CN116301080A - Method and device for controlling speed of vehicle moving part - Google Patents
Method and device for controlling speed of vehicle moving part Download PDFInfo
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- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D13/00—Control of linear speed; Control of angular speed; Control of acceleration or deceleration, e.g. of a prime mover
- G05D13/62—Control of linear speed; Control of angular speed; Control of acceleration or deceleration, e.g. of a prime mover characterised by the use of electric means, e.g. use of a tachometric dynamo, use of a transducer converting an electric value into a displacement
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- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
- Y02T—CLIMATE CHANGE MITIGATION TECHNOLOGIES RELATED TO TRANSPORTATION
- Y02T10/00—Road transport of goods or passengers
- Y02T10/60—Other road transportation technologies with climate change mitigation effect
- Y02T10/72—Electric energy management in electromobility
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Abstract
The invention discloses a method and a device for controlling the speed of a moving part of a vehicle, and relates to the technical field of automobiles. The target speed of the invention is the speed which minimizes the sum of the noise quality parameter and the vibration quantity generated when the moving part reaches the target position, and the speed when the moving part reaches the target position is controlled to be the target speed when the moving part of the vehicle moves, so that the noise and vibration generated when the moving part moves to the target position and collides with the limiting structure are minimized, the noise and vibration can be avoided to the greatest extent, and the user experience is reduced.
Description
Technical Field
The invention relates to the technical field of automobiles, in particular to a method and a device for controlling the speed of a moving part of a vehicle.
Background
The automobile is provided with a plurality of movable parts, such as a skylight, a side window, a sunshade curtain, an electric rearview mirror and the like, the movement speed of the movable parts is often fixed when the automobile controls the movable parts, and the movable parts can collide with a limiting structure at a target position when reaching the target position, so that impact noise and vibration are generated, and the user experience is reduced. Therefore, how to reduce noise and vibration generated when a moving part of a vehicle collides with a stopper structure is a problem to be solved in the art.
Disclosure of Invention
The invention solves the technical problem of reducing noise and vibration generated when the vehicle moving part collides with the limiting structure by providing the speed control method and the speed control device for the vehicle moving part.
In one aspect, the present invention provides the following technical solutions:
a vehicle moving part speed control method comprising:
when a moving part of a vehicle is controlled to move, controlling the speed of the moving part when the moving part reaches a target position to be a target speed;
the target speed is a speed at which a sum of a noise quality parameter and an amount of vibration generated when the moving member reaches the target position is minimized.
Preferably, before controlling the speed of the moving part of the control vehicle when the moving part reaches the target position to be the target speed, the control method further comprises:
controlling the moving parts to reach the target positions at different arrival speeds respectively;
acquiring a noise quality parameter and a vibration quantity generated each time the moving part reaches the target position;
respectively normalizing the noise quality parameter and the vibration quantity corresponding to each arrival speed;
calculating the sum of the normalized noise quality parameter and the vibration quantity corresponding to each arrival speed;
and determining the arrival speed corresponding to the sum value with the minimum target speed.
Preferably, the vibration amount is a root mean square of a vibration value generated in a target direction when the moving member reaches the target position;
when the moving part of the control vehicle moves, before the speed when the moving part reaches the target position is controlled to be the target speed, the method further comprises the following steps:
obtaining vibration values generated in three directions of XYZ when the moving part reaches the target position;
if the difference value between the maximum value and the middle value in the vibration values in the three XYZ directions is larger than a preset threshold value, determining the target direction as the direction corresponding to the maximum value;
if the difference value between the maximum value and the middle value in the vibration values in the three XYZ directions is not greater than a preset threshold value, and the difference value between the middle value and the minimum value in the vibration values is greater than the preset threshold value, determining that the target direction comprises the direction corresponding to the maximum value and the direction corresponding to the middle value;
and if the difference value between the maximum value and the middle value and the difference value between the middle value and the minimum value in the vibration values in the XYZ three directions are not larger than the preset threshold, determining that the target direction comprises the XYZ three directions.
Preferably, the moving part includes a sunroof, a side window, a sunshade, a rear view mirror, a seat or a sliding screen.
Preferably, the noise quality parameter includes any one, two, three or four of sound pressure level, sound sharpness, sound loudness and sound roughness.
On the other hand, the invention also provides the following technical scheme:
a vehicle moving part speed control device comprising:
the control module is used for controlling the speed of the moving part of the vehicle when the moving part reaches the target position to be the target speed when the moving part moves;
the target speed is a speed at which a sum of a noise quality parameter and an amount of vibration generated when the moving member reaches the target position is minimized.
Preferably, the control module is further configured to control the moving parts to reach the target positions at different arrival speeds respectively;
the vehicle moving part speed control device further includes:
an acquisition module for acquiring a noise quality parameter and a vibration amount generated each time the moving part reaches the target position;
the normalization module is used for respectively normalizing the noise quality parameter and the vibration quantity corresponding to each arrival speed;
the calculation module is used for calculating the sum of the normalized noise quality parameters and the vibration quantity corresponding to each arrival speed;
and the determining module is used for determining the arrival speed corresponding to the sum value with the minimum target speed.
Preferably, the vibration amount is a root mean square of a vibration value generated in a target direction when the moving member reaches the target position;
the vehicle moving part speed control device further includes:
an acquisition module for acquiring vibration values generated in three directions of XYZ when the moving member reaches the target position;
the determining module is used for determining the target direction as the direction corresponding to the maximum value if the difference value between the maximum value and the middle value in the vibration values in the three XYZ directions is larger than a preset threshold value; if the difference value between the maximum value and the middle value in the vibration values in the three XYZ directions is not greater than a preset threshold value, and the difference value between the middle value and the minimum value in the vibration values is greater than the preset threshold value, determining that the target direction comprises the direction corresponding to the maximum value and the direction corresponding to the middle value; and if the difference value between the maximum value and the middle value and the difference value between the middle value and the minimum value in the vibration values in the XYZ three directions are not larger than the preset threshold, determining that the target direction comprises the XYZ three directions.
On the other hand, the invention also provides the following technical scheme:
an electronic device comprising a memory, a processor and a computer program stored on the memory and executable on the processor, the processor implementing any of the vehicle moving part speed control methods described above when executing the program.
On the other hand, the invention also provides the following technical scheme:
a computer readable storage medium having stored thereon a computer program which, when executed by a processor, implements any of the vehicle moving part speed control methods described above.
The one or more technical schemes provided by the invention have at least the following technical effects or advantages:
the target speed of the invention is the speed which minimizes the sum of the noise quality parameter and the vibration quantity generated when the moving part reaches the target position, and the speed when the moving part reaches the target position is controlled to be the target speed when the moving part of the vehicle moves, so that the noise and vibration generated when the moving part moves to the target position and collides with the limiting structure are minimized, the noise and vibration can be avoided to the greatest extent, and the user experience is reduced.
Drawings
In order to more clearly illustrate the technical solutions of the embodiments of the present invention, the drawings required for the description of the embodiments will be briefly described below, and it is obvious that the drawings in the following description are some embodiments of the present invention, and other drawings may be obtained according to these drawings without inventive effort for a person skilled in the art.
FIG. 1 is a flow chart of a method for controlling the speed of a moving part of a vehicle in an embodiment of the invention;
FIG. 2 is another flow chart of a method of controlling speed of a moving part of a vehicle in accordance with an embodiment of the present invention;
FIG. 3 is a schematic view of a vehicle moving part speed control device in an embodiment of the invention;
fig. 4 is another schematic view of a vehicle moving part speed control device in an embodiment of the invention.
Detailed Description
The embodiment of the invention solves the technical problem of reducing noise and vibration generated when the vehicle moving part collides with the limiting structure by providing the speed control method and the speed control device for the vehicle moving part.
In order to better understand the technical scheme of the present invention, the following detailed description will refer to the accompanying drawings and specific embodiments.
As shown in fig. 1, the vehicle moving part speed control method of the present embodiment includes:
step S01, controlling the speed of a moving part of a vehicle to be a target speed when the moving part reaches a target position when the moving part moves;
the target speed is a speed at which the sum of the noise quality parameter and the vibration amount generated when the moving member reaches the target position is minimized.
In step S10, the process of controlling the movement of the moving member from the start position to the target position may be: 1. firstly controlling the moving part to move at a speed greater than the target speed, and then reducing the speed of the moving part before the moving part reaches the target position, so that the speed of the moving part when reaching the target position is just the target speed; 2. always controlling the moving part to move at a target speed at a uniform speed; 3. the moving part is controlled to move at a speed less than the target speed, and then the speed of the moving part is increased before the moving part reaches the target position, so that the speed of the moving part when reaching the target position is just the target speed.
The moving parts of the present embodiment may include a sunroof, a side window, a sunshade curtain, a rear view mirror, a seat, a sliding screen, or the like, and the noise quality parameters may include any one, two, three, or four of sound pressure level, sharpness, loudness, and roughness.
In this embodiment, before the motion of the moving parts is formally controlled in step S10, the target speed corresponding to each moving part needs to be determined. Therefore, as shown in fig. 2, before step S10, the vehicle moving member speed control method of the present embodiment should further include:
step S01, controlling the moving parts to reach the target positions at different arrival speeds respectively;
step S02, obtaining a noise quality parameter and a vibration quantity generated when the moving part reaches a target position each time;
step S03, respectively normalizing noise quality parameters and vibration quantity corresponding to each arrival speed;
step S04, calculating the sum of the normalized noise quality parameters and the vibration quantity corresponding to each arrival speed;
step S05, determining the arrival speed corresponding to the minimum sum value of the target speed.
The noise quality parameters including sound pressure level, sharpness, soundness, and roughness will be described below as examples.
TABLE 1
As shown in the table 1 below, controlling a certain moving part to reach a target position at an arrival speed of 1,2, 4..times.28, 30mm/s, the sound pressure level, the sound sharpness, the sound loudness, the sound roughness, and the vibration amount generated each time the moving part reaches the target position can be detected by the sensor, and then the detected data is acquired. It can be seen that the noise quality parameter is positively correlated with the arrival speed as a whole, but that some of the noise quality parameters corresponding to the arrival speed do not conform to the general trend.
In table 1, each noise quality parameter and vibration amount are data with different dimensions, and normalization processing needs to be performed on the data with different dimensions. The normalized formula is as follows:
in table 1, i=1, 2..16, n=16.
As for the sound pressure level,
is the minimum value 42 of 16 sound pressure levels, < >>
Of 16 sound pressure levelsMaximum 59. The normalized value of sound pressure level at i=4 is +.>
Finally, the sound pressure level, the sound sharpness, the sound loudness, the sound roughness, and the vibration amount corresponding to each arrival speed after normalization as shown in table 2 can be obtained.
TABLE 2
Further, the sum of the sound pressure level, the sound sharpness, the sound loudness, the sound roughness, and the vibration amount for each arrival speed can be calculated from table 2. It can be seen that i=13, i.e. the sum of the arrival speeds of 6, is at least 0.15, the target speed for the moving part being 6mm/s. It can be understood that the sum of the normalized noise quality parameter and the vibration amount is minimum, which represents that the noise and vibration generated when the moving part moves to the target position and collides with the limiting structure are minimum overall, so that the noise and vibration can be avoided to the greatest extent, and the user experience is reduced.
In this embodiment, the noise is not directional, but the vibration is directional, and the vibration amount may be the root mean square of vibration values generated in three directions of XYZ when the target member collides with the limit structure. However, the vibration of different moving parts in different directions is different in magnitude, for example, vibration in the X direction is most remarkable when the seat moves, vibration in the Z direction is most remarkable when the side window is lifted, the vibration in the direction in which the vibration is not remarkable has little influence on the user experience, and in some cases, it is obviously unnecessary to take root mean square of vibration values generated in the three directions of XYZ as vibration quantity. In order to determine the vibration amount more accurately, the vibration amount according to the present embodiment is preferably the root mean square of the vibration value generated in the target direction when the moving member reaches the target position, and the vehicle moving member speed control method further includes, prior to step S10:
obtaining vibration values generated in three directions of XYZ when the moving part reaches a target position;
if the difference value between the maximum value and the intermediate value in the vibration values in the three XYZ directions is larger than a preset threshold value, determining that the target direction is the direction corresponding to the maximum value;
if the difference value between the maximum value and the middle value in the vibration values in the three XYZ directions is not greater than a preset threshold value, and the difference value between the middle value and the minimum value in the vibration values is greater than the preset threshold value, determining that the target direction comprises the direction corresponding to the maximum value and the direction corresponding to the middle value;
if the difference value between the maximum value and the middle value and the difference value between the middle value and the minimum value in the vibration values in the XYZ three directions are not larger than the preset threshold, determining that the target direction comprises the XYZ three directions.
In the coordinate system of the present embodiment, the X direction is the front-rear direction of the vehicle, the Y direction is the left-right direction, and the Z direction is the up-down direction. In the experiment, the corresponding target directions of the seat and the side window are the X direction and the Z direction respectively. The preset threshold value can be 2m/s 2 . The difference between the maximum value and the intermediate value in the vibration values in the three directions of XYZ is larger than a preset threshold, and the difference between the maximum value and the intermediate value is larger than the preset threshold, or the difference between the maximum value and the intermediate value, and the difference between the intermediate value and the minimum value are larger than the preset threshold. The difference between the maximum value and the middle value in the vibration values in the three XYZ directions is larger than a preset threshold, the difference between the representative maximum value and the other two values is larger, the vibration in the directions corresponding to the other two values has little influence on the user, and the direction corresponding to the maximum value is directly taken as the most suitable target direction. The difference value between the maximum value and the middle value in the vibration values in the three XYZ directions is not larger than a preset threshold value, the difference value between the middle value and the minimum value in the vibration values is larger than the preset threshold value, the differences between the maximum value, the middle value and the minimum value are larger, the vibration in the direction corresponding to the minimum value has little influence on a user, and the direction corresponding to the maximum value and the middle value is the most suitable target direction. The differences between the maximum value and the middle value and the minimum value in the vibration values in the three directions of XYZ are not more than a preset threshold value, and represent vibration pairs in the three directionsThe user experience is almost equally affected, and the target direction includes three directions XYZ being most suitable.
As shown in fig. 3, the present embodiment also provides a vehicle moving member speed control device including:
the control module is used for controlling the speed of the moving part of the vehicle to be the target speed when the moving part reaches the target position when the moving part moves;
the target speed is a speed at which the sum of the first normalized value of the noise quality parameter generated when the moving part reaches the target position and the second normalized value of the vibration amount is minimized.
Further, the control module can be used for controlling the moving parts to respectively reach the target positions at different arrival speeds;
as shown in fig. 4, the vehicle moving part speed control device may further include:
the acquisition module is used for acquiring a noise quality parameter and a vibration quantity generated when the moving part reaches a target position each time;
the normalization module is used for respectively normalizing the noise quality parameters and the vibration quantity corresponding to each arrival speed;
the calculation module is used for calculating the sum of the normalized noise quality parameters and the vibration quantity corresponding to each arrival speed;
and the determining module is used for determining the arrival speed corresponding to the minimum sum value of the target speed.
Further, the vibration amount may be a root mean square of a vibration value generated in the target direction when the moving member reaches the target position;
the acquisition module is also used for acquiring vibration values generated in three directions of XYZ when the moving part reaches the target position;
the determining module is further configured to determine that the target direction is a direction corresponding to the maximum value if a difference between a maximum value and a middle value in vibration values in XYZ directions is greater than a preset threshold; if the difference value between the maximum value and the middle value in the vibration values in the three XYZ directions is not greater than a preset threshold value, and the difference value between the middle value and the minimum value in the vibration values is greater than the preset threshold value, determining that the target direction comprises the direction corresponding to the maximum value and the direction corresponding to the middle value; if the difference value between the maximum value and the middle value and the difference value between the middle value and the minimum value in the vibration values in the XYZ three directions are not larger than the preset threshold, determining that the target direction comprises the XYZ three directions.
Based on the same inventive concept as the vehicle moving part speed control method described above, the present embodiment also provides an electronic device including a memory, a processor, and a computer program stored on the memory and executable on the processor, which when executing the program, implements the steps of any one of the vehicle moving part speed control methods described above.
Where a bus architecture (represented by a bus), a bus may comprise any number of interconnected buses and bridges, linking together various circuits, including one or more processors, as represented by a processor, and a memory, as represented by a memory. The bus may also link together various other circuits such as peripheral devices, voltage regulators, power management circuits, etc., as are well known in the art and, therefore, will not be further described herein. The bus interface provides an interface between the bus and the receiver and transmitter. The receiver and the transmitter may be the same element, i.e. a transceiver, providing a unit for communicating with various other apparatus over a transmission medium. The processor is responsible for managing the bus and general processing, while the memory may be used to store data used by the processor in performing operations.
Since the electronic device described in this embodiment is an electronic device used to implement the method for controlling the speed of a moving part of a vehicle in this embodiment, those skilled in the art will be able to understand the specific implementation of the electronic device and various modifications thereof based on the method for controlling the speed of a moving part of a vehicle described in this embodiment, so that a detailed description of how this electronic device is implemented in this embodiment will not be provided herein. The electronic apparatus used by those skilled in the art to implement the method for controlling the speed of the moving part of the vehicle according to the embodiment of the present invention falls within the scope of the present invention.
Based on the same inventive concept as the above-described vehicle moving part speed control method, the present invention also provides a computer-readable storage medium having stored thereon a computer program which, when executed by a processor, implements any of the above-described vehicle moving part speed control methods.
It will be appreciated by those skilled in the art that embodiments of the present invention may be provided as a method, system, or computer program product. Accordingly, the present invention may take the form of an entirely hardware embodiment, an entirely software embodiment or an embodiment combining software and hardware aspects. Furthermore, the present invention may take the form of a computer program product embodied on one or more computer-usable storage media (including, but not limited to, disk storage, CD-ROM, optical storage, and the like) having computer-usable program code embodied therein.
The present invention is described with reference to flowchart illustrations and/or block diagrams of methods, apparatus (systems) and computer program products according to embodiments of the invention. It will be understood that each flow and/or block of the flowchart illustrations and/or block diagrams, and combinations of flows and/or blocks in the flowchart illustrations and/or block diagrams, can be implemented by computer program instructions. These computer program instructions may be provided to a processor of a general purpose computer, special purpose computer, embedded processor, or other programmable data processing apparatus to produce a machine, such that the instructions, which execute via the processor of the computer or other programmable data processing apparatus, create means for implementing the functions specified in the flowchart flow or flows and/or block diagram block or blocks.
These computer program instructions may also be stored in a computer-readable memory that can direct a computer or other programmable data processing apparatus to function in a particular manner, such that the instructions stored in the computer-readable memory produce an article of manufacture including instruction means which implement the function specified in the flowchart flow or flows and/or block diagram block or blocks.
These computer program instructions may also be loaded onto a computer or other programmable data processing apparatus to cause a series of operational steps to be performed on the computer or other programmable apparatus to produce a computer implemented process such that the instructions which execute on the computer or other programmable apparatus provide steps for implementing the functions specified in the flowchart flow or flows and/or block diagram block or blocks.
While preferred embodiments of the present invention have been described, additional variations and modifications in those embodiments may occur to those skilled in the art once they learn of the basic inventive concepts. It is therefore intended that the following claims be interpreted as including the preferred embodiments and all such alterations and modifications as fall within the scope of the invention.
It will be apparent to those skilled in the art that various modifications and variations can be made to the present invention without departing from the spirit or scope of the invention. Thus, it is intended that the present invention also include such modifications and alterations insofar as they come within the scope of the appended claims or the equivalents thereof.
Claims (10)
1. A vehicle moving member speed control method, characterized by comprising:
when a moving part of a vehicle is controlled to move, controlling the speed of the moving part when the moving part reaches a target position to be a target speed;
the target speed is a speed at which a sum of a noise quality parameter and an amount of vibration generated when the moving member reaches the target position is minimized.
2. The vehicle moving member speed control method according to claim 1, wherein when the moving member of the control vehicle moves, before controlling the speed at which the moving member reaches the target position to be the target speed, further comprising:
controlling the moving parts to reach the target positions at different arrival speeds respectively;
acquiring a noise quality parameter and a vibration quantity generated each time the moving part reaches the target position;
respectively normalizing the noise quality parameter and the vibration quantity corresponding to each arrival speed;
calculating the sum of the normalized noise quality parameter and the vibration quantity corresponding to each arrival speed;
and determining the arrival speed corresponding to the sum value with the minimum target speed.
3. The vehicle moving part speed control method according to claim 1, wherein the vibration amount is a root mean square of a vibration value generated in a target direction when the moving part reaches the target position;
when the moving part of the control vehicle moves, before the speed when the moving part reaches the target position is controlled to be the target speed, the method further comprises the following steps:
obtaining vibration values generated in three directions of XYZ when the moving part reaches the target position;
if the difference value between the maximum value and the middle value in the vibration values in the three XYZ directions is larger than a preset threshold value, determining the target direction as the direction corresponding to the maximum value;
if the difference value between the maximum value and the middle value in the vibration values in the three XYZ directions is not greater than a preset threshold value, and the difference value between the middle value and the minimum value in the vibration values is greater than the preset threshold value, determining that the target direction comprises the direction corresponding to the maximum value and the direction corresponding to the middle value;
and if the difference value between the maximum value and the middle value and the difference value between the middle value and the minimum value in the vibration values in the XYZ three directions are not larger than the preset threshold, determining that the target direction comprises the XYZ three directions.
4. The vehicle moving part speed control method according to claim 1, wherein the moving part includes a sunroof, a side window, a sunshade curtain, a rearview mirror, a seat, or a sliding screen.
5. The vehicle moving part speed control method according to claim 1, wherein the noise quality parameter includes any one, two, three, or four of sound pressure level, sound sharpness, sound loudness, and sound roughness.
6. A vehicle moving member speed control device characterized by comprising:
the control module is used for controlling the speed of the moving part of the vehicle when the moving part reaches the target position to be the target speed when the moving part moves;
the target speed is a speed at which a sum of a noise quality parameter and an amount of vibration generated when the moving member reaches the target position is minimized.
7. The vehicle moving part speed control device according to claim 6, wherein the control module is further configured to control the moving part to reach the target position at different arrival speeds, respectively;
the vehicle moving part speed control device further includes:
an acquisition module for acquiring a noise quality parameter and a vibration amount generated each time the moving part reaches the target position;
the normalization module is used for respectively normalizing the noise quality parameter and the vibration quantity corresponding to each arrival speed;
the calculation module is used for calculating the sum of the normalized noise quality parameters and the vibration quantity corresponding to each arrival speed;
and the determining module is used for determining the arrival speed corresponding to the sum value with the minimum target speed.
8. The vehicle moving part speed control device according to claim 6, wherein the vibration amount is a root mean square of a vibration value generated in a target direction when the moving part reaches the target position;
the vehicle moving part speed control device further includes:
an acquisition module for acquiring vibration values generated in three directions of XYZ when the moving member reaches the target position;
the determining module is used for determining the target direction as the direction corresponding to the maximum value if the difference value between the maximum value and the middle value in the vibration values in the three XYZ directions is larger than a preset threshold value; if the difference value between the maximum value and the middle value in the vibration values in the three XYZ directions is not greater than a preset threshold value, and the difference value between the middle value and the minimum value in the vibration values is greater than the preset threshold value, determining that the target direction comprises the direction corresponding to the maximum value and the direction corresponding to the middle value; and if the difference value between the maximum value and the middle value and the difference value between the middle value and the minimum value in the vibration values in the XYZ three directions are not larger than the preset threshold, determining that the target direction comprises the XYZ three directions.
9. An electronic device comprising a memory, a processor and a computer program stored on the memory and executable on the processor, the processor implementing the vehicle moving part speed control method of any one of claims 1-5 when the program is executed.
10. A computer readable storage medium, characterized in that the computer readable storage medium has stored thereon a computer program which, when executed by a processor, implements the vehicle moving part speed control method of any one of claims 1 to 5.
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| CN202310329822.3A CN116301080A (en) | 2023-03-30 | 2023-03-30 | Method and device for controlling speed of vehicle moving part |
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| CN202310329822.3A CN116301080A (en) | 2023-03-30 | 2023-03-30 | Method and device for controlling speed of vehicle moving part |
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| CN202310329822.3A Pending CN116301080A (en) | 2023-03-30 | 2023-03-30 | Method and device for controlling speed of vehicle moving part |
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