CN110944902A

CN110944902A - Safe driving two-wheeled electrodynamic balance car

Info

Publication number: CN110944902A
Application number: CN201780002331.0A
Authority: CN
Inventors: 罗魏熙
Original assignee: Individual
Current assignee: Individual
Priority date: 2017-06-27
Filing date: 2017-06-27
Publication date: 2020-03-31
Also published as: WO2019000217A1

Abstract

A safe driving two-wheeled electric balance car comprises a two-wheeled balance car body (11), a three-dimensional recognition module (12) and a safe driving control module (13); the two-wheeled balance car body (11) is provided with a sensor, and the sensor is used for sensing the motion state information of the two-wheeled balance car body (11) and transmitting the motion state information to the safe driving control module (13); the three-dimensional recognition module (12) is used for recognizing motion state information of a three-dimensional object and transmitting the motion state information to the safe driving control module (13), and the safe driving control module (13) is used for determining that the two-wheeled balance car body (11) is dangerous according to the three-dimensional object and the motion state information of the two-wheeled balance car body (11) and controlling the balance car body (11) to decelerate, accelerate, stop or steer according to the dangerous condition; when danger is identified, the vehicle body (11) of the two-wheeled balance vehicle can be intelligently controlled to decelerate, accelerate, turn or stop before the driver responds, so that collision is avoided, and the driving safety is ensured.

Description

Safe driving two-wheeled electrodynamic balance car

The invention name is as follows: safe driving two-wheeled electrodynamic balance car technical field

[0001] The invention relates to the technical field of two-wheeled electric balance vehicles, in particular to a safe driving two-wheeled electric balance vehicle.

Background

[0002] The two-wheel balance vehicle is characterized by that it has two wheels mounted on left and right sides of front direction of balance vehicle, and under the general condition, the rotation axes of two wheels are coincided. The two-wheeled balance car is provided with a series of sensors for sensing the state of the car body and the control intention of a driver. The two-wheeled balance car is provided with a battery. The two-wheeled balance car is provided with a motor for driving wheels to rotate. The two-wheeled balance car is provided with a motion control system, the control intention of a driver can be analyzed according to the information of a sensor, and the motor is controlled to drive the wheels to rotate according to the current car body state, so that the control of dynamic balance, acceleration and deceleration and steering is realized. Early balance vehicles were personal mobility tools with two wheels arranged side-to-side, as introduced by Segway corporation, based on gyroscope sensing, electric motor drive, and circuit control, which were capable of maintaining balance on only two wheels. The operation of the balance car is controlled by the movement of the gravity center of the user, and a brand-new riding feeling is brought to the user, so the balance car is popular with the majority of users when being formally promoted in 2002. Over a decade of development, current balance vehicles in marketing have achieved significant development and breakthrough over earlier products, particularly with respect to gravity sensing, drive motors and control. The types and styles of the balance cars are diversified. In patent CN104828189A, just publicly distributed the electronic balance car of a convenient equipment. CN1037S6601B discloses another smooth transition method for two-wheeled balance car, which can smoothly control speed, angle and displacement, and avoid too large steps when the balance car is running. CN 103770872B discloses a steering control method for a two-wheeled balance car, which realizes intelligent steering control by obtaining the values of a left pressure sensor and a right pressure sensor of the balance car. In the balance car technical scheme disclosed in CN 104494750B's patent, install angle sensor for the rotational speed of response wheel, surface mounting has the response switch on the footboard. In the patent of CN102774453B, a two-wheeled balance car and a control method are disclosed, wherein a steering rod is mounted on the two-wheeled balance car, and a pressure sensor is mounted on the steering rod for sensing the pressure of hand holding, and a control system controls the steering of the balance car according to the pressure of hand holding. [0003] the two-wheel balance car disclosed above has low safety, and has a safety problem, in case of emergency, the braking time is long, and the braking time of high speed inch is as long as 8 seconds. Therefore, the use of the dye on public roads is prohibited by cities, regions and countries such as Beijing, Shanghai, Dubai, the Netherlands, the England, Sweden, Germany and the like. The reason that the two-wheeled balance car is longer in braking time lies in that emergency braking brake does not exist, and the reason that the two-wheeled balance car cannot be provided with the emergency braking brake lies in that wheels of the two-wheeled balance car are of a structure with left wheels and right wheels, if the two-wheeled balance car is braked rapidly, the balance car loses balance when the attitude angle of the balance car is not proper and falls down, so that the balance car can only utilize dynamic balance to decelerate, and the deceleration is slower under the general condition of manually controlled attitude angles. The dynamic control of the two-wheeled balance vehicle completely depends on the operation of a driver, and when the driver drives the balance vehicle at a high speed, the driver does not pay attention to the balance vehicle, and accidents can be caused. In particular, the proficiency of drivers affects the braking time, while ordinary drivers do not have special and sufficient training, and due to the difference between personal emergency response and receptivity, many drivers need longer time intervals to ensure reliable braking.

Technical problem

[0004] In order to overcome the problems of the prior art, the invention mainly aims to provide a two-wheeled electric balance vehicle with strong driving safety.

Solution to the problem

Technical solution

[0005] In order to achieve the purpose, the invention specifically adopts the following technical scheme:

[0006] the invention provides a safe driving two-wheeled electric balance car which comprises a two-wheeled balance car body, a three-dimensional identification module and a safe driving control module, wherein the safe driving control module is respectively connected with the two-wheeled balance car body and the three-dimensional identification module;

[0007] the sensor is used for sensing motion state information of the two-wheeled balance vehicle body and transmitting the motion state information of the two-wheeled balance vehicle body to the safe driving control module, wherein the motion state information of the two-wheeled balance vehicle body comprises vehicle body speed, vehicle body running direction, vehicle body acceleration, vehicle body inclination angle, vehicle angular speed of axial rotation of a vehicle by taking a vehicle wheel shaft as an axial direction, vehicle angular acceleration of axial rotation of the vehicle by taking the vehicle wheel shaft as the axial direction, weight of a heavy object on the vehicle body and gravity center position of the heavy object;

[0008] the three-dimensional identification module is used for identifying the motion state information of a three-dimensional object and transmitting the motion state information of the three-dimensional object to the safe driving control module, wherein the motion state information of the three-dimensional object comprises pit steps on a road surface, the size, the distance, the acceleration, the speed and the motion direction of an obstacle;

[0009] the safe driving control module is used for determining the time allowance required by the two-wheel balance vehicle body to be dangerous according to the motion state information of the three-dimensional object and the motion state information of the two-wheel balance vehicle body

And when the dangerous time allowance is determined to be smaller than a preset value, controlling the two-wheeled balance car body to decelerate, accelerate, stop or steer.

[0010] Preferably, the system further comprises a map storage module and a satellite positioning module, wherein the map storage module and the satellite positioning module are respectively connected with the safe driving control module;

[0011] the map storage module is used for storing map data of an area where the body of the two-wheeled balance car is located when the two-wheeled balance car works

[0012] The satellite positioning module is used for acquiring the current position data of the two-wheeled balance car body;

[0013] and the safe driving control module is also used for determining the running line of the two-wheeled balance car body according to the map data, the current position data and the preset target position data, and controlling the two-wheeled balance car body to run to the preset target position along the running line.

[0014] Preferably, the system further comprises a wireless networking module, the safe driving control module is in data communication with the operation service management platform through the wireless networking module, the safe driving control module transmits the current position information of the two-wheeled balance car body to the operation service management platform through the wireless networking module, the operation service management platform sends a control instruction to the safe driving control module through the wireless networking module, and the control instruction comprises a client control instruction which is started to be received, a client control instruction which is stopped to be received, an instruction which is autonomously driven to another position in the map data by using a specified line and an instruction which is autonomously driven to another position in the map data by using a specified line.

[0015] Preferably, the safe driving control module can also compare the road condition information identified by the stereo identification module with map data in the map storage module, when the road condition is determined to change, the map data in the map storage module is changed according to the changed map data and the changed map data is sent to the operation service management platform through the wireless networking module, the operation service management platform sends the changed map data to the safe driving control modules of the other two-wheeled electric balance cars, and the safe driving control modules of the other two-wheeled electric balance cars change the map data in the map storage modules of the other two-wheeled electric balance cars according to the changed map data.

[0016] Preferably, the safe driving control module further transmits the current position data of the balance car body acquired by the satellite positioning module or the position data of the car body in the map data identified by the stereo identification module to the operation service management platform, when the operation service management platform confirms that the position of the balance car body affects the traffic, a control instruction is sent to the safe driving control module to control the safe driving control module to search for a proper parking spot in the map, or the operation service management platform designates a proper parking spot, and the safe driving control module controls the two-wheeled balance car body to autonomously operate to the parking spot.

[0017] Preferably, the two-wheeled balance car body is further provided with a detection device, the detection device is used for detecting the fault or insufficient electric quantity information of the two-wheeled balance car body, and transmitting the fault or insufficient electric quantity information to the operation service management platform through the safe driving control module and the wireless networking module, and the operation service management platform sends a control instruction to the safe driving control module to control the balance car body to move to a designated maintenance station or charging station.

[0018] Preferably, the maintenance station communicates with the operation service management platform, and the maintenance station reports data of the maintenance vehicle to the operation service management platform.

[0019] Preferably, the charging station and the operation service management platform perform data communication, and the charging station reports charging data of the vehicle to the operation service management platform.

[0020] Preferably, the system further comprises a client, the client is in communication connection with the operation service management platform, the client sends a vehicle using request and a vehicle using ending request to the operation service management platform and receives vehicle using permission and vehicle using ending information sent by the operation service management platform, and the operation service management platform sends a control instruction for starting or stopping receiving a client control instruction to the safe driving control module.

[0021] Preferably, the stereo recognition module recognizes the motion state information of the stereo object through the image captured by the camera and the motion state of the camera.

Advantageous effects of the invention

Advantageous effects

[0022] Compared with the prior art, the two-wheeled electric balance car senses the motion state information of the car body of the two-wheeled balance car through the sensor arranged on the two-wheeled electric balance car and transmits the motion state information of the car body of the two-wheeled balance car to the safe driving control module, the motion state information of the three-dimensional object is recognized through the three-dimensional recognition module, and the motion state information of the three-dimensional object is transmitted to the safe driving control module, so that the safe driving control module can determine that the car body of the balance car collides with the three-dimensional object according to the motion state information of the three-dimensional object and the motion state information of the car body of the two-wheeled balance car, and the collision time margin; when the collision time margin is small, the collision can be avoided by controlling the speed reduction, acceleration, steering or stopping of the two-wheeled balance car body, so that the accident can be avoided before the driver reacts, and the driving safety is ensured.

Brief description of the drawings

Drawings

[0023] FIG. 1 is a structural diagram of an electric balance car according to an embodiment of the present invention;

[0024] fig. 2 is a structural diagram of an operation and maintenance system according to an embodiment of the present invention.

Best mode for carrying out the invention

[0025] In order to make the objects, technical solutions and advantages of the present invention more clearly understood, the present invention is described in detail below with reference to the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are merely illustrative of the invention and are not intended to limit the invention.

[0026] As shown in fig. 1 and 2, the invention provides a safe driving two-wheeled electric balance car, which comprises a two-wheeled balance car body 11, a three-dimensional recognition module 12 and a safe driving control module 13, wherein the safe driving control module 13 is respectively connected with the two-wheeled balance car body 11 and the three-dimensional recognition module 12, a sensor connected with the safe driving control module 13 is arranged in the two-wheeled balance car body 11, and the sensor is used for sensing motion state information of the two-wheeled balance car body 11 and transmitting the motion state information of the two-wheeled balance car body 11 to the safe driving control module 13. The stereoscopic recognition module 12 recognizes the motion state information of the stereoscopic object from the image captured by the camera and the motion state of the camera, and transmits the motion state information of the stereoscopic object to the safe driving control module 13. The safe driving control module 13 is configured to determine whether the balance car body will pass through a tunnel step on the road surface or collide with an obstacle according to the motion state information of the three-dimensional object and the motion state information of the two-wheeled balance car body 11, and when the determination result is yes, determine a time margin required for the vehicle to pass through the tunnel step on the road surface or to collide with the obstacle; when the time margin is small, the two-wheeled balance car body 11 is controlled to decelerate, accelerate, stop or steer, so that the accident can be avoided before the driver reacts. For example, when it is determined that a collision is likely, whether or not the vehicle body 11 of the two-wheeled balance vehicle needs to be controlled to accelerate or decelerate is determined mainly based on the collision time margin, not based on the distance, and if the distance is long but the vehicle speed is fast, and the collision time margin is less than 4 seconds, the vehicle needs to decelerate. When the vehicle speed is slow, even if the distance is less than 10 cm, if the collision time allowance is more than 8 seconds, acceleration and deceleration are not needed. When the driving safety control module 13 determines whether a collision will occur, the possibility of collision is predicted within a possible acceleration range of the three-dimensional object because the acceleration of the three-dimensional object has a wide range, rather than being predicted only according to the speed and acceleration of the current three-dimensional object and the speed of the balance car. If the vehicle is a pot hole or a step of a road surface, since the vehicle is a stationary object, the acceleration range is considered to be 0 when whether the vehicle collides with the vehicle is calculated.

[0027] The maximum value of the collision time margin needs to be determined according to the maximum value of the acceleration which can be realized by the electric balance car in the current state and the maximum value of the steering angle acceleration, if the maximum value of the acceleration which can be realized by the electric balance car is large, the electric balance car can be accelerated and decelerated quickly, and collision can be prevented quickly, so that whether acceleration, deceleration and steering are performed or not can be determined by using a small value of the collision time margin. The maximum value of the time margin for collision also needs to be determined according to the characteristics of the possible collided object, when the maximum value of the acceleration and the maximum value of the steering angular acceleration which can be reached by the collided object are larger, the larger maximum value of the time margin for collision needs to be used, and when the maximum value of the acceleration and the maximum value of the steering angular acceleration of the collided object cannot be determined, the default maximum value of the acceleration and the maximum value of the steering angular acceleration of the collided object need to be used for estimating the maximum value of the time margin for collision. The collision time margin is not a fixed value, and needs to be intelligently determined according to the state of the electric balance car (including the speed, the running direction and the like), the maximum acceleration value of the surrounding 3D object, the maximum steering angle acceleration value of the 3D object, the position, the moving direction and the road surface condition of the 3D object and the like. In the embodiment, the preset value of the time margin for danger occurrence, namely collision occurrence, is 8 seconds, namely when the time margin required for danger occurrence is less than 8 seconds, the two-wheeled balance car body 11 is controlled to accelerate or decelerate, stop or turn. The identification of the three-dimensional object by using the camera belongs to the prior art, and a specific implementation method thereof is not described here.

[0028] In the embodiment, the motion state information of the two-wheeled balance vehicle body 11 includes data information such as vehicle body speed, vehicle body running direction, vehicle body acceleration, vehicle body inclination angle, vehicle angular velocity of the vehicle rotating with the wheel axle as the axial direction, vehicle angular acceleration of the vehicle rotating with the wheel axle as the axial direction, weight of a weight on the vehicle body, and gravity center position of the weight; the motion state information of the three-dimensional object includes three-dimensional information such as pit steps on the road surface, the size, distance, acceleration, speed, motion direction and the like of various obstacles.

[0029] In order to enable the balance car to autonomously plan a reasonable route in the unmanned driving inch and autonomously drive to a target position along the route; the electric balance car further comprises a map storage module 14 and a satellite positioning module 15, wherein the map storage module 14 and the satellite positioning module 15 are respectively connected with the safe driving control module 13. The map storage module 14 is used for storing detailed map data of an area where the two-wheeled balance vehicle body 11 works inches; the satellite positioning module 15 is used for acquiring current position data of the two-wheeled balance car body 11 in a map. The safe driving control module 13 is used for determining an operation line of the two-wheeled balance car body 11 according to the map data, the current position data and the preset target position data, and controlling the two-wheeled balance car body 11 to move to the preset target position along the operation line

[0030] In this embodiment, the satellite positioning module 15 may use a gps module or a beidou satellite positioning module. The map storage module 14 may use software tools such as Baidu maps, Tencent maps, etc., or may use customized map software tools.

[0031]In order to facilitate background management and resource sharing, the balance car further comprises a wireless networking module 16, and the safe driving control module 13 is in data communication with the operation service management platform 2 through the wireless networking module 16. The safe driving control module 13 transmits the position information of the two-wheeled balance car body 11 in the map to the operation service management platform 2 through the wireless networking module 16, the operation service management platform 2 sends a control instruction to the safe driving control module 13 through the wireless networking module 16, and the control instruction comprises a client end operation starting instruction, a client end operation stopping instruction, an instruction for autonomously driving to another position in the map by using a specified line, an instruction for autonomously driving to another position in the map and the like; for example, the operation service management platform 2 sends a control command to the safe driving control module 13 through the wireless networking module 16 to control the two-wheeled balance car body 11 to move to the maintenance station 3 or the charging station₄And the like. In this embodiment, the driving safety control module 13 may further compare the road surface condition information recognized by the stereo recognition module 12 with the map data in the map storage module 14, and when it is determined that the road surface condition has changed, change the map data in the map storage module 14 according to the changed map data and transmit the changed map data through the wireless networking module 16The map data are sent to an operation service management platform 2, the operation service management platform 2 sends the changed map data to the safe driving control modules 13 of the other two wheels of electric balance cars, and the safe driving control modules 13 of the other two wheels of electric balance cars can change the map data in the map storage module 14 according to the changed map data.

[0032] In addition, the safe driving control module 13 also transmits the current position data of the two-wheeled balance car body 11 acquired by the satellite positioning module 15 or the position data of the car body in the map data identified by the stereo identification module 12 to the operation service management platform 2, and when the operation service management platform 2 confirms that the position of the two-wheeled balance car body 11 is forbidden to park, is not at a legal position or affects traffic, a control instruction is sent to the safe driving control module 13 to control the safe driving control module 13 to search for a proper parking point in the map and control the two-wheeled balance car body 11 to autonomously run to the parking point. Or the operation service management platform 2 designates a suitable parking spot (the operation service management platform 2 records positions where parking can be legally performed), and sends an instruction to enable the safe driving control module 13 to control the two-wheeled balance car body 11 to autonomously operate to the parking spot. The problem that normal traffic is affected by safe driving of the two-wheeled electric balance car 1 is avoided.

[0033] In this embodiment, the two-wheeled balance vehicle body 11 is further provided with a detection device, and the detection device is configured to detect a fault or insufficient electric quantity information of the two-wheeled balance vehicle body 11 itself, and transmit the fault or insufficient electric quantity information to the operation service management platform 2 through the safe driving control module 13 and the wireless networking module 16. The operation business management platform 2 sends a control instruction to the safe driving control module 13 to control the two-wheeled balance car body 11 to move to the designated maintenance station 3 or charging station 4, and people do not need to search for the fault car everywhere, so that the maintenance efficiency is improved, and the maintenance cost of the car is reduced; and the manual work of charging or replacing the battery for the electric balance car is not needed, so that a large amount of labor consumption for charging or replacing the battery can be saved, and the normal operation cost of the balance car is reduced.

[0034]Meanwhile, the maintenance station 3 and the charging station 4 are respectively in data communication with the operation service management platform 2, and the maintenance station₃The maintenance data of the vehicle is reported to the operation service management platform 2, so that the operation service management platform 2 can conveniently perform statistical analysis on faults, and data support is provided for design improvement and the like of the vehicle. And the charging station 4 reports the charging data of the vehicle to the operation service management platform 2, so that the operation service management platform 2 can count the charging data conveniently, and data support is provided for normal operation.

[0035] In this embodiment, a client 5 is further provided, the client 5 is in communication connection with the operation service management platform 2, and sends a car use request and a car use ending request to the operation service management platform 2 through the client 5, and receives information of allowing a car use, ending a car use and the like sent by the operation service management platform 2. And the operation service management platform 2 sends a control instruction for starting or stopping receiving the operation instruction of the client 5 to the safe driving control module 13.

[0036] Specifically, the device for identifying the identity of the vehicle by the client 5, such as code text printing information for identifying the identity of the vehicle, code graphic information (such as a two-dimensional code) for identifying the identity of the vehicle, and an RFK electronic tag (such as a passive electronic tag conforming to IS 014433; for example) for identifying the identity of the vehicle, IS installed on the vehicle body of the safe driving two-wheeled electric balance vehicle 1. The client 5 is that a user uses a mobile phone or other equipment to obtain the identity of the safe driving two-wheeled electric balance car 1 to be used through the device for identifying the identity of the car, and sends the identity code of the safe driving two-wheeled electric balance car 1 to be used to the operation business management platform 2, waits for the use authorization of the operation business management platform 2, and can use the car through the control of the safe driving two-wheeled electric balance car 1 after the operation business management platform 2 authorizes the use. The operation service management platform 2 can also realize the service of finding the car in inches promptly, when the safe driving two-wheeled electrodynamic balance car 1 can not be found around the user, the user can send the car request to the operation service management platform 2, and the operation service management platform 2 searches the nearest safe driving two-wheeled electrodynamic balance car 1 and instructs the safe driving two-wheeled electrodynamic balance car 1 to automatically drive to the user, and the trouble of finding the car for the user can be solved. The operation business management platform 2 can also realize the service of reserving the vehicle, when a user plans a travel time in advance, the operation business management platform 2 can send a vehicle using request of appointed time and appointed place, and the operation business management platform 2 can instruct the two-wheeled electric balance vehicle 1 to be driven to the vehicle using place for standby in the appointed time and safely. The operation service management platform 2 also performs charging and fee deduction operations for the user.

The above description is only for the preferred embodiment of the present invention, but the scope of the present invention is not limited thereto, and any changes or substitutions that can be easily conceived by those skilled in the art within the technical scope of the present invention are included in the scope of the present invention. Therefore, the protection scope of the present invention shall be subject to the protection scope of the claims.

Claims

[ claim 1] A safe driving two-wheeled electrodynamic balance car, characterized by, including two-wheeled balance car automobile body, solid recognition module and safe driving control module, the said safe driving control module is connected with said two-wheeled balance car automobile body and solid recognition module respectively;

a sensor connected with the safe driving control module is arranged in the two-wheeled balance vehicle body and used for sensing motion state information of the two-wheeled balance vehicle body and transmitting the motion state information of the two-wheeled balance vehicle body to the safe driving control module, wherein the motion state information of the two-wheeled balance vehicle body comprises vehicle body speed, running direction of the vehicle body, vehicle body acceleration, vehicle body inclination angle, angular speed of the vehicle rotating with a wheel axle as an axial direction, angular acceleration of the vehicle rotating with the wheel axle as the axial direction, weight of a heavy object on the vehicle body and gravity center position of the heavy object; the three-dimensional identification module is used for identifying the motion state information of a three-dimensional object and transmitting the motion state information of the three-dimensional object to the safe driving control module, wherein the motion state information of the three-dimensional object comprises pit steps on the road surface, the size, the distance, the acceleration, the speed and the motion direction of an obstacle;

and the safe driving control module is used for determining the time allowance required by the two-wheel balance vehicle body to be subjected to danger according to the motion state information of the three-dimensional object and the motion state information of the two-wheel balance vehicle body, and controlling the two-wheel balance vehicle body to decelerate, accelerate, stop or steer when the time allowance for danger is determined to be smaller than a preset value.

[ claim 2] the safe driving two-wheeled electrodynamic balance car of claim 1, further comprising a map storage module and a satellite positioning module, the map storage module and the satellite positioning module being respectively connected with the safe driving control module;

the map storage module is used for storing map data of an area where the two-wheeled balance car body works;

the satellite positioning module is used for acquiring the current position data of the two-wheeled balance car body; the safe driving control module is further used for determining an operation line of the two-wheeled balance car body according to the map data, the current position data and preset target position data, and controlling the two-wheeled balance car body to move to the preset target position along the operation line.

[ claim 3] the two-wheeled electrodynamic balance car of safe driving according to claim 2, further comprising a wireless networking module, the safe driving control module carries out data communication with an operation service management platform through the wireless networking module, wherein, the safe driving control module transmits the current position information of the two-wheeled balance car body to the operation service management platform through the wireless networking module, the operation service management platform sends a control instruction to the safe driving control module through the wireless networking module, and the control instruction comprises a client control instruction which is started to be received, a client control instruction which is stopped to be received, an instruction which is autonomously driven to another position in the map data by using a specified line and an instruction which is autonomously driven to another position in the map data.

The two-wheeled electric balance vehicle capable of safely driving according to claim 3, wherein the safe driving control module can further compare the road surface condition information identified by the stereo identification module with the map data in the map storage module, when the road surface condition is determined to change, the map data in the map storage module is changed according to the changed map data and the changed map data is sent to the operation business management platform through the wireless networking module, the operation business management platform sends the changed map data to the safe driving control modules of the other two-wheeled electric balance vehicle, and the safe driving control modules of the other two-wheeled electric balance vehicle change the map data in the map storage modules of the safe driving control modules according to the changed map data.

[ claim 5] the two-wheeled electric balance car of safe driving according to claim 3, characterized in that, the safe driving control module further transmits the current position data of the balance car body acquired by the satellite positioning module or the position data of the car body in the map data identified by the stereo identification module to the operation service management platform, and when the operation service management platform confirms that the position of the balance car body affects the traffic, the operation service management platform sends a control instruction to the safe driving control module to control the safe driving control module to search for a proper parking spot in the map, or the operation service management platform designates a proper parking spot, and the safe driving control module controls the two-wheeled balance car body to autonomously operate to the parking spot.

[ claim 6] the safe driving two-wheeled electrodynamic balance car of claim 3, characterized in that, still be provided with detection device on the two-wheeled balance car automobile body, detection device is used for detecting trouble or the electric quantity of two-wheeled balance car automobile body self information to with this trouble or the electric quantity of electric quantity short message passing through safe driving control module, wireless networking module convey to operation business management platform, operation business management platform to safe driving control module sends control command, control balance car automobile body operation to appointed maintenance station or charging station.

[ claim 7] the safe driving two-wheeled electrodynamic balance car of claim 6, characterized in that, data communication is carried out between the service station and the operation business management platform, and the service station reports the data of the service car to the operation business management platform.

[ claim 8] the safe driving two-wheeled electric balance car according to claim 6, wherein the charging station communicates data with the operation service management platform, and the charging station reports the charging data of the vehicle to the operation service management platform.

[ claim 9] the safe driving two-wheeled electrodynamic balance car of claim 3, further comprising a client, the client is connected with the operation business management platform in a communication manner, and sends a car use request and a car use ending request to the operation business management platform through the client, and receives the information of allowing and ending the car use sent by the operation business management platform, and the operation business management platform sends a control instruction for starting or stopping receiving a client control instruction to the safe driving control module.

[ claim 10] the safe-driving two-wheeled electric balance car according to any one of claims 1 to 9, wherein the stereo recognition module recognizes the motion state information of the stereo object through the image captured by the camera and the motion state of the camera.