A behavior-driven self-balancing unmanned bicycle and its behavior-driven control method

Abstract

The invention discloses a behavior-driven self-balancing driverless bicycle and a behavior-driven control method thereof. The self-balancing driverless bicycle includes a bicycle, a sensor module, a handlebar control module, a middle control module of the vehicle body and a vehicle body. Rear control module. The control method includes two parts: self-balancing control and driverless control. Self-balancing control is based on the data of people riding bicycles to establish control rules, and through the secondary mapping of human body variables and control variables, it finally realizes the self-balancing of bicycles based on behavioral driving. The driverless bicycle of the present invention can have a self-balancing function in a variety of motion states through the coupling control method. At the same time, it adopts an indirect drive method and does not require further modification of ordinary bicycles. It only needs to combine three controls. If the controller module is installed on an ordinary bicycle, the bicycle can realize self-balancing and unmanned driving.

Description

technical field

[0001] The invention relates to the traffic field, in particular to a behavior-driven self-balancing unmanned bicycle and a behavior-driven control method thereof. Background technique

[0002] As a traditional means of transportation, bicycles have the advantages of narrow body, simple mechanism, small-radius rotation, convenience and flexibility, no pollution, no noise, no need for energy, and low price. It plays a pivotal role in the life of modern people whose problems such as rising and falling are becoming more and more serious. Unmanned bicycles can not only provide driving balance assistance for some special groups such as children and the elderly, but are also expected to be widely used in disaster rescue and forest operations.

[0003] As people's attention to intelligent vehicles and unmanned driving technology continues to increase, driverless bicycles or bicycle robots have made initial developments on the basis of this concept of intelligent ve...

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