Method for controlling a drive unit of a vehicle

Abstract

The invention relates to a method for controlling a drive unit of a vehicle, in particular a single-track vehicle, for example an electric bicycle, comprising a drive unit and a sensor unit having at least one sensor element, the method comprises the following steps: detecting a sensor signal by the at least one sensor element of the sensor unit, ascertaining a step on the basis of the detected sensor signal, in particular by the sensor unit, and controlling the drive unit on the basis of the ascertained step.

Description

Technical Field

[0001] The invention relates to a method for controlling a drive unit of a vehicle, in particular a single-wheel vehicle such as an electric bicycle.

[0002] The invention also relates to a vehicle, in particular a single-wheel vehicle, such as an electric bicycle.

[0003] Although the invention is generally applicable to any vehicle, the invention is described with respect to a single wheel track vehicle in the form of an electric bicycle. Background Art

[0004] In order to go up the stairs, the electric bicycle rider must either lift his electric bicycle up the stairs or push it up. In particular, the electric bicycle has a high weight due to the battery and the drive unit, so that carrying or pushing the electric bicycle requires considerable effort.

[0005] The electric bicycle may have a push-assist device, which can be used to push the electric bicycle up stairs more easily. From DE 198 02 937 A1, a bicycle with an auxiliary drive is known, in which the user can manually activate the push-assist device in front of the stairs to be able to push the bicycle up the stairs more easily. Summary of the invention

[0006] In one embodiment, the invention provides a method for controlling a drive unit of a vehicle, in particular a single-wheel vehicle such as an electric bicycle, the vehicle comprising a drive unit and a sensor unit with at least one sensor element, the method comprising the following steps:

[0007] - detecting a sensor signal by the at least one sensor element,

[0008] - determining the step based on the detected sensor signal, in particular by means of the sensor unit, and

[0009] - Controlling the drive unit based on the determined step.

[0010] The vehicle, in particular a single-wheel vehicle, such as an electric bicycle, can also be a multi-wheel vehicle. For example, the vehicle is equipped with three or four wheels. In particular, the vehicle is an electric booster, a racing electric booster or an electric bicycle.

[0011] In one specific embodiment, the present invention provides a method for ascertaining route information, wherein at least one route section has information ascertained by the method according to claim 16 .

[0012] In one embodiment, the invention provides a drive unit for a vehicle, in particular a single-wheel vehicle such as an electric bicycle, wherein the drive unit comprises a sensor unit having at least one sensor element and is designed to carry out the method according to the invention.

[0013] In one embodiment, the present invention provides a vehicle, in particular a vehicle having the aforementioned drive unit, wherein the vehicle is a single-wheel vehicle, such as an electric bicycle.

[0014] The sensor unit may include a gyroscope, an inertial sensor and / or a camera. In particular, the sensor unit may be a smartphone. With the aid of the sensor unit, the geometric structure of the step may be detected. The sensor unit may be a component of the drive unit. Alternatively or additionally, the sensor unit may have its own housing. The sensor unit may be arranged inside the drive unit or may also be arranged outside the drive unit. In order to perform the method, the drive unit may have a control unit in particular. The control unit is configured to control the drive unit. The control unit may include a sensor unit in particular. The control unit may include an actuator, which controls the drive unit based on the detected step.

[0015] One advantage achieved by this is that the step is automatically detected, which increases the user-friendliness. Another advantage is that one or more follow-up measures or operations can be executed for the user. It is also advantageous that the control of the drive unit can be carried out as a predeterminable, in particular vehicle-based follow-up operation as a function of the detected step, for example, activating a displacement assistance device arranged in the vehicle or adapting the degree of assistance.

[0016] In particular, a staircase is an obstacle comprising at least two steps and / or step-shaped projections. In particular, a step is a height difference from a first height level to a second height level, wherein the second height level can be higher or lower than the first height level. In this case, the staircase has a regularity, in particular a regularity of steps, which are repeated periodically.

[0017] The sensor signal for detecting the step can in particular be measured by a sensor element, for example the sensor signal can correspond to a physical variable.

[0018] Push support is defined in particular as a drive of the vehicle by the drive unit which takes effect while the vehicle is being pushed by a user.

[0019] The term "vehicle-based" with respect to subsequent operations should be understood in the broadest sense and preferably refers in the description to any operation, execution, procedure, process and / or instruction that causes a change in the state of the vehicle, in particular speed, acceleration, direction, etc.

[0020] Additional features, advantages, and other embodiments of the present invention are described below or are disclosed thereby.

[0021] According to an advantageous extension of the invention, steps are detected based on an acceleration variation process that is in particular wavy and / or periodic in the direction of the longitudinal axis of the vehicle. The longitudinal axis of the vehicle is in particular defined as an axis that is approximately parallel to an axis that passes through the center points of the front and rear wheels of the vehicle. If the vehicle is a three-wheeled vehicle, the longitudinal axis of the vehicle is parallel to the direction of travel when the handlebars are kept straight. For example, the acceleration of the vehicle can be measured by at least one inertial sensor. When the vehicle is pushed onto a staircase, the vehicle periodically moves up one stair step and then moves along the stair step to the next stair step. As a result, a regular acceleration variation process on the longitudinal axis of the vehicle occurs, which can be used to detect steps. The advantage here is that steps can be reliably identified.

[0022] According to an advantageous development of the invention, steps are detected based on an acceleration profile that is in particular wavy and / or periodic in the direction of the vehicle's vertical axis. An acceleration profile is defined as a change in acceleration over time in the direction of an axis. The vehicle is regularly raised by these stair steps, so that the acceleration values ​​in the direction of the vehicle's vertical axis, in particular perpendicular to the ground, also fluctuate regularly. This can be used to detect steps. This has the advantage that steps can also be reliably detected.

[0023] According to an advantageous development of the invention, steps are detected based on an especially wavy and / or periodic rotation rate course (Drehratenverlauf, angle change per unit time) in the direction of the vehicle's pitch axis. While the vehicle is being pushed up a step, the pitch angle changes suddenly. This pitch angle then remains unchanged until the vehicle reaches the next step. This results in an wavy course of the pitch angle, which can indicate that the vehicle is being pushed up a staircase. The pitch angle can be measured, for example, with the aid of a gyroscope. This makes it possible to reliably detect steps.

[0024] According to an advantageous development of the invention, the steps are detected based on an especially waveform-like and / or periodic speed profile (rotation per unit time) and / or a profile of one or more electric drive characteristic variables in the vehicle drive unit. The electric drive characteristic variables can be, in particular, current intensity, voltage and / or electric power. Due to the periodic profile of the steps, the torque required to push the vehicle upward increases and decreases regularly, so that the electric drive characteristic variable in the drive unit or the speed of the drive unit also has a periodic profile. In this way, the steps can also be reliably detected.

[0025] According to an advantageous development of the invention, the staircase is detected by means of an optical and / or acoustic recognition device, in particular a camera. For example, the user's smartphone can be attached to the vehicle and can recognize the staircase in front of the vehicle by means of a camera and an image recognition program. This has the advantage that the staircase can be detected before the vehicle reaches the staircase. Furthermore, the staircase can be recognized, for example, by radar signals, ultrasonic signals, etc.

[0026] According to an advantageous development of the invention, the stairs are located based on the position data of the vehicle and / or the position data of the stairs. For example, the current position of the vehicle can be located with the aid of a GPS signal. By comparison with a map and the stairs marked in the map, it can be determined whether the vehicle is in front of the stairs and / or on the stairs. In this way, the stairs can be located in a simple manner.

[0027] According to another advantageous development of the invention, the control of the drive unit includes adapting the degree of support, in particular the degree of torque support of the drive unit. This has the advantage that, in the case of a detected step, the state of the drive can be adapted to the step. In particular, a suitable position change of the vehicle can be suggested to the user. For example, a suitable position change can be a navigation instruction.

[0028] According to an advantageous development of the invention, the vehicle comprises a sliding support, wherein the control of the drive unit comprises activating, in particular automatically activating and / or adapting the sliding support based on a detected step. This has the advantage that the user can push the vehicle up the stairs more comfortably and with less effort, since the sliding support can be adapted based on the stairs, in particular on the properties of the stairs.

[0029] According to an advantageous development of the invention, the control of the drive unit comprises an adaptation or change, in particular an adaptation or change of the push support device, more particularly a reduction of the torque of the drive unit. In particular, the adaptation of the push support device comprises a change, in particular a reduction, of the torque of the vehicle drive unit. It is conceivable here that the speed of the vehicle is reduced as an alternative or in addition. At high vehicle speeds, there is the risk that the vehicle will bounce back or even break away from the user when it hits a step. By reducing the speed, the user can better control the vehicle, which improves the user experience. In particular, a periodic reduction of the torque of the drive unit is advantageous.

[0030] According to an advantageous extension of the invention, the length, height, gradient, starting point, end point, step height and / or the regularity of the step height of the stairs are determined. By determining the geometric structure and shape of the stairs, the push support device can be better adapted to the stairs currently to be climbed. Here, the length of the stairs is in particular the path length between the first step and the last step, the height is in particular the difference in altitude between the first step and the last step, the gradient is in particular the angle between the axis of the stairs and the horizontal axis, the starting point and end point of the stairs are in particular the transition from the ground to the first step or from the last step to the ground, and the step height is in particular the difference in height between a single step and the previous and / or next step. The regularity of the step height is in particular the relative difference in the step height of the individual steps, wherein, for example, the standard deviation of the step height and / or the step height difference of consecutive steps can be used as a measure of regularity. The geometry and shape of the steps can also be used, in particular, to control the drive unit while the vehicle is being driven onto the steps or while the vehicle is being pushed onto the steps.

[0031] According to an advantageous expansion scheme of the present invention, the drive unit is additionally controlled under the condition of considering the position and / or rotation of the vehicle relative to the step, at least one acceleration of the vehicle, the step height and / or the regularity of the step height. In particular, in this advantageous expansion scheme, it is intended to change the torque of the drive unit. The advantage is that the user can push the vehicle onto the stairs more easily and safely. For example, when the vehicle is pushed onto a step of the stairs, the torque and / or speed of the drive unit can be reduced, and / or, when the vehicle has been on the step of the stairs, the torque and / or speed of the drive unit can be increased. In addition, it is conceivable to reduce the torque and / or speed at the beginning and / or in the middle of the stairs, and / or increase the torque and / or speed when the front wheels of the vehicle have passed the stairs. It is also conceivable that if the steps of the stairs are relatively high and / or irregularly constructed, the torque and / or speed are reduced. In other words, in particular, the change of the torque can be used to increase the torque at the right time, especially when climbing the next step.

[0032] According to an advantageous development of the invention, the control of the drive unit additionally comprises the following further step: determining an alternative navigation route for bypassing the stairs. As a result, an alternative route can be automatically suggested to the user, which allows the user to bypass the stairs, so that there is no need to exert force for climbing the stairs. The determination of the alternative navigation route can be based on position data and / or map data, for example.

[0033] According to an advantageous development of the invention, the control of the drive unit is additionally based on a predicted impact event with a stair step. An impact event is here understood to be the first contact, in particular physical contact, of the vehicle with a new stair step. If the steps are regularly constructed, it is possible to estimate when the next stair step will be reached. For example, in order to cushion the impact on the vehicle, the vehicle's speed can be reduced before the next stair step.

[0034] According to an advantageous further development of the invention, the control of the drive unit is additionally based on user settings. For example, user preferences can be set by the user and / or automatically learned by means of machine learning. For example, the push support device can be adapted according to these settings so that the upward push of the vehicle can be coordinated with the user's needs. For example, the push support device can be designed according to the desired number of stair steps to be climbed per minute. As a result, the user can push the vehicle up the stairs more easily. It is conceivable that the user can set whether he wants to push the vehicle up the stairs or preferably wants to bypass the stairs.

[0035] According to an advantageous development of the invention, the control of the drive unit additionally includes storing information about the detected steps in a local and / or global database. By storing information about the steps, such as length, height, slope, step height, etc., the displacement support device can be better coordinated with the geometry of the steps when climbing the stairs again. This information can be stored locally, i.e., only available for the vehicle itself, and / or stored globally, i.e., available for different vehicles.

[0036] If information about stairs can be retrieved from a database, they can also be identified by comparing their position with the current position of the vehicle, for example by comparing GPS signals. This information can also be used to define a route at an early stage in which one or more stairs are bypassed, in order to prevent the vehicle from having to be pushed up the stairs.

[0037] According to an advantageous embodiment of the invention, the sensor signal is designed as information of an external device and / or a cloud and / or a server and / or is processed internally by the sensor unit. This has the advantage that a flexible processing of the sensor signal is achieved.

[0038] Further important features and advantages of the invention emerge from the preferred embodiments, the drawings and the corresponding description of the drawings.

[0039] It is to be understood that the features mentioned above and to be explained below can be used not only in the respectively stated combination but also in other combinations or alone, without departing from the scope of the present invention. BRIEF DESCRIPTION OF THE DRAWINGS

[0040] Preferred embodiments and implementations of the invention are shown in the drawings and explained in more detail in the following description.

[0041] Figure 1 The steps of a method according to one embodiment of the present invention are shown in a schematic manner;

[0042] Figure 2 schematically illustrates a change in the rotation speed of a drive unit according to an embodiment of the present invention; and

[0043] Figure 3 A vehicle according to one embodiment of the invention is shown in a schematic manner. DETAILED DESCRIPTION

[0044] Figure 1 The steps of a method according to one embodiment of the invention are shown in schematic form.

[0045] The method for controlling a drive unit 8 of a single-wheel vehicle 2 , in particular an electric bicycle, which comprises a sensor unit 10 having at least one sensor element, comprises the following steps.

[0046] In a first step S1 , a sensor signal is detected by the at least one sensor element of the sensor unit 10 .

[0047] In a second step S2, a step is detected based on the detected sensor signal, in particular by sensor unit 10. The step can be detected before reaching the step, for example by an optical recognition system and / or during the upward movement of the vehicle, for example by periodic acceleration of the vehicle.

[0048] In a third step S3, the drive unit 8 is controlled based on the detected step. For example, the control can include adapting the displacement support device 9 or the degree of support based on the detected step and / or determining an alternative path for bypassing the step.

[0049] Figure 2 The course of the rotation speed of the drive unit 8 according to one embodiment of the present invention is shown in schematic form.

[0050] In the upper area of ​​the diagram, the change in position 1 of a vehicle 2, in this case in the form of an electric bicycle, on a step 3 is shown. In the lower area, the drive unit 8 (eg Figure 3 The X-axis 4 shows the qualitative position on the step 3, and the Y-axis 5 shows the rotational speed of the drive unit 8 in arbitrary units.

[0051] First, the vehicle 2 moves at a high speed in the direction of the step 3. Therefore, the drive unit 8 has a high rotation speed in the first position 6. Figure 1 In step S1 , vehicle 2 approaches step 3 .

[0052] In the second position 6', the vehicle 2 hits the step 3. As a result, the front wheels 7 of the vehicle 2 are lifted during further vehicle movement, so that the pitch angle 14 of the vehicle 2 increases. This increase is measured, for example, by a gyroscope (not shown) of the vehicle 2 and is thus determined according to the pitch angle 14 of the vehicle 2. Figure 1 Step S2 automatically detects that the vehicle moves over the stairs 3. The vehicle 2 may also have an inertial sensor that can detect the periodic acceleration change caused by the stairs when driving (riding) over the stairs 3, and thus can detect the stairs 3. In addition, a camera (not shown) may be arranged on the vehicle 2, with which the stairs 3 may be optically detected. In addition, when switching from one stair step to the next stair step, that is, when climbing one stair step, the drive power required to push the vehicle 2 upward is higher than when the vehicle 2 is pushed along the stairs step to the next stair step. As a result, the drive unit 8 has a periodic rotation speed or a periodic current intensity in the drive unit 8. The presence of the stairs 3 may also be detected thereby.

[0053] Once the step 3 is identified, the control of the drive unit is performed as a subsequent operation based on the detected step 3, for example, according to Figure 1 Step S3 activates or adapts the pushing support device 9 of the vehicle 2. First, the speed of the vehicle 2 is reduced, so that the user can better maneuver the vehicle 2. At position 6", the drive unit 8 of the vehicle 2 has a low rotation speed, so the speed of the vehicle 2 is also low.

[0054] Starting from position 6", the rotation speed of the drive unit 8 increases and decreases periodically. As a result, the user can push the vehicle 2 up the stairs 3 in a more comfortable way for him. Before the front wheels 7 hit the steps of the stairs 3, the speed of the vehicle 2 is reduced to reduce the impact on the vehicle 2. Then, the speed is slightly increased, so that the vehicle 2 can be pushed up the stairs 3 faster and easier, until the front wheels 7 hit the next step. Increasing and / or reducing the speed can be related to the height of the stairs step, so that, for example, the speed can be lower in the case of high stairs steps than in the case of low stairs steps.

[0055] In order to prevent the wheels of the vehicle 2 from slipping when being pushed upwards, in particular when the rear wheels of the vehicle 2 reach a step, the push support device 9, in particular the torque of the push support device 9, can be increased slowly. This means that when the rear wheels hit the step, the push support device 9 is raised more slowly than when the front wheels 7 hit the step. This prevents the vehicle 2 from losing its grip on the step 3.

[0056] The geometry of the step 3 can be ascertained by means of the measured acceleration and / or rotational speed of the vehicle 2. This information can be stored so that it can be used directly for adapting the displacement assistance device 9 when the step 3 is again traveled over.

[0057] In position 6 ′″, the front wheels 7 have now reached the end of step 3 , so that the rotational speed of the drive unit 8 and thus the speed of the vehicle 2 can be increased again.

[0058] Another possible exemplary control of the drive unit is to ascertain an alternative path for bypassing the stairs 3. Thus, the user does not have to push the vehicle 2 up the stairs 3.

[0059] Figure 3 A vehicle according to one embodiment of the invention is shown in schematic form.

[0060] The vehicle 2, which is in the form of an electric bicycle, comprises a drive unit 8 and a displacement support 9. The displacement support 9 can be part of the drive unit 8. In addition, the vehicle 2 comprises a sensor unit 10, which is designed for automatic detection of steps 3 by the vehicle 2. The sensor unit 10 can include a gyroscope, an inertial sensor and / or a camera. In particular, the sensor unit 10 can be a smartphone. With the aid of the sensor unit 10, the geometry of the step 3 can be detected.

[0061] Furthermore, the vehicle 2 has an actuator 11 for controlling the drive unit of the vehicle based on the detected step 3. For example, the control of the vehicle can be based on the detected step 3 to adapt the push assist device 9. The drive unit 8 can include the actuator 11. The actuator 11 and the sensor unit 10 can be part of a control unit (not shown) of the drive unit 8. For example, with the aid of the actuator 11, the push assist device 9 can be changed or adapted so that the vehicle 2 can be pushed up the detected step 3 in a manner suitable for the user.

[0062] Furthermore, the vehicle 2 may have a determination device 13 . With the aid of the determination device 13 , an alternative route may be determined so that the current route can be bypassed. For this purpose, the determination device 13 may have a map and / or a position detection system. The determination device 13 may be part of the execution device 11 .

[0063] In summary, at least one embodiment of the present invention has at least one of the following features and / or provides at least one of the following advantages:

[0064] - Improve the user-friendliness of the push support device.

[0065] - Use the vehicle to push up the stairs more comfortably or be able to drive on the stairs.

[0066] - Push or steer the vehicle with less effort.

[0067] - Controlling the vehicle based on the determined step.

[0068] Although the present invention has been described with reference to the preferred embodiments, the present invention is not limited thereto but can be modified in various ways.

Claims

1. A method for controlling a drive unit (8) of a vehicle (2), the vehicle being in particular a single-wheel-track vehicle (2), such as an electric bicycle, the vehicle comprising a drive unit (8) and a sensor unit (10), the sensor unit having at least one sensor element, the method comprising the following steps: - detecting (S1) a sensor signal by the at least one sensor element of the sensor unit (10), - determining (S2) a step (3) based on the detected sensor signal, the determining being carried out in particular by means of the sensor unit (10), and - controlling (S3) the drive unit (8) based on the determined step (3).

2. The method according to claim 1, wherein: The step (3) is determined based on an acceleration profile in the direction of a vehicle longitudinal axis of the vehicle (2), in particular a wave-shaped and / or periodic acceleration profile.

3. The method according to any one of claims 1 to 2, wherein: The step (3) is determined based on an acceleration profile in the direction of a vertical axis of the vehicle, in particular a wave-like and / or periodic acceleration profile.

4. The method according to any one of claims 1 to 3, wherein: The step (3) is determined based on a rotation rate profile in the direction of the pitch axis of the vehicle (2), in particular a wave-shaped and / or periodic rotation rate profile.

5. The method according to any one of claims 1 to 4, wherein: The step (3) is determined based on a speed profile, in particular a waveform and / or periodic speed profile, and / or based on a profile of one or more electric drive characteristic variables in a drive unit (8) of the vehicle (2).

6. The method according to any one of claims 1 to 5, wherein: The step (3) is detected using an optical and / or acoustic detection device (10), in particular a camera.

7. The method according to any one of claims 1 to 6, wherein: The step (3) is determined based on position data of the vehicle (2) and / or position data of the step (3).

8. The method according to any one of claims 1 to 7, wherein: The control (S3) of the drive unit (8) includes adapting a degree of support, in particular a degree of torque support of the drive unit (8).

9. The method according to any one of claims 1 to 8, wherein: The drive unit (8) comprises a displacement support device (9), and wherein the control (S3) of the drive unit (8) comprises activating and / or adapting the displacement support device (9), the activation being in particular automatic activation.

10. The method according to any one of claims 1 to 9, wherein: The control (S3) of the drive unit (8) comprises adapting or changing, in particular adapting or changing, the displacement support device (9), more particularly reducing the torque of the drive unit (8) of the vehicle (2).

11. The method according to any one of claims 1 to 10, wherein: The control (S3) of the drive unit (8) is additionally performed taking into account the length, height, gradient, starting point, end point, step height and / or regularity of the step height of the step (3).

12. The method according to any one of claims 1 to 11, wherein: The control (S3) of the drive unit (8) is additionally performed taking into account the position and / or rotation of the vehicle (2) relative to the step (3), at least one acceleration of the vehicle (2), the step height and / or the regularity of the step height.

13. The method according to any one of claims 1 to 12, wherein: The control (S3) of the drive unit (8) additionally comprises the step of determining an alternative navigation path for bypassing the step (3).

14. The method according to any one of claims 1 to 13, wherein: The control (S3) of the drive unit (8) is additionally based on a predicted impact event on a stair step.

15. The method according to any one of claims 1 to 14, wherein: The control (S3) of the drive unit (8) is additionally based on a user's setting.

16. The method according to any one of claims 1 to 15, wherein: The control (S3) of the drive unit (8) additionally includes storing information about the determined step (3) in a local and / or global database.

17. The method according to any one of claims 1 to 16, wherein: The sensor signal is designed as information to an external device and / or a cloud and / or a server and / or is processed internally by the sensor unit.

18. A method for finding out route information, wherein: At least one route section has information ascertained by the method according to claim 16 .

19. A drive unit, in particular for a single-wheel-track vehicle (2), such as an electric bicycle, comprising a sensor unit having at least one sensor element, wherein: The drive unit is designed to carry out the method according to one of claims 1 to 18 .

20. A vehicle, in particular a single-wheel-track vehicle, such as an electric bicycle, comprising a drive unit according to claim 19.

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