A control method of a two-wheeled self-balance vehicle comprises the steps as follows: (1), performing initialization: (2), reading values of a
gyroscope, an
accelerometer and a rotation angle sensor as well as the
pulse number of an
encoder respectively; (3), obtaining a vehicle body inclination, a handlebar
turning angle, motor speeds and a vehicle speed; (4), then calculating PWM (
pulse width modulation) values of
vertical control, direction control and speed control respectively through a PID (
proportion integration differentiation)
control algorithm; (5), superposing the three PWM values together and outputting the three PWM values to left and right motors; (6), then sending data of the
gyroscope, the
accelerometer, the vehicle body inclination, a
battery voltage, motor currents and the vehicle speed to an upper computer so as to monitor the operating status of the whole vehicle; (7), when the
battery voltage is monitored to be smaller than a preset value, and the motor currents or the vehicle speed is monitored to be larger than the preset value through monitoring, turning on corresponding LED warning lights; and (8), when the vehicle body inclination is larger than a preset angle through monitoring when the vehicle body inclination is monitored to be larger than a preset angle, determining that the vehicle body falls down, stopping the operation and returning to an initializer. According to the control method, a more accurate operational method is adopted.