Automatic following system and method for balancing vehicle

Abstract

The present invention discloses an automatic following system and method for a self-balancing vehicle. The self-balancing vehicle automatic following system includes: a first positioning signal device, a second positioning signal device, a third positioning signal device, and a main controller. The first positioning signal device and the second positioning signal device are installed at the front end of the self-balancing vehicle body. The first positioning signal device and the second positioning signal device are connected to the main controller. The third positioning signal device is carried by the operator and is in communication with the first positioning signal device and the second positioning signal device. When the self-balancing vehicle is in a balanced state, the first positioning signal device and the second positioning signal device both have an angle θ with the vertical direction. The lower parts of the first positioning signal device and the second positioning signal device are closer to the front, and the upper parts are closer to the rear. The self-balancing vehicle automatic following system disclosed by the present invention has a simple and ingenious structure, improved positioning and following accuracy, an ingenious following method, a simple algorithm, and an improved following effect.

Description

Technical Field

[0001] The present invention relates to an automatic following system and method for a balancing vehicle. Background Art

[0002] Most self-balancing scooters are operated directly by the user using pedals or hand levers. However, in some situations where riding isn't necessary (such as walking), the scooter can't move on its own, making it inconvenient. In these situations, a self-balancing scooter requires a follow-up function, allowing the scooter to follow the user's movements. Current self-balancing scooter follow-up solutions, including those that use camera modules, have complex structures and algorithms, consume high energy, and are expensive, making them unsuitable for widespread adoption. Summary of the Invention

[0003] The purpose of the present invention is to provide an automatic following system and method for a balancing vehicle, which adopts multiple positioning signal devices to realize the following of the balancing vehicle, and the positioning signal devices on the vehicle body are set at a certain angle. The structural layout is simple and ingenious, the method is simple, and it is easy to promote.

[0004] In order to solve the technical problem, the present invention adopts the following specific technical solutions:

[0005] An automatic following system for a balancing vehicle comprises: a first positioning signal device, a second positioning signal device, a third positioning signal device and a main controller, wherein the first positioning signal device and the second positioning signal device are installed at the front end of the balancing vehicle body, the first positioning signal device and the second positioning signal device are connected to the main controller, the third positioning signal device is carried by an operator, and the third positioning signal device is communicatively connected with the first positioning signal device and the second positioning signal device. When the balancing vehicle is in a balanced state, the first positioning signal device and the second positioning signal device both have an angle θ with the vertical direction, and the lower parts of the first positioning signal device and the second positioning signal device are closer to the front, and the upper parts are closer to the rear.

[0006] By adopting the above technical solution, the main controller can obtain the distance between the third positioning signal device and the first positioning signal device based on the communication between the two, and can also obtain the distance between the third positioning signal device and the second positioning signal device based on the communication between the two. The main controller realizes the following of the balance vehicle to the third positioning signal device based on the change of the distance between the third positioning signal device and the first positioning signal device, and the change of the distance between the third positioning signal device and the second positioning signal device. The positioning signal device is adopted to reduce the system complexity of the present application, improve the positioning accuracy, and improve the following effect. The angle θ is set between the first positioning signal device and the second positioning signal device and the vertical direction, which refers to the angle θ between the plane where the signal transmitting / receiving surface of the first positioning signal device and the second positioning signal device is located and the vertical direction. Because the balance vehicle has a certain forward tilt angle during normal driving, the setting of the angle θ can make the first positioning signal device and the second positioning signal device on the balance vehicle roughly coincide with the vertical direction or have a smaller angle, thereby avoiding the signal transmitting / receiving direction of the first positioning signal device and the second positioning signal device pointing to the ground, facilitating the main controller to accurately calculate the distance, and ensuring the following effect of the balance vehicle during driving.

[0007] As a further improvement of the present invention, the angle θ between the first positioning signal device and the vertical direction ranges from 1° to 30°, and the angle θ between the second positioning signal device and the vertical direction ranges from 1° to 30°. By adopting the above technical solution, the angle range of 1° to 30° is set to be an optimal range obtained through continuous experimentation and exploration. Ranges that are too small or too large are not conducive to accurate following of the balancing vehicle.

[0008] As a further improvement of the present invention, the angle between the first positioning signal device and the vertical direction is 15°, and the angle between the second positioning signal device and the vertical direction is 15°. By adopting the above technical solution, the angle is set to 15°, which is the preferred solution of this application. During the normal driving of the self-balancing vehicle, the signal transmission / reception direction of the first positioning signal device and the second positioning signal device will not point to the ground, ensuring the accuracy of communication between the third positioning signal device and the first positioning signal device and the second positioning signal device, and improving the following effect of the self-balancing vehicle while driving.

[0009] As a further improvement to the present invention, the first, second, and third positioning signal devices each include a UWB signal receiving module and a UWB signal transmitting module. By adopting this technical solution, the first, second, and third positioning signal devices communicate with each other via UWB signals. This system features low power consumption, insensitivity to channel fading (such as multipath and non-line-of-sight channels), strong anti-interference capabilities, no interference with other devices in the same environment, and strong penetration, resulting in high positioning accuracy and precision.

[0010] As a further improvement of the present invention, a fourth positioning signal device is further included. The fourth positioning signal device is installed on the body of the self-balancing scooter. The third positioning signal device is communicatively connected to the fourth positioning signal device. The fourth positioning signal device forms an angle θ with the vertical direction. The lower portion of the fourth positioning signal device is positioned forward, and the upper portion is positioned backward. By adopting the above technical solution, the three positioning signal devices are provided on the body of the self-balancing scooter, which is conducive to improving the positioning and following effect, and can achieve both front-to-back following of the operator and side-to-side parallel tracking of the operator.

[0011] As a further improvement to the present invention, the first positioning signal device is located at the front end of the left side of the self-balancing scooter, and the second positioning signal device is located at the front end of the right side of the self-balancing scooter. By adopting the above technical solution, the two positioning signal devices are located on the left and right sides of the self-balancing scooter, rather than in other locations. This facilitates the calculation of the distance between the two positioning signal devices on the self-balancing scooter body and the third positioning signal device held by the operator, facilitating tracking.

[0012] The automatic following method for a balancing vehicle is applied to the automatic following system for a balancing vehicle described in any of the above solutions.

[0013] The main controller obtains the distance AB between the first positioning signal device and the third positioning signal device based on the signal transmission between the first positioning signal device and the third positioning signal device, and the main controller obtains the distance AC between the second positioning signal device and the third positioning signal device based on the signal transmission between the second positioning signal device and the third positioning signal device;

[0014] When distance AB equals distance AC and the distances AB and AC are within a preset range, the vehicle is considered to be in a normal position. When distances AB and AC change, an increase in both distances indicates forward movement, while a decrease in both distances indicates backward movement or a stop. This technical solution creates a simple and ingenious method for the balancing vehicle to follow, eliminating complex algorithms and improving tracking performance.

[0015] As a further improvement of the present invention, when the distance AB and the distance AC are not within the preset distance range, the balancing vehicle does not move. By adopting the above technical solution, the safety and reliability of the balancing vehicle following is guaranteed.

[0016] As a further improvement to the present invention, when distance AB and distance AC are within a preset range, and distance AB is greater than distance AC, a left turn is determined until distance AB equals distance AC. When distance AB and distance AC are within a preset range, and distance AC is greater than distance AB, a right turn is determined until distance AB equals distance AC. By adopting this technical solution, the steering direction of the self-balancing scooter is determined by comparing distances AB and AC, which conforms to operating rules and actual usage methods, while also simplifying the following algorithm and improving the following effect.

[0017] As a further improvement of the present invention, when the automatic following system for a balancing vehicle includes a fourth positioning signal device, the fourth positioning signal device is closer to the interior of the balancing vehicle body than the first positioning signal device or the second positioning signal device. The main controller obtains the distance AD ​​between the third positioning signal device and the fourth positioning signal device based on the signal transmission between the third positioning signal device and the fourth positioning signal device. When the distance AD ​​is greater than the distance AB and the distance AD ​​is greater than the distance AC, it is judged as front-to-back following. When the distance AB is greater than the distance AD ​​and the distance AB is greater than the distance AC, it is judged as side-to-side parallel. By adopting the above technical solution, three positioning signal devices are set on the body of the balancing vehicle, that is, when the fourth positioning signal device is set, both front-to-back following and side-to-side parallel can be taken into account, which expands the following scenarios of the balancing vehicle and is beneficial to practical use.

[0018] Compared to the prior art, the present invention offers at least the following advantages: The use of a positioning signal device reduces system complexity, improves positioning accuracy, and enhances tracking performance. Furthermore, by setting an angle θ between the positioning signal device on the vehicle body and the vertical direction, the signal transmission / reception direction of the positioning signal device on the vehicle body is prevented from pointing toward the ground, ensuring accurate distance calculation and improving the tracking performance of the balancing vehicle while in motion.

[0019] In order to make the above and other objects, features and advantages of the present invention more obvious and easy to understand, preferred embodiments are given below with reference to the accompanying drawings for detailed description. BRIEF DESCRIPTION OF THE DRAWINGS

[0020] Figure 1 This is a schematic diagram of a framework of an automatic following system for a balancing vehicle applied to a balancing vehicle according to an embodiment of the present invention;

[0021] Figure 2 Another schematic diagram of a framework of an automatic following system for a balancing vehicle according to an embodiment of the present invention;

[0022] Figure 3 A schematic structural diagram of a balancing vehicle equipped with an automatic following system for balancing vehicles according to an embodiment of the present invention;

[0023] Figure 4 This is a schematic diagram showing the principle of an automatic following method for a balancing vehicle according to an embodiment of the present invention;

[0024] Figure 5 Another schematic diagram of the principle of an automatic following method for a balancing vehicle according to an embodiment of the present invention;

[0025] Figure 6 This is a schematic diagram of the distance measurement principle of an automatic following method for a balancing vehicle according to an embodiment of the present invention;

[0026] Figure 7 The figure is a schematic diagram of the angle between the first positioning signal device and the vertical direction of an automatic following system for a balancing vehicle according to one embodiment of the present invention.

[0027] Description of the reference numerals in the figure: first positioning signal device 1, second positioning signal device 2, third positioning signal device 3, fourth positioning signal device 4, and balance vehicle body 5. DETAILED DESCRIPTION

[0028] In order to further illustrate the technical means and effects adopted by the present invention to achieve the predetermined purpose of the invention, the following is a detailed description of the specific implementation methods, structures, features and effects of the present invention with reference to the accompanying drawings and preferred embodiments.

[0029] In the description of this application, it should be understood that the terms "longitudinal", "transverse", "length", "width", "thickness", "up", "down", "front", "back", "left", "right", "vertical", "horizontal", "top", "bottom", "inside", "outside", etc., indicating orientations or positional relationships, are based on the orientations or positional relationships shown in the accompanying drawings, and are only for the convenience of describing this application and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation, and therefore should not be understood as a limitation on this application.

[0030] Furthermore, the terms "first" and "second" are used for descriptive purposes only and should not be construed as indicating or implying relative importance or implicitly specifying the number of the technical features being referred to. Thus, a feature defined as "first" or "second" may explicitly or implicitly include one or more of the features. Throughout the description of this application, "plurality" means two or more, unless otherwise specifically defined.

[0031] In this application, unless otherwise specified or limited, the terms "mounted," "connected," "connect," "fixed," etc. should be understood broadly. For example, they can refer to fixed connection, detachable connection, or integral connection; mechanical connection or electrical connection; direct connection or indirect connection through an intermediate medium; or internal communication between two components. Those skilled in the art will understand the specific meanings of the above terms in this application based on specific circumstances.

[0032] In this application, unless otherwise expressly specified or limited, a first feature being "above" or "below" a second feature may include the first and second features being in direct contact, or may include the first and second features being in contact not directly but through another feature between them. Moreover, a first feature being "above," "above," and "above" a second feature may include the first feature being directly above or obliquely above the second feature, or may simply mean that the first feature is higher in level than the second feature. A first feature being "below," "below," and "below" a second feature may include the first feature being directly below or obliquely below the second feature, or may simply mean that the first feature is lower in level than the second feature.

[0033] UWB (Ultra Wide Band) is the abbreviation of ultra-wideband. UWB technology is a wireless carrier communication technology that does not use a sinusoidal carrier, but uses nanosecond-level non-sinusoidal narrow pulses to transmit data. Therefore, it occupies a wide spectrum range, with a bandwidth of 7.5GHz between 3.1GHz and 10.6GHz being the frequency range used by UWB. UWB technology has the advantages of low system complexity, low power spectrum density of transmitted signals, insensitivity to channel fading, low interception capability, and high positioning accuracy. UWB technology can be used for ranging, and one of the ranging principles is based on the two-way time-of-flight method. Figure 6 As shown in the figure, each UWB module generates an independent timestamp from the moment it starts. The transmitter of UWB module X transmits a request pulse signal at time Tx1, which is timestamped on its timestamp. The receiver of UWB module Y receives this signal at time Ty1, which is timestamped on its timestamp. After a reaction time, UWB module Y transmits a response signal at time Ty2, which is received by UWB module X at time Tx2, which is timestamped on its timestamp. Using the formula: T = [(Tx2 - Tx1) - (Ty2 - Ty1)] / 2, the flight time of the pulse signal between the two UWB modules can be calculated. The flight distance can then be determined using the formula: D = C * T, where C is the speed of light. Example 1

[0034] An automatic following system for a balancing vehicle, used on a balancing vehicle, see Figures 1 to 7, including: a first positioning signal device 1, a second positioning signal device 2, a third positioning signal device 3 and a main controller, the first positioning signal device 1 and the second positioning signal device 2 are installed at the front end of the balance vehicle body 5, and the "front end" here can be the front end inside the vehicle body. The first positioning signal device 1 and the second positioning signal device 2 are connected to the main controller, and the third positioning signal device 3 is carried by the operator. The third positioning signal device 3 is communicatively connected with the first positioning signal device 1 and the second positioning signal device 2. When the balance vehicle is in a balanced state (which can be understood as the state after the balance vehicle automatically returns to the center after being turned on, generally the state when the pedal of the balance vehicle is horizontal, or the state when the pedal is manually set to a certain inclination angle), the first positioning signal device 1 and the second positioning signal device 2 both have an angle θ with the vertical direction, the lower part of the first positioning signal device 1 and the second positioning signal device 2 is closer to the front, and the upper part is closer to the rear. The front and rear directions in this application are the normal travel direction of the balance vehicle as the front, and the backward direction as the rear. The first positioning signal device 1 has an angle θ with the vertical direction, such as Figure 7 , this angle θ should be understood as the angle between the plane where the signal transmitting / receiving surface of the first positioning signal device is located and the vertical direction. The signal transmitting / receiving direction of the first positioning signal device is perpendicular to the signal transmitting / receiving surface of the first positioning signal device. Because the balance vehicle has a certain forward tilt angle during normal driving, the setting of this angle can make the first positioning signal device on the balance vehicle in motion roughly coincide with the vertical direction or have a smaller angle, thereby avoiding the signal transmitting / receiving direction of the first positioning signal device pointing to the ground, facilitating the main controller to accurately calculate the distance, and ensuring the following effect of the balance vehicle in motion. The second positioning signal device 2 has an angle θ with the vertical direction, which can also be understood in a similar way.

[0035] The angle θ between the first positioning signal device 1 and the vertical direction ranges from 1° to 30°, and the angle θ between the second positioning signal device 2 and the vertical direction ranges from 1° to 30°. Preferably, the angle θ between the first positioning signal device 1 and the vertical direction is 15°, and the angle θ between the second positioning signal device 2 and the vertical direction is 15°. Setting this angle range helps improve the tracking effect of the balance vehicle during actual driving.

[0036] The first positioning signal device 1, the second positioning signal device 2, and the third positioning signal device 3 are all UWB signal devices. Each of the first positioning signal device 1, the second positioning signal device 2, and the third positioning signal device 3 includes a UWB signal receiving module and a UWB signal transmitting module. The third positioning signal device 3 can be used as a portable remote control by the operator, or it can be pre-installed in a smart device such as a mobile phone. Of course, in other embodiments, each positioning signal device can also be a Bluetooth, infrared, ultrasonic, or other positioning device.

[0037] like Figure 5 The automatic following system for a self-balancing scooter also includes a fourth positioning signal device 4. The fourth positioning signal device 4 is mounted on the self-balancing scooter. When the self-balancing scooter is in a balanced state (which can be understood as the state after the self-balancing scooter automatically returns to its normal position after being powered on, generally when the pedals of the self-balancing scooter are horizontal, but it may also be when the pedals are manually tilted at a certain angle), the fourth positioning signal device 4 forms an angle θ with the vertical direction. The lower portion of the fourth positioning signal device 4 is positioned forward, and the upper portion is positioned backward. The angle θ ranges from 1° to 30°, preferably 15°. The fourth positioning signal device 4 can be a UWB signal device, or a Bluetooth, infrared, ultrasonic, or other positioning device. The fourth positioning signal device 4 is the same positioning device as the first positioning signal device 1, the second positioning signal device 2, and the third positioning signal device 3. The third positioning signal device 3 is communicatively connected to the fourth positioning signal device 4. The first positioning signal device 1 is located at the front end of the left side of the self-balancing scooter, and the second positioning signal device 2 is located at the front end of the right side of the self-balancing scooter. The first positioning signal device 1 and the second positioning signal device 2 can be located symmetrically on the left and right sides of the scooter. The fourth positioning signal device 4 is closer to the interior of the self-balancing vehicle than the first positioning signal device 1 or the second positioning signal device 2. The fourth positioning signal device 4 can be located behind the second positioning signal device 2. The provision of the fourth positioning signal device 4 facilitates the self-balancing vehicle to achieve front-to-back and side-to-side parallel following, and is flexible and diverse in use scenarios.

[0038] And balance car, such as Figure 1 and Figure 3 , including but not limited to the balance car body 5, the main controller, the sub-controller, the wheels, the battery, the first positioning signal device 1, the second positioning signal device 2, the vehicle function expansion device or module, the vehicle peripherals, the vehicle control device and the prompt device. The wheel can be built-in with a drive motor, and the main controller is connected to the drive motor, the first positioning signal device, the second positioning signal device, the sub-controller, the battery, the vehicle function expansion device or module, the vehicle peripherals, the vehicle control device and the prompt device. The main controller is integrated with a processing module, a drive module, a communication module, a power module, etc. In some embodiments, the sub-controller can also drive the corresponding wheel after receiving the signal from the main controller. The balance car can move following the third positioning signal device 3 carried by the operator, so that the application scenarios of the balance car are diverse and rich, which is conducive to promotion and use. The prompt device may include a voice prompt device and / or a visual prompt device, which can make corresponding prompts based on the following judgment made by the automatic following system to improve operability and fun. Example 2

[0039] The automatic following method for a balancing vehicle is applied to the automatic following system for a balancing vehicle in Example 1. The main controller obtains the distance AB between the first positioning signal device 1 and the third positioning signal device 3 according to the signal transmission between the first positioning signal device 1 and the third positioning signal device 3. The main controller obtains the distance AC between the second positioning signal device 2 and the third positioning signal device 3 according to the signal transmission between the second positioning signal device 2 and the third positioning signal device 3. The distance AB and the distance AC can be obtained based on the principle of ranging based on the two-way time of flight method mentioned above, such as Figure 6 As shown, it is simple and fast, reduces complicated algorithms, and is convenient for improving subsequent following effects.

[0040] like Figure 2 When the distance AB is equal to the distance AC and the lengths of the distances AB and AC are within the preset distance range, it is judged to be a normal position; when the distances AB and AC change, if both distances increase, it is judged to be forward, and the main controller drives the drive motors in the wheels of the balancing vehicle to move forward; if both distances decrease, it is judged to be backward or stopped, and the main controller drives the drive motors in the wheels to move backward or stop.

[0041] When the distance AB and the distance AC are not within the preset distance range, the balancing car will not move. Not within the preset distance range can be understood as being smaller than a certain range or larger than a certain range.

[0042] When the distance AB and the distance AC are within the preset distance range, and the distance AB is greater than the distance AC, it is determined that a left turn is required, and the balance vehicle turns left until the distance AB is equal to the distance AC; when the distance AB and the distance AC are within the preset distance range, and the distance AC is greater than the distance AB, it is determined that a right turn is required, and the balance vehicle turns right until the distance AB is equal to the distance AC.

[0043] like Figure 4 and Figure 5 When the automatic following system for the balancing vehicle includes a fourth positioning signal device 4, the fourth positioning signal device 4 is closer to the interior of the balancing vehicle body than the first positioning signal device 1 or the second positioning signal device 2. Specifically, the fourth positioning signal device 4 can be located on the rear side of the second positioning signal device 2. The main controller obtains the distance AD ​​between the third positioning signal device 3 and the fourth positioning signal device 4 based on the signal transmission between the third positioning signal device 3 and the fourth positioning signal device 4. When the distance AD ​​is greater than the distance AB and the distance AD ​​is greater than the distance AC, it is judged as front-to-back following, and the balancing vehicle follows the third positioning signal device 3 in the front-to-back direction. When the distance AB is greater than the distance AD ​​and the distance AB is greater than the distance AC, it is judged as side-to-side parallel, and the balancing vehicle follows the third positioning signal device 3 in a side-to-side parallel manner.

[0044] The above description is merely a preferred embodiment of the present invention and does not constitute any form of limitation to the present invention. Although the present invention has been disclosed as a preferred embodiment as above, it is not intended to limit the present invention. Any person skilled in the art can make some changes or modifications to equivalent embodiments using the technical contents disclosed above without departing from the scope of the technical solution of the present invention. However, any simple modifications, equivalent changes and modifications made to the above embodiments based on the technical essence of the present invention without departing from the content of the technical solution of the present invention are still within the scope of the technical solution of the present invention.

Claims

1. An automatic following system for a balancing vehicle, characterized in that: include: A first positioning signal device (1), a second positioning signal device (2), a third positioning signal device (3), a fourth positioning signal device (4) and a main controller, wherein the first positioning signal device (1) and the second positioning signal device (2) are installed at the front end of the balance vehicle body (5), the first positioning signal device (1) is located at the front end of the left side of the balance vehicle body, and the second positioning signal device (2) is located at the front end of the right side of the balance vehicle body, the first positioning signal device (1) and the second positioning signal device (2) are distributed along the length direction of the balance vehicle body (5), the second positioning signal device (2) and the fourth positioning signal device (4) are distributed along the width direction of the balance vehicle body (5), the first positioning signal device (1) and the second positioning signal device (2) are connected to the main controller, and the third positioning signal device (3) is controlled by an operator. The third positioning signal device (3) is connected to the first positioning signal device (1) and the second positioning signal device (2) in communication. When the balancing vehicle is in a balanced state, the first positioning signal device (1) and the second positioning signal device (2) both have an angle θ with the vertical direction. The lower parts of the first positioning signal device (1) and the second positioning signal device (2) are closer to the front and the upper parts are closer to the rear. The fourth positioning signal device (4) is installed on the balancing vehicle body. The third positioning signal device (3) is connected to the fourth positioning signal device (4) in communication. The fourth positioning signal device (4) has an angle θ with the vertical direction. The lower part of the fourth positioning signal device (4) is closer to the front and the upper part is closer to the rear. The normal moving direction of the balancing vehicle is forward and the backward direction is backward. The angle θ is the angle between the plane where the signal transmitting and receiving surfaces of the positioning signal device are located and the vertical direction.

2. The automatic following system for a balancing vehicle according to claim 1, characterized in that: The included angle θ between the first positioning signal device (1) and the vertical direction is in the range of 1° to 30°, and the included angle θ between the second positioning signal device (2) and the vertical direction is in the range of 1° to 30°.

3. The automatic following system for a balancing vehicle according to claim 2, characterized in that: The included angle θ between the first positioning signal device (1) and the vertical direction is 15°, and the included angle θ between the second positioning signal device (2) and the vertical direction is 15°.

4. The automatic following system for a balancing vehicle according to claim 1, characterized in that: The first positioning signal device (1), the second positioning signal device (2) and the third positioning signal device (3) all comprise a UWB signal receiving module and a UWB signal transmitting module.

5. The automatic following method for a balancing vehicle is characterized by: Applicable to the automatic following system for a balancing vehicle as claimed in any one of claims 1 to 4, the main controller obtains the distance AB between the first positioning signal device (1) and the third positioning signal device (3) based on the signal transmission between the first positioning signal device (1) and the third positioning signal device (3), and the main controller obtains the distance AC between the second positioning signal device (2) and the third positioning signal device based on the signal transmission between the second positioning signal device (2) and the third positioning signal device (3); When the automatic following system for a balancing vehicle includes a fourth positioning signal device (4), the fourth positioning signal device (4) is closer to the interior of the balancing vehicle body relative to the first positioning signal device (1) or relative to the second positioning signal device (2), the main controller obtains the distance AD ​​between the third positioning signal device (3) and the fourth positioning signal device (4) based on the signal transmission between the third positioning signal device (3) and the fourth positioning signal device (4), and when the distance AD ​​is greater than the distance AB and the distance AD ​​is greater than the distance AC, it is determined to be front-to-back following, and when the distance AB is greater than the distance AD ​​and the distance AB is greater than the distance AC, it is determined to be side-to-side parallel; When distance AB and distance AC are within the preset distance range, and distance AB is greater than distance AC, it is determined that a left turn is required until distance AB equals distance AC. When distance AB and distance AC are within the preset distance range, and distance AC is greater than distance AB, it is determined that a right turn is required until distance AB equals distance AC: When the distance AB is equal to the distance AC and the lengths of the distances AB and AC are within the preset distance range, it is determined to be in a normal position; When the distance AB and the distance AC change, if both distances increase, it is judged as moving forward, and if both distances decrease, it is judged as moving backward or stopping.

6. The automatic following method for a balancing vehicle according to claim 5, characterized in that: When the distance AB and the distance AC are not within the preset distance range, the balancing car will not move.

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