Bicycle trajectory tracking sliding mode control method and system

Abstract

The invention relates to the technical field of automatic control, in particular to a bicycle trajectory tracking sliding mode control method and system. Comprising the following steps: S1, acquiring bicycle obstacle avoidance data, bicycle pedal pressure data and saddle pressure data on a downhill road section; s2, determining a bicycle obstacle avoidance success coefficient, and generating a bicycle trajectory tracking route; s3, calculating a sliding mode control coefficient according to the bicycle pedal pressure data and the saddle pressure data; and S4, determining a bicycle trajectory tracking sliding mode control method based on the bicycle obstacle avoidance success coefficient and the sliding mode control coefficient. By collecting obstacle avoidance, pedal and saddle pressure data, the system accurately calculates an obstacle avoidance coefficient, dynamically adjusts control parameters and optimizes trajectory tracking, and the safety and comfort of downhill riding are greatly improved; the self-adaptive control system flexibly responds according to real-time data, the riding comfort is enhanced, the data utilization efficiency is improved, and efficient and intelligent operation is achieved.

Description

Technical Field

[0001] The present invention relates to the field of automation control technology, and in particular to a bicycle trajectory tracking sliding mode control method and system. Background Art

[0002] With growing global attention to sustainable transportation, cycling is gaining increasing recognition as an environmentally friendly and healthy travel option. However, cyclists face challenges in complex road environments, particularly downhill sections, such as obstacle avoidance and maintaining a stable trajectory. Traditional manual control cannot guarantee safe and effective handling of these challenges in all situations, especially at high speeds or in complex environments. Therefore, the development of an intelligent control system that can automatically optimize a bicycle's path and improve its obstacle avoidance capabilities is particularly urgent.

[0003] Recent developments in automated control theory and technology have provided new possibilities for addressing these challenges. Sliding mode control, as an efficient nonlinear control method, has been widely used in the control of various dynamic systems due to its robustness and rapid response. Simultaneously, advances in sensor technology have enabled the real-time collection and processing of vehicle motion data, laying the foundation for further intelligent bicycle control. Summary of the Invention

[0004] In order to overcome the shortcomings, the technical problem to be solved is: to provide a bicycle trajectory tracking sliding mode control method and system.

[0005] The technical solution of the present invention is: a bicycle trajectory tracking sliding mode control method, comprising the following steps:

[0006] S1: On a downhill section, obtain bicycle obstacle avoidance data, bicycle pedal pressure data, and bicycle seat pressure data;

[0007] S2: Determine the success coefficient of the bicycle's obstacle avoidance and generate a bicycle trajectory tracking route;

[0008] S3: Calculate the sliding mode control coefficient based on the bicycle pedal pressure data and the seat pressure data;

[0009] S4: Based on the bicycle obstacle avoidance success coefficient and the sliding mode control coefficient, determine the bicycle trajectory tracking sliding mode control method.

[0010] Preferably, the acquiring of bicycle obstacle avoidance data, bicycle pedal pressure data, and bicycle seat pressure data on a downhill section includes:

[0011] Obstacle avoidance data refers to the speed data of the bicycle before and after avoiding the obstacle;

[0012] The bicycle pedal pressure data refers to the pedal pressure data before the bicycle avoids the obstacle;

[0013] The bicycle seat pressure data refers to the seat pressure data after the bicycle avoids the obstacle;

[0014] Collect the intervention speed of the bicycle sliding mode before and after obstacle avoidance;

[0015] Based on the obstacle avoidance data, bicycle pedal pressure data, bicycle seat pressure data, and bicycle sliding mode intervention speed, relevant parameters of the bicycle obstacle avoidance calculation formula are calculated, and the relevant parameters include a first distribution speed, a second distribution speed, a first pressure, and a second pressure.

[0016] Preferably, the calculation of the bicycle obstacle avoidance formula related parameters includes:

[0017] The first allocated speed is the speed before the bicycle avoids the obstacle minus the speed before the sliding mode intervenes.

[0018] The second distribution speed is the speed of the bicycle after avoiding the obstacle minus the speed after the sliding mode intervention;

[0019] The pedal pressure minus the pedal pressure after the sliding mode is intervened is used as the first pressure;

[0020] The seat pressure minus the seat pressure after the sliding mode is intervened is used as the second pressure;

[0021] The first dispensing speed, the second dispensing speed, the first pressure, and the second pressure are normalized using a normalization formula.

[0022] Preferably, the normalizing the first dispensing speed, the second dispensing speed, the first pressure, and the second pressure by a normalization formula includes: the normalization formula is as follows,

[0023]

[0024] in, and are the minimum and maximum values ​​of the variable, respectively.

[0025] Preferably, the determining of the bicycle obstacle avoidance success coefficient and the generation of the bicycle trajectory tracking route include:

[0026] The bicycle obstacle avoidance calculation formula is used to determine the bicycle obstacle avoidance success coefficient. Based on the bicycle obstacle avoidance success coefficient, a bicycle trajectory tracking route is generated. The bicycle obstacle avoidance calculation formula is as follows:

[0027]

[0028] in, is the success coefficient of bicycle obstacle avoidance, and are the normalized first and second distribution speeds, and are the normalized first and second pressures, is the minimum value; the normalized first distribution speed = - , the normalized second distribution speed = - , the normalized first pressure = - , the normalized second pressure = - .

[0029] Preferably, generating a bicycle trajectory tracking route includes:

[0030] Based on the bicycle obstacle avoidance success coefficient, the obstacle avoidance qualification threshold T is set. If it is greater than or equal to T, the obstacle avoidance is successful; otherwise, the obstacle avoidance fails;

[0031] Obtain the original trajectory tracking route of the bicycle and mark the sections where obstacle avoidance failed;

[0032] The obstacle avoidance section marking formula is used to mark the obstacle avoidance failure section. The obstacle avoidance section marking formula is as follows:

[0033]

[0034] in, The starting mark distance of the obstacle avoidance failure section, The location of the successful obstacle avoidance section, is the next obstacle avoidance failure section position adjacent to the successful obstacle avoidance section position, () is the normalization function, The number of failed obstacle avoidance segment marks for the next failed obstacle avoidance segment adjacent to the successful obstacle avoidance segment. is the average number of failed obstacle avoidance segment marks of all the next obstacle avoidance failure segments adjacent to the successful obstacle avoidance segment in the entire segment. is the minimum value.

[0035] Preferably, the calculating of the sliding mode control coefficient according to the bicycle pedal pressure data and the bicycle seat pressure data includes: acquiring the bicycle pedal pressure data and the bicycle seat pressure data, extracting abnormal pedal pressure data and abnormal seat pressure data, normalizing the bicycle pedal pressure data and the bicycle seat pressure data, and calculating the sliding mode control coefficient according to a sliding mode control coefficient formula, wherein the sliding mode control coefficient formula is as follows:

[0036]

[0037] in, is the sliding mode control coefficient, and are the weight coefficients of the seat pressure and pedal pressure respectively, + =1, and are the normalized values ​​of abnormal seat pressure and normal seat pressure, and are the normalized value of abnormal pedal pressure and the normalized value of normal pedal pressure, respectively. is the minimum value.

[0038] Preferably, the method for determining the bicycle trajectory tracking sliding mode control based on the bicycle obstacle avoidance success coefficient and the sliding mode control coefficient includes:

[0039] On a downhill section, if the bicycle successfully avoids an obstacle, the If the bicycle fails to avoid the obstacle, it will increase The value of

[0040] exist During the reduction process, if the distance to the starting mark of the obstacle avoidance failure section decreases, the reduction will stop. and increase If the distance from the starting mark of the obstacle avoidance failure section increases, the increase will stop. and reduce The value of and All are not 0, and the sum is always less than or equal to 1 during the change process;

[0041] If an unrecognized obstacle appears, the weight parameters are dynamically adjusted again.

[0042] Preferably, if an unidentified obstacle appears, dynamically adjusting the weight parameter again includes:

[0043] On downhill sections, if the pedal pressure is increased actively by the rider, then If the seat pressure is increased passively without the rider applying additional pressure to the pedals, then The value of

[0044] Active increase means the rider actively applies pressure on the bicycle pedals;

[0045] Passive increase is when the bicycle seat pressure increases without the rider increasing pressure on the bicycle pedals.

[0046] Preferably, a bicycle trajectory tracking sliding mode control system includes:

[0047] The data acquisition module collects obstacle avoidance data, pedal pressure data, and seat pressure data on downhill sections of the bicycle. Sensors are installed on key parts of the bicycle to collect real-time data.

[0048] A related parameter calculation module calculates the first dispensing speed, the second dispensing speed, the first pressure, and the second pressure;

[0049] A bicycle obstacle avoidance success coefficient calculation module calculates the bicycle obstacle avoidance success coefficient based on normalized speed and pressure data;

[0050] The trajectory tracking route generation module generates or adjusts the bicycle's trajectory tracking route based on the obstacle avoidance success coefficient; sets the obstacle avoidance qualification threshold T, checks whether the obstacle avoidance success coefficient meets the conditions to determine whether the obstacle avoidance is successful; marks the sections where obstacle avoidance fails, and determines the marking distance using the obstacle avoidance section marking formula ;

[0051] Sliding mode control coefficient calculation module, which calculates the sliding mode control coefficient based on the pressure data of the pedals and the seat ;

[0052] Control strategy adjustment module, dynamically adjusts the weight parameters in the control strategy according to the obstacle avoidance situation and .

[0053] Beneficial effects: The present invention collects obstacle avoidance, pedal pressure, and seat pressure data of bicycles on downhill sections, accurately calculates the obstacle avoidance success coefficient, and uses this to determine the obstacle avoidance situation, mark failed sections, and update the trajectory, thereby greatly improving the obstacle avoidance capability and trajectory tracking accuracy; on the other hand, the sliding mode control coefficient and weight parameters are dynamically adjusted according to a variety of real-time data to achieve adaptive optimization of the control system, so that it can flexibly adapt to the operating status of the bicycle; at the same time, from the perspective of riding experience, it not only ensures riding safety when going downhill, but also improves comfort due to control adjustments that fit the riding status; in addition, the collection of multiple data and complex calculations greatly improve data utilization efficiency, making the entire system run more efficient and intelligent. BRIEF DESCRIPTION OF THE DRAWINGS

[0054] Figure 1This is a flow chart of the bicycle trajectory tracking sliding mode control method of the present invention;

[0055] Figure 2 This is a system diagram of the bicycle trajectory tracking sliding mode control of the present invention. DETAILED DESCRIPTION

[0056] The following is a clear and complete description of the technical solutions in the embodiments of the present invention. Obviously, the described embodiments are only part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without making creative efforts are within the scope of protection of the present invention.

[0057] Example 1: A bicycle trajectory tracking sliding mode control method, such as Figure 1 As shown, the following steps are included:

[0058] S1: On a downhill section, obtain bicycle obstacle avoidance data, bicycle pedal pressure data, and bicycle seat pressure data;

[0059] S2: Determine the success coefficient of the bicycle's obstacle avoidance and generate a bicycle trajectory tracking route;

[0060] S3: Calculate the sliding mode control coefficient based on the bicycle pedal pressure data and the seat pressure data;

[0061] S4: Based on the bicycle obstacle avoidance success coefficient and the sliding mode control coefficient, determine the bicycle trajectory tracking sliding mode control method.

[0062] On downhill sections, bicycle obstacle avoidance data, bicycle pedal pressure data, and bicycle seat pressure data are obtained, including:

[0063] Obstacle avoidance data refers to the speed data of the bicycle before and after avoiding the obstacle;

[0064] The bicycle pedal pressure data refers to the pedal pressure data before the bicycle avoids the obstacle;

[0065] The bicycle seat pressure data refers to the seat pressure data after the bicycle avoids the obstacle;

[0066] Collect the intervention speed of the bicycle sliding mode before and after obstacle avoidance;

[0067] Based on the obstacle avoidance data, bicycle pedal pressure data, bicycle seat pressure data, and bicycle sliding mode intervention speed, relevant parameters of the bicycle obstacle avoidance calculation formula are calculated, and the relevant parameters include a first distribution speed, a second distribution speed, a first pressure, and a second pressure.

[0068] Further explanation is that the bicycle's speed data before and after obstacle avoidance reflects the speed change caused by the obstacle avoidance operation, which can intuitively show the impact of obstacle avoidance on driving speed, such as whether the speed is reasonably reduced or there is abnormal fluctuation. The pedal pressure data before the bicycle avoidance reflects the amount of force applied by the rider through the pedals when anticipating the obstacle, which can be used to understand the rider's active response to obstacle avoidance and their intention. The seat pressure data after the obstacle avoidance can reflect the rider's body posture and force after the obstacle avoidance is completed, which indirectly reflects the impact of obstacle avoidance on the riding state. The intervention speed of the sliding model before and after the obstacle avoidance shows the speed state of the bicycle when the control method intervenes.

[0069] Calculate the relevant parameters of the bicycle obstacle avoidance formula, including:

[0070] The first allocated speed is the speed before the bicycle avoids the obstacle minus the speed before the sliding mode intervenes.

[0071] The second distribution speed is the speed of the bicycle after avoiding the obstacle minus the speed after the sliding mode intervention;

[0072] The pedal pressure minus the pedal pressure after the sliding mode is intervened is used as the first pressure;

[0073] The seat pressure minus the seat pressure after the sliding mode is intervened is used as the second pressure;

[0074] The first dispensing speed, the second dispensing speed, the first pressure, and the second pressure are normalized using a normalization formula.

[0075] To further explain, the first distribution speed reflects the natural speed adjustment of the bicycle when it is about to avoid an obstacle but the control has not yet fully intervened, reflecting the initial state change of autonomous response to obstacle avoidance. The second distribution speed shows the speed difference after the obstacle avoidance operation is completed compared to the speed after the control intervention, which can show the stability of the bicycle speed at the end of the obstacle avoidance. The first pressure and the second pressure are obtained based on the corresponding pressure difference between the pedal and seat pressure and the sliding mode intervention, respectively, reflecting the pressure change caused by the rider's operation and state changes before and after obstacle avoidance. Finally, normalization is performed to unify these changes of different magnitudes and ranges into a specific standard range.

[0076] The first dispensing speed, the second dispensing speed, the first pressure, and the second pressure are normalized by a normalization formula, including: the normalization formula is as follows,

[0077]

[0078] in, and are the minimum and maximum values ​​of the variable, respectively.

[0079] Determining the bicycle obstacle avoidance success coefficient and generating a bicycle trajectory tracking route includes: determining the bicycle obstacle avoidance success coefficient through a bicycle obstacle avoidance calculation formula, and generating a bicycle trajectory tracking route based on the bicycle obstacle avoidance success coefficient. The bicycle obstacle avoidance calculation formula is as follows:

[0080]

[0081] in, is the success coefficient of bicycle obstacle avoidance, and are the normalized first and second distribution speeds, and are the normalized first and second pressures, is the minimum value; the normalized first distribution speed = - , the normalized second distribution speed = - , the normalized first pressure = - , the normalized second pressure = - .

[0082] To further explain, the formula comprehensively considers the impact of speed changes before and after obstacle avoidance and the corresponding pressure changes on the degree of obstacle avoidance success. If the first and second distribution speeds both meet the preset thresholds, and the corresponding first and second pressure changes also meet the preset ranges of riding and obstacle avoidance logic, then the sum of the two fractions is The value will be in an appropriate range; on the contrary, if the speed or pressure parameters of a part are abnormal, such as the speed changes too much but the pressure changes unreasonable, or the pressure changes normally but the speed recovery is poor, the value of the corresponding fraction will deviate, which will lead to The value of deviates from the normal range, indicating that there is a problem in the obstacle avoidance process.

[0083] Generates bicycle trajectory tracking routes, including:

[0084] Based on the bicycle obstacle avoidance success coefficient, the obstacle avoidance qualification threshold T is set. If it is greater than or equal to T, the obstacle avoidance is successful; otherwise, the obstacle avoidance fails;

[0085] Obtain the original trajectory tracking route of the bicycle and mark the sections where obstacle avoidance failed;

[0086] The obstacle avoidance section marking formula is used to mark the obstacle avoidance failure section. The obstacle avoidance section marking formula is as follows:

[0087]

[0088] in, The starting mark distance of the obstacle avoidance failure section, The location of the successful obstacle avoidance section, is the next obstacle avoidance failure section position adjacent to the successful obstacle avoidance section position, () is the normalization function, The number of failed obstacle avoidance segment marks for the next failed obstacle avoidance segment adjacent to the successful obstacle avoidance segment. is the average number of failed obstacle avoidance segment marks of all the next obstacle avoidance failure segments adjacent to the successful obstacle avoidance segment in the entire segment. is the minimum value.

[0089] A further explanation is that, assuming that in a cycling route, the location of the successful obstacle avoidance section It is at 100 meters (the unit here depends on the actual setting), and the next obstacle avoidance failure section adjacent to it is located is at 120 meters, then - =100-120=-20 meters (the negative sign here only indicates the direction, and in actual application, it is handled by taking the absolute value according to the regulations). Assume that the number of failed obstacle avoidance section marks for this failed section is After normalization function The value obtained after () processing is 0.3, which is the average number of failed obstacle avoidance section marks of all the next obstacle avoidance failure sections adjacent to the successful obstacle avoidance section in the entire section. 0.5, the minimum value Take a very small value, such as 0.001. Substituting these values ​​into the formula yields: D = (-20) / (1-0.3 + 0.001) × 0.5. The specific distance D from the start of the obstacle avoidance failure segment is calculated. This value accurately marks the distance from the successful obstacle avoidance segment to the adjacent obstacle avoidance failure segment.

[0090] The sliding mode control coefficient is calculated according to the bicycle pedal pressure data and the bicycle seat pressure data, including: obtaining the bicycle pedal pressure data and the bicycle seat pressure data, extracting abnormal pedal pressure data and abnormal seat pressure data, normalizing the bicycle pedal pressure data and the bicycle seat pressure data, and calculating the sliding mode control coefficient through the sliding mode control coefficient formula. The sliding mode control coefficient formula is as follows:

[0091]

[0092] in, is the sliding mode control coefficient, and are the weight coefficients of the seat pressure and pedal pressure respectively, + =1, and are the normalized values ​​of abnormal seat pressure and normal seat pressure, and are the normalized value of abnormal pedal pressure and the normalized value of normal pedal pressure, respectively. is the minimum value.

[0093] A further explanation is that the formula and is the weight coefficient, and + = 1. This means that the seat pressure and pedal pressure are partially in the sliding mode control coefficient The proportion of the calculation of is mutually restricted, and their sum is always 1, which represents the comprehensive influence of these two factors on the overall sliding mode control. For the seat pressure part, an exponential function is used. When the saddle is under abnormal pressure (such as external impact or changes in the rider's posture), and The ratio of will change. If this ratio increases, that is, the deviation of abnormal pressure from normal pressure becomes larger, which reflects that the influence of abnormal seat pressure on the sliding mode control coefficient will be amplified, thus highlighting the importance of abnormal seat pressure in control. The pedal pressure part adopts a logarithmic function When the pedal pressure is abnormal (such as the rider suddenly exerts force or releases the pedal), and When this ratio changes, the value of the logarithmic function will change accordingly, then increase the weight To affect the sliding mode control coefficient This relatively gentle change more stably reflects the impact of abnormal pedal pressure on the control coefficient.

[0094] Based on the bicycle obstacle avoidance success coefficient and the sliding mode control coefficient, a bicycle trajectory tracking sliding mode control method is determined, including:

[0095] On a downhill section, if the bicycle successfully avoids an obstacle, the If the bicycle fails to avoid the obstacle, it will increase The value of

[0096] exist During the reduction process, if the distance to the starting mark of the obstacle avoidance failure section decreases, the reduction will stop. and increase If the distance from the starting mark of the obstacle avoidance failure section increases, the increase will stop. and reduce The value of and All are not 0, and the sum is always less than or equal to 1 during the change process;

[0097] If an unrecognized obstacle appears, the weight parameters are dynamically adjusted again.

[0098] A further explanation is that when obstacle avoidance is successful, it means that the current control strategy is effective and the seat pressure contributes more to the stable trajectory, so the pedal pressure weight is reduced, such as From 0.4 to 0.3, If the obstacle avoidance fails, the pedal pressure change contains the rider's active operation information. In order to improve the success rate of obstacle avoidance, it is necessary to increase ,For example From 0.3 to 0.4, During the adjustment process, the distance D from the starting mark of the obstacle avoidance failure section will also affect the weight. When D decreases, it means that the previous Excessive reduction, need to stop reducing and increase ; If D increases, it means that The strategy is not good, stop increasing and reduce When encountering an unidentified obstacle, if the pedal pressure is increased automatically, the , let the control strategy adjust the trajectory according to the pedal pressure; if the seat pressure increases passively, it means that the bicycle is affected by external factors, and the increase , pay attention to the changes in the state reflected by the seat pressure. Always ensure and It is not 0 and the sum is less than or equal to 1, ensuring the rationality and controllability of the control strategy.

[0099] If an unrecognized obstacle appears, the weight parameters are dynamically adjusted again, including:

[0100] On downhill sections, if the pedal pressure is increased actively by the rider, then If the seat pressure is increased passively without the rider applying additional pressure to the pedals, then The value of

[0101] Active increase means the rider actively applies pressure on the bicycle pedals;

[0102] Passive increase is when the bicycle seat pressure increases without the rider increasing pressure on the bicycle pedals.

[0103] A further explanation is that when cycling downhill, if the pedal pressure is increased actively by the rider, it means that the rider notices the change in road conditions and increases the pressure. value, let the control strategy adjust according to its intention, such as actively pedaling when encountering a small pothole, Increasing from 0.3 to 0.4 is conducive to accurate trajectory tracking. The seat pressure increases passively when the rider does not actively increase pedal pressure, mostly due to external factors such as crosswinds and rock pressure. value, let the control focus on the state changes reflected by the seat pressure to stabilize the trajectory. In case of crosswind, Increasing from 0.6 to 0.7 improves the adaptability and robustness of control to complex environments.

[0104] Example 2: Based on Example 1, Figure 2 As shown, a bicycle trajectory tracking sliding mode control system includes:

[0105] The data acquisition module collects obstacle avoidance data, pedal pressure data, and seat pressure data on downhill sections of the bicycle. Sensors are installed on key parts of the bicycle to collect real-time data.

[0106] A related parameter calculation module calculates the first dispensing speed, the second dispensing speed, the first pressure, and the second pressure;

[0107] A bicycle obstacle avoidance success coefficient calculation module calculates the bicycle obstacle avoidance success coefficient based on normalized speed and pressure data;

[0108] The trajectory tracking route generation module generates or adjusts the bicycle's trajectory tracking route based on the obstacle avoidance success coefficient; sets the obstacle avoidance qualification threshold T, checks whether the obstacle avoidance success coefficient meets the conditions to determine whether the obstacle avoidance is successful; marks the sections where obstacle avoidance fails, and determines the marking distance using the obstacle avoidance section marking formula ;

[0109] Sliding mode control coefficient calculation module, which calculates the sliding mode control coefficient based on the pressure data of the pedals and the seat ;

[0110] Control strategy adjustment module, dynamically adjusts the weight parameters in the control strategy according to the obstacle avoidance situation and .

[0111] The above is a detailed introduction to the present application. Specific examples are used herein to illustrate the principles and implementation methods of the present application. The description of the above embodiments is only used to help understand the method and core idea of ​​the present application. At the same time, for those skilled in the art, based on the idea of ​​the present application, there may be changes in the specific implementation methods and application scope. In summary, the content of this specification should not be understood as a limitation on the present application.

Claims

1. A bicycle trajectory tracking sliding mode control method, characterized in that: The following steps are involved: S1: On a downhill section, obtain bicycle obstacle avoidance data, bicycle pedal pressure data, and bicycle seat pressure data; S2: Determine the success coefficient of the bicycle's obstacle avoidance and generate a bicycle trajectory tracking route; S3: Calculate the sliding mode control coefficient based on the bicycle pedal pressure data and the seat pressure data; S4: Based on the bicycle obstacle avoidance success coefficient and the sliding mode control coefficient, determine the bicycle trajectory tracking sliding mode control method.

2. A bicycle trajectory tracking sliding mode control method as claimed in claim 1, characterized in that: The acquisition of bicycle obstacle avoidance data, bicycle pedal pressure data, and bicycle seat pressure data on a downhill section includes: Obstacle avoidance data refers to the speed data of the bicycle before and after avoiding the obstacle; The bicycle pedal pressure data refers to the pedal pressure data before the bicycle avoids the obstacle; The bicycle seat pressure data refers to the seat pressure data after the bicycle avoids the obstacle; Collect the intervention speed of the bicycle sliding mode before and after obstacle avoidance; Based on the obstacle avoidance data, bicycle pedal pressure data, bicycle seat pressure data, and bicycle sliding mode intervention speed, relevant parameters of the bicycle obstacle avoidance calculation formula are calculated, and the relevant parameters include a first distribution speed, a second distribution speed, a first pressure, and a second pressure.

3. A bicycle trajectory tracking sliding mode control method as claimed in claim 2, characterized in that: The parameters related to the bicycle obstacle avoidance calculation formula include: The first allocated speed is the speed before the bicycle avoids the obstacle minus the speed before the sliding mode intervenes. The second distribution speed is the speed of the bicycle after avoiding the obstacle minus the speed after the sliding mode intervention; The pedal pressure minus the pedal pressure after the sliding mode is intervened is used as the first pressure; The seat pressure minus the seat pressure after the sliding mode is intervened is used as the second pressure; The first dispensing speed, the second dispensing speed, the first pressure, and the second pressure are normalized using a normalization formula.

4. A bicycle trajectory tracking sliding mode control method as claimed in claim 3, characterized in that: Normalizing the first dispensing speed, the second dispensing speed, the first pressure, and the second pressure by a normalization formula includes: the normalization formula is as follows: ； in, and are the minimum and maximum values ​​of the variable, respectively.

5. The bicycle trajectory tracking sliding mode control method according to claim 1, wherein: The method of determining the bicycle obstacle avoidance success coefficient and generating the bicycle trajectory tracking route includes: The bicycle obstacle avoidance calculation formula is used to determine the bicycle obstacle avoidance success coefficient. Based on the bicycle obstacle avoidance success coefficient, a bicycle trajectory tracking route is generated. The bicycle obstacle avoidance calculation formula is as follows: ； in, is the success coefficient of bicycle obstacle avoidance, and are the normalized first and second distribution speeds, and are the normalized first and second pressures, is the minimum value; the normalized first distribution speed = - , the normalized second distribution speed = - , the normalized first pressure = - , the normalized second pressure = - .

6. A bicycle trajectory tracking sliding mode control method as claimed in claim 5, characterized in that: Generating a bicycle trajectory tracking route includes: Based on the bicycle obstacle avoidance success coefficient, the obstacle avoidance qualification threshold T is set. If it is greater than or equal to T, the obstacle avoidance is successful; otherwise, the obstacle avoidance fails; Obtain the original trajectory tracking route of the bicycle and mark the sections where obstacle avoidance failed; The obstacle avoidance section marking formula is used to mark the obstacle avoidance failure section. The obstacle avoidance section marking formula is as follows: ； in, The starting mark distance of the obstacle avoidance failure section, The location of the successful obstacle avoidance section, is the next obstacle avoidance failure section position adjacent to the successful obstacle avoidance section position, () is the normalization function, The number of failed obstacle avoidance segment marks for the next failed obstacle avoidance segment adjacent to the successful obstacle avoidance segment. is the average number of failed obstacle avoidance segment marks of all the next obstacle avoidance failure segments adjacent to the successful obstacle avoidance segment in the entire segment. is the minimum value.

7. The bicycle trajectory tracking sliding mode control method according to claim 1, wherein: The method of calculating the sliding mode control coefficient based on the bicycle pedal pressure data and the bicycle seat pressure data includes: obtaining the bicycle pedal pressure data and the bicycle seat pressure data, extracting abnormal pedal pressure data and abnormal seat pressure data, normalizing the bicycle pedal pressure data and the bicycle seat pressure data, and calculating the sliding mode control coefficient using a sliding mode control coefficient formula. The sliding mode control coefficient formula is as follows: ； in, is the sliding mode control coefficient, and are the weight coefficients of the seat pressure and pedal pressure respectively, + =1, and are the normalized values ​​of abnormal seat pressure and normal seat pressure, and are the normalized value of abnormal pedal pressure and the normalized value of normal pedal pressure, respectively. is the minimum value.

8. The bicycle trajectory tracking sliding mode control method according to claim 1, wherein: The method for determining a bicycle trajectory tracking sliding mode control method based on a bicycle obstacle avoidance success coefficient and a sliding mode control coefficient includes: On a downhill section, if the bicycle successfully avoids an obstacle, the If the bicycle fails to avoid the obstacle, it will increase The value of exist During the reduction process, if the distance to the starting mark of the obstacle avoidance failure section decreases, the reduction will stop. and increase If the distance from the starting mark of the obstacle avoidance failure section increases, the increase will stop. and reduce The value of and All are not 0, and the sum is always less than or equal to 1 during the change process; If an unrecognized obstacle appears, the weight parameters are dynamically adjusted again.

9. A bicycle trajectory tracking sliding mode control method as claimed in claim 8, characterized in that: If an unidentified obstacle appears, the weight parameters are dynamically adjusted again, including: On downhill sections, if the pedal pressure is increased actively by the rider, then If the seat pressure is increased passively without the rider applying additional pressure to the pedals, then The value of Active increase means the rider actively applies pressure on the bicycle pedals; Passive increase is when the bicycle seat pressure increases without the rider increasing pressure on the bicycle pedals.

10. A bicycle trajectory tracking sliding mode control system, used in the bicycle trajectory tracking sliding mode control method according to any one of claims 1 to 9, characterized in that: Includes: The data acquisition module collects obstacle avoidance data, pedal pressure data, and seat pressure data on downhill sections of the bicycle. Sensors are installed on key parts of the bicycle to collect real-time data. A related parameter calculation module calculates the first dispensing speed, the second dispensing speed, the first pressure, and the second pressure; A bicycle obstacle avoidance success coefficient calculation module calculates the bicycle obstacle avoidance success coefficient based on normalized speed and pressure data; The trajectory tracking route generation module generates or adjusts the bicycle's trajectory tracking route according to the obstacle avoidance success coefficient; Set the obstacle avoidance qualification threshold T and check whether the obstacle avoidance success coefficient meets the conditions to determine whether the obstacle avoidance is successful; Mark the road sections where obstacle avoidance fails, and determine the marking distance using the obstacle avoidance road section marking formula ; Sliding mode control coefficient calculation module, which calculates the sliding mode control coefficient based on the pressure data of the pedals and the seat ; Control strategy adjustment module, dynamically adjusts the weight parameters in the control strategy according to the obstacle avoidance situation and .

Images