WO2020097777A1

WO2020097777A1 - Autonomous shared two-wheel electric bicycle and autonomous method thereof

Info

Publication number: WO2020097777A1
Application number: PCT/CN2018/115112
Authority: WO
Inventors: 罗魏熙
Original assignee: 罗魏熙
Priority date: 2018-11-13
Filing date: 2018-11-13
Publication date: 2020-05-22

Abstract

Provided are an autonomous shared two-wheel electric bicycle and autonomous method thereof, comprising a safe driving control module (13), a stereo recognition module (12), a front steering wheel control driver (11), a rear driving wheel control driver (17), a gravity sensor (1A) and a balance wheel control driver (18) that are electrically connected to the safe driving control module (13), wherein the safe driving control module (13) controls the balance wheel (19) with the balance wheel control driver (18) to gradually retract when the electric bicycle (1) starts to accelerate gradually and to gradually lower when the electric bicycle (1) returns from the motion state to the stationary state; when the electric bicycle (1) is stationary, controls the height of the balance wheel (19) with the balance wheel control driver (18) to maintain the stability of the body of the electric bicycle (1); and controls the electric bicycle (1) to run autonomously to the preset target position along the running line. Therefore, without human control, it has the ability of autonomous, which can completely solve the congestion problem of shared bicycles.

Description

Automatic driving sharing two-wheel electric bicycle and its automatic driving method

Technical field

The invention relates to the technical field of electric bicycles, in particular to the technical field of shared electric bicycles.

Background technique

At present, there are two-wheel electric bicycles, two-wheel electric balance vehicles and two-wheel electric vehicles on the market. The difference between the two-wheeled electric bicycle and the two-wheeled electric balancing vehicle is that the wheels of the two-wheeled electric balancing vehicle are installed on the left and right sides of the driving direction, and the wheels of the two-wheeled electric bicycle are installed before and after the driving direction. The difference between the two-wheel electric bicycle and the two-wheel electric vehicle is that the two-wheel electric vehicle has a protective shell, the distance between the front and rear wheels is greater than 1.5 meters, the maximum driving speed is faster, the maximum driving speed is about 100 kilometers per hour, and the two-wheel electric bicycle has no protection The outer shell, the distance between the front and rear wheels is less than 1.5 meters, the maximum driving speed is low, and the maximum driving speed is about 20 kilometers per hour.

When the two-wheel electric bicycle is at rest, it is impossible to keep the car body stable by relying on only two wheels. When the existing two-wheel electric bicycle is at rest, the parking bracket must be manually supported to keep the two-wheel electric bicycle stable. Therefore, the existing two-wheeled electric bicycle does not have the ability to drive automatically when no one is operating, and cannot control the movement of the two-wheeled electric bicycle through the wireless network. At present, while sharing bicycles is convenient for people to travel, it also causes new traffic congestion problems. A large number of bicycles are concentrated on the roadside, which seriously congests the traffic. The congested bicycles must be pulled away by big cars to alleviate the congestion problem of shared bicycles However, the method of scheduling bicycles with large vehicles consumes a lot of manpower and material costs, which almost offsets the cost advantage of shared bicycles, which greatly increases the operating costs of shared bicycles, thus causing the problem of congestion of shared bicycles not to be cured.

Summary of the invention

The technical problem to be solved by the present invention is to avoid the shortcomings of the prior art and to propose an automatic driving shared two-wheel electric bicycle and its automatic driving method. When the two-wheel electric bicycle is at rest, it depends on the balance wheel to maintain the stability of the body In order to have the ability of automatic driving, it can run to the designated location from the main network through the wireless network.

The technical solutions adopted by the present invention to solve the technical problems are:

Proposed a self-driving shared two-wheel electric bicycle, including:

A stereo recognition module, used to recognize the motion state information of the stereo object and transmit the motion state information of the stereo object to the safe driving control module;

A front steering wheel control driver for controlling the direction of the front steering wheel of the electric bicycle according to the information of the safe driving control module;

The rear drive wheel control driver is used to control the movement of the rear drive wheel according to the information of the safe driving control module;

The gravity sensor is used for sensing the motion state information of the electric bicycle and transmitting the motion state information of the electric bicycle to the safe driving control module;

The balance wheel is used to keep the automatic driving two-wheel electric bicycle stable when the automatic driving two-wheel electric bicycle is stationary;

Balance wheel control driver, used to receive the control signal of the safe driving control module to control the height position of the drive balance wheel;

The safe driving control module is used to control the balance wheel with the help of the balance wheel control driver to gradually retract when the electric bicycle starts to gradually accelerate, and to gradually lower when the electric bicycle returns from a sport state to a stationary state; when the automatic driving two-wheel electric bicycle is stationary At this time, the height of the balance wheel is controlled by the balance wheel control driver to maintain the stability of the body of the electric bicycle; the automatic driving two-wheel electric bicycle is controlled to autonomously run to a preset target position along the running line.

further:

The rear driving wheel is provided with a support rod rotating shaft, the support rod is movably connected with the support rod rotating shaft, and can rotate around the support rod rotating shaft, and the balance wheel is provided at the end of the support rod away from the support rod rotating shaft.

The support rod is provided with a support force sensor for sensing the magnitude of the support force received by the balance wheel.

The balance wheel can rotate along its wheel axis when it contacts the ground.

The rear driving wheel is provided with a balance wheel on one side or a balance wheel on both sides.

Using an automatic driving method that shares two-wheeled electric bicycles includes the following steps:

Step C1, the two-wheel electric bicycle starts to exercise, and its safe driving control module controls the two-wheel electric bicycle to accelerate and gradually retract the balance wheel;

Step C2, when the speed of the two-wheel electric bicycle reaches its stable running speed without the support of the balance wheel, the balance wheel is quickly and completely retracted;

Step C3, the safe driving control module controls the front direction wheel and the rear driving wheel of the two-wheel electric bicycle along the running line according to the road condition information detected by the stereo identification module of the two-wheel electric bicycle and the positioning information sent by the satellite positioning module Run autonomously to a preset target position;

Step C4. After the two-wheeled electric bicycle automatically drives to its destination, the balance wheel is gradually lowered and set to a balanced support state. Before the two-wheeled electric bicycle decelerates to a speed that cannot dynamically control its direction of travel and body balance, the balance wheel is lowered To a height where it can assist in maintaining the balance of the two-wheeled electric bicycle;

In step C5, the two-wheeled electric bicycle returns to the stationary state of parking.

Compared with the prior art, the present invention has the following technical effects: When the self-driving two-wheel electric bicycle is stationary, the balance wheel is used to maintain the balance or stability of the vehicle body. For the case where there is a balance wheel on each side, the balance wheel is used to maintain the balance of the body. For the case where only one side is equipped with the balance wheel, the balance wheel is used to support the body, and the body is slightly inclined to the side with the balance wheel, thus Keep the body stable. When the self-driving two-wheel electric bicycle starts gradually accelerating, the balance wheel is synchronously retracted, and the faster the speed is, the higher the speed is. Until the speed of the two-wheel electric bicycle reaches the dynamic maintenance of the balance, the balance wheel is completely retracted. When the self-driving two-wheeled electric bicycle returns from the motion state to the stationary state, the balance wheel is gradually lowered in the opposite way. Therefore, without human control, the present invention has the capability of automatic driving, can receive instructions from the wireless network, and can autonomously run to a designated location, thereby completely solving the congestion problem of shared bicycles.

BRIEF DESCRIPTION

FIG. 1 is a functional block diagram of an embodiment of an automatic driving shared two-wheel electric bicycle according to the present invention;

2 is a schematic diagram 1 of the external shape of an embodiment of an automatic driving shared two-wheel electric bicycle of the present invention, in which the balance wheel is in a supported state;

3 is a second schematic diagram of the external shape of an embodiment of an automatic driving shared two-wheel electric bicycle of the present invention. In the figure, the balance wheel is in a stowed state;

4 is a main flow chart of the operation of the two-wheeled electric bicycle embodiment of the present invention;

5 is a schematic diagram of operation steps of an embodiment of a two-wheeled electric bicycle without supporting force sensor and an embodiment with two balance wheels of the present invention when the vehicle accelerates and retracts the balance wheel during automatic driving;

6 is a schematic diagram of steps for dynamically controlling the direction of vehicle travel and vehicle balance during automatic driving in an embodiment of a two-wheel electric bicycle of the present invention;

7 is a schematic view of the operation steps of an embodiment of a two-wheeled electric bicycle without supporting force sensor and a balance wheel according to the present invention, which accelerates and retracts the balance wheel during automatic driving;

8 is a schematic diagram of the operation steps of the embodiment of the two-wheeled electric bicycle with a supporting force sensor and two balancing wheels according to the present invention when the vehicle accelerates and retracts the balancing wheels during automatic driving;

9 is a schematic diagram of the operation steps of the embodiment vehicle when the two-wheel electric bicycle of the present invention has a supporting force sensor and has a balance wheel to accelerate and retract the balance wheel;

10 is a schematic diagram of the operation steps of the embodiment of the present invention when the two-wheel electric bicycle has no support force sensor and has two balance wheels when the vehicle is set to a balanced support state;

11 is a schematic view of the operation steps of the embodiment of the two-wheeled electric bicycle of the present invention without support force sensor and an embodiment having a balance wheel when the vehicle is set to a balanced support state;

FIG. 12 is a schematic diagram of the steps for dynamically adjusting the balance of the body of the two-wheeled electric bicycle embodiment of the present invention leaning to the side of the balance wheel;

13 is a schematic diagram of the operation steps of the embodiment of the two-wheeled electric bicycle of the present invention having a supporting force sensor and having two balancing wheels when the vehicle is set to a balanced supporting state;

14 is a schematic diagram of the operation steps of the embodiment of the two-wheeled electric bicycle of the present invention having a supporting force sensor and having a balance wheel when the vehicle is set to a balanced support state.

detailed description

The embodiments of the present invention will be described in detail with reference to the drawings.

For the purpose of illustration, the width, length, thickness, etc. of some elements in the schematic diagram are sometimes exaggerated.

As shown in FIG. 1, an automatic driving shared two-wheel electric bicycle includes a front steering wheel control driver 11, a stereo recognition module 12, a safe driving control module 13, a storage module 14, a satellite positioning module 15, a wireless networking module 16, Rear drive wheel control driver 17, balance wheel control driver 18, balance wheel 19, gravity sensor 1A, and optional support force sensor 1B. The storage module 14 includes a map storage module 141.

The safe driving control module 13 is respectively connected with the front steering wheel control driver 11, the stereo recognition module 12, the storage module 14, the satellite positioning module 15, the wireless networking module 16, the rear drive wheel control driver 17, the balance wheel control driver 18, and gravity The sensor 1A and the optional support force sensor 1B are communicatively connected; the balance wheel control driver 18 is connected to the balance wheel 19.

The front steering wheel control driver 11 is communicatively connected to the safe driving control module 13 and receives the control of the safe driving control module 13 to control the turning direction of the front steering wheel 1C, so that the vehicle's forward direction can be controlled. The rear driving wheel control driver 17 is connected to the safe driving control module 13, receives the control information of the safe driving control module 13 to control the movement of the rear driving wheel 1D, performs acceleration or deceleration operations, and provides driving power for the vehicle.

The stereoscopic recognition module 12 is in communication with the safe driving control module 13. The stereoscopic recognition module 12 is equipped with a camera. The image taken by the camera and the motion state of the camera are used to identify the motion state information of the stereoscopic object and the motion state of the stereoscopic object The information is transmitted to the safe driving control module 13. The safe driving control module 13 determines whether the self-driving two-wheel electric bicycle 1 will pass through the pothole steps of the road surface and will collide with obstacles according to the motion state information of the three-dimensional object and the motion state information of the self-driving two-wheel electric bicycle 1 , When it is judged as yes, it determines the time margin required to pass through road pit steps or collision and other hazards; when the time margin is small, it controls the automatic driving of the two-wheeled electric bicycle 1 to decelerate, accelerate, stop or turn To avoid accidents. For example, whether it is necessary to control the acceleration and deceleration of automatic driving two-wheeled electric bicycle 1 is mainly determined based on the collision time margin, not the distance. If the distance is far, but the vehicle speed is fast, and the collision time margin is less than 4 seconds , Must also slow down. When the vehicle speed is very slow, even if the distance is less than 10 cm, if the collision time margin is greater than 8 seconds, there is no need to accelerate or decelerate. When the safe driving control module 13 determines whether a collision will occur, it is not only predicted based on the speed and acceleration of the current three-dimensional object and the speed of the automatic driving two-wheeled electric bicycle 1, because the acceleration of the three-dimensional object has a large range, It is necessary to predict and calculate the possibility of collision within the possible acceleration range of the solid object. If it is a pothole and a step on the road surface, because it is a stationary object, when calculating whether it will collide with it, the acceleration range is considered to be 0.

The maximum value of the collision time margin needs to be determined according to the maximum acceleration that can be achieved in the current state of the automatic driving two-wheel electric bicycle 1 and the maximum steering angle acceleration. If the maximum acceleration that can be achieved by the automatic driving two-wheel electric bicycle 1 is large , You can quickly accelerate and decelerate, and quickly achieve collision prevention, so you can use a smaller value of the collision time margin to determine whether to accelerate and decelerate and turn. The maximum value of the collision time margin also needs to be determined according to the characteristics of the objects that may be collided. When the maximum acceleration value and the maximum steering angle acceleration of the collision object are larger, a larger maximum collision time margin needs to be used. When the maximum acceleration value and the maximum steering angle acceleration of the collided object cannot be determined, the default maximum acceleration value and the maximum steering angle acceleration of the collided object need to be used to estimate the maximum collision time margin. The collision time margin is not a fixed value, and needs to be based on the state of the self-driving two-wheel electric bicycle 1 (including vehicle speed, running direction, etc.), the maximum acceleration of the surrounding 3D objects, the maximum steering angle acceleration of the 3D objects, and the Position, direction of movement, and road conditions are intelligently determined. In this embodiment, the preset time margin for the occurrence of a hazard, that is, a collision, is 8 seconds, that is, when the time margin required for the occurrence of a hazard is less than 8 seconds, the automatic driving two-wheeled electric bicycle 1 is controlled to accelerate, decelerate, and stop Or turn. The use of a camera to identify a three-dimensional object belongs to the existing technology, and its specific implementation method will not be described here.

In this embodiment, the motion information of the two-wheeled electric bicycle 1 includes data such as the speed of the vehicle body, the running direction of the vehicle body, the acceleration of the vehicle body, the inclination angle of the vehicle body, the weight of the weight on the vehicle body, and the position of the center of gravity of the weight Information; and the motion state information of the three-dimensional object includes three-dimensional information such as the pothole steps of the pavement, the size, distance, acceleration, speed and direction of movement of various obstacles.

The safe driving control module 13 is used to determine the time margin required for the two-wheel electric bicycle 1 to experience a danger based on the motion state information of the three-dimensional object and the motion state information of the two-wheel electric bicycle 1. When the margin of time during which the danger occurs is less than a preset value, the automatic driving two-wheel electric bicycle is controlled to decelerate, accelerate, stop or turn. When the collision time margin is small, you can control the automatic driving two-wheel electric bicycle to slow down, accelerate, turn or stop to avoid collision, so that the accident can be avoided before the driver reacts, and the safety of driving is guaranteed. Sex. The safe driving control module 13 is also used to determine the operation route of the automatic driving two-wheel electric bicycle 1 according to the map data and the current position data and the preset target position data, and control the automatic driving two wheels The electric bicycle 1 travels along the travel route to the preset target position.

In order to enable the two-wheeled electric bicycle 1 to autonomously plan a reasonable route and drive autonomously to the target position along the route, the two-wheeled electric bicycle 1 further includes a storage module 14 and a satellite positioning module 15, the storage module 14 The satellite positioning module 15 is connected to the safe driving control module 13, and the storage module 14 includes a map storage module 141. The map storage module 141 is used to store detailed map data of the area where the two-wheel electric bicycle 1 is working, and the satellite positioning module 15 is used to obtain the current position data of the two-wheel electric bicycle 1 on the map. The safe driving control module 13 is used to determine the running route of the two-wheel electric bicycle 1 according to the map data and the current position data and the preset target position data, and control the two-wheel electric bicycle 1 to run along the running route to the preset target position.

In this embodiment, the satellite positioning module 15 may use a GPS module or a Beidou satellite positioning module. The map storage module 141 can use software tools such as Baidu maps and Tencent maps, or custom map software tools. The satellite positioning module 15, such as GPS or Beidou satellite positioning module, is used to determine the position of the electric bicycle.

In order to facilitate background management and resource sharing, the two-wheeled electric bicycle 1 further includes a wireless networking module 16, and the safe driving control module 13 communicates data with the operation business management platform 2 through the wireless networking module 16. Among them, the safe driving control module 13 transmits the position information of the two-wheeled electric bicycle 1 in the map to the operation business management platform 2 through the wireless networking module 16, and the operation business management platform 2 passes the wireless networking module 16 to the safe driving control module 13 Issue control commands, which include starting to receive client control commands, stopping receiving client control commands, using designated lines to autonomously drive to another location on the map, and autonomously driving to another location on the map, etc .; for example, operating a business The management platform 2 sends a control command to the safe driving control module 13 through the wireless networking module 16 to control the two-wheel electric bicycle 1 to run to the maintenance station 3 or the charging station 4 and so on. In this embodiment, the safe driving control module 13 can also compare the road surface information recognized by the stereoscopic recognition module 12 with the map data in the map storage module 141, and when it is determined that the road surface situation has changed, according to the changed map The data changes the map data in the map storage module 141 and sends the changed map data to the operation business management platform 2 through the wireless networking module 16, and the operation business management platform 2 sends the changed map data to the other two rounds of electric The safe driving control module 13 of the bicycle 1 and the safe driving control module 13 of the other two-wheeled electric bicycles 1 can change the map data in their own map storage module 141 according to the changed map data.

In addition, the safe driving control module 13 also transmits the current position data of the two-wheel electric bicycle 1 acquired by the satellite positioning module 15 or the position data of the vehicle body identified by the stereo recognition module 12 in the map data to the operation business management platform 2; When the operation business management platform 2 confirms that the position of the two-wheel electric bicycle 1 is prohibited from parking, is not in a legal position, or affects traffic, it issues a control command to the safe driving control module 13 to control the safe driving control module 13 to find suitable in the map And control the two-wheel electric bicycle 1 to run autonomously to this parking point. Or the operation business management platform 2 designates a suitable parking spot (the operation business management platform 2 records the locations where various places can be legally parked), and issues an instruction to cause the safe driving control module 13 to control the two-wheel electric bicycle 1 to autonomously run to the parking spot. Avoid the problem of automatically driving two-wheeled electric bicycles 1 affecting normal traffic.

The safe driving control module 13 can also compare the road condition information recognized by the stereo recognition module 12 with the map data in the map storage module 141, and when it is determined that the road condition changes, change the map storage according to the changed map data Map data in the module and send the changed map data to the operation business management platform through the wireless networking module 16, the operation business management platform sends the changed map data to other self-driving two-wheel electric bicycles Of the safe driving control module, and the safe driving control module 13 of other self-driving two-wheel electric bicycles changes the map data in its own map storage module 141 according to the changed map data.

The safe driving control module 13 also transmits the current position data of the two-wheel electric bicycle 1 acquired by the satellite positioning module 15 or the position data of the vehicle body identified by the stereo recognition module 12 in the map data to the operation business management platform When the operation business management platform confirms that the location of the two-wheel electric bicycle 1 affects traffic, it issues a control command to the safe driving control module 13 to control the safe driving control module 13 to find a suitable parking spot on the map Or, the operation business management platform specifies a suitable parking spot, and the safe driving control module 13 controls the two-wheel electric bicycle 1 to autonomously run to the parking spot.

The gravity sensor 1A is used to sense the motion state information of the two-wheel electric bicycle 1 and transmit the motion state information of the two-wheel electric bicycle 1 to the safe driving control module 13. The motion state information of the two-wheel electric bicycle 1 includes data information such as the speed of the vehicle body, the running direction of the vehicle body, the acceleration of the vehicle body, the inclination angle of the vehicle body, the weight of the weight on the vehicle body, and the position of the center of gravity of the weight.

As shown in FIG. 2, the rear driving wheel 1D is provided with a support rod rotating shaft 21. The support rod 22 is movably connected to the support rod rotating shaft 21 and can rotate around the support rod rotating shaft 21. The balance wheel 19 is disposed on the support rod 22 away from the support One end of the lever rotation shaft 21. The balance wheel 19 can rotate along its axle 20 when in contact with the ground. The balance wheel control driver 18 is in communication with the safe driving control module 13, receives the control signal of the safe driving control module 13, and controls the elevation and height position of the drive balance wheel 19. When the two-wheel electric bicycle 1 gradually accelerates from the start, the balance wheel 19 is gradually retracted synchronously. The faster the speed is, the higher the speed is. Until the speed of the two-wheel electric bicycle 1 reaches the dynamic maintenance of balance, the balance wheel 19 is completely retracted. As shown in Figure 3. When the self-driving two-wheeled electric bicycle 1 returns from the motion state to the stationary state, the balance wheel 19 is gradually lowered in the opposite manner.

In some embodiments, the support force sensor 1B is installed on the balance wheel 19, and the support force sensor 1B is in communication with the safe driving control module 13. The support force sensor 1B is used to sense that the balance wheel 19 bears when the balance wheel 19 is lowered to support the vehicle body The magnitude of the support force is sent to the safe driving control module 13.

In some embodiments, the two-wheel electric bicycle 1 may further be provided with a detection device, which is used to detect the two-wheel electric bicycle 1's own fault or insufficient battery information, and pass the fault or insufficient battery information through the safe driving control module 13 1. The wireless networking module 16 is transmitted to the operation business management platform. The operation business management platform issues a control instruction to the safe driving control module 13 to control the automatic driving two-wheeled electric bicycle 1 to run to a designated repair station or charging station, without the need to manually search for the faulty vehicle everywhere, which improves the efficiency of maintenance and reduces The maintenance cost of the vehicle is not required; there is no need to manually go everywhere to charge or replace the battery of the self-driving two-wheel electric bicycle, which can save a lot of manpower consumption for charging or replacing the battery, and reduce the normal operating cost of the two-wheel electric bicycle 1.

At the same time, the maintenance station and the charging station communicate data with the operation business management platform, and the maintenance station reports the vehicle maintenance data to the operation business management platform, which is convenient for the operation business management platform to analyze the failure statistics and provide for the design improvement of the vehicle. Data support. The charging station reports the charging data of the vehicle to the operation business management platform, which is convenient for the operation business management platform to count the charging data and provide data support for normal operation.

In the application, the client is in communication with the operation business management platform, and sends the vehicle request, the end vehicle request, and the information about the allowed vehicle use and the end vehicle issued by the operation business management platform to the operation business management platform through the client. The operation business management platform issues a control instruction to the safe driving control module 13 to start or stop receiving the client's manipulation instruction.

Specifically, the body of the two-wheel electric bicycle 1 is equipped with a device for identifying the identity of the vehicle by the client, such as code text printing information for identifying the vehicle identity, encoding graphic information (such as a two-dimensional code) for identifying the vehicle identity, RFID electronic tags (such as passive electronic tags that conform to the IS014433 standard) used to identify the identity of the vehicle. The client means that the user uses a mobile phone or other device to obtain the identity of the two-wheel electric bicycle 1 to be used through the above-mentioned device for identifying the vehicle, and sends the identity code of the two-wheel electric bicycle 1 to be used to the operation business management platform, waiting for operation The use of the business management platform is authorized, and after the operation business management platform is authorized to use, the vehicle can be used by manipulating the two-wheeled electric bicycle 1 with automatic driving. The operation business management platform can also realize the service of finding a car in real time. When the two-wheel electric bicycle 1 is not found around the user, the user can send a car request to the operation business management platform. The operation business management platform searches for the nearest two-wheel electric bicycle 1 , And instructs the two-wheeled electric bicycle 1 to automatically drive to the user and use it for the user, which can solve the trouble of finding a car for the user. The operation business management platform can also realize the service of booking a car. After the user has planned the travel time in advance, he can send a car request for the appointed time and designated location to the operation business management platform. The operation business management platform can Instruct the most convenient two-wheeled electric bicycle 1 to drive to the place of use at a specified time for backup. The operation business management platform also performs charging and deduction operations for users.

In the present invention, the characteristics of the balance wheel are:

1. When the two-wheel electric bicycle is stationary, the balance wheel is used to maintain the balance or stability of the body. For the case where there is a balance wheel on each side, the balance wheel is used to maintain the balance of the body. For the case where only one side is equipped with the balance wheel, the balance wheel is used to support the body, and the body is slightly inclined to the side with the balance wheel, thus Keep the body stable.

2. There is an optional support force sensor on the balance wheel. The support force sensor is used to sense the support force on the balance wheel. The support force sensor is helpful for the two-wheeled electric bicycle to recognize the balance state of the body, which is conducive to the rapid and accurate adjustment of the height of the balance wheel. When the gravity sensor fails, the support force sensor can still achieve the static balance of the two-wheeled electric bicycle. Used with gravity sensors, it has fault tolerance and the ability to identify failures of gravity sensors and supporting force sensors.

3. The lifting of the balance wheel does not require manual force to operate, but is driven by the control drive mechanism of the two-wheel electric bicycle.

4. The balance wheel can rotate along the axle of the balance wheel. When the body is balanced on the horizontal ground, the direction of the balance wheel axle is also horizontal. If the vehicle moves relative to the ground, the balance wheel can rotate along the axle when the balance wheel contacts the ground While maintaining the weight of the body, the balance wheel rolls on the ground, and there is only rolling friction with the ground, no sliding friction, and the resistance of the ground to the car is small.

5. When the two-wheeled electric bicycle starts gradually accelerating, the balance wheel is retracted synchronously. The faster the speed is, the higher the speed is. Until the speed of the two-wheeled electric bicycle reaches the dynamic maintenance of balance, the balance wheel is completely retracted. When the two-wheeled electric bicycle returns from the motion state to the stationary state, the balance wheel is gradually lowered in the opposite manner.

When the two-wheel electric bicycle is stationary, if the ground is uneven, the height of the balance wheel needs to be adjusted to compensate for the change in the ground height at the position where the balance wheel contacts the ground, thereby keeping the body stable. First define the direction of the body of the two-wheel electric bicycle: when the body is horizontally at rest and balanced, the direction of the body toward gravity is the direction of the body. The body's horizontal static balance means that on a horizontal ground, when the car is stationary, only two wheels contact the horizontal ground and the balance wheels are retracted, and there is no external force acting on the body. It can still maintain the state that the body will not fall over. Horizontal ground means that the ground where the two-wheel electric bicycle is placed is very straight, almost a plane, and the plane where this ground lies is perpendicular to the earth's gravity. In order to achieve the stability of the two-wheel electric bicycle at rest, one of the following methods may be adopted, or other methods may be adopted to achieve the stability of the body of the two-wheel electric bicycle at rest.

When at rest, the height of the balance wheel is adjusted to maintain the stability of the body of the two-wheel electric bicycle. Method one: Install a gravity sensor on the body, and sense the inclination of the direction of the body and the direction of gravity through the gravity sensor. If there is a balance wheel on the left and right, adjust the height of the balance wheel so that the angle between the gravity direction and the body direction is the smallest, or the angle is smaller than the allowable error value. If there is only one balance wheel, adjust the height of the balance wheel so that the body is slightly tilted toward the side with the balance wheel, tilted at an appropriate angle, so as to keep the body stable.

When at rest, adjust the height of the balance wheel to maintain the stability of the body of the two-wheel electric bicycle. Method 2: Install a support force sensor on the balance wheel to measure the support force on the balance wheel, and determine whether the body can be Stable. If there is a balance wheel on the left and right, the support force on the balance wheel is used to identify the balance of the body. The smaller the support force on the balance wheel, the better the balance of the body. If the support force on the balance wheel is large and the body is tilted, adjust the balance of the body by adjusting the height position of the balance wheel, so that when the final stability, the support force measured by the support force sensor on the balance wheel is the smallest, or less than an appropriate Allowable error value. If there is only one balance wheel, the smaller the supporting force on the balance wheel is, the more balanced the body is, but if it is parked at rest, the body is slightly exposed to external forces, it may fall to the side without the balance wheel, so in this case, In order to park the vehicle statically and stably, the supporting force on the balance wheel should not be too small. The body needs to have a proper inclination angle and a slightly larger supporting force. In addition, the supporting force should not be too large. It is also susceptible to being dumped by external forces. Therefore, use a single balance wheel, and adjust the height of the balance wheel so that the support force of the balance wheel is within an appropriate size range. Using a single balance wheel, when the car needs to gradually accelerate from a stationary state, it is necessary to gradually adjust the support force gradually, so that the support force becomes smaller and smaller until the support of the balance wheel is no longer needed; as the vehicle speed increases, it gradually collapses or completely retracts Lift the balance wheel. There are other ways to achieve the stability of the body of the two-wheeled electric bicycle, which is not listed here, such as installing a ground recognition radar, measuring the height of the ground, and adjusting the height of the balance wheel according to the height of the ground.

After the user uses the two-wheeled electric bicycle, when parking, there is no need for the user to manually operate the parking bracket. The two-wheeled electric bicycle automatically lowers the balance wheel to a suitable height position to maintain the balance of the vehicle. After the user leaves and releases control, the two-wheel electric bicycle can work in the automatic control direction working mode. In the automatic control direction working mode, the vehicle is automatically started to gradually accelerate, and the direction of the front steering wheel is automatically controlled to maintain the two-wheel electric The balance of the bicycle, as well as the control of the final driving target direction, gradually retract the balance wheel during acceleration. After reaching the destination, gradually slow down, and gradually lower the balance wheel to maintain the static balance of the two-wheeled electric bicycle. When a two-wheeled electric bicycle is driven, it can be set to a manual control direction working mode. At this time, the direction of the front steering wheel can be changed to human-controlled. At this time, the operation of the two-wheeled electric bicycle is just like an ordinary electric bicycle. The two-wheeled electric bicycle can also work in the mixed control direction working mode when it is driven. At this time, although the direction control of the front steering wheel is still driven by the control driving force of the car, human power does not act on the front steering wheel, but the car The sensor on the can sense the size of the manpower adjustment direction, identify the driver ’s steering intention based on the sensed manpower, control the direction of the front steering wheel, and in emergency situations, mix control direction work modes for driving safety and other reasons At this time, the two-wheeled electric bicycle may not control the driving direction of the vehicle according to the driver's driving direction intention. The two-wheel electric bicycle can also work in the mixed force control direction working mode when it is driven. The direction control force of the front wheel of the two-wheel electric bicycle and the driver's manpower work together to control the direction of the front wheel. The automatic driving function of the two-wheel electric bicycle can be used for the automatic scheduling of the car, which can avoid a large number of two-wheel electric bicycles gathering on the roadside to congest traffic. The automatic driving function can also be used for user call service, which can automatically drive two-wheeled electric bicycles in front of users, without requiring users to find two-wheeled electric bicycles everywhere, and can also solve the problem of charging and maintaining two-wheeled electric bicycles. The two-wheeled electric bicycle automatically drives to the charging station for charging. The so-called charging includes replacing the battery at the charging station, and can automatically drive the two-wheeled electric bicycle that needs maintenance to the maintenance station for maintenance. The two-wheel electric bicycle has an automatic control direction working mode, and the manual control direction working mode, the hybrid control direction working mode, and the hybrid force control direction working mode are optional working modes. In the automatic control direction working mode, the two-wheel electric bicycle can automatically control the direction and maintain the balance of the body. It needs to be able to measure whether the body is balanced. The invention installs a gravity sensor on the two-wheel electric bicycle, and recognizes whether the body is balanced by the acceleration gravity sensor .

As shown in FIG. 4, the operation flow of using the balance wheel of the automatic driving method of sharing a two-wheel electric bicycle is as follows:

In the case where there is a balance wheel on each side of the two-wheel electric bicycle, if only a gravity sensor is installed, and no balance wheel support force sensor is installed, as shown in FIG. 5, step C1 specifically includes the following steps:

Step C1A1, the safe driving control module controls the rear driving wheel to control the driver to drive the rear driving wheel to accelerate, while dynamically controlling the traveling direction and body balance of the two-wheel electric bicycle. During the process, if the two-wheeled electric bicycle cannot dynamically control the direction of travel and the balance of the car body, when the gravity sensor detects that the two-wheeled electric bicycle is always tilted to one side, it will control to raise the balance wheel on the other side and continue to maintain Step C1A1. Otherwise, if the two-wheel electric bicycle can dynamically control the direction of travel and the body balance, when the gravity sensor detects that the two-wheel electric bicycle does not always tilt to one side, it does not raise the height of any one of the balance wheels. If the safe driving control module determines that the vehicle speed at this time is already greater than the speed at which the balance of the two-wheel electric bicycle can be automatically maintained without the support of the balance wheel, go to step C2, otherwise maintain step C1A1.

The speed value of the two-wheel electric bicycle balance can be automatically maintained without the assistance of the balance wheel. It is an empirical value. When it is greater than this speed, it can be achieved in various situations without the assistance of the balance wheel. It can automatically maintain the two-wheel electric bicycle. Bicycle balance.

As shown in FIG. 6, in the above embodiment, the dynamic control of the two-wheeled electric bicycle travel direction and body balance method is described. When the two-wheeled electric bicycle leans to one side, the steering wheel is driven to turn to this side. After the two-wheel electric bicycle is turned, the two-wheel electric bicycle can be rebalanced. After rebalancing, if the forward direction of the two-wheeled electric bicycle is inconsistent with the target direction, the forward direction needs to be adjusted. If the forward direction is biased to one side, the driving direction wheel is turned to this side, the two-wheeled electric bicycle will turn too much After too much, the two-wheel electric bicycle will tilt to the other side, and then the steering wheel can be controlled to rotate at an appropriate angle, so that when the two-wheel electric bicycle returns to balance, the direction of travel is also consistent with the target direction.

As shown in FIG. 7, in the case where the two-wheel electric bicycle has only one balance wheel, if only a gravity sensor is installed, and no balance wheel support force sensor is installed, step C1 specifically includes the following steps:

Step C1B1, the safe driving control module controls the rear driving wheel to control the driver to drive the rear driving wheel to accelerate, and at the same time, the dynamic adjustment of the height of the balance wheel to keep the target inclination angle of the two-wheel electric bicycle unchanged. The target inclination angle of the two-wheel electric bicycle refers to an appropriate angle that can keep the two-wheel electric bicycle stationary and not falling. In this process, once the speed of the two-wheeled electric bicycle is greater than the speed at which the balance of the two-wheeled electric bicycle can be automatically maintained without the support of the balance wheel, go to step C1B2, otherwise continue to operate step C1B1.

The dynamic adjustment process of the balance wheel height that keeps the target inclination angle of the two-wheel electric bicycle unchanged is: if the inclination angle of the two-wheel electric bicycle is greater than the target inclination angle, the height of the balance wheel is reduced, otherwise if the inclination angle of the two-wheel electric bicycle is less than the target inclination angle, High balance wheel height, otherwise the balance wheel height will not change. The safe driving control module controls the balance wheel to control the driver to drive and adjust the height of the balance wheel. The definition of body balance is that the inclination of the two-wheel electric bicycle is 0, and the more inclined the two-wheel electric bicycle, the larger the inclination angle.

Step C1B2, the safe driving control module controls the rear drive wheel to control the driver to drive the drive wheel to maintain the vehicle speed unchanged, and gradually reduce the height of the balance wheel. After the two-wheel electric bicycle gradually changes from the inclined state to the balanced state, then go to step C2 to end the step C1 operation.

In the case where there is a balance wheel on each side of the two-wheel electric bicycle, if a gravity sensor is installed and a balance wheel support force sensor is installed, as shown in FIG. 8, step C1 specifically includes the following steps:

Step C1C1, the safe driving control module controls the rear driving wheel to control the driver to drive the rear driving wheel to accelerate while dynamically controlling the traveling direction and body balance of the two-wheel electric bicycle. During the process, if the support force measured by the support force sensor on one side of the two-wheel electric bicycle is always greater than the support force on the other side, step C1C2 is executed, that is, the balance wheel on the other side is raised, and then step C1C1 is maintained. Otherwise, if the two-wheel electric bicycle can dynamically control the direction of travel and the balance of the vehicle body, the height of any one of the balance wheels will not be raised. If the vehicle speed is now greater than the support of the balance wheel, the balance of the two-wheel electric bicycle can be automatically maintained. At speed, go to step C2, otherwise maintain step C1C1.

In the case of a two-wheel electric bicycle with only one balance wheel, if a gravity sensor is installed and a balance wheel support force sensor is also installed, as shown in FIG. 9, step C1 specifically includes the following steps:

Step C1D1, the safe driving control module controls the rear driving wheel to control the driver to drive the rear driving wheel to accelerate, and at the same time, the dynamic adjustment of the height of the balance wheel to keep the target inclination angle of the two-wheel electric bicycle unchanged. The target inclination angle of the two-wheel electric bicycle refers to an appropriate angle that can keep the two-wheel electric bicycle stationary and not falling. In this process, once the speed of the two-wheeled electric bicycle is greater than the speed at which the balance of the two-wheeled electric bicycle can be automatically maintained without the support of the balance wheel, go to step C1D2, otherwise continue to operate step C1D1.

Step C1D2, the safe driving control module controls the rear driving wheel to control the driver to drive the driving wheel to maintain the vehicle speed unchanged, and gradually reduce the height of the balance wheel, the supporting force measured by the supporting force sensor gradually decreases to 0, that is, the two-wheel electric bicycle gradually slopes from After the state changes to the equilibrium state, go to step C2 and end the operation of step C1D2.

As shown in FIG. 10, in the case where there are one balance wheel on the left and right of the two-wheel electric bicycle, if only a gravity sensor is installed and no balance wheel supporting force sensor is installed, step C4 specifically includes the following steps:

Step C4A1, the safe driving control module controls the rear driving wheel to control the driver while driving the rear driving wheel to decelerate, the safe driving control module controls the balancing wheel to control the driver to drive both sides of the balancing wheel to lower simultaneously, and dynamically controls the two-wheeled electric bicycle's direction of travel and body balance . In this process, the decision step C4A2 is executed in parallel.

In the decision step C4A2, it is determined whether the vehicle speed has been reduced to 0. If the vehicle speed has been reduced to 0, go to step C5. Otherwise, the effect of dynamically controlling the direction of travel and the balance of the vehicle body is further determined. If the two-wheeled electric bicycle can dynamically control the direction of travel and the balance of the vehicle body, step C4A1 is continued. Otherwise, if the inclination angle of the two-wheel electric bicycle does not change, and the two-wheel electric bicycle has been balanced, the two-wheel electric bicycle does not lean to any side, go to operation step C4A3. Otherwise, the inclination angle of the two-wheeled electric bicycle remains unchanged, and it is always inclined to one side, then go to operation step C4A4.

In step C4A3, the two-wheel electric bicycle gradually decelerates and stops the operation of reducing the height of the balance wheels on both sides. In this process, the judgment step C4A2 is executed in parallel.

In step C4A4, the height of the balance wheel on the inclined side is reduced, and the height of the balance wheel on the other side is increased. The two-wheel electric bicycle continues to decelerate gradually. In this process, the judgment step C4A2 is executed in parallel.

As shown in FIG. 11, in the case where the two-wheel electric bicycle has only one balance wheel, if only the gravity sensor is installed and the balance wheel support force sensor is not installed, step C4 specifically includes the following steps:

Step C4B1, under the control of the safe driving control module, the rear drive wheel is controlled to control the driver to drive the rear drive wheel to maintain the vehicle speed unchanged, and the balance wheel is gradually reduced, while dynamically controlling the traveling direction and body balance of the two-wheel electric bicycle. If the inclination of the two-wheel electric bicycle is always inclined toward the side without the balance wheel, go to operation step C4B2, otherwise, maintain operation step C4B1.

In step C4B2, the two-wheel electric bicycle gradually decelerates and gradually raises the balance wheel while performing dynamic adjustment of the vehicle body balance toward the side of the balance wheel. While gradually increasing the balance wheel, the target inclination angle of the two-wheeled electric bicycle that tends to dynamically adjust the balance of the body on the side of the balance wheel is gradually increased. If the inclination angle of the two-wheel electric bicycle has reached an inclination angle suitable for maintaining the static balance of the vehicle, go to operation step C4B3, otherwise, maintain operation step C4B2.

Step C4B3, the two-wheel electric bicycle gradually decelerates, dynamically adjusts the height of the balance wheel, and maintains the proper inclination of the two-wheel electric bicycle. If the speed of the two-wheeled electric bicycle drops to 0, go to operation step C5, otherwise maintain operation step C4B3.

The method for dynamically adjusting the balance of the body leaning toward the side of the balance wheel, as shown in FIG. 12, when the inclination angle of the two-wheel electric bicycle toward the side of the balance wheel is greater than the target angle of inclination toward the side of the balance wheel, the steering wheel is driven Turning to this side, when the two-wheel electric bicycle turns, the inclination of the two-wheel electric bicycle can be returned to the target inclination angle. When the inclination angle of the two-wheel electric bicycle toward the balance wheel side is less than the target inclination angle of the side of the balance wheel, the steering wheel is driven to turn toward the side without the balance wheel. When the two-wheel electric bicycle turns, it can make the two wheels electrically The inclination of the bicycle returns to the target inclination.

As shown in FIG. 13, in the case where there are one balance wheel on the left and right of the two-wheel electric bicycle, if a gravity sensor is installed and a balance wheel supporting force sensor is also installed, step C4 specifically includes the following steps:

Step C4C1, the safe driving control module controls the rear driving wheel to control the driver while driving the rear driving wheel to decelerate, the safe driving control module controls the balancing wheel to control the driver to drive both sides of the balancing wheel to lower simultaneously, and dynamically controls the two-wheeled electric bicycle's direction of travel and body balance . During this process, steps C4C2 are executed in parallel.

In step C4C2, it is determined whether the vehicle speed has decreased to 0, and if the vehicle speed has decreased to 0, go to step C5. Otherwise, the effect of dynamically controlling the direction of travel and the balance of the vehicle body is further determined. If the two-wheel electric bicycle can dynamically control the direction of travel and the balance of the vehicle body, step C4C1 is continued. Otherwise, if the inclination angle of the two-wheeled electric bicycle remains unchanged, compare the support force measured by the balance wheel support force sensor with the left and right support forces. If the left and right support forces are the same, it means that the two-wheeled electric bike is not facing any side. Tilt, go to step C4C3. Otherwise, the inclination angle of the two-wheeled electric bicycle remains unchanged, and it is always inclined to one side, then go to operation steps C4C4.

In step C4C3, the two-wheeled electric bicycle gradually decelerates and stops the operation of reducing the height of the balance wheels on both sides. In this process, the judgment step C4C2 is executed in parallel.

Step C4C4, the height of the balance wheel on the inclined side is reduced, and the height of the balance wheel on the other side is increased. The two-wheeled electric bicycle continues to decelerate gradually. In this process, the judgment step C4C2 is executed in parallel.

As shown in FIG. 14, when the two-wheel electric bicycle has only one balance wheel, a gravity sensor is installed, and a balance wheel support force sensor is also installed, step C4 specifically includes the following steps:

Step C4D1. Under the control of the safe driving control module, the rear drive wheel is controlled to control the driver to drive the rear drive wheel to maintain the vehicle speed unchanged, and the balance wheel is gradually lowered, while dynamically controlling the direction of travel and body balance of the two-wheel electric bicycle. If the support force measured by the support force sensor is not 0, go to operation step C4D2, otherwise maintain operation step C4D1.

Step C4D2, the two-wheel electric bicycle gradually decelerates, gradually raises the balance wheel, and simultaneously performs dynamic adjustment of the body balance that tends to the side of the balance wheel, gradually increases the balance wheel, and gradually increases the two-wheel electric bicycle's tendency to balance wheel The car body balance on one side dynamically adjusts the target inclination angle. If the inclination angle of the two-wheel electric bicycle has reached an inclination angle suitable for maintaining the static balance of the vehicle, go to operation step C4D3, otherwise, maintain operation step C4D2.

Step C4D3, the two-wheel electric bicycle gradually decelerates and dynamically adjusts the height of the balance wheel, thereby maintaining a proper inclination of the two-wheel electric bicycle. If the speed of the two-wheel electric bicycle drops to 0, go to operation step C5, otherwise, maintain operation step C4D3.

It should be understood that the above embodiments are only used to illustrate the technical solutions of the present invention, rather than limiting them. For those skilled in the art, the technical solutions described in the above embodiments can be modified, or some of the technical features can be equivalently replaced; and these modifications and replacements should fall within the protection scope of the appended claims of the present invention.

Claims

A self-driving shared two-wheel electric bicycle is characterized by including:

A stereo recognition module, used to recognize the motion state information of the stereo object and transmit the motion state information of the stereo object to the safe driving control module;

A front steering wheel control driver for controlling the direction of the front steering wheel of the electric bicycle according to the information of the safe driving control module;

The rear drive wheel control driver is used to control the movement of the rear drive wheel according to the information of the safe driving control module;

The gravity sensor is used for sensing the motion state information of the electric bicycle and transmitting the motion state information of the electric bicycle to the safe driving control module;

The balance wheel is used to keep the automatic driving two-wheel electric bicycle stable when the automatic driving two-wheel electric bicycle is stationary;

Balance wheel control driver, used to receive the control signal of the safe driving control module to control the height position of the drive balance wheel;

The safe driving control module is used to control the balance wheel with the help of the balance wheel control driver to gradually retract when the electric bicycle starts to gradually accelerate, and to gradually lower when the electric bicycle returns from a sport state to a stationary state; when the automatic driving two-wheel electric bicycle is stationary The height of the balance wheel is controlled by the balance wheel control driver to maintain the stability of the body of the electric bicycle; the automatic driving shared two-wheel electric bicycle is autonomously run to a preset target position along the running line.
The automatic driving shared two-wheel electric bicycle according to claim 1, characterized in that: the rear driving wheel is provided with a support rod rotating shaft, the support rod is movably connected with the support rod rotating shaft, and can rotate around the support rod rotating axis, The balance wheel is arranged at the end of the support rod away from the rotation axis of the support rod.
The self-driving shared two-wheel electric bicycle according to claim 2, wherein the support rod is provided with a support force sensor for sensing the magnitude of the support force received by the balance wheel.
The automatic driving shared two-wheel electric bicycle according to claim 1, wherein the balance wheel can rotate along its wheel axis when it contacts the ground.
The self-driving shared two-wheel electric bicycle according to claim 1, wherein a balance wheel is provided on one side of the rear drive wheel or a balance wheel is provided on both sides, respectively.
An automatic driving method for sharing two-wheel electric bicycles is characterized in that it includes the following steps:

Step C1, the two-wheel electric bicycle starts to exercise, and its safe driving control module controls the two-wheel electric bicycle to accelerate and gradually retract the balance wheel;

Step C2, when the speed of the two-wheel electric bicycle reaches its stable running speed without the support of the balance wheel, the balance wheel is quickly and completely retracted;

Step C3, the safe driving control module controls the front direction wheel and the rear driving wheel of the two-wheel electric bicycle along the running line according to the road condition information detected by the stereo identification module of the two-wheel electric bicycle and the positioning information sent by the satellite positioning module Run autonomously to a preset target position;

Step C4. After the two-wheeled electric bicycle automatically drives to its destination, the balance wheel is gradually lowered and set to a balanced support state. Before the two-wheeled electric bicycle decelerates to a speed that cannot dynamically control its direction of travel and body balance, the balance wheel is lowered To a height where it can assist in maintaining the balance of the two-wheeled electric bicycle;

In step C5, the two-wheeled electric bicycle returns to the stationary state of parking.
The automatic driving method for sharing a two-wheel electric bicycle according to claim 6, characterized in that, in the case where the two-wheel electric bicycle has balance wheels on both sides, if only a gravity sensor is installed, step C1 specifically includes the following step C1A1 :

Step C1A1, the safe driving control module controls the rear drive wheel to control the driver to drive the rear drive wheel to accelerate, and dynamically control the two-wheeled electric bicycle's traveling direction and body balance to determine whether the two-wheeled electric bicycle is always tilted to one side. Always tilt to one side, the safe driving control module controls the balance wheel to control the driver to raise the balance wheel on the other side; then determine whether the speed of the vehicle is faster than the speed of the balance of the two-wheel electric bicycle without the support of the balance wheel, If it is greater, go to step C2, otherwise, maintain step C1A1.
The automatic driving method for sharing a two-wheel electric bicycle according to claim 6, characterized in that, in the case where the two-wheel electric bicycle has only one balance wheel, if only a gravity sensor is installed, step C1 specifically includes the following steps:

Step C1B1, the safe driving control module controls the rear drive wheel to control the driver to drive the rear drive wheel to accelerate, and at the same time, the dynamic adjustment of the balance wheel height to maintain the target inclination angle of the two-wheel electric bicycle is maintained. The target inclination angle of the two-wheel electric bicycle refers to the ability to maintain two wheels The proper angle of the electric bicycle when it is not falling. In this process, once the speed of the two-wheeled electric bicycle is greater than the speed that can automatically maintain the balance of the two-wheeled electric bicycle without the support of the balance wheel, go to step C1B2, otherwise continue Maintain operation step C1B1;

Step C1B2, the safe driving control module controls the rear drive wheel to control the driver to drive the drive wheel to maintain the vehicle speed unchanged, and gradually reduce the height of the balance wheel. After the two-wheel electric bicycle gradually changes from the inclined state to the balanced state, then go to step C2 to end the step C1 operation.
The automatic driving method for sharing a two-wheel electric bicycle according to claim 6, characterized in that, when there is one balance wheel on each side of the two-wheel electric bicycle, if a gravity sensor is installed, a balance wheel supporting force sensor is also installed Step C1 specifically includes the following steps:

Step C1C1, the safe driving control module controls the rear drive wheel to control the driver to drive the rear drive wheel to accelerate while dynamically controlling the direction of travel and body balance of the two-wheel electric bicycle. During the process, if the supporting force sensor on the side of the two-wheel electric bicycle measures When the support force of the other side is always greater than the support force of the other side, raise the balance wheel on the other side and continue to maintain step C1C1; otherwise, if the two-wheel electric bicycle can dynamically control the direction of travel and the body balance, it will not increase If the height of any balance wheel is higher than the speed at which the balance of the two-wheel electric bicycle can be automatically maintained without the support of the balance wheel, go to step C2.
The automatic driving method for sharing a two-wheel electric bicycle according to claim 6, wherein when the two-wheel electric bicycle has only one balance wheel, if a gravity sensor is installed, a balance wheel supporting force sensor is also installed, Step C1 specifically includes the following steps:

Step C1D1, the safe driving control module controls the rear drive wheels to control the driver to drive the rear drive wheels to accelerate, and at the same time, the dynamic adjustment of the height of the balance wheel to keep the target inclination of the two-wheel electric bicycle constant is carried out. The proper angle of the electric bicycle when it does not fall. In this process, once the speed of the two-wheel electric bicycle is greater than the speed that can automatically maintain the balance of the two-wheel electric bicycle without the support of the balance wheel, go to step C1D2;

Step C1D2, the safe driving control module controls the rear driving wheel to control the driver to drive the driving wheel to maintain the vehicle speed unchanged, and gradually reduce the height of the balance wheel, the supporting force measured by the supporting force sensor gradually decreases to 0, that is, the two-wheel electric bicycle gradually slopes from After the state changes to the equilibrium state, go to step C2.
The automatic driving method for sharing a two-wheel electric bicycle according to claim 6, characterized in that if there is one balance wheel on the left and right of the two-wheel electric bicycle, if only a gravity sensor is installed, a balance wheel supporting force sensor is not installed Step C4 specifically includes the following steps:

Step C4A1, the safe driving control module controls the rear driving wheel to control the driver while driving the rear driving wheel to decelerate, the safe driving control module controls the balancing wheel to control the driver to drive both sides of the balancing wheel to lower simultaneously, and dynamically controls the two-wheeled electric bicycle's direction of travel and body balance In this process, the decision step C4A2 is executed in parallel;

Step C4A2, determine whether the vehicle speed has been reduced to 0, if the vehicle speed has been reduced to 0, go to step C5, otherwise, further determine the effect of dynamically controlling the direction of travel and body balance, if the two-wheel electric bicycle can dynamically control the direction of travel Balance with the car body, continue to maintain step C4A1, otherwise, if the tilt angle of the two-wheeled electric bicycle remains unchanged, and the two-wheeled electric bicycle is balanced, the two-wheeled electric bicycle does not tilt to any side, go to step C4A3, otherwise, the two The inclination angle of the wheeled electric bicycle remains unchanged, and it is always inclined to one side, then go to operation step C4A4;

Step C4A3, the two-wheeled electric bicycle gradually decelerates and stops the operation of reducing the height of the balance wheels on both sides. In this process, the judgment step C4A2 is executed in parallel;

In step C4A4, the height of the balance wheel on the inclined side is reduced, and the height of the balance wheel on the other side is increased. The two-wheel electric bicycle continues to decelerate gradually. In this process, the judgment step C4A2 is executed in parallel.
The automatic driving method for sharing a two-wheeled electric bicycle according to claim 6, characterized in that: when the two-wheeled electric bicycle has only one balance wheel, if only a gravity sensor is installed, and the balance wheel supporting force sensor is not installed, Step C4 specifically includes the following steps:

Step C4B1, under the control of the safe driving control module, the rear drive wheel is controlled to control the driver to drive the rear drive wheel to maintain the vehicle speed unchanged, and the balance wheel is gradually reduced, while dynamically controlling the direction of travel of the two-wheel electric bicycle and the body balance; if the two The inclination of the wheel electric bicycle is always inclined to the side without the balance wheel, go to operation step C4B2, otherwise maintain operation step C4B1;

Step C4B2, while the two-wheeled electric bicycle gradually decelerates and gradually raises the balance wheel, dynamic adjustment of the body balance toward the side of the balance wheel is performed, and the tendency of the two-wheeled electric bicycle is gradually increased while gradually increasing the balance wheel The vehicle body balance on the side of the balance wheel dynamically adjusts the target inclination angle. If the inclination angle of the two-wheel electric bicycle has reached an inclination angle suitable for maintaining the static balance of the vehicle, go to operation step C4B3, otherwise maintain operation step C4B2;

Step C4B3, the two-wheel electric bicycle gradually decelerates, dynamically adjusts the height of the balance wheel, and maintains the proper inclination of the two-wheel electric bicycle; if the speed of the two-wheel electric bicycle drops to 0, go to operation step C5, otherwise, maintain operation step C4B3.
The automatic driving method for sharing a two-wheel electric bicycle according to claim 6, characterized in that, if there is a balance wheel on each side of the two-wheel electric bicycle, if a gravity sensor is installed, a balance wheel supporting force sensor is also installed Step C4 specifically includes the following steps:

Step C4C1, the safe driving control module controls the rear driving wheel to control the driver while driving the rear driving wheel to decelerate, the safe driving control module controls the balancing wheel to control the driver to drive both sides of the balancing wheel to lower simultaneously, and dynamically controls the two-wheeled electric bicycle's direction of travel and body balance In this process, the decision step C4C2 is executed in parallel;

In decision step C4C2, it is judged whether the vehicle speed has been reduced to 0. If the vehicle speed has been reduced to 0, go to step C5; otherwise, the effect of dynamic control of the direction of travel and the balance of the vehicle body is further determined. If the two-wheel electric bicycle can be dynamically controlled The direction of travel is balanced with the car body, and continue to maintain step C4C1; otherwise, if the tilt angle of the two-wheeled electric bicycle remains unchanged, compare the support force measured by the balance wheel support force sensor with the support force measured on the left and right sides. Same, it means that the two-wheel electric bicycle does not lean to any side, go to operation step C4C3; otherwise, the two-wheel electric bicycle does not change the tilt angle, always lean to one side, then go to operation step C4C4.

Step C4C3, the two-wheeled electric bicycle gradually decelerates and stops the operation of reducing the height of the balance wheels on both sides. In this process, the judgment step C4C2 is executed in parallel;

Step C4C4, the height of the balance wheel on the inclined side is reduced, and the height of the balance wheel on the other side is increased. The two-wheeled electric bicycle continues to decelerate gradually. In this process, the judgment step C4C2 is executed in parallel.
The automatic driving method for sharing a two-wheeled electric bicycle according to claim 6, wherein when the two-wheeled electric bicycle has only one balance wheel, if a gravity sensor is installed and a balance wheel supporting force sensor is also installed, Step C4 specifically includes the following steps:

Step C4D1, under the control of the safe driving control module, the rear drive wheel is controlled to control the driver to drive the rear drive wheel to maintain the vehicle speed unchanged, and the balance wheel is gradually reduced, while dynamically controlling the direction of travel of the two-wheel electric bicycle and the body balance; if supported When the support force measured by the force sensor is not 0, go to operation step C4D2, otherwise maintain operation step C4D1;

Step C4D2, the two-wheel electric bicycle gradually decelerates, gradually raises the balance wheel, and simultaneously performs dynamic adjustment of the body balance that tends to the side of the balance wheel, gradually increases the balance wheel, and gradually increases the two-wheel electric bicycle's tendency to balance wheel One side of the vehicle body balance dynamically adjusts the target inclination angle; if the inclination angle of the two-wheel electric bicycle has reached an inclination angle suitable for maintaining the vehicle's static balance, go to operation step C4D3, otherwise maintain operation step C4D2;

Step C4D3, the two-wheel electric bicycle gradually decelerates, dynamically adjusts the height of the balance wheel, so as to maintain the proper inclination of the two-wheel electric bicycle; if the speed of the two-wheel electric bicycle drops to 0, then go to operation step C5, otherwise maintain operation step C4D3.