steering range.
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| Application Number | Priority Date | Filing Date | Title |
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| CN201110085347.7A CN102167040B (en) | 2011-03-29 | 2011-03-29 | Vehicle running speed control method and device thereof |
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| CN201110085347.7A CN102167040B (en) | 2011-03-29 | 2011-03-29 | Vehicle running speed control method and device thereof |
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| CN112428989B (en) * | 2020-10-30 | 2022-03-11 | 惠州华阳通用电子有限公司 | Vehicle control method |
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