CN102167040A - Vehicle running speed control method and device thereof - Google Patents
Vehicle running speed control method and device thereof Download PDFInfo
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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 in negotiation of bends or turning to when travelling, and the whole-control system that is installed on the automobile is realized corresponding negotiation of bends or steering operation by the rotational angle of control bearing circle.When turning radius or Turning radius were big, the control bearing circle turns over bigger angle, and was corresponding, and at turning radius or Turning radius hour, the control bearing circle turns over less angle.
In actual driving process, if turning radius or Turning radius are too big, need large-scale steering wheel rotation obtaining bigger turning angle of steering wheel, if when vehicle travels with higher moving velocity under bigger turning angle of steering wheel, vehicle has and takes place to break away or the danger of rollover.Therefore, travel and break away or the rollover accident, need or turn to moving velocity to control the negotiation of bends speed of vehicle because of excessive velocities produces for reducing vehicle bend.
In the prior art, generally travel under certain speed according to the attribute of bend or the experience control vehicle of steering operation.Concrete can obtain the bend attribute information in the place ahead of travelling by the vehicle GPS system, the whole-control system of automobile carries out a large amount of analytical calculations to the information of obtaining and according to result of calculation Vehicle Speed is controlled, its implementation procedure is more loaded down with trivial details, and the status attribute accuracy of obtaining bend by the vehicle GPS system is lower, and real-time is relatively poor; In addition, turn to by operating experience and have bigger randomness, the safety traffic in the time of can't realizing steering operation.
Summary of the invention
The present invention proposes a kind of automobile driving speed control method and device, be used for solving the prior art vehicle bend and travel or turn to when travelling car speed control inaccurate, the problem that real-time is relatively 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;
Whether the deflection angle of judging described bearing circle is in default steering range;
When described deflection angle was in default deflection angle scope, Control of Automobile was travelled according to deflection angle corresponding preset speed in the described default steering range.
Preferably, when described deflection angle was in default deflection angle scope, Control of Automobile was travelled according to deflection angle corresponding preset speed in the described default steering range and is comprised:
Obtain the road grade of automobile institute travel;
Judge that whether road grade is less than gradient threshold value;
During less than gradient threshold value, Control of Automobile is travelled according to first speed in described first steering range in described road grade;
During more than or equal to gradient threshold value, Control of Automobile is travelled according to the second speed in described first steering range in described road grade.
Preferably, also comprise:
First speed V1 and the second speed V2 of automobile in described first steering range is set;
Wherein, V1=K1/ α;
V2=K2/ α or V2=R/ β;
K1 is first velocity coefficient, and K2 is the second speed coefficient, and R is a gradient coefficient, and α is a deflection angle, and β is a road grade.
Preferably, also comprise:
Third speed V3 and the four speed V4 of automobile in second steering range is set;
Wherein, V3=K3/ α,
V4=K4/ α or V4=R/ β;
K3 is the third speed coefficient, and K4 is the 4th velocity coefficient, and R is a gradient coefficient, and α is a deflection angle, and β is a road grade.
Preferably, also comprise:
Whether the deflection angle of judging described bearing circle is in second turns to threshold range;
Be in second when turning to threshold range at the deflection angle of described bearing circle, judge that whether described road grade is less than gradient threshold value;
During less than gradient threshold value, Control of Automobile is travelled according to the third speed in described second steering range in described road grade;
During more than or equal to gradient threshold value, Control of Automobile is travelled according to the 4th speed in described second steering range in described road grade.
The present invention also provides a kind of automobile driving speed control setup, wherein, comprising:
Acquiring unit is used to obtain the deflection angle of vehicle steering;
Judging unit judges whether the deflection angle of described bearing circle is in default steering range;
Control unit is used for when described deflection angle is in default deflection angle scope, and Control of Automobile is travelled according to deflection angle corresponding preset speed in the described default steering range.
Preferably, described acquiring unit also is used to obtain the road grade of automobile institute travel;
Described judging unit is used to also judge that whether road grade is less than gradient threshold value;
During less than gradient threshold value, described control unit Control of Automobile is travelled according to first speed in described first steering range in described road grade;
During more than or equal to gradient threshold value, described control unit Control of Automobile is travelled according to the second speed in described first steering range in described road grade.
Preferably, also comprise:
The unit is set, is used to be provided with first speed V1 and the second speed V2 of automobile in described first steering range;
Wherein, V1=K1/ α;
V2=K2/ α or V2=R/ β;
K1 is first velocity coefficient, and K2 is the second speed coefficient, and R is a gradient coefficient, and α is a deflection angle, and β is a road grade.
Preferably, the described unit that is provided with also is used to be provided with third speed V3 and the four speed V4 of automobile in second steering range;
Wherein, V3=K3/ α,
V4=K4/ α or V4=R/ β;
K3 is the third speed coefficient, and K4 is the 4th velocity coefficient, and R is a gradient coefficient, and α is a deflection angle, and β is a road grade.
Preferably, described judging unit is used to also judge whether the deflection angle of bearing circle is in second steering range;
Be in second when turning to threshold range at the deflection angle of described outgoing direction dish, whether the described road grade of described judgment unit judges is less than gradient threshold value;
During less than gradient threshold value, described control unit Control of Automobile is travelled according to the third speed in described second steering range in described road grade;
During more than or equal to gradient threshold value, described control unit Control of Automobile is travelled according to the 4th speed in described second steering range in described road grade.
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 in default steering range, then Control of Automobile is travelled according to the pre-set velocity in the default steering range, thereby when motor turning can according to deflection angle and road grade precisely and in real time Control of Automobile travel according to pre-set velocity, avoid automobile when hypervelocity turns to, to cause danger, the control method of present embodiment automobile driving speed is not only simple, be easy to realize, and can prevent effectively that automobile from rollover or sideslip being taken place, and guarantee the safety of chaufeur and automobile when turning.
Description of drawings
In order to be illustrated more clearly in the embodiment of the invention or technical scheme of the prior art, to do to introduce simply to the accompanying drawing of required use in embodiment or the description of the Prior Art below, apparently, accompanying drawing in describing below only is some embodiments of the present invention, for those of ordinary skills, under the prerequisite of not paying creative work, can also obtain other accompanying drawing according to these accompanying drawings.
Fig. 1 is the diagram of circuit of automobile driving speed control method first embodiment provided by the invention;
Fig. 2 is the diagram of circuit of automobile driving speed control method second embodiment provided by the invention;
Fig. 3 is the structural representation of automobile driving speed control setup first embodiment provided by the invention;
Fig. 4 is the structural representation of automobile driving speed control setup second embodiment provided by the invention.
The specific embodiment
For making those skilled in the art understand technical scheme of the present invention better, automobile driving speed control method and the device that the present invention proposes is described in detail below in conjunction with accompanying drawing.
Fig. 1 is the diagram of circuit of automobile driving speed control method first embodiment provided by the invention.As shown in Figure 1, the concrete workflow of automobile driving speed control method first embodiment provided by the invention comprises the steps:
When running car runs into turning around a curve, can collect after the deflection angle of bearing circle by being installed in the deflection angle of the angular transducer collection bearing circle on the bearing circle, enter step 102.
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 whether the deflection angle of bearing circle is in default steering range, if judged result is for being, the deflection angle that is bearing circle is less than 20 °, and then automobile travels according to the cruising state and gets final product, if judged result is for denying, the deflection angle that is bearing circle is between default steering range 20-900 °, then enters step 103.
Setting the automobile pre-set velocity that motor turning travels in default steering range is V, pre-set velocity V as shown in Equation (1),
V＝K/α (1)
Wherein, α is the deflection angle of bearing circle, and K is the pre-set velocity coefficient.
In the present embodiment, the pre-set velocity COEFFICIENT K can be set at 200, for example, when deflection angle α was 50 °, the pre-set velocity V of automobile was:
V＝200/50°＝4(km/h)。
After calculating the pre-set velocity of automobile, adjust the moving velocity of automobile in real time, automobile is turned to according to pre-set velocity in default deflection angle scope to travel, safety when guaranteeing that motor turning travels, if the moving velocity of automobile surpasses pre-set velocity in the time of in default deflection angle scope, can remind chaufeur to exceed the speed limit so that chaufeur in time reduces moving velocity this moment 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 in default steering range, then Control of Automobile is travelled according to the pre-set velocity in the default steering range, thereby when motor turning can according to deflection angle and road grade precisely and in real time Control of Automobile travel according to pre-set velocity, avoid automobile when hypervelocity turns to, to cause danger, the control method of present embodiment automobile driving speed is not only simple, be easy to realize, and can prevent effectively that automobile from rollover or sideslip being taken place, and guarantee the safety of chaufeur and automobile when turning.
Fig. 2 is the diagram of circuit of automobile driving speed control method second embodiment provided by the invention.As shown in Figure 2, the concrete workflow of present embodiment automobile driving speed control method comprises the steps:
In the present embodiment, the default steering range of bearing circle is set at first steering range and second steering range, by dividing two or more deflection angle scopes, moving velocity when more accurately Control of Automobile turns to according to the residing deflection angle scope of the deflection angle of bearing circle, thereby automobile driving speed neither can significantly frequently be reduced because of 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 acquisition road grade of axle, speed when suitably adjusting motor turning according to the gradient of running car road then, when the road gradient during less than gradient threshold value, the road that running car this moment is described is milder, can travel according to normal condition, if road grade is during more than or equal to gradient threshold value, automobile up-hill journey or descent run at this moment are described, because automobile goes up a slope or descending turns to easier rollover the when travelling, the moving velocity when at this moment needing further to reduce motor turning.In actual applications, first steering range can be set between 30-90 °, second steering range is set between 90-900 °, 900 ° is the steering locking angle of bearing circle, simultaneously, and with 10 ° of the gradient threshold settings of road.
The first speed V1 that motor turning travelled when direction initialization dish deflection angle was in first steering range as shown in Equation (2),
V1＝K1/α (2)
Wherein, α is the deflection angle of bearing circle, and K1 is first velocity coefficient.
The second speed V2 that motor turning travels when turning angle of steering wheel being set being in first steering range as shown in Equation (3),
V2=K2/ α or V2=R/ β (3)
Wherein, K2 is the second speed coefficient, and R is a gradient coefficient, and α is a deflection angle, and β is a 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 among K2/ α and the R/ β, so that automobile can travel guaranteeing to turn under the safe situation.
In the present embodiment, the second proportionality coefficient K2 can be set at 150, for example, when deflection angle α was 50 °, the second speed V2 of automobile was:
V2＝150/50°＝3(km/h)。
After calculating the second speed of automobile, adjust the moving velocity of automobile in real time, automobile is turned to according to second speed in the first deflection angle scope to travel, to guarantee that automobile is in the safety that turns to when travelling, if the moving velocity of automobile surpasses second speed in the time of in the first deflection angle scope, can remind chaufeur this moment to exceed the speed limit so that chaufeur in time reduces moving velocity, the speed when moving velocity that also can the ACTIVE CONTROL automobile makes running car is less than or equal to second speed.
In the present embodiment, the third speed V3 and the 4th speed V4 of automobile in the time of turning angle of steering wheel also will be set be in second steering range, third speed V3 and the 4th speed V4 are respectively shown in formula (4) and formula (5)
V3＝K3/α (4)
V4=K4/ α or V4=R/ β (5)
Wherein, K3 is the third speed coefficient, and K4 is the 4th velocity coefficient, and R is a gradient coefficient, and α is a deflection angle, and β is a road grade.
The 4th speed V4 can value K4/ α, also can value R/ β, and generally, the 4th speed V4 gets little one of numerical value among K4/ α and the R/ β, so that automobile can travel guaranteeing to turn under the safe situation.
In the present embodiment, being respectively 300,200,150 and 100 with the numerical value of K1, K2, K3 and K4 is that example is introduced technical scheme, wherein, K1＞K2 is set and K3＞K4 is set, purpose is that automobile will further reduce turning velocity when upward slope or descending, prevent automobile quick steering and take place to break away or rollover on the ramp, to guarantee the driving safety of automobile.
In this step, direction of passage dish angular transducer is gathered the deflection angle α of bearing circle and the road grade β that passes through the high sensor acquisition running car road of axle, as deflection angle α during less than the minimum value in first steering range, automobile travels according to normal condition, as deflection angle α during more than or equal to the minimum value in first steering range, illustrate that deflection angle α is in first steering range or second steering range, then enters step 203.
In this step, whether judge road grade, if judged result is for being that promptly road grade illustrates that less than the gradient threshold value automobile in mild travels down, then enters step 204 less than gradient threshold value; If judged result is that promptly road grade does not illustrate automobile up-hill journey or descent run more than or equal to gradient threshold value, then enters step 205.
In this step, under the situation of road grade less than 10 ° of gradient threshold values, if the deflection angle of vehicle steering is in first steering range, then calculate the first interior speed V1 of first steering range according to formula (2), for example K1 be 300, when deflection angle is 50 °, calculating the first speed V1 according to formula (2) is 6km/h, and Control of Automobile turns to according to the speed of 6km/h and travels then; If turning angle of steering wheel is in second steering range, then calculate the interior third speed V3 of the 3rd steering range according to formula (4), for example K3 be 150, when deflection angle is 50 °, calculating third speed V3 according to formula (4) is 3km/h, and Control of Automobile turns to according to the speed of 3km/h and travels then.
In this step, when the road gradient during more than or equal to 10 ° of gradient threshold values, if the deflection angle of vehicle steering is in first steering range, then calculate the second speed V2 of automobile in first steering range according to formula (3), for example, K2 is 200, when deflection angle is 50 °, calculating second speed V2 according to formula (3) is 4km/h, Control of Automobile turns to according to the speed of 4km/h and travels then; If the deflection angle of vehicle steering is in second steering range, then calculate the 4th interior speed V4 of second steering range according to formula (5), for example, K4 is 100, when deflection angle is 50 °, calculating the first speed V4 according to formula (5) is 2.5km/h, and Control of Automobile turns to according to the speed of 2.5km/h and travels then.
In the present embodiment, if road grade less than gradient threshold value, is then travelled according to first speed in first steering range according to the big or small Control of Automobile of turning angle of steering wheel, perhaps Control of Automobile is travelled according to the third speed in second steering range; If road grade is more than or equal to gradient threshold value, then travel according to the second speed in first steering range or Control of Automobile is travelled according to the 4th speed in second steering range according to the big or small Control of Automobile of turning angle of steering wheel, thereby realize according to turning angle of steering wheel and road grade precisely and in real time Control of Automobile turn to moving velocity, to prevent that effectively automobile from rollover or sideslip being taken place when turning, 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 first embodiment provided by the invention.As shown in Figure 3, present embodiment automobile driving speed control setup comprises: acquiring unit 301, judging unit 302 and control unit 303, acquiring unit 301 is used to obtain the deflection angle of vehicle steering, judging unit 302 is used to judge whether turning angle of steering wheel is in first steering range, control unit 303 is used for when turning angle of steering wheel is in first steering range, and Control of Automobile is travelled according to the pre-set velocity in first steering range.
In the present embodiment, when the deflection angle of vehicle steering is in first steering range, the control unit Control of Automobile is travelled according to the pre-set velocity in first steering range, thereby make control unit can according to the size of turning angle of steering wheel precisely and in real time Control of Automobile travel according to pre-set velocity, prevent that effectively automobile from rollover or sideslip being taken place when turning, and the control method of 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 second embodiment provided by the invention.As shown in Figure 4, on basis shown in Figure 3, present embodiment automobile driving speed control setup also comprises unit 304 is set, wherein, acquiring unit 301 also is used to obtain the road grade of automobile institute travel, unit 304 is set is used to be provided with first speed V1 and the second speed V2 of automobile in first steering range, wherein, the first speed V1 and second speed V2 are respectively shown in formula (2) and formula (3); Further, unit 304 is set also is used to be provided with third speed V3 and the four speed V4 of automobile in second steering range, wherein, third speed V3 and the 4th speed V4 are respectively shown in formula (4) and formula (4).
In the present embodiment, by unit 304 is set the scope of the deflection angle of bearing circle is arranged to first steering range and second steering range, judge by judging unit 302 whether deflection angle is in first steering range or is not in second steering range, when the deflection angle of bearing circle is in first steering range, judging unit 302 continues to judge that whether road grade is less than gradient threshold value, in road grade during less than gradient threshold value, control unit 303 Control of Automobile are travelled according to first speed in first steering range, during more than or equal to gradient threshold value, control unit is controlled 303 automobiles and is travelled according to the second speed in first steering range in road grade; When the deflection angle of bearing circle is in second when turning to threshold range, judging unit 302 judges that whether road grade is less than gradient threshold value; When judging unit 302 was judged road grade less than gradient threshold value, control unit 303 Control of Automobile were travelled according to the third speed in second steering range; When judging unit 302 was judged road grade more than or equal to gradient threshold value, control unit 303 Control of Automobile were travelled according to the 4th speed in second steering range.
In actual applications, the function of present embodiment automobile driving speed control setup can be carried out by whole-control system, and wherein, acquiring unit 301 is connected with angular transducer on the bearing circle with the high sensor of axle respectively.In the time of in turning angle of steering wheel is not in first steering range or second steering range, also can directly obtain road grade, when the road gradient during 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 the formula (3), Control of Automobile is travelled according to above-mentioned moving velocity then.
In the present embodiment, if the judgment unit judges road grade is less than gradient threshold value, then control unit travels according to first speed in first steering range according to the turning angle of steering wheel Control of Automobile, and perhaps Control of Automobile is travelled according to the third speed in second steering range; If road grade is more than or equal to gradient threshold value, then control unit travels according to the second speed in first steering range according to the turning angle of steering wheel Control of Automobile, or Control of Automobile is travelled according to the 4th speed in second steering range, thereby make control unit realize that precisely and in real time Control of Automobile is travelled 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 prevent effectively that automobile from rollover or sideslip being taken place, and guarantee the safety of chaufeur and automobile when turning.
The above only is preferred embodiment of the present invention, and is in order to restriction the present invention, within the spirit and principles in the present invention not all, any modification of being done, is equal to replacement, improvement etc., all should be included within protection scope of the present invention.
Claims (10)
1. an automobile driving speed control method is characterized in that, comprising:
Obtain the deflection angle of vehicle steering;
Whether the deflection angle of judging described bearing circle is in default steering range;
When described deflection angle was in default deflection angle scope, Control of Automobile was travelled according to deflection angle corresponding preset speed in the described default steering range.
2. automobile driving speed control method as claimed in claim 1 is characterized in that, when described deflection angle was in default deflection angle scope, Control of Automobile was travelled according to deflection angle corresponding preset speed in the described default steering range and comprised:
Obtain the road grade of automobile institute travel;
Judge that whether road grade is less than gradient threshold value;
During less than gradient threshold value, Control of Automobile is travelled according to first speed in described first steering range in described road grade;
During more than or equal to gradient threshold value, Control of Automobile is travelled according to the second speed in described first steering range in described road grade.
3. automobile driving speed control method as claimed in claim 1 or 2 is characterized in that, also comprises:
First speed V1 and the second speed V2 of automobile in described first steering range is set;
Wherein, V1=K1/ α;
V2=K2/ α or V2=R/ β;
K1 is first velocity coefficient, and K2 is the second speed coefficient, and R is a gradient coefficient, and α is a deflection angle, and β is a road grade.
4. automobile driving speed control method as claimed in claim 3 is characterized in that, also comprises:
Third speed V3 and the four speed V4 of automobile in second steering range is set;
Wherein, V3=K3/ α,
V4=K4/ α or V4=R/ β;
K3 is the third speed coefficient, and K4 is the 4th velocity coefficient, and R is a gradient coefficient, and α is a deflection angle, and β is a road grade.
5. automobile driving speed control method as claimed in claim 4 is characterized in that, also comprises:
Whether the deflection angle of judging described bearing circle is in second turns to threshold range;
Be in second when turning to threshold range at the deflection angle of described bearing circle, judge that whether described road grade is less than gradient threshold value;
During less than gradient threshold value, Control of Automobile is travelled according to the third speed in described second steering range in described road grade;
During more than or equal to gradient threshold value, Control of Automobile is travelled according to the 4th speed in described second steering range in described road grade.
6. an automobile driving speed control setup is characterized in that, comprising:
Acquiring unit is used to obtain the deflection angle of vehicle steering;
Judging unit judges whether the deflection angle of described bearing circle is in default steering range;
Control unit is used for when described deflection angle is in default deflection angle scope, and Control of Automobile is travelled according to deflection angle corresponding preset speed in the described default steering range.
7. automobile driving speed control setup as claimed in claim 6 is characterized in that:
Described acquiring unit also is used to obtain the road grade of automobile institute travel;
Described judging unit is used to also judge that whether road grade is less than gradient threshold value;
During less than gradient threshold value, described control unit Control of Automobile is travelled according to first speed in described first steering range in described road grade;
During more than or equal to gradient threshold value, described control unit Control of Automobile is travelled according to the second speed in described first steering range in described road grade.
8. as claim 6 or 7 described automobile driving speed control setups, it is characterized in that, also comprise:
The unit is set, is used to be provided with first speed V1 and the second speed V2 of automobile in described first steering range;
Wherein, V1=K1/ α;
V2=K2/ α or V2=R/ β;
K1 is first velocity coefficient, and K2 is the second speed coefficient, and R is a gradient coefficient, and α is a deflection angle, and β is a road grade.
9. automobile driving speed control setup as claimed in claim 8 is characterized in that,
The described unit that is provided with also is used to be provided with third speed V3 and the four speed V4 of automobile in second steering range;
Wherein, V3=K3/ α,
V4=K4/ α or V4=R/ β;
K3 is the third speed coefficient, and K4 is the 4th velocity coefficient, and R is a gradient coefficient, and α is a deflection angle, and β is a road grade.
10. automobile driving speed control setup as claimed in claim 8 is characterized in that,
Described judging unit is used to also judge whether the deflection angle of bearing circle is in second steering range;
Be in second when turning to threshold range at the deflection angle of described outgoing direction dish, whether the described road grade of described judgment unit judges is less than gradient threshold value;
During less than gradient threshold value, described control unit Control of Automobile is travelled according to the third speed in described second steering range in described road grade;
During more than or equal to gradient threshold value, described control unit Control of Automobile is travelled according to the 4th speed in described second steering range in described road grade.
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| CN110667576A (en) * | 2019-10-18 | 2020-01-10 | 北京百度网讯科技有限公司 | Method, apparatus, device and medium for controlling passage of curve in automatically driven vehicle |
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| CN117492451A (en) * | 2024-01-02 | 2024-02-02 | 小神童创新科技(广州)有限公司 | Safety threshold control method for electric wheelchair |
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