Self-balancing two-wheeled vehicle queue formation control system

By using a cloud-based scheduling platform for hierarchical path planning and attitude-position coupling control, combined with a composite actuation module, the problems of high energy consumption, high risk of overturning, and unstable attitude in the formation of self-balancing two-wheeled vehicles have been solved, achieving efficient and safe formation control.

CN121785322APending Publication Date: 2026-04-03BEIJING LINGYUN TECH
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Patent Information

Application Number
CN202610015431.8
Authority / Receiving Office
CN · China
Patent Type
Applications(China)
Current Assignee / Owner
Filing Date
2026-01-07
Publication Date
2026-04-03

AI Technical Summary

Technical Problem

Existing self-balancing two-wheeled vehicle platooning control technologies lack weighted assessment of road surface unevenness risk and accumulated gravitational potential energy in path planning, resulting in excessive energy consumption and increased risk of overturning. In platooning cooperative control, the coupling relationship between longitudinal acceleration and pitch attitude is not fully considered, which can easily lead to unstable vehicle posture. At the underlying execution level, there is a lack of decoupling mechanism between longitudinal drive and lateral balance, making it difficult to maintain a stable formation in complex environments.

Method used

A cloud-based scheduling platform is used for hierarchical path planning. Road surface smoothness and accumulated gravitational potential energy assessment are introduced. Combined with attitude and position coupling control algorithm and composite actuation module, decoupled control of longitudinal drive and lateral balance is achieved to ensure vehicle attitude stability and formation maintenance.

Benefits of technology

It improves the energy efficiency and traffic safety of self-balancing two-wheeled vehicle platoons, reduces the risk of overturning, ensures the stability and mission continuity of the platoon in complex environments, and improves stability at low speeds and when stationary.

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Abstract

The invention relates to the technical field of intelligent traffic control, and discloses a self-balancing two-wheeled vehicle queue formation control system which comprises a cloud scheduling platform, a formation control unit and a vehicle end execution unit. And the cloud scheduling platform generates a global avoidance path based on the accumulated gravitational potential energy change and the pavement flatness coefficient, and executes dynamic position complementing. The formation control unit constructs a communication topology and executes formation switching based on environmental perception; the cooperative control module adopts an attitude position coupling algorithm, an expected acceleration is corrected through a gain function attenuating along with an attitude angle index, and the attitude balance is maintained preferentially when a tracking error is eliminated. The vehicle end execution unit is provided with an environment sensing and composite actuating module, and a hub motor and a control moment gyroscope are used for responding to longitudinal driving and transverse balance instructions respectively, so that dynamic decoupling is achieved. According to the invention, the control conflict between two-wheeled vehicle formation trajectory tracking and attitude stability is effectively solved, and the driving safety of the system is improved.
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