CN108762244A

CN108762244A - A kind of control method for the unmanned bicycle of self-balancing and its equivalent mappings that Behavior-based control drives

Info

Publication number: CN108762244A
Application number: CN201810081130.0A
Authority: CN
Inventors: 孟濬; 赵夕朦
Original assignee: Zhejiang University ZJU
Current assignee: Zhejiang University ZJU
Priority date: 2018-01-26
Filing date: 2018-01-26
Publication date: 2018-11-06
Anticipated expiration: 2038-01-26
Also published as: CN108762244B

Abstract

The invention discloses a kind of unmanned bicycle of self-balancing of Behavior-based control driving and its control method of equivalent mappings, the unmanned bicycle of the self-balancing includes bicycle, sensor assembly, handlebar control module, car body middle part control module and rear vehicle control module.The control method includes self-balancing control and unmanned control two parts.Self-balancing control regards trailing wheel as a ball and establishes coordinate system based on this, and bicycle variable is decomposed under the coordinate system, is then associated with controller variable drop to the establishment of coordinate system, is based ultimately upon the self-balancing that equivalent mappings realize bicycle.The unmanned bicycle of the present invention can have Self-balancing by the control method of coupling under multi-motion state, simultaneously using the method driven indirectly, it does not need to further reequip ordinary bicycle, it only needs three controller modules being mounted on ordinary bicycle, so that it may to realize the self-balancing of bicycle and unmanned.

Description

The unmanned bicycle of self-balancing of Behavior-based control driving a kind of and its equivalent mappings Control method

Technical field

The present invention relates to field of traffic, and in particular to a kind of unmanned bicycle of self-balancing of Behavior-based control driving and its The control method of equivalent mappings.

Background technology

Bicycle has car body is narrow, mechanism is simple, can make minor radius turn round, is square as a kind of traditional vehicles Just flexible, pollution-free, noiseless, without the advantages such as the energy, price be cheap, road is crowded, air pollution, rise of the oil price etc. are asked Inscribing in the modern life of getting worse has very important status.And unmanned bicycle can not only be directed to some spies Different crowd such as children, old man, which provide, drives balance auxiliary, is even more expected to be used widely in disaster relief, forest operation.

As people are constantly improve to the attention rate of intelligent transportation tool and unmanned technology, unmanned bicycle or Person says that bicycle machines people has preliminary development on the basis of this intelligent transportation tool concept.Currently, it is unmanned from The most of researcher of research of driving is around Dynamic Modeling and to propose that new control algolithm these two aspects carries out, right It studies the stage for mostly resting on theoretic discussion and preliminary test.Dynamic characteristic due to bicycle complexity and certain side To unstability, there are still many thorny problems for the self-balancing of bicycle, how to solve static or run at a low speed lower bicycle Self-balancing problem is the key that unmanned bicycle breaks through current development limitation.

The existing balance system applied to motorcycle or electric bicycle is substantially that wheelbarrow balance system (is stood upside down Balance balance system) and two sufficient balance systems superposition.And bicycle is preceding the degree of freedom with height, and two-wheeled is not direct Driving force.So its driving force balanced is caused to be not present on bicycle on motorcycle or electric bicycle, put down Weighing apparatus method is invalid on bicycle, this for bicycle self-balancing and unmanned bring more difficulty.

Meanwhile there is presently no carry out bicycle variable to decompose correlative study of the mapping to control.

Invention content

In view of the above-mentioned deficiencies in the prior art, it is an object of the present invention to provide a kind of driving of Behavior-based control self-balancing nobody drive Sail the control method of bicycle and its equivalent mappings.

The purpose of the present invention is achieved through the following technical solutions：A kind of self-balancing of Behavior-based control driving nobody drive It sails control module and rear vehicle in the middle part of bicycle, including bicycle, sensor assembly, handlebar control module, car body and controls mould Block；The information that control module, rear vehicle control module are provided according to sensor assembly in the middle part of the handlebar control module, car body The control for carrying out each mechanism of module, to carry out the indirect control of balance of bicycle and traveling；The handlebar control module, car body Middle part control module, rear vehicle control module each mechanism controls variable intercouple；

For the sensor assembly for measuring bicycle variable, the bicycle variable includes bicycle handle bar's deflection angle α, bicycle body deflection angle β, bicycle rear rotational angle

The handlebar control module is located at bicycle handle bar, and the center of gravity of handlebar is adjusted by gravity center adjusting mechanism, realizes vehicle The adjusting of deflection angle α；

Control module is located in the middle part of bicycle body in the middle part of the car body, is adjusted in the middle part of car body by gravity center adjusting mechanism Center of gravity；

The rear vehicle control module is located at bicycle rear portion, and the weight of rear vehicle is adjusted by gravity center adjusting mechanism The heart carries out balance control and the trailing wheel rotation control at bicycle rear portion by rotating wheel mechanism；Control is rotated by trailing wheel to realize Bicycle rear rotational angleAdjusting；

Control module and the respective gravity center adjusting mechanism of rear vehicle control module in the middle part of the handlebar control module, car body It is controlled with the balance of rear vehicle control module, the common adjusting for realizing bicycle body deflection angle β；

Choose the control of control module and rear vehicle control module in the middle part of bicycle variable and handlebar control module, car body Variable is as key variables；Coordinate system is established at bicycle rear portion, and the toppling direction of bicycle rear is decomposed into rear portion and is sat In mark system；

By the center of gravity of the gravity center adjusting mechanism of control module and rear vehicle control module in the middle part of handlebar control module, car body It accelerates the power generated and projects to bicycle rear portion coordinate system respectively；And establish the pass between control variable and controlled variable System obtains handlebar control module, car body middle part control module and rear vehicle control module to the control rule of bicycle, realizes The balance of unmanned bicycle controls.

Further, the gravity center adjusting mechanism of the handlebar control module is the sliding bar mechanism being placed horizontally on handlebar, Handlebar control module carries out the adjusting of handlebar center of gravity by adjusting the slide position of handlebar sliding bar mechanism.

Further, the gravity center adjusting mechanism of control module is eccentric wheel, car body middle part control module in the middle part of the car body The adjusting of center of gravity in the middle part of car body is carried out by adjusting eccentric wheel rotation angle.

Further, the gravity center adjusting mechanism of the rear vehicle control module is eccentric wheel, rear vehicle control module The adjusting of rear vehicle center of gravity is carried out by adjusting eccentric wheel rotation angle.

Further, the rotating wheel mechanism of the rear vehicle control module is mutually perpendicular two rotating wheels：It is horizontal Rotating wheel, vertical rotating wheel, vertical rotating wheel and horizontal rotation wheel are tangent and parallel with bicycle rear；Rear vehicle controls Module carries out balance control and the trailing wheel rotation control at bicycle rear portion by adjusting the rotating speed of two rotating wheels.

A kind of control method of the crucial balance of decomposition of the unmanned bicycle of self-balancing of Behavior-based control driving, this method Including balance control section and unmanned control section；

The implementation method of the balance control section includes the following steps：

1) key variables are chosen：Choose controllable considerable key variables, including bicycle variable and handlebar control module, vehicle The control variable of control module, rear vehicle control module in the middle part of body；

2) controlled variable is decomposed：Coordinate system is established at bicycle rear portion, and the toppling direction of bicycle rear is decomposed Rear portion coordinate system；

3) foundation of projection control variable and controller：After control module in the middle part of handlebar control module, car body and car body The center of gravity of the gravity center adjusting mechanism of portion's control module accelerates the coordinate system that the power generated projects to bicycle rear portion respectively；And The relationship between control variable and controlled variable is established, handlebar control module, car body middle part control module and rear vehicle are obtained Control module obtains controller parameter to the control rule of bicycle；

4) self-balancing is realized：The controller parameter that projection obtains is inputted respectively in actual handlebar control module, car body Portion's control module and rear vehicle control module, and be finely adjusted, three controllers of bicycle are established, to realize bicycle Self-balancing；

The implementation method of the unmanned control section：According to target state, desired bicycle variable is selected, Realize the unmanned control of bicycle.

Further, in the step 3), when the gravity center adjusting mechanism of handlebar control module is sliding bar mechanism, handlebar control One is generated along handlebar direction to the power of the side when sliding block counterweight is accelerated to bicycle side in module；In the middle part of car body When the gravity center adjusting mechanism of control module is eccentric wheel, when car body eccentric wheel counterweight accelerates to side in control module in the middle part of car body When rotation and one is generated along eccentric wheel tangential direction to the power of the side；The gravity center adjusting mechanism of rear vehicle control module is inclined When heart wheel, in rear vehicle control module when eccentric wheel counterweight to side accelerate rotate when and generate one along eccentric wheel tangent line side To the power to the side.

Further, in the step 3), control module and rear vehicle control in the middle part of the handlebar control module, car body The center of gravity of the gravity center adjusting mechanism of module accelerates the power of generation and the relationship of the toppling direction of bicycle rear is：

Wherein, γ is bicycle rear toppling direction, and at bicycle rear portion, x, y, z coordinate system is decomposed into γ_x、γ_y、γ_z, Wherein γ_xFor bicycle rear around the direction of x-axis rotation, γ in yz planes_yY is surrounded in xz planes for bicycle rear The direction of axis rotation, γ_zFor bicycle rear around the direction of z-axis rotation, F on x/y plane₀₁、F₀₂、F₀₃Respectively handlebar control The center of gravity of the gravity center adjusting mechanism of control module and rear vehicle control module accelerates generation in the middle part of molding block, car body Power, L1 are control module center and rear vehicle control module central horizontal distance in the middle part of car body, and L2 is in handlebar control module The heart and rear vehicle control module central horizontal distance；h₃、h₄、h₅Respectively handlebar control module, in the middle part of car body control module and The height of rear vehicle control module, r are bicycle rear radius, r₁、θ₁The center of gravity of control module is adjusted respectively in the middle part of car body When mechanism is eccentric wheel, eccentric radius and eccentric wheel rotation angle, r₂、θ₂Machine is adjusted for the center of gravity of rear vehicle control module When structure is eccentric wheel, eccentric radius and eccentric wheel rotation angle, k_x、k_y、k_zFor direct ratio coefficient, it can be redefined for constant, It is adjusted again when establishing controller；

It solves to obtain handlebar control module, car body middle part control module and vehicle eventually by the toppling direction of bicycle rear The center of gravity of gravity center adjusting mechanism needed for the control module of body rear portion accelerates the power generated.

Further, the realization of the unmanned control section includes：Selection target motion state carries out target movement Bicycle control under state；The motion state includes：Start, advance, turning, retreating；

Bicycle control under the starting state is as follows：

1) whole modulation：Pass through the variable of control module, rear vehicle control module in the middle part of handlebar control module, car body It adjusts so that bicycle handle bar deflection angle α tends to a constant, even if tending to an entirety derived from driving；

2) center of gravity is adjusted：Pass through the variable tune of control module, rear vehicle control module in the middle part of handlebar control module, car body Section adjusts bicycle center of gravity so that and bicycle handle bar deflection angle α tends to 0, bicycle body deflection angle β and tends to 0, even if Derived from driving from certain deflection angle to standing state；

Bicycle control under the forward travel state is as follows：

1) whole modulation：Pass through the variable of control module, rear vehicle control module in the middle part of handlebar control module, car body It adjusts so that bicycle handle bar deflection angle α tends to 0, even if tending to an entirety while handlebar does not turn derived from driving；

2) center of gravity is adjusted：Pass through the variable tune of control module, rear vehicle control module in the middle part of handlebar control module, car body Section adjusts bicycle center of gravity so that bicycle body deflection angle β tends to 0, even if keeping balance derived from driving；

3) driving indirectly：It is adjusted by the variable of the rotating wheel mechanism of rear vehicle control module, drives bicycle indirectly Trailing wheel so that bicycle rear rotational angleChanged with a fixed angular speed, even if being advanced with certain speed derived from driving；

Bicycle control under the turn condition is as follows：

1) whole modulation：Pass through the variable of control module, rear vehicle control module in the middle part of handlebar control module, car body It adjusts so that bicycle handle bar deflection angle α tends to turn direction, even if tending to one while handlebar rotates derived from driving It is whole；

3) driving indirectly：It is adjusted by the variable of the rotating wheel mechanism of rear vehicle control module, drives bicycle indirectly Trailing wheel so that bicycle rear rotational angleChanged with a fixed angular speed, even if being turned with certain speed derived from driving；

Bicycle control method under the fallback state is as follows：

1) driving indirectly：It is adjusted by the variable of the rotating wheel mechanism of rear vehicle control module, drives bicycle indirectly Trailing wheel so that bicycle rear rotational angle φ is with a fixed angular speed inverse change, even if obtaining bicycle rear with certain speed It reversely rotates；Due at handlebar and front-wheel contact ground there are a context, when bicycle is under retroversion state, handlebar And front-wheel is in dragged state, handlebar junction drawing force preceding, eliminate the handlebar generated when bicycle advances and turn Dynamic torque can tend to an entirety with the adjusting of reduced proper motion vehicle handlebar deflection angle α, bicycle in fallback state；

2) center of gravity is adjusted：Pass through the variable tune of control module, rear vehicle control module in the middle part of handlebar control module, car body Section adjusts bicycle center of gravity so that bicycle body deflection angle β tends to 0, even if keeping balance derived from driving.

Further, the selection target motion state is specially：

1) macroscopical route determination：Bicycle entirety travelling route is determined by modes such as navigation, artificial selection；

2) road surface monitoring and avoidance：The monitoring on road surface is carried out by sensor assembly；Topographical scan is carried out, judges landform simultaneously Select the corresponding control method of landform；Barrier is judged whether there is, avoidance is carried out if having barrier, that is, passes through distance, obstacle The information of road surface such as object width, barrier motion conditions obtain bicycle and need the direction of travel adjusted to be adjusted.

The beneficial effects of the invention are as follows：

(1) unmanned bicycle of the invention has Self-balancing when static.

(2) unmanned bicycle of the invention all has Self-balancing in multi-motion.

(3) unmanned bicycle of the invention is carried out by the system of Multivariable Coupling of control method pair of coupling Control, the control variable of three controller modules intercouple so that unmanned bicycle becomes the entirety of a self-balancing.

(4) unmanned bicycle of the invention is using the method driven indirectly, it is only necessary to by three controller moulds Block is mounted on ordinary bicycle, can be achieved with the unmanned of ordinary bicycle, is not needed to ordinary bicycle into traveling The repacking of one step.

(5) unmanned bicycle of the invention puts down bicycle using the self-balancing control method of equivalent mappings Weighing apparatus is reduced to the balance of bicycle rear, and bicycle and three controllers are established by toppling direction and force resolution mapping Correlativity, and directly controlling based on this progress self-balancing, the realization for the unmanned bicycle of self-balancing provides one kind New thinking.

Description of the drawings

Fig. 1 is the overall structure figure of the unmanned bicycle of the present invention；

Fig. 2 is the vertical view of the unmanned bicycle of the present invention；

Fig. 3 is the rearview of the unmanned bicycle of the present invention；

Fig. 4 is the step block diagram of the control method of the bicycle equivalent mappings of the present invention；

Fig. 5 is the step block diagram for the control method that the cyclery of the present invention is driving；

Fig. 6 is the vehicle seat sensor array schematic diagram of the present invention；

Fig. 7 is the trailing wheel eccentric mechanism variable and human body attitude variable relation schematic diagram of the present invention；

Fig. 8 is the step block diagram for the control method that the bicycle of the present invention decomposes crucial balance；

Fig. 9 is the flow diagram that the data of the present invention ridden a bicycle by ordinary people obtain control rule；

Figure 10 is the balance decomposition diagram of the present invention；

Figure 11 is the rear wheel drive schematic diagram of the unmanned bicycle of the present invention.

Specific implementation mode

In order to which a kind of unmanned bicycle with Self-balancing of the present invention is described in more detail, below according to attached The present invention will be described in detail for figure.

As shown in Figure 1, a kind of unmanned bicycle with Self-balancing of the present invention, including bicycle, Sensor assembly, handlebar control module, car body middle part control module, rear vehicle control module.

The bicycle is ordinary bicycle on the market, including front-wheel (quality m1, radius r), trailing wheel (quality m1, Radius r) and vehicle frame (quality m2).

The sensor assembly is for measuring bicycle handle bar deflection angle α, bicycle body deflection angle β, voluntarily Back wheels of vehicle rotational angle φ.As shown in Fig. 2, the bicycle handle bar deflection angle α is front wheel and bicycle body Angle, the bicycle handle bar deflection angle α be positive number when indicate bicycle handle bar deflect to the right, be negative when indicate from Driving handlebar deflects to the left；As shown in figure 3, the bicycle body deflection angle β is the folder of bicycle body and vertical plane Angle indicates that bicycle body is tilted to the right, and bicycle is indicated when being negative when the bicycle body deflection angle β is positive number Car body is tilted to the left；The bicycle rear rotational angle φ is rotation angle of the bicycle rear along trailing wheel axis, described Bicycle rear rotational angle φ be positive number when indicate bicycle rear rotate forward, be negative when indicate bicycle rear to After rotate.Further, the sensor assembly can be mounted on handlebar control module at one, can also be separately mounted to vehicle At control module, at the control module of car body middle part and at rear vehicle control module.Further, the sensor assembly It can be used for measuring human variable.The human variable includes handlebar that the array of pressure sensors of handlebar detects or so two Pressure F1, F2 of side and the Center of Pressure of the left and right sides and handlebar center distance x1, x2, the pressure sensing of left and right pedal Pressure F3, F4 for the left and right pedal that device detects, the pressure F5 for the left and right sides that the array of pressure sensors of vehicle seat detects, F6, the human vertebra that the attitude transducer arranged on human vertebra detects deflect direction in the projection of horizontal plane and the folder of car body Angle α 1 and center of gravity deflection radius R in the horizontal plane；

The handlebar control module is located at bicycle handle bar, including the electronic sliding bar mechanism being placed horizontally on handlebar (sliding block counterweight m3).The handlebar control module carries out handlebar center of gravity and handlebar deflection angle by adjusting handlebar slide position x Spend the adjusting of α.The handlebar slide position x be sliding block with handlebar center at a distance from, the handlebar slide position x be positive number When indicate sliding block be located at handlebar central right, be negative when expression sliding block be located at handlebar center left.

Control module is located at bicycle body, including car body electronic eccentric mechanism (radius r1, vehicle in the middle part of the car body Body eccentric wheel counterweight m4).Control module carries out car body weight by adjusting car body eccentric wheel rotation angle θ 1 in the middle part of the car body The adjusting of the heart.It indicates that eccentric wheel counterweight is located on the right side of car body when the car body eccentric wheel rotation angle θ 1 is positive number, is negative When indicate eccentric wheel counterweight be located at car body left side.

The rear vehicle control module is located above bicycle rear, including the electronic eccentric mechanism (radius of back seat R2, back seat eccentric wheel counterweight m5) and electronic rotation wheel mechanism m6.The electronic eccentric mechanism of the back seat is by adjusting back seat Eccentric wheel rotation angle θ 2 carries out the adjusting of back seat center of gravity, indicates eccentric when the back seat eccentric wheel rotation angle θ 2 is positive number Wheel counterweight is located on the right side of car body, indicates that eccentric wheel counterweight is located on the left of car body when being negative.The electronic rotation wheel mechanism m6 Including mutually perpendicular two rotating wheels：Wheel, vertical rotating wheel are rotated horizontally, wherein rotating horizontally wheel is being located at back seat eccentric wheel just Top, the center for rotating horizontally wheel and the center of back seat eccentric wheel are located on same vertical plane, vertical rotating wheel and horizontal rotation It takes turns tangent and parallel with bicycle rear；The electronic rotation wheel mechanism m6 is carried out by adjusting the rotating speed of two rotating wheels The indirect control of auxiliary balance and the trailing wheel rotation of rear bicycle part.

Control module, rear vehicle control module are carried according to sensor assembly in the middle part of the handlebar control module, car body The information of confession carries out the control of each mechanism of module, to carry out the indirect control of balance of bicycle and traveling.The handlebar control Molding block, control module in the middle part of car body, rear vehicle control module each mechanism controls variable intercouple.

A kind of control method of unmanned bicycle with Self-balancing includes two parts, first, from flat The control method of weighing apparatus, second is that unpiloted control method.

The control method of the self-balancing includes but not limited to the control method of data acquisition driving, bicycle model drive Dynamic control method, the control method of behavior driving, the control method for decomposing crucial balance, the control method of equivalent mappings, from The control method of evolution, the control method of environmental evolution adaptive Evolutionary, the control method of competition and cooperation.

The control method of the equivalent mappings gives that carry out unmanned balance of bicycle by equivalent mappings direct The method of control regards trailing wheel as a ball and establishes x, y, z coordinate system based on this, by bicycle variable under the coordinate system into Row decomposes, and is then associated with controller variable drop to the establishment of coordinate system, is directly controlled.

As shown in figure 4, the control method of the equivalent mappings is as follows：

1) key variables are chosen：Choose controllable considerable key variables, including each variable of bicycle and handlebar control module, The control variable of control module, rear vehicle control module in the middle part of car body；Each variable of the bicycle includes bicycle handle bar Deflection angle α, bicycle body deflection angle β, bicycle rear rotational angle φ and their primary, second derivative；It is described Control variable include handlebar slide position x, car body eccentric wheel rotation angle θ 1, back seat eccentric wheel rotation angle θ 2, back seat water Flat rotating wheel rotating angular acceleration a1, the vertical rotating wheel rotating angular acceleration a2 of back seat and their primary, second derivative；

2) controlled variable is decomposed：Bicycle rear is regarded as the section of a ball by such as figure, and establishes x, y, z coordinate system；It will The toppling direction of bicycle rear decomposes on the x, y, z coordinate system；

3) foundation of projection control variable and controller：The power that three controllers provide is projected into bicycle rear portion respectively X, y, z coordinate system, establish control variable and controlled variable between relationship；It controls variable and the x, y, z at bicycle rear portion is sat The correspondence of mark system is as follows：

What a) handlebar slide position x, car body eccentric wheel rotation angle θ 1, back seat eccentric wheel rotation angle θ 2 were controlled is voluntarily Movement of the back wheels of vehicle along x-axis；

B) the vertical rotating wheel rotating angular acceleration a2 controls of back seat is movement of the bicycle rear along y-axis；

What c) back seat rotated horizontally the a1 controls of wheel rotating angular acceleration is rotary motion of the bicycle rear along z-axis；

The power that three controllers provide is to be accelerated to generate by counterweight, when sliding block counterweight is to certainly in handlebar control module Driving left side generates the power along handlebar direction to the left when accelerating, to the right similarly；In the middle part of car body in control module when Car body eccentric wheel counterweight accelerates when rotation and generates the power along eccentric wheel tangential direction to the left, to the right similarly；After car body When back seat eccentric wheel counterweight accelerates rotation to the left and a power along eccentric wheel tangential direction is generated in portion's control module, to The right side is similarly；The power that three controllers provide is respectively F₀₁、F₀₂、F₀₃；

X, y, z coordinate system is equivalent to corresponding rotating coordinate system, can be decomposed into and surround what three reference axis rotated respectively Three directions.

If bicycle rear is toppled over along direction γ, γ is decomposed on the x, y, z axis at bicycle rear portion_x、γ_y、γ_z, Middle γ_xFor bicycle rear around the direction of x-axis rotation, γ in yz planes_yY-axis is surrounded in xz planes for bicycle rear The direction of rotation, γ_zFor bicycle rear around the direction of z-axis rotation on x/y plane, it is desirable to provide direction is opposite therewith Power is F_03x、F_03y、F_03z；It is L1 to set control module center and rear vehicle control module central horizontal distance in the middle part of car body, Handlebar control module center and rear vehicle control module central horizontal distance are L2, then the power that three controllers provide with it is required The relationship of power is：

Wherein, k_x、k_y、k_zIt is needed for direct ratio coefficient, constant can be redefined for, adjusted again when establishing controller, according to Equation carries out solving the size and Orientation that can be obtained three controllers need power to be given.

The control method of the behavior driving is given the data ridden a bicycle based on people and carries out controlling regular foundation, and The method that unmanned balance of bicycle directly controls is carried out by the Quadratic Map of human variable and control variable, establishes control Directly bicycle is controlled after being associated between device variable and bicycle variable.

As shown in figure 5, the control method of the behavior driving is as follows：

1) key variables are chosen：Choose controllable considerable key variables, including each variable of bicycle and handlebar control module, The control variable of control module, rear vehicle control module in the middle part of car body；Each variable of the bicycle includes bicycle handle bar Deflection angle α, bicycle body deflection angle β, bicycle rear rotational angle φ and their primary, second derivative；It is described Control variable include handlebar slide position x, car body eccentric wheel rotation angle θ 1, back seat eccentric wheel rotation angle θ 2 and they Once, second derivative, back seat rotate horizontally wheel speed ω 1, the vertical rotating wheel rotational speed omega 2 of back seat and their first order derivative；

Sensor assembly measures each variable of bicycle and human variable when ordinary people rides a bicycle；The human body becomes Amount includes in the pressure of pressure F1, F2 and the left and right sides at left and right sides of the handlebar that the array of pressure sensors of handlebar detects The heart and handlebar center distance x1, x2, pressure F3, F4 for the left and right pedal that the pressure sensor of left and right pedal detects, such as Fig. 6 Shown in vehicle seat pressure F5, F6 of the left and right sides that detects of array of pressure sensors, the posture arranged on human vertebra passes The center of gravity of the human vertebra deflection direction that sensor detects in the projection of horizontal plane and the angle α 1 of car body and in the horizontal plane is inclined Turn radius R and their primary, second derivative；The table when angle α 1 in the human vertebra deflection direction and car body is positive number Body of leting others have a look at indicates human body to bicycle left side to inclination on the right side of bicycle, when being negative；

2) rule is established：Sensor assembly measure ordinary people cycling when data on the basis of, into line discipline Summarize to obtain a plurality of main rule；It is that the data that people rides a bicycle temporally are divided into several segments that the rule, which summarizes, so Classify afterwards by the section belonging to each variable states of the corresponding bicycle of segment and human variable's state, same class has identical Rule, and by rule occur frequency sequence；

A plurality of main rule is combined for bicycle variable states, the control of bicycle is advised to obtain people Then；

The main rule is by bicycle variable current value, human variable's current value and bicycle variable subsequent time value Composition, such as：

IF β(k)∈PL&β(k+1)∈PL THEN F5∈L&F6∈S；

IF β(k)∈PM&β(k+1)∈PS THEN F5∈L&F6∈S；

IF β(k)∈PS&β(k+1)∈Z THEN F5∈M&F6∈S；

IF β(k)∈NS&β(k+1)∈Z THEN F5∈S&F6∈M；

Wherein, PL, PM, PS, NS, L, M, S are fuzzy set, P (Positive) indicate just, N (Negative) indicate negative, L (large) in indicating that big, M (Middle) is indicated, S (Small) indicates that small, Z (Zero) indicates 0；

The control rule is by bicycle variable current value as inputting, and human variable is as output；

3) foundation of Quadratic Map and controller：Establish handlebar control module, car body middle part control module, rear vehicle control The mapping relations of the control variable and human variable of molding block, and the people of foundation reflects the control rule of bicycle by secondary Penetrate the control rule for obtaining controller to bicycle；The control variable includes handlebar slide position x, the rotation of car body eccentric wheel Angle, θ 1, back seat eccentric wheel rotation angle θ 2 and the primary of them, second derivative, back seat rotates horizontally wheel speed ω 1, back seat erects Direct rotary runner rotational speed omega 2 and their first order derivative；

The handlebar control module controls variable and the Quadratic Map relationship of human variable is：

The Quadratic Map relationship of control module control variable and human variable are in the middle part of the car body：

Wherein F_34maxFor F₃、F₄Maximum value, F_34minFor F₃、F₄Minimum value；

As shown in fig. 7, the Quadratic Map relationship of the rear vehicle control module control variable and human variable is：

Wherein R_maxFor the maximum value of R；

4) self-balancing is realized：The controller parameter that Quadratic Map obtains is inputted into actual handlebar control module, vehicle respectively Control module and rear vehicle control module in the middle part of body, and be finely adjusted, three controllers of bicycle are established, to realize certainly The self-balancing of driving；

The control method of the crucial balance of the decomposition gives carries out unmanned bicycle by decomposing crucial balance The method directly controlled is balanced, x, y, z coordinate system is established respectively in the preceding middle and back of bicycle, by bicycle variable in the coordinate system Under decomposed, then by controller variable drop to the establishment of coordinate system be associated with, directly controlled.

As shown in figure 8, the control method of the crucial balance of the decomposition is as follows：

1) key variables are chosen：Choose controllable considerable key variables, including each variable of bicycle and handlebar control module, The control variable of control module, rear vehicle control module in the middle part of car body；Each variable of the bicycle includes bicycle handle bar Deflection angle α, bicycle body deflection angle β, bicycle rear rotational angle φ and their primary, second derivative；It is described Control variable include handlebar slide position x, car body eccentric wheel rotation angle θ 1, back seat eccentric wheel rotation angle θ 2 and they Once, second derivative；

2) controlled variable is decomposed：X, y, z coordinate system is established respectively in the preceding middle and back of bicycle, and bicycle handle bar is deflected Angle [alpha], bicycle body deflection angle β, bicycle rear rotational angle φ decompose the x, y, z coordinate of preceding middle and back respectively System；The z of the x, y, z coordinate system is vertical reference axis, and x/y plane is horizontal plane, and y-coordinate axle position is in vehicle body direction；For convenience For the sake of, polar coordinates directly are established on three controllers, to replace x, y, z coordinate system, polar coordinates and x, y, z coordinate system can be with Mutually conversion；

3) foundation of projection control variable and controller：During the power that three controllers provide is projected to respectively before bicycle The x, y, z coordinate system at rear portion；And establish the relationship between control variable and controlled variable；

The power that three controllers provide is to be accelerated to generate by counterweight, when sliding block counterweight is to certainly in handlebar control module Driving left side generates the power along handlebar direction to the left when accelerating, to the right similarly；In the middle part of car body in control module when Car body eccentric wheel counterweight accelerates when rotation and generates the power along eccentric wheel tangential direction to the left, to the right similarly；After car body When back seat eccentric wheel counterweight accelerates rotation to the left and a power along eccentric wheel tangential direction is generated in portion's control module, to The right side is similarly；

If bicycle handle bar deflection angle α is NM, bicycle body deflection angle β is PM, bicycle rear rotational angle φ is NS, then the power for decomposing variable needs in three coordinate systems is respectively：Along handlebar direction of rotation tangent line at bicycle handle bar Opposite force PL, along car body deflect the opposite force NM in direction at bicycle body, above bicycle rear along car body deflection direction Opposite force NL, it is respectively PL, NM, NL that these three power, which correspond to the power size and Orientation that three controllers provide,；Wherein, PL, PM, PS, NL, NN, NS, L, M, S are fuzzy set, and P (Positive) expressions are just, N (Negative) expressions are born, L (large) is indicated Greatly, during M (Middle) is indicated, S (Small) indicates that small, Z (Zero) indicates 0；

The control method of the bicycle model driving and/or the control method of data acquisition driving can be concluded further For the self-balancing control method of the unmanned bicycle with Self-balancing based on model, pass through mechanism and/or data Build model；The control of the control method and/or the control method and/or equivalent mappings of decomposing crucial balance of the behavior driving Method processed can further be summarized as the self-balancing control of the unmanned bicycle with Self-balancing of Behavior-based control driving Method is all to directly control balance of bicycle；The control from the control method and/or environmental evolution adaptive Evolutionary that develop Method processed and/or the control method of competition and cooperation can further be summarized as the nothing with Self-balancing based on intellectual evolution The self-balancing control method of people's steer bicycle is all to be balanced study by offline and/or online evolution, while described The unmanned bicycle with Self-balancing based on intellectual evolution also have a kind of habitual correction it is unmanned voluntarily Vehicle is applied and application process.

The unmanned bicycle of habitual correction a kind of is applied and application process gives a kind of habitual correction Unmanned bicycle application and application process are controlled after learning the cycling custom of the health of sportsman or coach by three Device is intended to the bicycle Variable Control method of health with the Overlay that user controls bicycle, carries out habitual correction.

The unpiloted control method includes starting, advancing, turn, retreat etc. under a variety of operating statuses voluntarily The selection of vehicle control method and its method.

Bicycle control method under the starting state is as follows：

2) center of gravity is adjusted：Pass through the variable tune of control module, rear vehicle control module in the middle part of handlebar control module, car body Section adjusts bicycle center of gravity so that and bicycle handle bar deflection angle α tends to 0, bicycle body deflection angle β and tends to 0, even if Derived from driving from certain deflection angle to standing state.

Bicycle control method under the forward travel state is as follows：

3) driving indirectly：It is adjusted, is driven indirectly certainly by the variable of the back seat rotating wheel mechanism of rear vehicle control module Driving trailing wheel so that bicycle rear rotational angleChanged with a fixed angular speed, even if being advanced with certain speed derived from driving.

Bicycle control method under the turn condition is as follows：

3) driving indirectly：It is adjusted, is driven indirectly certainly by the variable of the back seat rotating wheel mechanism of rear vehicle control module Driving trailing wheel so that bicycle rear rotational angleChanged with a fixed angular speed, even if being turned with certain speed derived from driving.

Bicycle control method under the fallback state is as follows：

The selection of bicycle control method under a variety of operating statuses is as follows：

2) road surface monitoring and avoidance：The monitoring on road surface is carried out by sensor assembly；Topographical scan is carried out, judges landform simultaneously Select the corresponding control method of landform；Barrier is judged whether there is, avoidance is carried out if having barrier, that is, passes through distance, obstacle The information of road surface such as object width, barrier motion conditions obtain bicycle and need the direction of travel adjusted to be adjusted；

Embodiment 1

Below by taking the balance for carrying out unmanned bicycle with the control method of equivalent mappings controls as an example, one is illustrated Unmanned bicycle of the kind with Self-balancing.

The t0 moment puts into user before use, by control module, rear vehicle in the middle part of handlebar control module, car body These three devices are installed on ordinary bicycle control module (wherein including sensor assembly), and the control based on equivalent mappings Method establishes controller, and is superimposed with unpiloted control method.

2) controlled variable is decomposed：Bicycle rear is regarded as to the section of a ball, and establishes x, y, z coordinate system；It will voluntarily The toppling direction of back wheels of vehicle decomposes on the x, y, z coordinate system；

As shown in Figure 10, if bicycle rear is toppled over along direction γ as shown in the figure, on the x, y, z axis at bicycle rear portion It is decomposed into γ_x、γ_y、γ_z, wherein γ_xFor bicycle rear around the direction of x-axis rotation, γ in yz planes_yAfter bicycle It takes turns in xz planes around the direction of y-axis rotation, γ_zIt is needed around the direction of z-axis rotation on x/y plane for bicycle rear It is F to provide the opposite power in direction therewith_03x、F_03y、F_03z；It sets control module center in the middle part of car body and controls mould with rear vehicle Block central horizontal distance is L1, and handlebar control module center and rear vehicle control module central horizontal distance are L2, then three The relationship of the power that controller provides and required power is：

The t1 moment, that is, after establishing the controller with Self-balancing and unmanned function, input is used to user. User turns on the power switch, and the unmanned bicycle with Self-balancing is based on the bicycle control method under starting state Started.

Bicycle control method under the starting state is as follows：

At the t2 moment, the unmanned bicycle with Self-balancing, rides in user's seating, and has self-balancing The unmanned bicycle of function carries out auxiliary balance automatically.

T3 moment, the automatic Pilot of user's sets itself stretch journey, the unmanned bicycle with Self-balancing Selection based on the bicycle control method under a variety of operating statuses carry out cyclery into adjustment, and using driving indirectly Mode is driven.

The indirect driving is adjusted by the variable of the back seat rotating wheel mechanism of rear vehicle control module, is driven indirectly Dynamic bicycle rear so that bicycle rear rotational angle φ is changed with a fixed angular speed, even if derived from driving with certain speed Advance, as shown in figure 11.

T4 moment, the unmanned bicycle with Self-balancing reach appointed place, wait for and instructing in next step.

Embodiment 2

Below by taking the control method driven with behavior carries out the balance control of unmanned bicycle as an example, one is illustrated Unmanned bicycle of the kind with Self-balancing.

The t0 moment puts into user before use, by control module, rear vehicle in the middle part of handlebar control module, car body These three devices are installed on ordinary bicycle control module (wherein including sensor assembly), and the control of Behavior-based control driving Method establishes controller, and is superimposed with unpiloted control method.

As shown in figure 9, sensor assembly measures the variables such as data i.e. β, F5, F6 of ordinary people's cycling at any time These sequences are divided into several segments by the time series of variation in time in seconds, and each segment is corresponded to according to segment Variable states classify, if belonged to as the corresponding β (k) of k-th of segment belongs to PL, F5 and belongs to L, F6 and belong to S, β (k+1) PM, then this segment is divided into red classification.After all data are carried out category division, the frequency that classification occurs is carried out Statistics, and sort from high to low according to the frequency of occurrences；Wherein, PL, PM, L, S be fuzzy set, P (Positive) indicate just, L (large) in indicating that big, M (Middle) is indicated, S (Small) indicates small；

A plurality of main rule is combined for bicycle variable states, the control of bicycle is advised to obtain people Then；If when β belongs to NS, the segment classification of appearance is mostly relatively green classification and other another colour types, then by the two classes Not corresponding control rule is combined the control rule for obtaining people to bicycle：IF β∈NS THEN F5∈NS&F6∈PS& α1∈PS&R∈S；Wherein, PS, NS, S are fuzzy set, P (Positive) indicate just, N (Negative) indicate negative, S (Small) indicate small；

IF β(k)∈PL&β(k+1)∈PL THEN F5∈L&F6∈S；

IF β(k)∈PM&β(k+1)∈PS THEN F5∈L&F6∈S；

IF β(k)∈PS&β(k+1)∈Z THEN F5∈M&F6∈S；

IF β(k)∈NS&β(k+1)∈Z THEN F5∈S&F6∈M；

Wherein R_maxFor the maximum value of R；

Bicycle control method under the starting state is as follows：

Embodiment 3

Below for carrying out the balance control of unmanned bicycle with the control method for decomposing crucial balance, specifically A kind of bright unmanned bicycle with Self-balancing.

The t0 moment puts into user before use, by control module, rear vehicle in the middle part of handlebar control module, car body Control module (wherein including sensor assembly) these three devices are installed on ordinary bicycle, and based on the crucial balance of decomposition Control method establishes controller, and is superimposed with unpiloted control method.

2) controlled variable is decomposed：X, y, z coordinate system is established respectively in the preceding middle and back of bicycle, and bicycle handle bar is deflected Angle [alpha], bicycle body deflection angle β, bicycle rear rotational angle φ decompose the x, y, z coordinate of preceding middle and back respectively System；The z of the x, y, z coordinate system is vertical reference axis, and x/y plane is horizontal plane, and y-coordinate axle position is in vehicle body direction；For convenience For the sake of, polar coordinates directly are established on three controllers, to replace x, y, z coordinate system, polar coordinates can phase with x, y, z coordinate system Mutually conversion；

If bicycle handle bar deflection angle α is NM, bicycle body deflection angle β is PM, bicycle rear rotational angle φ is NS, then the power for decomposing variable needs in three coordinate systems is respectively：Along handlebar direction of rotation tangent line at bicycle handle bar Opposite force PL, along car body deflect the opposite force NM in direction at bicycle body, above bicycle rear along car body deflection direction Opposite force NL, it is respectively PL, NM, NL that these three power, which correspond to the power size and Orientation that three controllers provide,；Wherein, PL, PM, PS, NL, NM, NS, L, M, S are fuzzy set, and P (Positive) expressions are just, N (Negative) expressions are born, L (large) is indicated Greatly, during M (Middle) is indicated, S (Small) indicates that small, Z (Zero) indicates 0；

Bicycle control method under the starting state is as follows：

Embodiment 4

Below by taking the study of the driving habit of unmanned bicycle as an example, a kind of nothing with Self-balancing is illustrated People's steer bicycle.

The t0 moment puts into user before use, by control module, rear vehicle in the middle part of handlebar control module, car body The control that control module (wherein including sensor assembly) these three devices are installed on common bicycle, and pass through self-balancing Method, unpiloted control method are configured.

The t1 moment by sportsman or coach using a period of time, and practise the driving for reducing damage to the greatest extent of health Used study obtains a healthy bicycle Variable Control method, i.e., good cycling custom.

At the t2 moment, input is used to user, and carries out habitual correction.The habitual correction is by three controllers pair The control of bicycle is superimposed upon user to what is carried out in the control of bicycle, and the bicycle that its Overlay is intended to health is made to become Amount control method；If the cycling custom of user in this way is bad, controller gives an additional disturbance, and user will feel expense Power, the cycling custom to tend to using the health is ridden, when user, which has formed good cyclings, to be accustomed to.

Embodiment 5

T1 moment, input are used to user, and carry out personalized driving habit study.The behavior learning of riding is Study to the driving habit that the unmanned bicycle is used for a long time of user.

At the t2 moment, there is other people (may be car thief) to ride away the bicycle of the user, which equally will continue to The driving habit study for learning other people, to the variation for the people that judges to ride.Later, which can pass through Server terminal contacts the user and confirms, judges whether the user lends out vehicle, leases, if be not or more than rent Can the police or associated mechanisms further be contacted by server terminal by means of the time limit, and its positioning is provided.If user is by it, nobody drives It sails bicycle and carries out dealing operation, need through associated authorization, the driving habit that family is appointed to upper one empties.

Embodiment 6

Below by taking the intelligent chauffeur of shared unmanned bicycle, the application returned the car as an example, illustrating one kind has The unmanned bicycle of Self-balancing.

The t0 moment puts into user before use, by control module, rear vehicle in the middle part of handlebar control module, car body These three devices are installed on common shared bicycle control module (wherein including sensor assembly), and pass through self-balancing Control method, unpiloted control method are configured.

The t1 moment directly launches to street for users to use, each unmanned bicycle should also have the parking of oneself Position and support.

T2 moment, user carry out chauffeur in curbside by cell phone software, and server just searches out nearest with chauffeur place That stops shares unmanned bicycle, shared unmanned bicycle startup, the automatic Pilot to chauffeur place.If the nothing People's steer bicycle is in non-vertical state, then unmanned plane house keeper is needed to set out, and positive bicycle is hung with hook, and it is vertical to be returned to State, to carry out startup and automatic Pilot.The vertical state is that bicycle body's deflection angle size is less than or equal to certainly Drive a vehicle rear wheel support when car body deflection angle when state.

At the t3 moment, which reaches chauffeur place, and is used by chauffeur user.

At the t4 moment, after user has used shared unmanned bicycle, server meeting Automatic sieve is selected in a certain range altogether The minimum region of unmanned bicycle density is enjoyed, this shares unmanned bicycle will be voluntarily in automatic Pilot to the region It is suitble to the place of parking, and stops, waits for use demand next time.

Claims

1. a kind of unmanned bicycle of self-balancing of Behavior-based control driving, which is characterized in that including bicycle, sensor die Block, handlebar control module, car body middle part control module and rear vehicle control module；

The sensor assembly for measuring bicycle variable, the bicycle variable include bicycle handle bar deflection angle α, from Driving car body deflection angle β, bicycle rear rotational angle

The handlebar control module is located at bicycle handle bar, and the center of gravity of handlebar is adjusted by gravity center adjusting mechanism, realizes that handlebar is inclined The adjusting of gyration α；

Control module is located in the middle part of bicycle body in the middle part of the car body, and the weight in the middle part of car body is adjusted by gravity center adjusting mechanism The heart；

The rear vehicle control module is located at bicycle rear portion, and the center of gravity of rear vehicle is adjusted by gravity center adjusting mechanism, leads to Overwinding rotating wheel mechanisms that carries out balance control and the trailing wheel rotation control at bicycle rear portion；Control, which is rotated, by trailing wheel realizes bicycle Rear wheel angleAdjusting；

Control module and the respective gravity center adjusting mechanism of rear vehicle control module and vehicle in the middle part of the handlebar control module, car body The balance of body rear portion control module controls, the common adjusting for realizing bicycle body deflection angle β；

Choose the control variable of control module and rear vehicle control module in the middle part of bicycle variable and handlebar control module, car body As key variables；Coordinate system is established at bicycle rear portion, and the toppling direction of bicycle rear is decomposed into rear portion coordinate system In；

The center of gravity of the gravity center adjusting mechanism of control module and rear vehicle control module in the middle part of handlebar control module, car body is accelerated The power that movement generates projects to bicycle rear portion coordinate system respectively；And the relationship between control variable and controlled variable is established, it obtains Control module and rear vehicle control module realize nobody to the control rule of bicycle in the middle part of to handlebar control module, car body The balance of steer bicycle controls.

2. a kind of unmanned bicycle of self-balancing of Behavior-based control driving according to claim 1, which is characterized in that institute The gravity center adjusting mechanism for stating handlebar control module is the sliding bar mechanism being placed horizontally on handlebar, and handlebar control module passes through adjusting The slide position of handlebar sliding bar mechanism carries out the adjusting of handlebar center of gravity.

3. a kind of unmanned bicycle of self-balancing of Behavior-based control driving according to claim 1, which is characterized in that institute The gravity center adjusting mechanism for stating control module in the middle part of car body is eccentric wheel, and car body middle part control module, which passes through, adjusts eccentric wheel rotation angle Degree carries out the adjusting of center of gravity in the middle part of car body.

4. a kind of unmanned bicycle of self-balancing of Behavior-based control driving according to claim 1, which is characterized in that institute The gravity center adjusting mechanism for stating rear vehicle control module is eccentric wheel, and rear vehicle control module is by adjusting eccentric wheel rotation angle Degree carries out the adjusting of rear vehicle center of gravity.

5. a kind of unmanned bicycle of self-balancing of Behavior-based control driving according to claim 1, which is characterized in that institute The rotating wheel mechanism for stating rear vehicle control module is mutually perpendicular two rotating wheels：Wheel, vertical rotating wheel are rotated horizontally, is erected Direct rotary runner and horizontal rotation wheel are tangent and parallel with bicycle rear；Rear vehicle control module is by adjusting two rotations The rotating speed of wheel carries out balance control and the trailing wheel rotation control at bicycle rear portion.

6. a kind of control method of the equivalent mappings of the unmanned bicycle of self-balancing of Behavior-based control driving, which is characterized in that This method includes balance control section and unmanned control section；

1) key variables are chosen：Controllable considerable key variables are chosen, including in bicycle variable and handlebar control module, car body The control variable of portion's control module, rear vehicle control module；

2) controlled variable is decomposed：Coordinate system is established at bicycle rear portion, and the toppling direction of bicycle rear is decomposed into rear portion Coordinate system；

3) foundation of projection control variable and controller：By control module and rear vehicle control in the middle part of handlebar control module, car body The center of gravity of the gravity center adjusting mechanism of molding block accelerates the coordinate system that the power generated projects to bicycle rear portion respectively；And it establishes The relationship between variable and controlled variable is controlled, handlebar control module, car body middle part control module and rear vehicle control are obtained Module obtains controller parameter to the control rule of bicycle；

4) self-balancing is realized：The controller parameter that projection obtains is inputted into actual handlebar control module, the control of car body middle part respectively Molding block and rear vehicle control module, and be finely adjusted, establish three controllers of bicycle, to realize bicycle from Balance；

The implementation method of the unmanned control section：According to target state, desired bicycle variable is selected, is realized The unmanned control of bicycle.

7. according to the method described in claim 6, it is characterized in that, in the step 3), the center of gravity of handlebar control module is adjusted When mechanism is sliding bar mechanism, one is generated along vehicle when sliding block counterweight is accelerated to bicycle side in handlebar control module Direction to the power of the side；When the gravity center adjusting mechanism of control module is eccentric wheel in the middle part of car body, in the middle part of car body in control module When car body eccentric wheel counterweight accelerates to rotate to side and one is generated along eccentric wheel tangential direction to the power of the side；Rear vehicle When the gravity center adjusting mechanism of control module is eccentric wheel, when eccentric wheel counterweight accelerates to rotate to side in rear vehicle control module When and generate one along eccentric wheel tangential direction to the power of the side.

8. according to the method described in claim 6, it is characterized in that, in the step 3), in the handlebar control module, car body The center of gravity of the gravity center adjusting mechanism of portion's control module and rear vehicle control module accelerates the power generated and bicycle rear The relationship of toppling direction be：

Wherein, γ is bicycle rear toppling direction, and at bicycle rear portion, x, y, z coordinate system is decomposed into γ_x、γ_y、γ_z, wherein γ_xFor bicycle rear around the direction of x-axis rotation, γ in yz planes_yIt is revolved around y-axis in xz planes for bicycle rear Turn direction, γ_zFor bicycle rear around the direction of z-axis rotation, F on x/y plane₀₁、F₀₂、F₀₃Respectively handlebar controls mould The center of gravity of the gravity center adjusting mechanism of control module and rear vehicle control module accelerates the power generated, L1 in the middle part of block, car body For control module center in the middle part of car body and rear vehicle control module central horizontal distance, L2 is handlebar control module center and vehicle Body rear portion control module central horizontal distance；h₃、h₄、h₅Respectively after handlebar control module, car body middle part control module and car body The height of portion's control module, r are bicycle rear radius, r₁、θ₁Respectively the gravity center adjusting mechanism of control module is in the middle part of car body When eccentric wheel, eccentric radius and eccentric wheel rotation angle, r₂、θ₂Gravity center adjusting mechanism for rear vehicle control module is inclined When heart wheel, eccentric radius and eccentric wheel rotation angle, k_x、k_y、k_zFor direct ratio coefficient, it can be redefined for constant, establish control It is adjusted again when device processed；

It is solved after obtaining handlebar control module, car body middle part control module and car body eventually by the toppling direction of bicycle rear The center of gravity of gravity center adjusting mechanism needed for portion's control module accelerates the power generated.

9. according to the method described in claim 6, it is characterized in that, the realization of the unmanned control section includes：Selection Target state carries out the bicycle control under target state；The motion state includes：Start, advance, turning, It retreats；

Bicycle control under the starting state is as follows：

1) whole modulation：Pass through the variable tune of control module, rear vehicle control module in the middle part of handlebar control module, car body Section so that bicycle handle bar deflection angle α tends to a constant, even if tending to an entirety derived from driving；

2) center of gravity is adjusted：It is adjusted by the variable of handlebar control module, car body middle part control module, rear vehicle control module, Adjust bicycle center of gravity so that bicycle handle bar deflection angle α tends to 0, bicycle body deflection angle β and tends to 0, even if deriving from Driving is from certain deflection angle to standing state；

Bicycle control under the forward travel state is as follows：

1) whole modulation：Pass through the variable tune of control module, rear vehicle control module in the middle part of handlebar control module, car body Section so that bicycle handle bar deflection angle α tends to 0, even if tending to an entirety while handlebar does not turn derived from driving；

2) center of gravity is adjusted：It is adjusted by the variable of handlebar control module, car body middle part control module, rear vehicle control module, Adjust bicycle center of gravity so that bicycle body deflection angle β tends to 0, even if keeping balance derived from driving；

3) driving indirectly：It is adjusted by the variable of the rotating wheel mechanism of rear vehicle control module, drives bicycle rear indirectly, Make bicycle rear rotational angleChanged with a fixed angular speed, even if being advanced with certain speed derived from driving；

Bicycle control under the turn condition is as follows：

1) whole modulation：Pass through the variable tune of control module, rear vehicle control module in the middle part of handlebar control module, car body Section so that bicycle handle bar deflection angle α tends to turn direction, even if derived from driving tend to while handlebar rotates one it is whole Body；

3) driving indirectly：It is adjusted by the variable of the rotating wheel mechanism of rear vehicle control module, drives bicycle rear indirectly, Make bicycle rear rotational angleChanged with a fixed angular speed, even if being turned with certain speed derived from driving；

Bicycle control method under the fallback state is as follows：

1) driving indirectly：It is adjusted by the variable of the rotating wheel mechanism of rear vehicle control module, drives bicycle rear indirectly, So that bicycle rear rotational angle φ with a fixed angular speed inverse change, is reversely revolved even if obtaining bicycle rear with certain speed Turn；Due at handlebar and front-wheel contact ground there are a context, when bicycle is under retroversion state, handlebar and front-wheel In dragged state, handlebar junction drawing force preceding, eliminate the handlebar driving torque generated when bicycle advances, It can tend to an entirety in fallback state with the adjusting of reduced proper motion vehicle handlebar deflection angle α, bicycle；

2) center of gravity is adjusted：It is adjusted by the variable of handlebar control module, car body middle part control module, rear vehicle control module, Adjust bicycle center of gravity so that bicycle body deflection angle β tends to 0, even if keeping balance derived from driving.

10. according to the method described in claim 9, it is characterized in that, the selection target motion state is specially：

2) road surface monitoring and avoidance：The monitoring on road surface is carried out by sensor assembly；Topographical scan is carried out, landform is judged and selects The corresponding control method of landform；It judges whether there is barrier, avoidance is carried out if having barrier, i.e., it is wide by distance, barrier The information of road surface such as degree, barrier motion conditions obtain bicycle and need the direction of travel adjusted to be adjusted.