Method for compensating detection of error of pulse signal

Abstract

The invention relates to a method for compensating for the detection of an error in a pulse signal during the determination of the speed of a vehicle, the vehicle having a pulse-based speed sensor on a wheel and at least one further sensor for determining the speed of the vehicle, the method comprises the following steps: determining the speed of the vehicle from a signal of the pulse-based speed sensor, detecting a pulse signal of the pulse-based speed sensor, determining the speed of the vehicle on the basis of the speed determined by means of the further sensor, calculating the distance of the wheel to the next pulse signal of the pulse-based speed sensor, and if the calculated distance is smaller than the wheel circumference of the wheel, identifying a premature pulse signal of the pulse-based speed sensor, and if the calculated distance is smaller than the wheel circumference of the wheel, identifying the premature pulse signal of the pulse-based speed sensor. And / or if the calculated distance is greater than the wheel circumference of the wheel, detecting a missing pulse signal of the pulse-based speed sensor, if a missing pulse signal is detected, ignoring a premature pulse signal, and if the missing pulse signal is detected, ignoring the premature pulse signal. The pulse-based speed sensor is used for determining the speed of the vehicle according to the pulse-based speed sensor and / or determining the speed of the vehicle according to at least one other sensor.

Description

Technical Field

[0001] The invention relates to a method for compensating for erroneous detection of pulse signals.

[0002] Furthermore, the invention relates to a vehicle, in particular a monorail vehicle, in particular a bicycle, a pedelec, an electric bicycle or the like, for compensating for an erroneous detection of a pulse signal.

[0003] Although the present invention is generally applicable to any vehicle, the present invention is described in terms of an electric bicycle. Background Art

[0004] In vehicles, in particular single-track vehicles (e.g. electric bicycles), it is known to measure the speed of the vehicle with the aid of a magnetic field sensor. For this purpose, a permanent magnet is fastened to the rear wheel. While riding, the wheel rotates so that the magnet is guided past the magnetic field sensor on the bicycle at regular intervals. The magnetic field sensor can detect the passing by and outputs a pulse signal. The speed of the electric bicycle can then be calculated from the wheel circumference and the time offset of the two pulses.

[0005] When riding, the magnetic influence of the iron bridge, iron tower or electric drive unit on the bicycle may interfere with the detection device, so that additional erroneous pulses are measured or correct or valid pulses are not detected. As a result, the wrong speed may be measured by the speed sensor.

[0006] However, electric bicycles in particular require permanently accurate speed sensors, since the driving assistance of electric bicycles can be dependent on the current speed. Summary of the invention

[0007] In one specific embodiment, the invention provides a method for compensating for erroneous detection of pulse signals when determining the speed of a vehicle, in particular a single-track vehicle, such as a bicycle, a pedelec, an e-bike or the like, wherein the vehicle has a pulse-based speed sensor on a wheel and at least one further sensor for determining the speed of the vehicle, the method comprising the following steps:

[0008] - determining the speed of the vehicle from the signal of a pulse-based speed sensor,

[0009] - detect pulse signals from pulse-based speed sensors,

[0010] - based on the speed ascertained by means of a further sensor, calculating the distance travelled by the wheel until the next pulse signal of the pulse-based speed sensor,

[0011] - if the calculated distance is less than the wheel circumference of the wheel, a premature pulse signal of the pulse-based speed sensor is detected, and / or if the calculated distance is greater than the wheel circumference of the wheel, a missing pulse signal of the pulse-based speed sensor is detected,

[0012] - if a missing pulse signal is detected, ignoring premature pulse signals for determining the speed of the vehicle from a pulse-based speed sensor and / or, if a missing pulse signal is detected, determining the speed of the vehicle from at least one further sensor.

[0013] In one embodiment, the invention provides a vehicle for compensating for erroneous detection of pulse signals when determining speed, the vehicle comprising a pulse-based speed sensor on a wheel, a further sensor for determining the speed of the vehicle, and:

[0014] a first determination device, which is designed to determine the speed of the vehicle from a signal of a pulse-based speed sensor,

[0015] a detection device, which is designed to detect a pulse signal of a pulse-based speed sensor,

[0016] a calculation device which is designed to calculate, based on the speed ascertained by means of a further sensor, the distance covered by the wheel until the next pulse signal of the pulse-based speed sensor,

[0017] a detection device which is designed to detect a premature pulse signal of the pulse-based speed sensor if the calculated distance is less than the wheel circumference of the wheel and / or to detect a missing pulse signal of the pulse-based speed sensor if the calculated distance is greater than the wheel circumference of the wheel,

[0018] - A second determination device, which is configured to ignore premature pulse signals if a missing pulse signal is detected, to determine the speed of the vehicle based on a pulse-based speed sensor, and / or to determine the speed of the vehicle based on at least one other sensor if a missing pulse signal is detected.

[0019] One of the advantages achieved thereby is that erroneous pulses or pulse signals can be determined and compensated in a reliable manner. In particular, additional pulse signals and missing pulse signals can be identified. In addition, the speed can be determined more accurately. For example, missing pulse signals can lead to an assumed too low speed. This can be compensated by the embodiments of the invention described here. Similarly, additional pulse signals can lead to an assumed too high speed. This is particularly relevant for electric bicycles, because these electric bicycles can change the drive assistance according to the current speed.

[0020] Incorrect pulse signal detection within the meaning of the present invention is, in particular, premature detection of a pulse signal (i.e. recognition of a pulse signal that is not caused, for example, by a magnet assigned to the pulse-based speed sensor) and / or non-recognition of a pulse signal (i.e. failure to recognize a pulse signal although the pulse-based speed sensor should have detected the pulse signal due to the magnetic field of the assigned magnet).

[0021] The calculated travelled distance of a wheel within the meaning of the invention is in particular the distance covered by the wheel of the vehicle between two pulse signals of a pulse-based speed sensor. In particular, the terms “calculated distance” and “travelled distance” can be understood as synonymous.

[0022] For example, the pulse-based speed sensor can be a reed sensor that interacts with a permanent magnet arranged on the wheel, in particular on the spoke of the rear wheel. For example, the pulse-based speed sensor can also be a 3D magnetic field sensor that likewise interacts with a permanent magnet arranged on the wheel, in particular on the rim of the rear wheel. Such pulse-based speed sensors are known per se to those skilled in the art, so that a more detailed description of the operating principle is omitted.

[0023] Additional features, advantages, and other embodiments of the invention are described hereinafter or may be disclosed thereby.

[0024] According to an advantageous development of the invention, the speed of the vehicle is determined based on the pulse-based speed sensor if two valid pulse signals of the pulse-based speed sensor are measured successively. As soon as the two pulse signals of the pulse-based speed sensor are detected, the speed of the vehicle can be determined therefrom. Preferably, the speed is determined based on the pulse-based speed sensor, since pulse-based speed sensors are particularly accurate. In this case, the two pulse signals are preferably valid, i.e. the pulse signals are neither detected too early nor too late or not detected at all. This has the advantage that the pulse-based speed sensor is used as frequently as possible to measure the speed more accurately.

[0025] According to an advantageous development of the invention, if two pulse signals, preferably five pulse signals, in particular ten pulse signals, corresponding to a minimum speed of 5 km / h, preferably 10 km / h, in particular 20 km / h, are detected according to the pulse-based speed sensor, the distance travelled is calculated. The method is therefore only applied when the vehicle has a minimum speed. As a result, energy consumption is reduced. Another advantage is that reliability is improved, since the time interval between two pulse signals is small, so that the probability of erroneous recognition of missing pulse signals is reduced.

[0026] According to an advantageous extension of the invention, if two valid pulse signals, preferably five valid pulse signals, in particular ten valid pulse signals are detected according to the pulse-based speed sensor, which valid pulse signals correspond to a maximum speed of 5 km / h, preferably 10 km / h, in particular 20 km / h, the calculation of the distance traveled is stopped. Thus, if the vehicle has a low speed, the method for compensating for the erroneous detection of pulse signals when determining the speed of the vehicle can be suspended or interrupted. As a result, energy consumption can be reduced. Another advantage is that reliability is improved, because the time interval between two pulse signals is small, so that the probability of erroneous recognition of missing pulse signals is reduced.

[0027] According to an advantageous development of the invention, the calculation of the distance covered is stopped if the driver of the vehicle provides no pedal torque, if the drive unit of the vehicle provides no torque and / or if the vehicle is braked. In particular, in the case of electric bicycles, an accurate speed measurement is required in order to prevent driving assistance from being provided above the maximum speed. Therefore, the method can be suspended as long as no driving assistance is provided, since verification of the speed is not a prerequisite. This can reduce energy consumption. This improves robustness, since erroneous switching to an alternative speed is prevented.

[0028] According to an advantageous extension of the present invention, the identification of premature pulse signals and / or missing pulse signals is based on a compensation factor. The next pulse signal can be verified based on the distance traveled by the wheel until the next pulse signal is detected. The calculation of the distance traveled is based on another sensor for determining the speed. The accuracy of the other sensor can be less than the accuracy of the pulse-based sensor. In order to compensate for this smaller measurement accuracy, the wheel circumference can be calibrated (bereinigt) with a compensation factor. The compensation factor in the sense of an embodiment of the present invention is especially used to change the value of the wheel circumference in order to compensate for measurement inaccuracies. The compensation factor can be multiplied with the wheel circumference in particular. In order to identify additional pulse signals, the wheel circumference can be multiplied with a compensation factor less than 1, and in order to obtain missing pulse signals, the wheel circumference can be multiplied with a compensation factor greater than 1. It is also conceivable to add the compensation factor to the wheel circumference and / or subtract it from the wheel circumference. The advantage of doing so is that the measurement inaccuracies of other sensors can be compensated.

[0029] According to an advantageous further development of the invention, the compensation factor is based on a trust indicator of at least one further sensor. The trust indicator can be a measure for the accuracy of the further sensor. The compensation factor can compensate for measurement inaccuracies of the further sensor. The more reliably the further sensor can determine the speed, the smaller these measurement inaccuracies are and the smaller the influence of the compensation factor can be. This has the advantage that measurement inaccuracies of the further sensor can be compensated more efficiently.

[0030] According to an advantageous extension of the present invention, the identification of premature pulse signals and / or missing pulse signals is based on the distance traveled calculated according to a plurality of other sensors. A plurality of other sensors can be used to measure the speed. In this case, each other sensor can be used to calculate the distance traveled, and additional or missing pulse signals can be identified for each calculated distance. For example, if a minimum number of sensors or a determined combination of sensors indicates missing or additional pulse signals, the missing or additional pulse signals can be identified. Thus, the measurement inaccuracies of the other sensors are compensated.

[0031] According to an advantageous development of the invention, the drive unit of the vehicle is deactivated if three, in particular four, preferably five missing pulse signals are detected, in particular if a valid pulse signal is detected after each missing pulse signal. If a large number of missing pulse signals is measured, this is an indication that the pulse-based sensor is faulty or has been tampered with. For example, the drive unit of the vehicle can be deactivated to prevent the vehicle from accelerating above a maximum speed. In this case, the regular absence of pulse signals, i.e. the alternating detection of missing and valid pulse signals, can be an indicator of tampering in particular.

[0032] According to an advantageous further development of the invention, the determination of the speed of the vehicle based on at least one further sensor is based on a weighting of the speeds measured based on a plurality of further sensors. If a missing pulse signal is detected, the speed of the vehicle is determined based on the speed determined by the further sensor. If a plurality of further sensors are used, the speeds of the plurality of further sensors can be combined. For example, the speeds can be averaged. It is also conceivable to weight the speeds based on a trust indicator or to use only the speed determined based on the further sensor with the highest trust indicator.

[0033] According to an advantageous embodiment of the invention, the recognition of premature pulse signals of the pulse-based speed sensor is suppressed if a missing pulse signal is detected. It is not possible for the first pulse signal to be missing and the next pulse signal to be additionally premature. Thus, the recognition of premature pulse signals following an erroneous pulse signal can be suppressed in order to prevent erroneous recognition of pulse signals due to the interaction of the method.

[0034] Further important features and advantages of the invention emerge from the dependent claims, the drawings and the associated description of the figures.

[0035] It goes without saying that the features mentioned above and those yet 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

[0036] Preferred embodiments and implementations of the invention are shown in the drawings and are explained in more detail in the following description.

[0037] Here, it is shown schematically:

[0038] Figure 1 The steps of a method according to one embodiment of the present invention are shown;

[0039] Figure 2shows the course of the distance calculated with an additional pulse signal according to one specific embodiment of the present invention,

[0040] Figure 3 shows a curve of the calculated distance in the case of a missing pulse signal according to one specific embodiment of the present invention,

[0041] Figure 4a shows a curve of an ascertained speed of a vehicle according to one specific embodiment of the present invention,

[0042] Figure 4b shows a further profile of the ascertained speed of the vehicle according to one specific embodiment of the present invention,

[0043] Figure 5 A vehicle according to one specific embodiment of the present invention is shown. DETAILED DESCRIPTION

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

[0045] In a first step S1 , the speed of the vehicle is determined using a pulse-based speed sensor. The pulse-based speed sensor may be, for example, a reed sensor.

[0046] As soon as the speed of the vehicle is above the minimum speed, the pulse signal of the pulse-based speed sensor is verified. To this end, the pulse signal of the pulse-based speed sensor is first detected in a further step S2.

[0047] In a further step S3, the distance travelled by the wheel until the next pulse signal of the pulse-based speed sensor is calculated based on the speed of the further sensor. The further sensor can directly and / or indirectly measure the speed of the vehicle. For example, the further sensor can be an inertial sensor, an acceleration sensor, a driver cadence sensor (Fahrerkadenzsensor) and / or a motor cadence sensor. In particular, a plurality of further sensors can also be used. By the formula

[0048]

[0049] The distance covered by the wheels of the vehicle can be determined based on further sensors. In this case:

[0050] s i (t): The distance travelled by the wheel based on the speed of another sensor i at time t

[0051] v i : The velocity obtained by the other sensor i

[0052] t1: time of the first pulse

[0053] t: time until the distance traveled is calculated

[0054] In a further step S4, a premature or additional pulse signal from a pulse-based speed sensor is identified. If the next pulse signal is a valid pulse signal, i.e., correctly identified by the pulse-based speed sensor, the calculated distance traveled by the wheel corresponds to the wheel circumference. Therefore, if a pulse signal is measured at a point in time and the calculated distance is less than the wheel circumference, the pulse signal may be an additional, i.e., erroneous, pulse signal. On the contrary, if a pulse signal has not been measured at a point in time, but the calculated distance at this point in time is greater than the wheel circumference, the pulse signal is missing. Since the calculated distance is obtained based on another sensor and the sensor may produce a measurement error, the measurement error is compensated by a compensation coefficient. The compensation coefficient can be related to a trust indicator representing the accuracy of the sensor. The higher the accuracy of the other sensor, the smaller the measurement error compensation can be.

[0055] In other words, if applicable: i (t2) <U*x i (δ i ), then the additional pulse signal can be identified.

[0056] Here:

[0057] t2: The time point of the second pulse signal

[0058] U: Wheel circumference

[0059] x i : Compensation factor for identifying the additional pulse signal of another sensor i

[0060] δ i : Trust indicator of another sensor i

[0061] In particular, x i Less than 1 to ensure that the distance traveled is less than the wheel circumference.

[0062] If applicable: i (t)>U*y i (δ i ), the missing pulse signal can be identified.

[0063] Here:

[0064] y i : Compensation factor for identifying the missing pulse signal of another sensor i

[0065] In particular, i Greater than 1 to ensure that the distance traveled is greater than the wheel circumference.

[0066] In a further step S5, if a missing pulse signal is detected, the premature pulse signal is ignored for determining the speed of the vehicle according to the pulse-based speed sensor and / or, if a missing pulse signal is detected, the speed of the vehicle is determined according to at least one further sensor. If an additional premature pulse signal is detected by the pulse-based speed sensor and taken into account, the ascertained speed would be too high. To circumvent this, the premature pulse signal is ignored for ascertaining the speed, so that the speed can be further reliably determined by the pulse-based speed sensor.

[0067] If, on the other hand, the pulse signal is missing, the pulse-based speed sensor determines a speed that is too low. To compensate for this, the speed is instead determined using another sensor until two valid pulse signals from the pulse-based speed sensor are detected. From this point on, the pulse-based speed sensor is used again to determine the speed. In this way, the correct speed is continuously determined.

[0068] In particular, multiple additional sensors can also be used to determine the speed. For example, three different sensors can be used. In this case, in step S3, the distance traveled is calculated three times based on the three additional sensors. Next, in step S4, it is determined for each of the three calculated distances whether the pulse signal was detected too early or not detected. In order to finally decide whether the pulse signal is declared as premature, correct or missing, the results in step S4 can be combined with each other. For example, if sensor 1 detects a missing pulse signal or sensor 2 and sensor 3 both detect a missing pulse signal, the pulse signal is declared as missing. It is also conceivable to combine the additional sensors based on their trust indicators.

[0069] In this case, the speed of the vehicle is determined based on the detected speeds of the three other sensors. For example, the speed of the other sensor with the highest trust index, that is, the speed of the most reliable sensor, can be used to determine the speed. It is also conceivable to use a combination of the speeds of the other sensors, such as the average of the three determined speeds.

[0070] Figure 2 The course of a calculated distance in the case of an additional pulse signal according to one specific embodiment of the present invention is shown in schematic form.

[0071] The curve diagram 200 schematically shows the variation curve of the calculated travel distance 203 of a wheel (not shown). The time in seconds is shown on the X-axis 201, and the calculated distance since the last valid pulse signal 205, 205', 205" is shown on the Y-axis 202 in meters. The line 204 shows the wheel circumference U of the wheel. Therefore, the calculated distance 203 increases approximately to the line 204 in the case of valid pulse signals 205, 205', 205".

[0072] First, the pulse signals 205, 205', 205" are valid, and the calculated distance 203 rises approximately to line 204. The pulse signal 206 is premature. At the time of the pulse signal 206, the calculated distance 203 is less than the threshold value 207 - the wheel circumference multiplied by the compensation factor. Therefore, it is recognized that the pulse signal 206 occurs too early and is ignored in the calculation of the speed. The speed is still based on the pulse-based speed sensor, wherein the additional pulse signal 206 is not taken into account.

[0073] Figure 3 The graph shows the course of the distance calculated in the case of a missing pulse signal according to one specific embodiment of the present invention.

[0074] The curve diagram 300 schematically shows the variation curve of the calculated travel distance 303 of a wheel (not shown). The time in seconds is shown on the X-axis 301, and the calculated distance since the last valid pulse signal 305, 305', 305" is shown on the Y-axis 302 in meters. Line 304 shows the wheel circumference U of the wheel.

[0075] The pulse signal is missing between the valid pulses 305 ′ and 305 ″. Therefore, at time 306 , the calculated distance is greater than a threshold value 307 , which is the wheel circumference multiplied by a compensation factor. This identifies that the pulse signal is missing.

[0076] Figure 4a The curve of an ascertained speed of a vehicle according to one specific embodiment of the present invention is shown.

[0077] The graph 400 shows the variation of the determined speed of a vehicle (not shown). The graph 400 is divided into two parts. In the upper area 400', pulse signals 405, 405', 405" of a pulse-based speed sensor (not shown) are shown, and in the lower area 400" the time variation of the actually determined speed 403 and the time variation of the speed 404 determined by the pulse-based sensor are shown. The X-axis 401 shows the time in seconds, and the Y-axis 402 shows the speed in km / h).

[0078] First, pulse signals 405, 405' are valid, and the actually determined speed 403 corresponds to the speed of pulse-based speed sensor 404. At time 406, no pulse signal is detected. Therefore, the speed 404 determined by the pulse-based speed sensor continuously decreases until pulse signal 405". Since the time between pulse signals 405' and 405" is twice as long as before, the speed 404 determined by the pulse-based speed sensor remains half of the original value. At time 407, another pulse signal is measured, and the pulse-based speed sensor measures the correct speed again.

[0079] Shortly after the time point 406, it is detected that the expected pulse signal is missing. This may be due to either an actual reduction in the speed of the vehicle or the pulse signal is not detected and the pulse-based speed sensor will provide erroneous data. Therefore, the speed is determined based on a further sensor (not shown). The further sensor measures an approximately constant speed - the vehicle is therefore not braked, so that the actually determined speed 403 remains approximately constant. In this way, the actually determined speed 403 remains sufficiently accurate over the entire period of time despite the lack of detected pulse signals.

[0080] Figure 4b A further profile of the ascertained speed of the vehicle according to one specific embodiment of the present invention is shown.

[0081] Graph 400b shows another variation of the determined speed of a vehicle (not shown). The time variation of the actually determined speed 403b and the time variation of the speed 404b determined by the pulse-based sensor are shown. The X-axis 401b shows the time in seconds, the Y-axis 402b shows the speed in km / h).

[0082] and Figure 4a The difference is not that the pulse signal is missing, but that the vehicle reduces its speed.

[0083] At the time point of the valid pulse signal 405b, the vehicle starts braking and reduces its speed. Therefore, the next pulse signal 405b' is recognized later than expected. At the time point 408b when the next pulse signal is expected, it is unclear whether the vehicle reduces its speed or the pulse signal is not detected. Figure 4a Similarly, the speed of the other sensor is used from this point in time. As the vehicle brakes, the speed of the vehicle decreases continuously.

[0084] Since the speed of the vehicle decreases, the missing pulse signal is not detected until the next pulse signal 405b'. At the time point of the pulse signal 405b', the speed of the pulse-based speed sensor and the speed of the other sensor are consistent again. From the time point of the pulse signal 405b", the speed can be determined again based on the pulse-based speed sensor.

[0085] Figure 5 A vehicle according to one specific embodiment of the present invention is shown.

[0086] exist Figure 5 1 shows a vehicle 1 for compensating for erroneous detection of pulse signals when determining speed, comprising a pulse-based speed sensor 2 on a wheel 3, a further sensor 4 for determining the speed of the vehicle 1, and:

[0087] a first determination device 4 which is designed to determine the speed of the vehicle 1 using the pulse-based speed sensor 2 ,

[0088] a detection device 5 which is designed to detect a pulse signal of the pulse-based speed sensor 2,

[0089] a calculation device 6 which is designed to calculate, based on the speed of the further sensor 4, the distance travelled by the wheel 3 until the next pulse signal of the pulse-based speed sensor 2,

[0090] a recognition device 7 which is designed to recognize a premature pulse signal of the pulse-based speed sensor 2 if the calculated distance is less than the wheel circumference of the wheel 3 and / or to recognize a missing pulse signal of the pulse-based speed sensor 2 if the calculated distance is greater than the wheel circumference of the wheel 3,

[0091] - A second determination device 8, which is designed to ignore premature pulse signals if a missing pulse signal is detected, in order to determine the speed of the vehicle 1 based on the pulse-based speed sensor 2 and / or to determine the speed of the vehicle 1 based on at least one further sensor 4 if a missing pulse signal is detected.

[0092] The vehicle 1 is particularly designed to execute Figure 1 Steps S1 to S5.

[0093] Although the invention has been described on the basis of preferred exemplary embodiments, it is not restricted thereto but can be modified in an advantageous manner.

Claims

1. A method for compensating for erroneous detection of pulse signals when determining the speed of a vehicle (1), wherein: The vehicle (1) has a pulse-based speed sensor (2) on a wheel (3) and at least one further sensor (4) for determining the speed of the vehicle (1), the method comprising the following steps: - determining the speed of the vehicle (1) from the signal of the pulse-based speed sensor (2), - detecting a pulse signal (205, 205', 205") of the pulse-based speed sensor (2), - based on the speed determined by means of the further sensor (4), calculating the distance covered by the wheel (3) until the next pulse signal (205, 205', 205") of the pulse-based speed sensor (2), - if the calculated distance is less than the wheel circumference of the wheel (3), a premature pulse signal (206) of the pulse-based speed sensor (2) is detected, and / or if the calculated distance is greater than the wheel circumference of the wheel (3), a missing pulse signal of the pulse-based speed sensor (2) is detected, - if a missing pulse signal is detected, ignoring the premature pulse signal (206) for determining the speed of the vehicle (1) based on the pulse-based speed sensor (2), and / or, if a missing pulse signal is detected, determining the speed of the vehicle (1) based on at least one further sensor (4).

2. The method according to claim 1, wherein: If two valid pulse signals (205, 205', 205") of the pulse-based speed sensor (2) are measured successively, the speed of the vehicle (1) is determined based on the pulse-based speed sensor (2).

3. The method according to any one of claims 1 to 2, wherein: If two pulse signals, preferably five pulse signals, in particular ten pulse signals, corresponding to a minimum speed of 5 km / h, preferably 10 km / h, in particular 20 km / h, are detected by the pulse-based speed sensor (2), the distance covered is calculated.

4. The method according to any one of claims 1 to 3, wherein: If two valid pulse signals, preferably five valid pulse signals, in particular ten valid pulse signals, corresponding to a maximum speed of 5 km / h, preferably 10 km / h, in particular 20 km / h, are detected by the pulse-based speed sensor (2), the calculation of the distance covered is stopped.

5. The method according to any one of claims 1 to 4, wherein: The calculation of the distance covered is stopped if the driver of the vehicle (1) provides no pedal torque, if the drive unit of the vehicle (1) provides no torque and / or if the vehicle (1) is braked.

6. The method according to any one of claims 1 to 5, wherein: The identification of premature pulse signals (206) and / or missing pulse signals is based on compensation factors.

7. The method according to claim 6, wherein: The compensation factor is based on a trust indicator of the at least one further sensor (4).

8. The method according to claim 7, wherein: The identification of premature pulse signals (206) and / or missing pulse signals is based on a travelled distance calculated from a plurality of further sensors.

9. The method according to any one of claims 1 to 8, wherein: If three, in particular four, preferably five missing pulse signals are detected, in particular if a valid pulse signal (205, 205', 205") is detected after each missing pulse signal, the drive unit of the vehicle (1) is deactivated.

10. The method according to any one of claims 1 to 9, wherein: The determination of the speed of the vehicle (1) based on the at least one further sensor (4) is based on a weighting of speeds measured based on a plurality of further sensors.

11. The method according to any one of claims 1 to 10, wherein: If a missing pulse signal is detected, detecting a premature pulse signal (206) of the pulse-based speed sensor (2) is suppressed.

12. A vehicle (1) for compensating for erroneous detection of pulse signals when determining speed, the vehicle comprising a pulse-based speed sensor (2) on a wheel (3), a further sensor (4) for determining the speed of the vehicle (1), and: a first determination device (4) which is designed to determine the speed of the vehicle (1) from a signal of the pulse-based speed sensor (2), a detection device (5) which is designed to detect a pulse signal (205, 205', 205") of the pulse-based speed sensor (2), a calculation device (6) which is designed to calculate, based on the speed determined by means of the further sensor (4), the distance covered by the wheel (3) until the next pulse signal (205, 205', 205") of the pulse-based speed sensor (2), - a recognition device (7) which is designed to: recognize a premature pulse signal (206) of the pulse-based speed sensor (2) if the calculated distance is less than the wheel circumference of the wheel (3) and / or to recognize a missing pulse signal of the pulse-based speed sensor (2) if the calculated distance is greater than the wheel circumference of the wheel (3), - A second determination device (8), which is configured to: ignore the premature pulse signal (206) if a missing pulse signal is detected, in order to determine the speed of the vehicle (1) based on the pulse-based speed sensor (2), and / or, if a missing pulse signal is detected, determine the speed of the vehicle (1) based on at least one other sensor (4).

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