CN108762244B

CN108762244B - Behavior-driven self-balancing unmanned bicycle and control method of equivalent mapping thereof

Info

Publication number: CN108762244B
Application number: CN201810081130.0A
Authority: CN
Inventors: 孟濬; 赵夕朦
Original assignee: Zhejiang University ZJU
Current assignee: Zhejiang University ZJU
Priority date: 2018-01-26
Filing date: 2018-01-26
Publication date: 2020-06-23
Anticipated expiration: 2038-01-26
Also published as: CN108762244A

Abstract

The invention discloses a behavior-driven self-balancing unmanned bicycle and a control method of equivalent mapping thereof. The control method comprises a self-balancing control part and an unmanned control part. The self-balancing control regards the rear wheel as a ball, a coordinate system is established based on the ball, bicycle variables are decomposed under the coordinate system, then controller variables are projected to the coordinate system to establish association, and finally self-balancing of the bicycle is achieved based on equivalent mapping. The unmanned bicycle can have a self-balancing function in various motion states through a coupling control method, and meanwhile, an indirect driving method is adopted, so that the self-balancing and unmanned driving of the bicycle can be realized only by installing three controller modules on the common bicycle without further modification of the common bicycle.

Description

Behavior-driven self-balancing unmanned bicycle and control method of equivalent mapping thereof

Technical Field

The invention relates to the field of traffic, in particular to a behavior-driven self-balancing unmanned bicycle and an equivalent mapping control method thereof.

Background

As a traditional vehicle, the bicycle has the advantages of narrow and small body, simple mechanism, small-radius rotation, convenience, flexibility, no pollution, no noise, no energy source, low selling price and the like, and plays a significant role in modern life with increasingly serious problems of road congestion, air pollution, oil price rise and the like. The unmanned bicycle can provide driving balance assistance for special people such as children and the old, and is expected to be widely applied to disaster rescue and forest operation.

As people's attention to intelligent vehicles and unmanned technologies continues to increase, unmanned bicycles or bicycle robots have been developed primarily based on this intelligent vehicle concept. At present, most researchers of unpiloted bicycles are around both aspects of dynamic modeling and new control algorithm, and the research on the unpiloted bicycles mostly stays in the stages of theoretical discussion and preliminary experiments. Due to the complex dynamic characteristics and certain lateral instability of the bicycle, the self-balancing of the bicycle still has many troublesome problems, and how to solve the self-balancing problem of the bicycle running at a static or low speed is the key point for the unmanned bicycle to break through the current development limitation.

The existing balance system applied to the motorcycle or the electric bicycle is essentially the superposition of a monocycle balance system (namely, an inverted pendulum balance system) and a two-foot balance system. The front handle of the bicycle has high degree of freedom, and the two wheels have no direct driving force. Therefore, the driving force on a motorcycle or an electric bicycle that causes the balance thereof is not present on the bicycle, and the balancing method thereof is not effective on the bicycle, which brings more difficulty to the self-balancing and unmanned driving of the bicycle.

Meanwhile, no relevant research for decomposing and mapping bicycle variables so as to control the bicycle variables exists at present.

Disclosure of Invention

The invention aims to provide a self-balancing unmanned bicycle based on behavior driving and a control method of equivalent mapping thereof, aiming at the defects of the prior art.

The purpose of the invention is realized by the following technical scheme: a self-balancing unmanned bicycle based on behavior driving comprises a bicycle, a sensor module, a handlebar control module, a bicycle body middle control module and a bicycle body rear control module; the handlebar control module, the middle part control module and the rear part control module control each mechanism of the modules according to the information provided by the sensor module, thereby carrying out the indirect control of the balance and the advancing of the bicycle; the control variables of the mechanisms of the handlebar control module, the middle part control module of the vehicle body and the rear part control module of the vehicle body are coupled with each other;

the sensor module is used to measure bicycle variables including bicycle handlebar deflection angle α, bicycle body deflection angle β, bicycle rear wheel rotation angle

The handlebar control module is positioned on a handlebar of the bicycle, and the center of gravity of the handlebar is adjusted through the center of gravity adjusting mechanism, so that the adjustment of the handlebar deflection angle α is realized;

the middle control module of the bicycle body is positioned in the middle of the bicycle body, and the center of gravity of the middle of the bicycle body is adjusted through the center of gravity adjusting mechanism;

the rear part control module of the bicycle body is positioned at the rear part of the bicycle, the gravity center of the rear part of the bicycle body is adjusted through the gravity center adjusting mechanism, and the balance control and the rear wheel rotation control of the rear part of the bicycle are performed through the rotating wheel mechanism; realizing the rotation angle of the rear wheel of the bicycle by the rotation control of the rear wheel

(iii) adjustment of (c);

the gravity center adjusting mechanisms of the handlebar control module, the middle control module and the rear control module are respectively controlled by the balance of the rear control module, so that the adjustment of the bicycle body deflection angle β is realized together;

selecting the bicycle variable and the control variables of the handlebar control module, the middle part control module of the bicycle body and the rear part control module of the bicycle body as key variables; establishing a coordinate system at the rear part of the bicycle, and decomposing the toppling direction of the rear wheel of the bicycle into the rear part coordinate system;

respectively projecting the forces generated by the gravity center accelerated motion of the gravity center adjusting mechanisms of the handlebar control module, the vehicle body middle control module and the vehicle body rear control module to a bicycle rear coordinate system; and establishing the relationship between the control variable and the controlled variable to obtain the control rule of the handlebar control module, the middle part control module of the bicycle body and the rear part control module of the bicycle body on the bicycle, thereby realizing the balance control of the unmanned bicycle.

Further, handlebar control module's focus adjustment mechanism is for transversely placing the slide bar mechanism on the handlebar, and handlebar control module carries out handlebar focus's regulation through the slider position of adjusting handlebar slide bar mechanism.

Furthermore, the gravity center adjusting mechanism of the vehicle body middle control module is an eccentric wheel, and the vehicle body middle control module adjusts the gravity center of the vehicle body middle part by adjusting the rotating angle of the eccentric wheel.

Furthermore, the gravity center adjusting mechanism of the vehicle body rear control module is an eccentric wheel, and the vehicle body rear control module adjusts the gravity center of the vehicle body rear part by adjusting the rotating angle of the eccentric wheel.

Further, the rotating wheel mechanism of the vehicle body rear control module is two rotating wheels which are perpendicular to each other: the vertical rotating wheel is tangent to the horizontal rotating wheel and is parallel to the rear wheel of the bicycle; the rear control module of the bicycle body performs balance control and rear wheel rotation control on the rear part of the bicycle by adjusting the rotating speeds of the two rotating wheels.

A control method for resolving key balance of a self-balancing unmanned bicycle based on behavior driving comprises a balance control part and an unmanned control part;

the implementation method of the balance control part comprises the following steps:

1) selecting key variables: selecting controllable considerable key variables, including bicycle variables, control variables of a handlebar control module, a vehicle body middle control module and a vehicle body rear control module;

2) decomposing the controlled variable: establishing a coordinate system at the rear part of the bicycle, and decomposing the toppling direction of the rear wheel of the bicycle into the rear coordinate system;

3) and (3) establishing a projection control variable and a controller: projecting the forces generated by the gravity center accelerated motion of the gravity center adjusting mechanisms of the handlebar control module, the vehicle body middle control module and the vehicle body rear control module to a coordinate system at the rear part of the bicycle respectively; establishing a relation between the control variable and the controlled variable to obtain a control rule of the handlebar control module, the middle part control module of the bicycle body and the rear part control module of the bicycle body on the bicycle, and obtaining a controller parameter;

4) self-balancing is realized: the projected controller parameters are respectively input into an actual handlebar control module, a vehicle body middle control module and a vehicle body rear control module, fine adjustment is carried out, and three controllers of the bicycle are built, so that self-balance of the bicycle is realized;

the unmanned control part comprises the following implementation methods: and selecting a desired bicycle variable according to the target motion state to realize the unmanned control of the bicycle.

Further, in the step 3), when the gravity center adjusting mechanism of the handlebar control module is a sliding rod mechanism, a force toward one side of the bicycle along the handlebar direction is generated when the sliding block counterweight in the handlebar control module moves toward the side in an accelerating manner; when the gravity center adjusting mechanism of the vehicle body middle control module is an eccentric wheel, a force which is along the tangential direction of the eccentric wheel to one side is generated in the vehicle body middle control module when the counterweight of the vehicle body eccentric wheel rotates to the one side in an accelerating way; when the gravity center adjusting mechanism of the control module at the rear part of the vehicle body is an eccentric wheel, when the counterweight of the eccentric wheel rotates towards one side in an accelerating way, a force towards the side along the tangential direction of the eccentric wheel is generated in the control module at the rear part of the vehicle body.

Further, in step 3), a relationship between a force generated by the gravity center acceleration motion of the gravity center adjusting mechanisms of the handlebar control module, the vehicle body middle control module and the vehicle body rear control module and the tilting direction of the rear wheel of the bicycle is as follows:

wherein gamma is the falling direction of the rear wheel of the bicycle and is decomposed into gamma in the x, y and z coordinate system of the rear part of the bicycle_x、γ_y、γ_zWherein γ is_xFor the direction of rotation of the rear wheel of the bicycle about the x-axis, gamma, in the yz plane_yFor the direction of rotation of the rear wheel of the bicycle about the y-axis in the xz-plane, gamma_zFor the direction of rotation of the rear wheel of the bicycle in the xy plane about the z axis, F₀₁、F₀₂、F₀₃The force generated by the gravity center acceleration movement of the gravity center adjusting mechanisms of the handlebar control module, the vehicle body middle control module and the vehicle body rear control module respectively, L1 is the horizontal distance between the center of the vehicle body middle control module and the center of the vehicle body rear control module, and L2 is the horizontal distance between the center of the handlebar control module and the center of the vehicle body rear control module; h is₃、h₄、h₅Respectively the heights of the handlebar control module, the middle part control module and the rear part control module of the bicycle body, r is the radius of the rear wheel of the bicycle, r₁、θ₁When the gravity center adjusting mechanism of the vehicle body middle control module is an eccentric wheel, the radius of the eccentric wheel and the rotating angle r of the eccentric wheel₂、θ₂When the gravity center adjusting mechanism of the control module at the rear part of the vehicle body is an eccentric wheel, the radius of the eccentric wheel and the rotating angle k of the eccentric wheel_x、k_y、k_zThe proportional coefficient can be preset as a constant and adjusted when the controller is established;

and finally, solving through the toppling direction of the rear wheel of the bicycle to obtain the force generated by the gravity center accelerated motion of the gravity center adjusting mechanism required by the handlebar control module, the vehicle body middle control module and the vehicle body rear control module.

Further, the implementation of the unmanned control portion includes: selecting a target motion state, and controlling the bicycle in the target motion state; the motion state includes: starting, advancing, turning and retreating;

the bicycle control under the starting state comprises the following specific steps:

1) the integral adjustment is that the bicycle handlebar deflection angle α tends to be a constant through the variable adjustment of the handlebar control module, the vehicle body middle control module and the vehicle body rear control module, even if the bicycle tends to be an integral body from a running vehicle;

2) the center of gravity is adjusted through the variable adjustment of the handlebar control module, the middle part control module of the bicycle body and the rear part control module of the bicycle body, so that the bicycle handlebar deflection angle α tends to 0, and the bicycle body deflection angle β tends to 0, even if the bicycle is in a vertical standing state from a certain deflection angle;

the bicycle control under the advancing state comprises the following specific steps:

1) the integral adjustment, namely the bicycle handlebar deflection angle α tends to 0 through the variable adjustment of the handlebar control module, the middle part control module of the bicycle body and the rear part control module of the bicycle body, even if the bicycle is obtained and tends to an integral body when the handlebar does not rotate;

2) the center of gravity is adjusted through the variable adjustment of the handlebar control module, the middle part control module of the bicycle body and the rear part control module of the bicycle body, so that the deflection angle β of the bicycle body tends to 0, even if the bicycle is balanced by the bicycle;

3) indirect drive: the rear wheel of the bicycle is indirectly driven through the variable adjustment of the rotating wheel mechanism of the control module at the rear part of the bicycle body, so that the rotating angle of the rear wheel of the bicycle is adjusted

Varying at a certain angular speed, even if the bicycle is moving forward at a certain speed;

the bicycle control under the turning state comprises the following specific steps:

1) the integral adjustment, namely the bicycle handlebar deflection angle α tends to turn direction through the variable adjustment of the handlebar control module, the middle part control module of the bicycle body and the rear part control module of the bicycle body, even if the bicycle tends to be an integral body when the handlebar rotates;

3) indirect drive: by passingThe variable adjustment of the rotating wheel mechanism of the control module at the rear part of the bicycle body indirectly drives the rear wheel of the bicycle, so that the rotating angle of the rear wheel of the bicycle is adjusted

Change at a certain angular velocity even if the vehicle is turning at a certain velocity;

the bicycle control method in the backward state comprises the following specific steps:

1) the bicycle is characterized in that a rear wheel of the bicycle is indirectly driven through variable adjustment of a rotating wheel mechanism of a control module at the rear part of the bicycle body, so that the rotating angle phi of the rear wheel of the bicycle is reversely changed at a certain angular speed, even if the rear wheel of the bicycle is reversely rotated at a certain speed, a front-back relation exists at the ground contact part of a handlebar and a front wheel, when the bicycle is in a backward state, the handlebar and the front wheel are in a dragged state, the dragging force at the joint of the handlebar is in the front, the handlebar rotating torque generated when the bicycle advances is eliminated, the adjustment of the handlebar deflection angle α of the bicycle can be simplified, and the bicycle tends to be a whole in the backward;

2) and (4) adjusting the center of gravity of the bicycle by variable adjustment of the handlebar control module, the middle part control module of the bicycle body and the rear part control module of the bicycle body, so that the deflection angle β of the bicycle body of the bicycle tends to be 0 even if the bicycle is balanced by the bicycle.

Further, the selecting the target motion state specifically includes:

1) macroscopic route determination: determining the integral traveling route of the bicycle in modes of navigation, manual selection and the like;

2) road surface control and obstacle avoidance: monitoring the road surface through a sensor module; carrying out terrain scanning, judging the terrain and selecting a control method corresponding to the terrain; and judging whether an obstacle exists or not, and if so, avoiding the obstacle, namely obtaining the traveling direction of the bicycle to be adjusted according to road surface information such as distance, obstacle width, obstacle motion condition and the like so as to adjust.

The invention has the beneficial effects that:

(1) the self-balancing bicycle has a self-balancing function when the bicycle is static.

(2) The self-balancing bicycle has a self-balancing function under various motion conditions.

(3) The unmanned bicycle controls a multivariable coupling system through a coupling control method, and control variables of the three controller modules are coupled with each other, so that the unmanned bicycle becomes a self-balancing whole.

(4) The unmanned bicycle adopts an indirect driving method, can realize the unmanned driving of the common bicycle only by installing the three controller modules on the common bicycle, and does not need to further modify the common bicycle.

(5) The self-balancing control method of the equivalent mapping is adopted by the unmanned bicycle, the bicycle balance is simplified into the balance of the rear wheel of the bicycle, the relevant relation between the bicycle and three controllers is established through the decomposition mapping of the dumping direction and the force, the self-balancing direct control is carried out on the basis of the relevant relation, and a new thought is provided for the realization of the self-balancing unmanned bicycle.

Drawings

FIG. 1 is an overall block diagram of the unmanned bicycle of the present invention;

FIG. 2 is a top plan view of the drone bicycle of this invention;

FIG. 3 is a rear elevational view of the unmanned bicycle of the present invention;

FIG. 4 is a block diagram of the steps of the control method of the bicycle equivalence map of the present invention;

FIG. 5 is a block diagram of the steps of the control method of the bicycle behavior drive of the present invention;

FIG. 6 is a schematic view of the vehicle seat sensor array of the present invention;

FIG. 7 is a schematic diagram showing the relationship between the rear wheel eccentric wheel mechanism variable and the human body posture variable of the present invention;

FIG. 8 is a block diagram of the steps of the method of controlling the bicycle disassembly key balance of the present invention;

FIG. 9 is a flow chart illustrating the control rule derived from data obtained from a typical human bicycle riding in accordance with the present invention;

FIG. 10 is a schematic equilibrium exploded view of the present invention;

fig. 11 is a rear wheel drive schematic view of the unmanned bicycle of the present invention.

Detailed Description

In order to explain the present invention in more detail, an unmanned bicycle with a self-balancing function will be described in detail with reference to the accompanying drawings.

As shown in fig. 1, the present invention provides an unmanned bicycle with self-balancing function, which comprises a bicycle, a sensor module, a handlebar control module, a middle control module of a bicycle body, and a rear control module of the bicycle body.

The bicycle is a common bicycle on the market and comprises a front wheel (mass m1, radius r), a rear wheel (mass m1, radius r) and a frame (mass m 2).

The sensor module is used for measuring a bicycle handlebar deflection angle α, a bicycle body deflection angle β and a bicycle rear wheel rotation angle phi as shown in fig. 2, the bicycle handlebar deflection angle α is an included angle between a bicycle front wheel and a bicycle body, the bicycle handlebar deflection angle α is a positive number, indicates that a bicycle handlebar deflects rightward, and indicates that a bicycle handlebar deflects leftward as a negative number, the bicycle body deflection angle β is an included angle between a bicycle body and a vertical plane, the bicycle body deflection angle β is a positive number, indicates that a bicycle body tilts rightward, and indicates that a bicycle body tilts leftward as a negative number, the bicycle rear wheel rotation angle phi is a rotation angle of a bicycle rear wheel along a rear wheel axis, the bicycle rear wheel rotation angle phi is a positive number, indicates that a bicycle rear wheel rotates forward, and the bicycle rear wheel rotates backward, the bicycle rear wheel rotation angle phi is a negative number, the sensor module can be installed at a handlebar control module, or can be installed at a handlebar control module, a vehicle body deflection angle phi and a vehicle body deflection angle F2, a left-right-left-right pressure sensor array F84, a pressure sensor F3, a pressure sensor array F, a left-right pressure sensor F3, a pressure sensor F7, a pressure sensor array F3, a pressure sensor array F, a pressure sensor array F3, a pressure sensor array F, a pressure sensor;

handlebar control module be located the bicycle handlebar, including transversely placing in the electric slide bar mechanism on the handlebar (slider counter weight m 3.) handlebar control module carry out the regulation of handlebar focus and handlebar deflection angle α through adjusting handlebar slider position x be the distance at slider and handlebar center, handlebar slider position x indicate the slider to be located handlebar center right side when being the positive number, indicate the slider to be located handlebar center left side when being the negative number.

The bicycle body middle control module is positioned on a bicycle body and comprises a bicycle body electric eccentric wheel mechanism (radius r1, a bicycle body eccentric wheel counterweight m 4). The vehicle body middle control module adjusts the gravity center of the vehicle body by adjusting the rotation angle theta 1 of the vehicle body eccentric wheel. When the rotation angle theta 1 of the eccentric wheel of the vehicle body is positive, the eccentric wheel counterweight is positioned on the right side of the vehicle body, and when the rotation angle theta 1 of the eccentric wheel of the vehicle body is negative, the eccentric wheel counterweight is positioned on the left side of the vehicle body.

The control module at the rear part of the bicycle body is positioned above a rear wheel of the bicycle and comprises a rear seat electric eccentric wheel mechanism (radius r2, rear seat eccentric wheel counterweight m5) and an electric rotating wheel mechanism m 6. The backseat electric eccentric wheel mechanism adjusts the gravity center of the backseat by adjusting the rotation angle theta 2 of the backseat eccentric wheel, when the rotation angle theta 2 of the backseat eccentric wheel is positive, the eccentric wheel counterweight is positioned on the right side of the vehicle body, and when the rotation angle theta 2 of the backseat eccentric wheel is negative, the eccentric wheel counterweight is positioned on the left side of the vehicle body. The electric rotating wheel mechanism m6 comprises two rotating wheels which are perpendicular to each other: the bicycle comprises a horizontal rotating wheel and a vertical rotating wheel, wherein the horizontal rotating wheel is positioned right above a rear seat eccentric wheel, the center of the horizontal rotating wheel and the center of the rear seat eccentric wheel are positioned on the same vertical plane, and the vertical rotating wheel is tangent to the horizontal rotating wheel and is parallel to a rear wheel of the bicycle; the electric rotating wheel mechanism m6 performs the auxiliary balance of the rear seat part of the bicycle and the indirect control of the rotation of the rear wheel by adjusting the rotating speeds of the two rotating wheels.

The handlebar control module, the vehicle body middle control module and the vehicle body rear control module control each mechanism of the modules according to the information provided by the sensor module, thereby carrying out the indirect control of the balance and the advancing of the bicycle. The control variables of the handlebar control module, the middle control module of the vehicle body and the rear control module of the vehicle body are coupled with each other.

The control method of the unmanned bicycle with the self-balancing function comprises two parts, namely a self-balancing control method and an unmanned control method.

The self-balancing control method comprises but is not limited to a data acquisition driving control method, a bicycle model driving control method, a behavior driving control method, a key balance decomposition control method, an equivalent mapping control method, a self-evolution control method, an environment evolution self-adaptive evolution control method and a competition and cooperation control method.

The control method of the equivalent mapping provides a method for directly controlling the balance of the unmanned bicycle through the equivalent mapping, the rear wheel is regarded as a ball, an x, y and z coordinate system is established based on the ball, bicycle variables are decomposed under the coordinate system, and then controller variables are projected to the coordinate system to establish association for direct control.

As shown in fig. 4, the control method of the equivalent mapping specifically includes the following steps:

1) selecting controllable considerable key variables, wherein the controllable considerable key variables comprise bicycle variables and control variables of a handlebar control module, a bicycle body middle control module and a bicycle body rear control module, the bicycle variables comprise a bicycle handlebar deflection angle α, a bicycle body deflection angle β, a bicycle rear wheel rotation angle phi and primary and secondary derivatives thereof, and the control variables comprise a handlebar slide block position x, a bicycle body eccentric wheel rotation angle theta 1, a rear seat eccentric wheel rotation angle theta 2, a rear seat horizontal rotation wheel rotation angle acceleration a1, a rear seat vertical rotation wheel rotation angle acceleration a2 and primary and secondary derivatives thereof;

2) decomposing the controlled variable: as shown in the figure, the rear wheel of the bicycle is regarded as the section of a ball, and an x, y and z coordinate system is established; decomposing the tilting direction of the rear wheel of the bicycle to the x, y and z coordinate systems;

3) and (3) establishing a projection control variable and a controller: projecting the forces given by the three controllers to an x coordinate system, a y coordinate system and a z coordinate system at the rear part of the bicycle respectively, and establishing the relationship between a controlled variable and a controlled variable; the correspondence of the control variables to the x, y, z coordinate system of the bicycle rear is as follows:

a) the bicycle rear wheel moves along the x axis under the control of the position x of the handlebar slide block, the rotating angle theta 1 of the body eccentric wheel and the rotating angle theta 2 of the backseat eccentric wheel;

b) the rotation angular acceleration a2 of the rear seat vertical rotating wheel controls the movement of the rear wheel of the bicycle along the y axis;

c) the rotation angular acceleration a1 of the rear seat horizontal rotating wheel controls the rotation motion of the bicycle rear wheel along the z-axis;

the force given by the three controllers is generated by the accelerated motion of the balance weight, and the force towards the left side along the handlebar direction is generated when the balance weight of the sliding block in the handlebar control module moves towards the left side of the bicycle in an accelerated mode, and the same principle is applied to the right side; when the balance weight of the eccentric wheel of the vehicle body in the control module in the middle of the vehicle body rotates towards the left side in an accelerating way, a force along the tangential direction of the eccentric wheel is generated, and the same principle is carried out towards the right; when the counterweight of the eccentric wheel of the rear seat in the control module at the rear part of the vehicle body rotates in an accelerating way towards the left side, a force along the tangential direction of the eccentric wheel is generated, and the same principle is carried out towards the right side; the three controllers give forces F₀₁、F₀₂、F₀₃；

The x, y, z coordinate systems are equivalent to corresponding rotational coordinate systems, and can be decomposed into three directions of rotation about three coordinate axes, respectively.

If the rear wheel of the bicycle falls down along the direction gamma, the rear wheel of the bicycle is decomposed into gamma on the x, y and z axes of the rear part of the bicycle_x、γ_y、γ_zWherein γ is_xFor the direction of rotation of the rear wheel of the bicycle about the x-axis, gamma, in the yz plane_yFor the direction of rotation of the rear wheel of the bicycle about the y-axis in the xz-plane, gamma_zFor the direction of rotation of the rear wheel of the bicycle in the xy-plane about the z-axis, it is necessary to provide a force F opposite to this direction_03x、F_03y、F_03z(ii) a Setting the horizontal distance between the center of the control module at the middle part of the vehicle body and the center of the control module at the rear part of the vehicle body to be L1, and the horizontal distance between the center of the control module at the handle bar and the center of the control module at the rear part of the vehicle body to be L2, the relationship between the force given by the three controllers and the required force is as follows:

wherein k is_x、k_y、k_zThe force values and the force directions required by the three controllers can be obtained by presetting constants for proportional coefficients, adjusting when the controllers are established and solving according to an equation.

the behavior-driven control method provides a method for establishing control rules based on data of riding a bicycle, and directly controlling the balance of the unmanned bicycle through secondary mapping of a human body variable and a control variable, and the bicycle is directly controlled after the association between a controller variable and a bicycle variable is established.

As shown in fig. 5, the behavior-driven control method specifically includes the following steps:

1) selecting controllable considerable key variables, wherein the controllable considerable key variables comprise bicycle variables and control variables of a handlebar control module, a bicycle body middle control module and a bicycle body rear control module, the bicycle variables comprise a bicycle handlebar deflection angle α, a bicycle body deflection angle β, a bicycle rear wheel rotation angle phi and primary and secondary derivatives thereof, and the control variables comprise a handlebar slide block position x, a bicycle body eccentric wheel rotation angle theta 1, a rear seat eccentric wheel rotation angle theta 2 and primary and secondary derivatives thereof, a rear seat horizontal rotation wheel rotation speed omega 1, a rear seat vertical rotation wheel rotation speed omega 2 and primary derivatives thereof;

the sensor module measures bicycle variables and human body variables when a common person rides a bicycle, wherein the human body variables comprise pressures F1 and F2 at the left side and the right side of a handlebar detected by a pressure sensor array of the handlebar, distances x1 and x2 between pressure centers at the left side and the right side and the handlebar center, pressures F3 and F4 of left pedals and right pedals detected by pressure sensors of left pedals and right pedals, pressures F5 and F6 at the left side and the right side detected by a pressure sensor array of a saddle shown in figure 6, a gravity center deflection radius R on a horizontal plane and an included angle α 1 between a projection of a human body spine deflection direction detected by a posture sensor arranged on the human spine and a vehicle body, and a primary derivative and a secondary derivative of the gravity center deflection radius R, wherein when the included angle α 1 between the human body spine deflection direction and the vehicle body is a positive number, the human body inclines to the right side of the bicycle, and when;

2) and (3) rule establishment: on the basis of data measured by a sensor module when a common person rides a bicycle, rules are summarized to obtain a plurality of main rules; the rule collection always divides the data of the bicycle ridden into a plurality of segments according to time, then classifies the variable states of the bicycle corresponding to the segments and the intervals to which the variable states of the human body belong, and the same class has the same rule and is ordered according to the occurrence frequency of the rule;

combining a plurality of main rules aiming at the variable states of the bicycle so as to obtain the control rule of the bicycle by people;

the main rules are composed of the current value of the bicycle variable, the current value of the human body variable and the next moment value of the bicycle variable, such as:

IF β(k)∈PL&β(k+1)∈PLTHEN F5∈L&F6∈S；

IF β(k)∈PM&β(k+1)∈PSTHEN F5∈L&F6∈S；

IF β(k)∈PS&β(k+1)∈ZTHEN F5∈M&F6∈S；

IF β(k)∈NS&β(k+1)∈ZTHEN F5∈S&F6∈M；

wherein PL, PM, PS, NS, L, M and S are fuzzy sets, P (Positive) represents positive, N (negative) represents negative, L (large) represents large, M (middle) represents small, S (Small) represents small, and Z (zero) represents 0;

the control rule takes the current value of the bicycle variable as input and takes the human body variable as output;

3) secondary mapping and controller establishment: establishing a mapping relation between control variables of the handlebar control module, the vehicle body middle control module and the vehicle body rear control module and human body variables, and obtaining a control rule of the controller on the bicycle by carrying out secondary mapping on the established control rule of the person on the bicycle; the control variables comprise a handlebar slide block position x, a rotation angle theta 1 of the eccentric wheel of the bicycle body, a rotation angle theta 2 of the eccentric wheel of the rear seat and primary and secondary derivatives thereof, a rotation speed omega 1 of the horizontal rotating wheel of the rear seat, a rotation speed omega 2 of the vertical rotating wheel of the rear seat and primary derivatives thereof;

the secondary mapping relation between the control variable of the handlebar control module and the human body variable is as follows:

the secondary mapping relation between the control variable of the vehicle body middle control module and the human body variable is as follows:

wherein F_34maxIs F₃、F₄Maximum value of (1), F_34minIs F₃、F₄Minimum value of (d);

as shown in fig. 7, the secondary mapping relationship between the control variable of the rear control module of the vehicle body and the human body variable is as follows:

wherein R is_maxIs the maximum value of R;

4) self-balancing is realized: the controller parameters obtained by secondary mapping are respectively input into an actual handlebar control module, a vehicle body middle control module and a vehicle body rear control module, fine adjustment is carried out, and three controllers of the bicycle are built, so that self-balancing of the bicycle is realized;

the control method for decomposing the key balance provides a method for directly controlling the balance of the unmanned bicycle by decomposing the key balance, x, y and z coordinate systems are respectively established at the front, middle and rear parts of the bicycle, bicycle variables are decomposed under the coordinate systems, and then controller variables are projected to the coordinate systems to establish association for direct control.

As shown in fig. 8, the control method for decomposing the key balance specifically comprises the following steps:

1) selecting controllable considerable key variables, wherein the controllable considerable key variables comprise bicycle variables and control variables of a handlebar control module, a bicycle body middle control module and a bicycle body rear control module, the bicycle variables comprise a bicycle handlebar deflection angle α, a bicycle body deflection angle β, a bicycle rear wheel rotation angle phi and primary and secondary derivatives thereof, and the control variables comprise a handlebar slide block position x, a bicycle body eccentric wheel rotation angle theta 1, a rear seat eccentric wheel rotation angle theta 2 and primary and secondary derivatives thereof;

2) decomposing controlled variables, namely respectively establishing an x coordinate system, a y coordinate system and a z coordinate system at the front, middle and rear parts of the bicycle, and respectively decomposing a bicycle handlebar deflection angle α, a bicycle body deflection angle β and a bicycle rear wheel rotation angle phi into the x coordinate system, the y coordinate system and the z coordinate system at the front, middle and rear parts, wherein z of the x coordinate system, the y coordinate system and the z coordinate system is a vertical coordinate axis, an xy plane is a horizontal plane, and the y coordinate axis is positioned in the direction of a bicycle body;

3) and (3) establishing a projection control variable and a controller: projecting the forces given by the three controllers to x, y and z coordinate systems of the front, middle and rear parts of the bicycle respectively; establishing a relation between the control variable and the controlled variable;

the force given by the three controllers is generated by the accelerated motion of the balance weight, and the force towards the left side along the handlebar direction is generated when the balance weight of the sliding block in the handlebar control module moves towards the left side of the bicycle in an accelerated mode, and the same principle is applied to the right side; when the balance weight of the eccentric wheel of the vehicle body in the control module in the middle of the vehicle body rotates towards the left side in an accelerating way, a force along the tangential direction of the eccentric wheel is generated, and the same principle is carried out towards the right; when the counterweight of the eccentric wheel of the rear seat in the control module at the rear part of the vehicle body rotates in an accelerating way towards the left side, a force along the tangential direction of the eccentric wheel is generated, and the same principle is carried out towards the right side;

if the bicycle handlebar deflection angle α is NM, the bicycle body deflection angle β is PM, and the bicycle rear wheel rotation angle phi is NS, then the forces needed to decompose the variables in the three coordinate systems are PL, NM, NL, the force along the handlebar rotation direction tangent line, NM, NL, PL, NM, NL, P (Positive), N (negative), L (large), M (middle), S (Small), Z (Zero), 0;

the bicycle model driving control method and/or the data acquisition driving control method can be further generalized to a model-based self-balancing control method of the unmanned bicycle with a self-balancing function, and a model is constructed through mechanism and/or data; the behavior driving control method and/or the key balance decomposition control method and/or the equivalent mapping control method can be further generalized to a behavior driving based self-balancing control method of the unmanned bicycle with a self-balancing function, and the behavior driving control method and/or the key balance decomposition control method and/or the equivalent mapping control method are directly used for controlling the balance of the bicycle; the self-evolution control method and/or the environmental evolution self-adaptive evolution control method and/or the competition and cooperation control method can be further generalized to be a self-balancing control method of the unmanned bicycle with the self-balancing function based on the intelligent evolution, the self-balancing control method is used for carrying out balanced learning through off-line and/or on-line evolution, and meanwhile, the unmanned bicycle with the self-balancing function based on the intelligent evolution also has an application and an application method of the unmanned bicycle with habit correction.

The habit-correcting unmanned bicycle application and application method provides the habit-correcting unmanned bicycle application and application method, and after healthy riding habits of athletes or coaches are learned, habit correction is performed through a bicycle variable control method that the superposition effect of three controllers and a user on bicycle control tends to be healthy.

The unmanned control method comprises a bicycle control method and method selection under various running states of starting, advancing, turning, backing and the like.

The bicycle control method under the starting state comprises the following specific steps:

2) and (3) adjusting the center of gravity of the bicycle by variable adjustment of the handlebar control module, the middle part control module of the bicycle body and the rear part control module of the bicycle body, so that the handlebar deflection angle α of the bicycle tends to 0, and the bicycle body deflection angle β of the bicycle tends to 0, even if the bicycle is in a vertical standing state from a certain deflection angle.

The bicycle control method under the forward state comprises the following specific steps:

3) indirect drive: the rear wheel of the bicycle is indirectly driven through the variable adjustment of a backseat rotating wheel mechanism of the rear control module of the bicycle body, so that the rotating angle phi of the rear wheel of the bicycle changes at a certain angular speed, even if the bicycle is driven to move forwards at a certain speed.

The bicycle control method under the turning state comprises the following specific steps:

3) indirect drive: the rear wheel of the bicycle is indirectly driven through the variable adjustment of a backseat rotating wheel mechanism of a rear control module of the bicycle body, so that the rotating angle phi of the rear wheel of the bicycle changes at a certain angular speed, even if the bicycle turns at a certain speed.

The specific steps of the selection of the bicycle control method under the various running states are as follows:

2) road surface control and obstacle avoidance: monitoring the road surface through a sensor module; carrying out terrain scanning, judging the terrain and selecting a control method corresponding to the terrain; judging whether an obstacle exists or not, if so, avoiding the obstacle, namely obtaining the traveling direction of the bicycle to be adjusted through road surface information such as distance, obstacle width, obstacle motion condition and the like so as to adjust;

example 1

Hereinafter, a self-balancing unmanned bicycle will be described in detail by taking an example of balancing control of an unmanned bicycle by using a control method of an equivalent map.

At time t0, before the bicycle is put into use, three devices, namely a handlebar control module, a middle body control module and a rear body control module (including a sensor module), are installed on a common bicycle, a controller is established based on an equivalent mapping control method, and an unmanned control method is added.

2) decomposing the controlled variable: the rear wheel of the bicycle is regarded as the section of a ball, and an x, y and z coordinate system is established; decomposing the tilting direction of the rear wheel of the bicycle to the x, y and z coordinate systems;

the force given by the three controllers is generated by the accelerated motion of the balance weight, and the force towards the left side along the handlebar direction is generated when the balance weight of the sliding block in the handlebar control module moves towards the left side of the bicycle in an accelerated mode, and the same principle is applied to the right side; vehicle body center controlWhen the counterweight of the eccentric wheel of the vehicle body rotates towards the left side in an accelerating way, a force along the tangential direction of the eccentric wheel is generated in the module, and the same principle is carried out towards the right; when the counterweight of the eccentric wheel of the rear seat in the control module at the rear part of the vehicle body rotates in an accelerating way towards the left side, a force along the tangential direction of the eccentric wheel is generated, and the same principle is carried out towards the right side; the three controllers give forces F₀₁、F₀₂、F₀₃；

As shown in FIG. 10, when the rear wheel of the bicycle falls down in the direction γ shown in the figure, it is decomposed into γ on the x, y, z axes of the rear part of the bicycle_x、γ_y、γ_zWherein γ is_xFor the direction of rotation of the rear wheel of the bicycle about the x-axis, gamma, in the yz plane_yFor the direction of rotation of the rear wheel of the bicycle about the y-axis in the xz-plane, gamma_zFor the direction of rotation of the rear wheel of the bicycle in the xy-plane about the z-axis, it is necessary to provide a force F opposite to this direction_03x、F_03y、F_03z(ii) a Setting the horizontal distance between the center of the control module at the middle part of the vehicle body and the center of the control module at the rear part of the vehicle body to be L1, and the horizontal distance between the center of the control module at the handle bar and the center of the control module at the rear part of the vehicle body to be L2, the relationship between the force given by the three controllers and the required force is as follows:

and at the time t1, the controller with the self-balancing function and the unmanned function is built and then is put into use by the user. A user turns on a power switch, and the unmanned bicycle with the self-balancing function is started based on the bicycle control method in the starting state.

At time t2, the user rides the self-balancing unmanned bicycle, and the self-balancing unmanned bicycle automatically assists in balancing.

At the time of t3, a user sets a certain distance of automatic driving by himself, and the unmanned bicycle with the self-balancing function adjusts the bicycle advancing based on the selection of bicycle control methods under various running states, and is driven in an indirect driving mode.

the indirect drive indirectly drives the rear wheel of the bicycle through the variable adjustment of a backseat rotating wheel mechanism of a control module at the rear part of the bicycle body, so that the rotating angle phi of the rear wheel of the bicycle changes at a certain angular speed, even if the bicycle is driven to move forwards at a certain speed, as shown in fig. 11.

And at the time t4, the pilotless bicycle with the self-balancing function arrives at a specified place and waits for a next command.

Example 2

Hereinafter, a self-balancing control of the self-balancing bicycle will be described in detail by taking an example of a control method using behavior driving to perform the balance control of the self-balancing bicycle.

At time t0, before the bicycle is put into use, three devices, namely a handlebar control module, a middle body control module and a rear body control module (including a sensor module), are installed on a common bicycle, a controller is established based on a behavior-driven control method, and an unmanned control method is added.

as shown in FIG. 9, the sensor module measures the time series of data of common people riding bicycles, namely β, F5, F6 and other variables changing with time, the series is divided into a plurality of segments in units of seconds, each segment is classified according to the variable state corresponding to the segment, if the corresponding β (k) belongs to PL, F5 belongs to L, F6 belongs to S, β (k +1) belongs to PM, the segment is divided into red categories, after all data are classified, the frequency of the occurrence of the categories is counted and sorted from high to low, wherein PL, PM, L and S are fuzzy sets, P (Positive) represents positive, L (Large) represents large, M (middle) represents medium, and S (Small) represents small;

if β belongs to NS, the fragment types are more than green type and another other color type, then combining the control rules corresponding to the two types to obtain the control rule of bicycle by person:

wherein PS, NS and S are fuzzy sets, P (Positive) represents positive, N (negative) represents negative, and S (Small) represents small;

IF β(k)∈PL&β(k+1)∈PL THEN F5∈L&F6∈S；

IF β(k)∈PM&β(k+1)∈PS THEN F5∈L&F6∈S；

IF β(k)∈PS&β(k+1)∈Z THEN F5∈M&F6∈S；

IF β(k)∈NS&β(k+1)∈Z THEN F5∈S&F6∈M；

wherein R is_maxIs the maximum value of R;

Example 3

The following description will specifically describe an unmanned bicycle with a self-balancing function, taking as an example the balance control of the unmanned bicycle by a control method for resolving key balance.

At time t0, before the bicycle is put into use, three devices, namely a handlebar control module, a middle body control module and a rear body control module (including a sensor module), are installed on a common bicycle, a controller is established based on a control method for decomposing key balance, and an unmanned control method is added.

if the bicycle handlebar deflection angle α is NM, the bicycle body deflection angle β is PM, and the bicycle rear wheel rotation angle phi is NS, then the forces needed to decompose the variables in the three coordinate systems are PL, NM, NL, the force in the tangential direction of the handlebar rotation at the bicycle handlebar, NM in the direction of the body deflection at the bicycle body, and NL in the direction of the body deflection above the bicycle rear wheel, respectively, corresponding to the force magnitudes and directions given by the three controllers are PL, NM, NL, where PL, PM, PS, NL, N □, NS, L, M, S are fuzzy sets, P (Positive) represents positive, N (negative) represents negative, L (large) represents large, M (middle) represents middle, S (Small) represents small, Z (Zero) represents 0;

Example 4

The following describes an unmanned bicycle with a self-balancing function, taking the driving habit learning of the unmanned bicycle as an example.

At time t0, before the bicycle is put into use, three devices, namely a handlebar control module, a vehicle body middle control module and a vehicle body rear control module (including a sensor module), are installed on a common bicycle and are set through a self-balancing control method and an unmanned control method.

At time t1, the bicycle is used by the athlete or coach for a period of time, and the healthy driving habit with the least damage is learned, so as to obtain a healthy bicycle variable control method, namely, a good riding habit.

At time t2, the user is invested in practice and habit correction is performed. The habit correction is a bicycle variable control method which is implemented by superposing the control of a bicycle by three controllers on the control of a user on the bicycle so that the superposition effect tends to be healthy; thus, if the riding habit of the user is not good, the controller gives an additional disturbance, and the user feels hard, so that the user tends to use the healthy riding habit to ride the bicycle, and the user has a good riding habit.

Example 5

At time t1, the user is invested in the learning of the personalized driving habits. The riding habit learning is the learning of the driving habit of the user who uses the unmanned bicycle for a long time.

At time t2, another person (or a thief) rides the user's bicycle, and the bicycle also continues to learn the driving habits of the other person, thereby determining the change of the riding person. And then, the unmanned bicycle can contact the user through the server terminal for confirmation, judge whether the user borrows or rents the bicycle, and further contact police or related mechanisms through the server terminal if the user does not borrow or rents the bicycle for a period exceeding the renting period, and provide positioning for the user. If the user trades the unmanned bicycle, the driving habit of any previous user needs to be cleared through related authorization.

Example 6

In the following, an application of the shared unmanned bicycle to intelligent taxi calling and returning is taken as an example, and an unmanned bicycle with a self-balancing function is specifically described.

At time t0, before the bicycle is put into use, the three devices, namely the handlebar control module, the middle body control module and the rear body control module (including the sensor module), are installed on a common shared bicycle and are set through a self-balancing control method and an unmanned control method.

At time t1, the bicycle is directly released to the street for the user, and each unmanned bicycle should have its own parking space and support.

At time t2, the user calls the car through the mobile phone software on the street, the server searches the nearest shared unpiloted bicycle to the car-calling place, and the shared unpiloted bicycle is started and automatically driven to the car-calling place. If this unmanned bicycle is in non-vertical state, then need the unmanned aerial vehicle housekeeper to go out, hang just bicycle with the hook, make it get back to vertical state to start and autopilot. The vertical state is the state when the deflection angle of the bicycle body is less than or equal to the deflection angle of the bicycle body when the rear wheel of the bicycle is supported.

At time t3, the shared unpiloted bicycle arrives at the location of the call and is available to the user.

At the time t4, after the shared unpiloted bicycles are used up by the user, the server can automatically screen out the area with the lowest density of the shared unpiloted bicycles in a certain range, and the shared unpiloted bicycles can automatically drive to the place suitable for parking in the area and park for the next use requirement.

Claims

1. A self-balancing unmanned bicycle based on behavior driving is characterized by comprising a bicycle, a sensor module, a handlebar control module, a bicycle body middle control module and a bicycle body rear control module;

(iii) adjustment of (c);

selecting the bicycle variable and the control variables of the handlebar control module, the middle part control module of the bicycle body and the rear part control module of the bicycle body as key variables; establishing a coordinate system at the rear part of the bicycle, and decomposing the toppling direction of the rear wheel of the bicycle into the rear part coordinate system; the control variables comprise the position of a handle bar sliding block, the rotating angle of a vehicle body eccentric wheel, the rotating angle of a backseat eccentric wheel and the first derivative and the second derivative of the rotating angle and the rotating angle;

2. The self-balancing unpiloted bicycle based on behavior driving of claim 1, wherein the center of gravity adjusting mechanism of the handlebar control module is a slide bar mechanism transversely placed on the handlebar, and the handlebar control module adjusts the center of gravity of the handlebar by adjusting the position of a slide block of the handlebar slide bar mechanism.

3. The self-balancing unpiloted bicycle driven by behaviors as claimed in claim 1, wherein the center of gravity adjusting mechanism of the middle vehicle body control module is an eccentric wheel, and the middle vehicle body control module adjusts the center of gravity of the middle vehicle body by adjusting the rotation angle of the eccentric wheel.

4. The self-balancing unpiloted bicycle driven by behaviors as claimed in claim 1, wherein the center of gravity adjusting mechanism of the rear body control module is an eccentric wheel, and the rear body control module adjusts the center of gravity of the rear body by adjusting the rotation angle of the eccentric wheel.

5. The self-balancing unpiloted bicycle based on behavior driving of claim 1, wherein the rotating wheel mechanism of the rear body control module is two rotating wheels perpendicular to each other: the vertical rotating wheel is tangent to the horizontal rotating wheel and is parallel to the rear wheel of the bicycle; the rear control module of the bicycle body performs balance control and rear wheel rotation control on the rear part of the bicycle by adjusting the rotating speeds of the two rotating wheels.

6. A control method based on behavior-driven equivalent mapping of a self-balancing unmanned bicycle is characterized by comprising a balance control part and an unmanned control part;

1) selecting key variables, namely selecting controllable considerable key variables comprising bicycle variables and control variables of a handlebar control module, a bicycle body middle control module and a bicycle body rear control module, wherein the bicycle variables comprise a bicycle handlebar deflection angle α, a bicycle body deflection angle β and a bicycle rear wheel rotation angle

The control variables comprise the position of a handle bar sliding block, the rotating angle of a vehicle body eccentric wheel, the rotating angle of a backseat eccentric wheel and the first derivative and the second derivative of the rotating angle and the rotating angle;

7. The method as claimed in claim 6, wherein in step 3), when the gravity center adjusting mechanism of the handlebar control module is a sliding bar mechanism, a force is generated in the handlebar control module to one side of the bicycle in the handlebar direction when the sliding block balance weight moves to the one side with an acceleration; when the gravity center adjusting mechanism of the vehicle body middle control module is an eccentric wheel, a force which is along the tangential direction of the eccentric wheel to one side is generated in the vehicle body middle control module when the counterweight of the vehicle body eccentric wheel rotates to the one side in an accelerating way; when the gravity center adjusting mechanism of the control module at the rear part of the vehicle body is an eccentric wheel, when the counterweight of the eccentric wheel rotates towards one side in an accelerating way, a force towards the side along the tangential direction of the eccentric wheel is generated in the control module at the rear part of the vehicle body.

8. The method of claim 6, wherein in step 3), the force generated by the center of gravity acceleration movement of the center of gravity adjustment mechanisms of the handlebar, mid-body, and rear-body control modules is related to the tilting direction of the rear wheel of the bicycle by:

wherein gamma is the falling direction of the rear wheel of the bicycle and is decomposed into gamma in the x, y and z coordinate system of the rear part of the bicycle_x、γ_y、γ_zWherein γ is_xFor the direction of rotation of the rear wheel of the bicycle about the x-axis, gamma, in the yz plane_yFor the direction of rotation of the rear wheel of the bicycle about the y-axis in the xz-plane, gamma_zFor the direction of rotation of the rear wheel of the bicycle in the xy plane about the z axis, F_03x、F_03y、F_03zA force in the opposite direction, F₀₁、F₀₂、F₀₃The force generated by the gravity center acceleration movement of the gravity center adjusting mechanisms of the handlebar control module, the vehicle body middle control module and the vehicle body rear control module respectively, L1 is the horizontal distance between the center of the vehicle body middle control module and the center of the vehicle body rear control module, and L2 is the horizontal distance between the center of the handlebar control module and the center of the vehicle body rear control module; h is₃、h₄、h₅Respectively the heights of the handlebar control module, the middle part control module and the rear part control module of the bicycle body, r is the radius of the rear wheel of the bicycle, r₁、θ₁When the gravity center adjusting mechanism of the vehicle body middle control module is an eccentric wheel, the radius of the eccentric wheel and the rotating angle r of the eccentric wheel₂、θ₂When the gravity center adjusting mechanism of the control module at the rear part of the vehicle body is an eccentric wheel, the radius of the eccentric wheel and the rotating angle k of the eccentric wheel_x、k_y、k_zThe proportional coefficient can be preset as a constant and adjusted when the controller is established;

9. The method of claim 6, wherein the implementation of the drone control portion includes: selecting a target motion state, and controlling the bicycle in the target motion state; the motion state includes: starting, advancing, turning and retreating;

10. The method according to claim 9, wherein the selecting a target motion state is specifically:

1) macroscopic route determination: determining the integral traveling route of the bicycle in a navigation and manual selection mode;

2) road surface control and obstacle avoidance: monitoring the road surface through a sensor module; carrying out terrain scanning, judging the terrain and selecting a control method corresponding to the terrain; and judging whether an obstacle exists or not, and if so, avoiding the obstacle, namely obtaining the traveling direction of the bicycle to be adjusted according to the distance, the width of the obstacle and the movement condition of the obstacle so as to adjust.