"without in trouble or killed?"
Basically the idea is that you find a place where you won't be detected. If they can't find you they can't hassle or kill you. So the basic issue is how to find places where you won't be detected. That essentially describes my camping style for the last 35 years. I don't cook over a flame, smoke, make noise etc... that's just my nature. I like to make camp late in the day. It's pretty easy as long as the area you are traveling through isn't too hyped with people watching out for campers. Bike routes tend to go through cities or semi urban areas a lot, I'm not so good at that kind of thing.
The other approach is to suck up to people, not stealth, but highly viable depending on your personality.