Balance vehicle control system capable of being repeatedly loaded into control software and software reloading method thereof

The invention discloses a balance vehicle control system capable of being repeatedly loaded into control software and a software reloading method thereof. A balance vehicle control subsystem comprisesa hardware layer, an interface layer and an application layer; the hardware layer comprises an H bridge configuration module, a converter configuration module, a display driving module, a storage driving module, a Bluetooth driving module, a voltammeter configuration module, an encoder configuration module, an inclinator configuration module, a system clock configuration module and an IAP configuration module; the interface layer comprises a speed control module, a steering control module, a communication module, an electric quantity detection module, a vehicle speed detection module and an inclination angle detection module, and the application layer comprises a balance control module, a mode control module, a human-computer interaction module and an anomaly processing module; a BOOT root subsystem comprises a h