CN110077510A - A kind of Self-balancing electronic motorcycle with semi-automatic driving function - Google Patents

Abstract

The invention discloses a self-balancing electric motorcycle with a semi-automatic driving function. It uses an inertial sensor and a camera fusion, relies on an angle sensor to measure the rolling angle of the vehicle body in real time, and uses a dynamic model and an underactuated system to control the steering motor and wheel drive. Electric motors and front and rear wheel brakes keep the vehicle balanced. The motorcycle is composed of a front wheel system, a turning motor, a steering wheel, a seat cushion, a rear wheel system, an automatic landing gear, a control system, a pedal, a vehicle frame, and a visual sensing camera. The different characteristics of the balance car, it does not need a flywheel with high energy consumption to rotate at high speed to maintain the balance of the body, but only needs a relatively simple balance controller with very low energy consumption to maintain the stable and balanced driving of the body. Has a strong practicality.

Description

A self-balancing electric motorcycle with semi-autonomous driving

technical field

The invention relates to the technical field of automatic driving of monorail vehicles, in particular to an automatic driving of automatic balancing of monorail vehicles and simple road conditions through the coupling of machine vision and inertial navigation.

Background technique

The development of the automobile age has caused a series of contradictions in roads, population, and parking lots. Traffic congestion and air pollution have become increasingly serious in major cities in China in recent years. According to a traffic survey, the average number of passengers carried by a single electric motorcycle is 1.12, while the number of passengers carried by a single car is 1.24. Cars are several times the volume of electric bicycles, but the number of passengers they carry is almost the same. This is a huge waste and directly leads to excessive traffic congestion. Scientific analysis found that there are hundreds of different compounds in vehicle exhaust, among which the total lead emission alone reaches 400,000 tons per year, becoming the most serious source of air pollution, and motor vehicle exhaust pollution is called an "invisible killer". Electric motorcycles, on the other hand, only use electricity to drive and do not produce pollution. However, electric motorcycles have technical requirements for drivers, and are more dangerous when driving at high speeds.

Now the car pollution is getting more and more serious, and the road traffic is getting more and more congested. The huge economic loss caused by traffic congestion has developed into a problem that cannot be ignored. Aiming at the situation that the current car occupies a large area, consumes a lot of energy, and the passenger capacity does not match its volume and energy consumption, a new electric motorcycle with a small footprint, low energy consumption, convenient travel and safety is designed. Improve the utilization rate of resources while alleviating serious pollution problems.

At the same time, the shared bicycle industry is becoming more and more developed, and it is welcomed by all walks of life, but it also brings about social problems such as disorderly parking, affecting city appearance and occupying public space. Moreover, the operation of bicycles is prone to unbalanced problems, which can easily lead to traffic accidents.

Therefore, the prior art needs to be further improved and perfected.

SUMMARY OF THE INVENTION

The purpose of the present invention is to overcome the deficiencies of the prior art and provide a self-balancing electric motorcycle with a simple structure and a semi-automatic driving function.

The object of the present invention is achieved through the following technical solutions:

A self-balancing electric motorcycle with a semi-automatic driving function, the self-balancing electric motorcycle mainly includes a front wheel system, a steering motor, a steering wheel device, a seat cushion, a rear wheel system, an automatic landing gear, a control system, pedals, a vehicle frame, and camera. The front wheel system and the rear wheel system are respectively installed at the front and rear ends of the vehicle frame. The turning motor is installed at the front end of the vehicle frame, connected with the front wheel system, and electrically connected with the control system. The steering wheel device is arranged on the top of the front end of the vehicle frame and is electrically connected with the control system. The cushion is arranged on the top of the rear end of the vehicle frame. The automatic landing gear is installed at the rear end of the vehicle frame, before the rear wheel system, and is electrically connected with the control system; the pedal is installed at the bottom of the vehicle frame, and is electrically connected with the control system. The camera is installed at the front end of the vehicle frame, located in front of the steering wheel device, and is electrically connected with the control system; the control system is arranged at the bottom of the vehicle frame.

Specifically, the vehicle frame includes a front bend pipe, a main frame, and a rear tail bend pipe. The front bent pipe is arranged in front of the main frame and fixedly connected with the main frame. The rear curved pipe is arranged behind the main structure and is fixedly connected with the column structure. The end of the front bend pipe is provided with a steering wheel installation position. A seat cushion mounting plate is provided at the end of the rear tail bend. A rear cross bar is also provided below the end of the rear bend pipe.

Specifically, the automatic landing gear keeps the retracted state when the vehicle is running normally, and automatically lowers when the vehicle speed is reduced and is about to stop, so as to prevent the vehicle body from toppling due to imbalance caused by slow speed, and also to prevent the vehicle body from toppling after the vehicle is stopped and powered off. Support for the body.

Specifically, the camera feeds back the information of the surrounding environment of the vehicle to the core board of the controller in the control system.

Further, the front wheel system mainly includes a shaft coupling, a front sleeve of the frame, a front fork, a front wheel, a front oil brake, and a first encoder. One end of the coupling is connected to the motor, and the other end is connected to the front fork. The front fork passes through the front end sleeve of the vehicle frame. The front oil brake is installed on the support column at the right end of the front fork. The reading head of the first encoder is installed on the support column at the right end of the front fork. The first encoder synchronous wheel is installed on the front wheel axle, and rotates synchronously with the wheel, to realize real-time reading of the front wheel speed. The front wheel is set as a driving wheel, which contains a drive motor.

Further, the steering wheel device is installed at the end of the front bend pipe of the vehicle frame, and mainly includes a steering wheel and a steering wheel base. The steering wheel base is fixed on the installation position of the steering wheel device. The steering wheel is installed on the steering wheel base and electrically connected with the control system.

Further, the rear wheel system mainly includes a shock absorber, a rear oil brake, a rear wheel, a second encoder, and a rear tailstock. One end of the shock absorber is connected to the rear cross bar, and the other end is connected to the rear tailstock. The rear oil brake is installed on the rear wheel. Described trailing wheel is installed on the rear tailstock, is connected with rear tailstock by rear axle. The reading head of the second encoder is installed on the connecting position of the rear tailstock, the synchronous wheel and the rear wheel shaft, and rotates coaxially with the rear wheel, so as to realize the real-time reading of the rear wheel speed. The connection point where the shock absorber is connected to the rear tailstock is located at the front end of the installation point where the encoder is installed on the rear tailstock.

Further, the control system is installed on the lower end of the main frame by welding; the control system mainly includes: a first accommodation chamber and a second accommodation chamber. The first accommodating cavity includes a battery case housing, and the front wheel motor driver, the front wheel turning motor driver, the controller core board, and the acrylic bottom plate of the controller core board are arranged inside it. The second accommodating chamber includes a lithium battery and a battery fixing plate. The front wheel motor driver and the front wheel turning motor driver are placed at the left end of the first accommodating cavity, and the bottom is fixed to the bottom of the battery case shell with bolts. The front wheel motor driver is clamped on the first accommodating chamber by the gland plate for fixing the position. The acrylic bottom plate of the controller core board is located at the right end of the first accommodating cavity, and an angle sensor is arranged on it. The controller core board is fixedly installed on the acrylic bottom plate of the controller core board and is located in the first accommodation cavity, and is electrically connected with the front wheel motor driver, the front wheel turning motor driver and the lithium battery respectively. A lithium battery is placed in the second accommodation cavity, and the lithium battery is locked in the second accommodation cavity by the battery fixing plate.

Specifically, the footboard is installed at the front end of the main frame of the vehicle frame, and the footboard mainly includes: a rear suspension plate, a footrest, and a front suspension plate. The rear hanging plate is welded to the front part of the main frame. The front suspension plate is welded to the lower part of the front bend pipe. The rear suspension board and the front suspension board are installed on the same horizontal plane. The front end of the foot pedal is installed on the front suspension plate, and the rear end is installed on the rear suspension plate, and is electrically connected with the control system.

Most of such products at home and abroad are based on flywheels to achieve vehicle self-balancing; when the two flywheels under the driver's seat are turned on, the speed of 5000-12000 revolutions per minute is maintained to maintain the automatic balance of the vehicle. But more or less there are corresponding problems, such as high energy consumption of the flywheel, and once a severe impact occurs, huge kinetic energy is released, which poses certain safety hazards. Therefore, a different method is proposed, using the self-researched unconstrained vehicle dynamics system equations to describe and control the dynamics of two-wheeled vehicles. And replace the driver's brain with a multi-function computer to calculate the best control plan, and then use the computer-controlled turning motor to control the steering angle to replace the driver's hands to maintain the balance of the body and realize the self-balancing of the vehicle effectively and safely .

Because the product of the present invention has small size (about one-third of the volume of ordinary family cars), high energy efficiency, and strong safety (can be independently balanced), it is very suitable as a substitute for shared bicycles or as a personal modern transportation tool Used in existing urban roads with heavy traffic. Due to the reduction of the road space occupied by the car, the existing road traffic volume can be increased by 2-3 times, which will significantly improve the road congestion situation; in addition, the car can also use new energy as power, which can effectively reduce the air pollution caused by fuel. , has a high environmental protection benefit. In the context of the times when the country is increasingly advocating environmentally friendly travel and vigorously promoting new energy vehicles, if the present invention can be successfully industrialized, it will be widely used in urban road traffic, competing with existing ordinary family cars and is likely to replace existing vehicles. Some ordinary four-wheel family cars. In summary, the mature product of the present invention has a wide range of application and promotion prospects.

The working process and principle of the present invention are: the self-balancing monorail self-balancing car belongs to a small electric car, which is small in size, cheap in price, and occupies a small area. high question. Self-balancing is mainly achieved through calculation algorithms, and the high energy consumption and high cost of flywheels are abandoned. The turning motor controlled by the balance controller realizes stable tilt control and large-angle turning, and the control board replaces the high-power gyroscope with lower energy consumption. The battery pack is composed of 60V lithium batteries used in electric vehicles on the market. The single power is only 1000w, the capacity is 20AH, and the continuous working current is 20A. It supports disassembly and is easy to replace. The expected mileage of the battery pack is 60-70 kilometers.

Compared with the prior art, the present invention also has the following advantages:

(1) The vehicle structure of the self-balancing electric motorcycle with semi-automatic driving function provided by the present invention is inherited from the traditional motorcycle model, but it has a more integrated design effect than the traditional motorcycle, and is suitable for the balance motorcycle system framework design.

(2) The self-balancing electric motorcycle with semi-automatic driving function provided by the present invention adopts front-wheel drive, which can realize a small turning radius and is more applicable to the unmanned motorcycle design scheme of road traffic.

(3) The self-balancing electric motorcycle with semi-automatic driving function provided by the present invention does not need a flywheel with high energy consumption to rotate at high speed to maintain the balance of the vehicle body, but only needs a relatively simple balance controller with extremely low energy consumption to maintain Smooth and balanced ride of the body.

Description of drawings

Fig. 1 is a schematic diagram of the structure of a self-balancing electric motorcycle with a semi-automatic driving function provided by the present invention.

Fig. 2 is a process flowchart of the control system in the semi-automatic mode of the present invention.

Fig. 3 is a schematic diagram of the relationship between the whole vehicle processing system provided by the present invention.

Fig. 4 is a flow chart of controlling the motor by the controller core board provided by the present invention.

Fig. 5 is a schematic structural diagram of the front wheel system provided by the present invention.

Fig. 6 is a schematic structural view of the steering wheel device provided by the present invention.

Fig. 7 is a schematic structural diagram of the rear wheel system provided by the present invention.

Fig. 8 is a schematic structural view of the pedal provided by the present invention.

Fig. 9 is a schematic structural diagram of the control system provided by the present invention.

Fig. 10 is a schematic diagram of the frame structure provided by the present invention.

Explanation of the labels in the above-mentioned accompanying drawings:

1- Front wheel system, 2- Turning motor, 3- Steering wheel device, 4- Cushion, 5- Rear wheel system, 6- Automatic landing gear, 7- Control system, 8- Pedal, 9- Frame, 10- Camera;

101-coupling, 102-frame front sleeve, 103-front fork, 1031-support column, 104-front wheel, 105-front oil brake, 106-first encoder;

301-steering wheel, 302-steering wheel base;

501-shock absorber, 502-rear oil brake, 503-rear wheel, 504-second encoder, 505-rear tailstock;

701-Gland plate, 702-Front wheel motor driver, 703-Front wheel turning motor driver, 704-Battery box shell, 705-Controller core board, 706-Controller core board acrylic bottom plate, 707-Battery fixing plate, 708 - Lithium battery, 710 - the first accommodation chamber, 720 - the second accommodation chamber;

801-rear suspension plate, 802-pedal, 803-front suspension plate;

901-Front bend pipe, 9011-Steering wheel device installation position, 902-Main structure, 903-Rear tail bend pipe, 9032-Rear tail cross bar;

Detailed ways

In order to make the object, technical solution and advantages of the present invention more clear and definite, the present invention will be further described below with reference to the accompanying drawings and examples.

Example 1:

As shown in Figures 1 to 10, this embodiment discloses a self-balancing electric motorcycle with a semi-automatic driving function. The self-balancing electric motorcycle mainly includes a front wheel system 1, a turning motor 2, a steering wheel device 3, and a seat cushion 4. Rear wheel system 5. Automatic landing gear 6. Control system, pedals, frame, and camera. The front wheel system and the rear wheel system are respectively installed at the front and rear ends of the vehicle frame. The turning motor is installed at the front end of the vehicle frame, connected with the front wheel system, and electrically connected with the control system. The steering wheel device is arranged on the top of the front end of the vehicle frame and is electrically connected with the control system. The cushion is arranged on the top of the rear end of the vehicle frame. The automatic landing gear is installed at the rear end of the vehicle frame, before the rear wheel system, and is electrically connected with the control system; the pedal is installed at the bottom of the vehicle frame, and is electrically connected with the control system. The camera is installed at the front end of the vehicle frame, located in front of the steering wheel device, and is electrically connected with the control system; the control system is arranged at the bottom of the vehicle frame. The specific structure of the self-balancing electric motorcycle provided by the present invention is as follows:

1. Mechanical structure

The vehicle frame 9 includes a front bend pipe 901, a main frame 902, and a rear tail bend pipe 903; the end of the front bend pipe 901 is provided with a steering wheel mounting position 9011; the end of the rear tail bend pipe 903 is provided with a cushion mounting plate 9031; A rear cross bar 9032 is provided below the end of the elbow 903;

The front wheel system 1 includes a shaft coupling 101, a frame front sleeve 102, a front fork 103, a front wheel 104, a front oil brake 105, and a first encoder 106. Specifically, one end of the shaft coupling 101 is connected to the motor 2, The other end is connected to the front fork 103; the front fork 103 passes through the front end sleeve 102 of the vehicle frame; the front oil brake 105 is installed on the support column 1031 at the right end of the front fork 103, and the reading head of the first encoder 106 is installed on the front fork 103 on the right end support column 1031, the first encoder 106 synchronous wheel is installed on the front wheel axle, rotates synchronously with the wheel, like this, the first encoder 106 can read the front wheel speed in real time; The front wheel 104 is an active The wheel contains a driving motor, the motor 2 is installed on the front bend pipe 901 motor bracket of the vehicle frame 9, and the steering wheel 3 is installed at the end of the front bend pipe 901 of the vehicle frame 9, specifically including a steering wheel 301 and a steering wheel base 302;

The rear wheel system 5 includes a shock absorber 501 , a rear oil brake 502 , a rear wheel 503 , a second encoder 504 and a rear tailstock 505 . One end of the shock absorber 501 is connected to the rear crossbar, and the other end is connected to the rear tail frame 505; the reading head of the second encoder 504 is installed on the rear tail frame 505, the synchronous wheel and the rear wheel shaft, and rotates coaxially with the rear wheel , so that the second encoder 504 can read the rear wheel speed in real time; specifically, the connection point where the shock absorber 501 is connected to the rear tailstock 505 is located at the front end of the installation point where the second encoder 504 is installed on the rear tailstock 505 .

The automatic undercarriage 6 keeps the retracted state when the vehicle is running normally, and automatically descends when the vehicle speed is reduced and is about to stop, so as to prevent the vehicle body from toppling due to imbalance caused by slow speed, and also to prevent the vehicle body from toppling over after the vehicle is powered off after parking. supporting role;

The control system 7 is installed on the lower end of the main frame 902 by welding; the device box 7 includes: a first accommodating cavity 710 and a second accommodating cavity 720; the first accommodating cavity 710 includes a battery box shell 704, and The front wheel motor driver 702, the front wheel turning motor 2 driver 703, the controller core board acrylic bottom plate 706, the front wheel motor driver 702, and the front wheel turning motor 2 driver 703 are placed at the left end of the first accommodation cavity 710, and the bottom It is fixed on the bottom of the battery box shell 704 with bolts; the front wheel motor driver 702 is clamped on the first accommodation cavity 710 by the gland plate 701 for fixing the position; the acrylic bottom plate 706 of the controller core board is located in the first accommodation cavity There is an angle sensor on the right end of the chamber 710, and the controller core board 705 is fixedly installed on the acrylic bottom plate 706 of the controller core board and is located in the first housing chamber 710; the second housing chamber 720 is placed with a lithium battery 708, and the lithium battery 708 The battery 708 is locked in the second accommodating chamber 720 by the battery fixing plate 707;

The pedal 8 is installed on the front end of the main frame 902 of the vehicle frame 9, and the pedal 8 includes: a rear suspension plate 801, a pedal 802 and a front suspension plate 803; the rear suspension plate 801 is welded on the main frame 902 front end part; the front suspension plate 803 is welded on the lower part of the front bend pipe 901; the rear suspension plate 801 and the front suspension plate 803 are on the same horizontal plane; the front end of the pedal 802 is installed on the front suspension plate 803, The rear end is installed on the rear suspension plate 801 .

2. Control part

2.1 Vehicle control system

2.1.1 Manual control mode

The driver realizes manual steering by using the steering wheel 3 to control the rotation angle of the front wheel steering motor, and controls the acceleration and deceleration when the vehicle is running through the foot pedal 8 .

2.1.2 Semi-automatic control mode

Under the situation of the driver's manual driving, the speed encoder (106 and 504) on the vehicle body, the vision sensor 10, and the angle sensor on the core board 705 keep working. The speed encoder (106 and 504) obtains the real-time running speed of the vehicle body, the visual sensor 10 obtains the image in front of the real-time operation, and the speed sensor obtains the inclination angle of the vehicle body in real time, and processes these information with the sensing core board 705, and then proceeds according to the actual situation. Output the angle of rotation of the corresponding front wheel turning motor 2 and the rotation speed (i.e. running speed) of the motor 104 in the front wheel to realize the balance of the vehicle body; The support function of these all plays a role in safety protection for the driver.

2.1.3 Automatic control mode

This mode is applicable to the form of shared motorcycles. When the vehicle stops, the controller keeps working after the driver leaves the vehicle. The angle sensor in the controller core board 705, the camera 10 and the speed encoder 105, 504 obtain the body in real time Front environment during driving, tilt angle, information vehicles such as running speed and drive the rotation angle of vehicle turning motor 2 and the front wheel motor wheel 104 to automatically go to the nearby suitable parking place to stop and turn off the engine.

2.2 The specific workflow of the controller core board processor

Import the dynamic model into MATLAB, and use the LQR algorithm to calculate the optimal PID coefficient. The CPU can obtain the state of the car body, thereby calculating the control amount and realizing the precise torque output of the motor.

2.3 Hardware modules

The core processor module that the present invention uses is STM32F4. STM32F4 is a high-performance microcontroller developed by ST (STMicroelectronics). It uses a 90-nanometer NVM process and ART (Adaptive Real-Time Memory Accelerator ^TM ). ART technology enables zero-wait program execution, improves the efficiency of program execution, and maximizes the performance of Cortext-M4, enabling the STM32F4 series to reach 210DMIPS@168MHz.

The inertial measurement unit used in the present invention is MPU6050. The MPU-6000 (6050) is the world's first integrated 6-axis motion processing component. Compared with the multi-component solution, it eliminates the problem of the time axis difference between the combined gyroscope and the accelerator, and reduces a large amount of packaging space. Digitally output 6-axis or 9-axis rotation matrix, quaternion, and fusion calculation data in Euler Angle format.

The angle and angular velocity of the wheel are realized through the encoder module function and input capture to measure the wheel speed. The encoder used in the present invention is an incremental encoder integrated in the motor, 2500PPR (sends 2500 pulses per revolution).

The driver configured for this motor is the Accelnet Panel of Copley controls. The driver can communicate with the host computer through RS-232, so as to configure the modes allowed by the driver, the maximum output current and so on.

Example 2:

Another embodiment of the present invention is that the control system 7, as the control brain of the whole vehicle, is responsible for the realization of the coordinated motion mechanism of the whole vehicle, specifically including controlling the work of the front wheel motor wheels 104 through the front wheel drive controller 702, so as to realize the whole vehicle The front wheel system 1 can turn left and right by controlling the turning motor 2 to work. When the vehicle is running, when the vehicle body is unbalanced, the turning motor 2 is driven to work to generate torque, which is the same as the coupling Torque is transmitted from the torque converter 101 to the front fork 103 and finally to the front wheel 104. Through the coordinated work of the motor 104 in the front wheel and the turning motor 2, the balance of the forward and turning of the whole vehicle is realized.

In addition, the wheel rotational speeds recorded by the encoders (106, 504) are fed back to the control system 7, and the control system 7 adjusts the rotational speeds of the front wheels 104 and the turning motor 2 through the encoder feedback signals to control the progress of the entire vehicle; in general That is to say, through the angle sensor in the controller core board 705 of the control system 7 on the vehicle body, the camera 10 and the speed encoder 105, 504 obtain real-time information on the front environment, inclination angle, running speed and other information of the vehicle body during driving, and pass corresponding control algorithms Adjust the rotation angle of the turning motor 2 and the rotation speed of the front wheel motor wheel 104 to eliminate the inclination of the vehicle body, keep the balanced operation of the vehicle, and also enable the vehicle to automatically go to a suitable position for parking after parking.

The above-mentioned embodiment is a preferred embodiment of the present invention, but the embodiment of the present invention is not limited by the above-mentioned embodiment, and any other changes, modifications, substitutions, combinations, Simplifications should be equivalent replacement methods, and all are included in the protection scope of the present invention.

Claims (6)

1. A self-balancing electric motorcycle with a semi-automatic driving function, characterized in that it includes a front wheel system, a turning motor, a steering wheel device, a seat cushion, a rear wheel system, an automatic landing gear, a control system, a pedal, and a vehicle frame , and a camera; the front wheel system and the rear wheel system are respectively installed at the front and rear ends of the vehicle frame; the turning motor is installed at the front end of the vehicle frame, connected with the front wheel system, and electrically connected with the control system; the steering wheel device It is arranged on the top of the front end of the vehicle frame and is electrically connected to the control system; the cushion is arranged on the top of the rear end of the vehicle frame; the automatic landing gear is installed on the rear end of the vehicle frame, before the rear wheel system, and is electrically connected to the control system; The foot pedal is installed at the bottom of the frame and is electrically connected to the control system; the camera is installed at the front end of the frame, located in front of the steering wheel device, and is electrically connected to the control system; the control system is arranged at the bottom of the frame; The vehicle frame includes a front bend pipe, a main frame, and a rear tail bend pipe; the front bend pipe is arranged in front of the main frame and is fixedly connected with the main frame; the rear bend pipe is arranged behind the main frame and connected to the post The body frame is fixedly connected; the end of the front elbow is provided with a steering wheel device installation position; the end of the rear elbow is provided with a cushion mounting plate; the end of the rear elbow is also provided with a rear cross bar; The automatic undercarriage keeps the retracted state when the vehicle is running normally, and automatically lowers when the vehicle speed is reduced and is about to stop. supporting role; The camera feeds back the information of the surrounding environment of the vehicle to the core board of the controller in the control system. 2. The self-balancing electric motorcycle with a semi-automatic driving function according to claim 1, wherein the front wheel system includes a shaft coupling, a front end sleeve of a vehicle frame, a front fork, a front wheel, and a front oil brake , and the first encoder; one end of the coupling is connected to the motor, and the other end is connected to the front fork; the front fork passes through the front end sleeve of the vehicle frame; the front oil brake is installed on the support column at the right end of the front fork The reading head of the first encoder is installed on the support column at the right end of the front fork; the synchronous wheel of the first encoder is installed on the axle of the front wheel, and rotates synchronously with the wheel to realize real-time reading of the front wheel speed; the front wheel is set It is a driving wheel and contains a drive motor. 3. The self-balancing electric motorcycle with semi-automatic driving function according to claim 1, wherein the steering wheel device is installed at the end of the front bend pipe of the vehicle frame, including a steering wheel and a steering wheel base; the steering wheel base The seat is fixed on the installation position of the steering wheel device; the steering wheel is installed on the steering wheel base and electrically connected with the control system. 4. The self-balancing electric motorcycle with a semi-automatic driving function according to claim 1, wherein the rear wheel system includes a shock absorber, a rear oil brake, a rear wheel, a second encoder, and a rear end frame; one end of the shock absorber is connected to the rear cross bar, and the other end is connected to the rear frame; the rear oil brake is installed on the rear wheel; the rear wheel is installed on the rear frame, and the rear wheel shaft and the rear frame connection; the reading head of the second encoder is installed on the connection position of the rear tailstock, the synchronous wheel and the rear wheel shaft, and rotates coaxially with the rear wheel, so as to realize real-time reading of the rear wheel speed; the shock absorber is connected The connection point of the rear tailstock is located in front of the mounting point where the encoder is mounted on the rear tailstock. 5. The self-balancing electric motorcycle with semi-automatic driving function according to claim 1, characterized in that, the control system is installed on the lower end of the main frame by welding; the control system comprises: a first accommodating cavity and the second accommodating cavity; the first accommodating cavity includes a battery box shell, and the inside thereof is provided with a front wheel motor driver, a front wheel turning motor driver, a controller core board, and an acrylic bottom plate of the controller core board; the second accommodating The cavity includes a lithium battery and a battery fixing plate; the front wheel motor driver and the front wheel turning motor driver are placed at the left end of the first accommodating cavity, and the bottom is fixed to the bottom of the battery box shell with bolts; the front wheel motor driver is formed by a gland plate Clamped on the first accommodation cavity for fixing the position; the acrylic base plate of the controller core board is located at the right end of the first accommodation cavity, and an angle sensor is arranged on it; the controller core board is fixedly installed on the acrylic base plate of the controller core board The base plate is located in the first accommodation cavity, and is electrically connected to the front wheel motor driver, the front wheel turning motor driver, and the lithium battery respectively; the second accommodation cavity is placed with a lithium battery, and the lithium battery is locked on the battery by the battery fixing plate. in the second storage chamber. 6. The self-balancing electric motorcycle with a semi-automatic driving function according to claim 1, wherein the pedal is installed at the front end of the main structure of the vehicle frame, and the pedal includes: a rear suspension board, pedals, and front suspension; the rear suspension is welded to the front end of the main frame; the front suspension is welded to the lower part of the front bend; the rear suspension and the front suspension are installed on the same level ; The front end of the pedal is installed on the front suspension plate, the rear end is installed on the rear suspension plate, and is electrically connected with the control system.