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

Abstract

The invention discloses a behavior-driven self-balancing unmanned bicycle and a control method of its equivalent mapping. The self-balancing unmanned bicycle includes a bicycle, a sensor module, a handlebar control module, a middle control module of the vehicle body and a vehicle body. Rear body control module. The control method includes two parts: self-balancing control and driverless control. Self-balancing control regards the rear wheel as a ball and establishes a coordinate system based on this, decomposes the bicycle variables under this coordinate system, and then projects the controller variables to this coordinate system to establish correlation, and finally realizes the self-balancing of the bicycle based on equivalent mapping. balance. 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 control method for equivalent mapping 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 intelli...

Images