Abstract: An autonomous electronic bicycle comprises a frame, a front wheel that can be powered by a first electronic motor, a rear wheel that can be powered by a second electronic motor, and handlebars that can steer the front wheel which can be controlled by a third electronic motor. The autonomous electronic bicycle can operate autonomously, traveling to a chosen destination. When operating autonomously the autonomous electronic bicycle can shift between a set of balance modes, including a mode used when moving and a mode used when stationary but balanced. To transition between modes, a transition sequence of control commands can be selected and used.

Abstract: An autonomous electronic bicycle comprises a frame, a front wheel that can be powered by a first electronic motor, a rear wheel that can be powered by a second electronic motor, and handlebars that can steer the front wheel which can be controlled by a third electronic motor. The autonomous electronic bicycle can operate autonomously, traveling to a chosen destination. The autonomous electronic bicycle can include a steering motor which controls the angle of the front wheel of the autonomous electronic bicycle relative to the frame. The steering motor can be integrated within the head tube of the autonomous electronic bicycle, such as by mounting the rotor magnets of the steering motor to the interior surface of the head tube and by building the stator around the steerer tube of a fork of the autonomous electronic bicycle.

Abstract: An autonomous electronic bicycle comprises a frame, a front wheel that can be powered by a first electronic motor, a rear wheel that can be powered by a second electronic motor, and handlebars that can steer the front wheel which can be controlled by a third electronic motor. The autonomous electronic bicycle can operate autonomously, traveling to a chosen destination based on sensor information. In addition, the autonomous electronic bicycle can be ridden by a rider as a traditional bicycle. While being ridden manually, the autonomous electronic bicycle can determine a set of safety constraints, such as maximum speed or a maximum incline, to place on the autonomous electronic bicycle while being ridden by the rider based on determined rider characteristics about the rider.

Abstract: An autonomous electronic bicycle comprises a frame, a front wheel that can be powered by a first electronic motor, a rear wheel that can be powered by a second electronic motor, and handlebars that can steer the front wheel which can be controlled by a third electronic motor. The autonomous electronic bicycle can operate autonomously, traveling to a chosen destination. When operating autonomously the autonomous electronic bicycle can shift between a set of balance modes, including a mode used when moving and a mode used when stationary but balanced. To transition between modes, a transition sequence of control commands can be selected and used.