The invention provides a two-wheel electric self-balancing scooter graded drive signal generation method. Target drive signals comprise two parts, one part of the signals are drive signals output in a graded mode according to the sum of pressure of two pedals, and the other part of the signals are accelerating, slow-down and stable signals output according to a pedal switch. The gravity movement problem occurring when a driver gets on or off a vehicle and in the operation process is effectively solved according to the drive signals output in the graded mode according to the sum of the pressure of the two pedals, and the accelerating and slow-down signals adjust the drive signals for going up and down a slope. When the target drive signal is output, a sinusoidal signal smoothing method is adopted, and mutation of the signals is prevented. According to the method, the reliability of the system and the precision of drive signal output are improved, the method is simple and convenient, and the safety performance of the system is effectively improved.