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 such as an electric bike, comprising a drive unit and a sensor unit having at least one sensor element, comprising the steps of: - acquiring a sensor signal via the at least one sensor element; - determining the stairs on the basis of the acquired sensor signal, in particular via the sensor unit; and - controlling the drive unit on the basis of the determined stairs.

Description

[0001] Description

[0002] title

[0003] Method for controlling a drive unit of a vehicle

[0004] The invention relates to a method for controlling a drive unit of a vehicle, in particular a single-track vehicle such as an eBike.

[0005] The invention further relates to a vehicle, in particular a single-track vehicle such as an eBike.

[0006] Although the present invention is generally applicable to any vehicle, the present invention is described with reference to single-track vehicles in the form of eBikes.

[0007] State of the art

[0008] To climb stairs, eBike riders must either carry or push their eBike up the stairs. EBikes, in particular, are heavy due to the battery and drive unit, so carrying or pushing the eBike requires considerable effort.

[0009] E-bikes can have a push assist function that can be used to push the e-bike up stairs more easily. DE 198 02 937 A1 discloses a bicycle with an auxiliary drive that allows a user to manually activate a push assist function before approaching a staircase, making it easier to push the bicycle up the stairs. Disclosure of the Invention

[0010] In one embodiment, the present invention provides a method for controlling a drive unit of a vehicle, in particular a single-track vehicle such as an eBike, comprising a drive unit and a sensor unit with at least one sensor element, comprising the steps:

[0011] Detecting a sensor signal by the at least one sensor element, determining the stairs based on the detected sensor signal, in particular by the sensor unit, and

[0012] Control of the drive unit based on the detected stairs.

[0013] The vehicle, especially a single-track vehicle like an eBike, can also be a multi-track vehicle. For example, the vehicle is equipped with three or four wheels. In particular, the vehicle is a pedelec, S-pedelec, or an electric bicycle.

[0014] In one embodiment, the present invention provides a method for determining route information, wherein at least one route section comprises information determined by a method according to claim 16.

[0015] In one embodiment, the present invention provides a drive unit for a vehicle, in particular a single-track vehicle such as an eBike, wherein the drive unit comprises a sensor unit with at least one sensor element and is designed to carry out the method according to the invention.

[0016] In one embodiment, the present invention represents a vehicle, in particular a single-track vehicle such as an eBike with a drive unit as mentioned above.

[0017] The sensor unit can comprise a gyroscope, an inertial sensor and / or a camera. In particular, the sensor unit can be a smartphone. With the help of the sensor unit, a geometry of the stairs can be detected. The sensor unit can be part of the drive unit. Alternatively or additionally, the sensor unit can have its own housing. The sensor unit can be arranged inside the drive unit or outside the drive unit. To carry out the method, the drive unit in particular has a control unit. The control unit is designed to control the drive unit. The control unit in particular comprises the sensor unit. The control unit in particular comprises an execution device which controls the drive unit based on the determined stairs.

[0018] One of the advantages achieved is that stairs are automatically detected, which increases user-friendliness. Another advantage is that one or more follow-up measures or actions can be performed for the user. Another advantage is that the control of the drive unit can be carried out as a predefined, particularly vehicle-based, follow-up action depending on the detected stairs, for example, activating a push assistance system installed in the vehicle or adjusting the level of assistance.

[0019] A staircase is, in particular, an obstacle that comprises at least two steps and / or step-like elevations. A step is, in particular, a height difference from a first level to a second level, where the second level can be higher or lower than the first level. A staircase exhibits a regularity, in particular a regularity of the steps, which repeat cyclically.

[0020] The sensor signal for detecting the stairs can in particular be measured by the sensor element, for example the sensor signal can correspond to a physical quantity.

[0021] Push assistance is specifically defined as driving the vehicle through a drive unit that is applied while the vehicle is being pushed by a user.

[0022] The term "vehicle-based" in relation to a subsequent action is to be understood in the broadest sense and refers, preferably in the description, to any action, implementation, procedure, sequence, and / or instruction that provides a change in the state of the vehicle, in particular the speed, acceleration, direction, or the like. Further features, advantages, and further embodiments of the invention are described below or will become apparent thereby.

[0023] According to an advantageous development of the invention, the stairs are determined based on a particularly wave-shaped and / or cyclical acceleration curve in the direction of a longitudinal axis of the vehicle. The vehicle's longitudinal axis is defined in particular as an axis approximately parallel to an axis through the centers of the front and rear wheels of the vehicle. If the vehicle is a three-wheeler, the vehicle's longitudinal axis is parallel to the direction of travel with the handlebars held straight. The acceleration of the vehicle can be measured, for example, by at least one inertial sensor. If a vehicle is pushed up the stairs, the vehicle is periodically moved up one step and then along the step to the next step. This creates a regular acceleration curve in the vehicle's longitudinal axis, which can be used to detect stairs.One advantage is that stairs can be reliably detected.

[0024] According to an advantageous development of the invention, the stairs are determined based on a particularly wave-like and / or cyclical acceleration curve in the direction of a vehicle's vertical axis. An acceleration curve is defined as the change in acceleration in the direction of an axis over time. The steps raise the vehicle at regular intervals, 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 the stairs. The advantage of this is that the stairs can be reliably detected.

[0025] According to an advantageous development of the invention, the stairs are determined based on a particularly wave-like and / or cyclical yaw rate curve in the direction of a pitch axis of the vehicle. While the vehicle is being pushed up a step, the pitch angle changes abruptly. It then remains constant until the vehicle reaches the next step. This creates a wave-like pitch angle curve, which can be an indicator that the vehicle is being pushed up a flight of stairs. The pitch angle can be measured, for example, using a gyroscope. This allows stairs to be reliably detected.

[0026] According to an advantageous development of the invention, the stairs are detected based on a particularly wave-like and / or cyclical speed curve and / or a curve of one or more electrical drive parameters in the drive unit of the vehicle. The electrical drive parameters can be, in particular, a current, a voltage, and / or an electrical power. Due to the cyclical progression of the stairs, the torque required to push the vehicle up regularly increases and decreases, so that an electrical drive parameter in the drive unit or a speed of the drive unit also exhibits a cyclical progression. This also allows stairs to be reliably detected.

[0027] According to an advantageous development of the invention, the stairs are detected using an optical and / or acoustic detection device, in particular a camera. For example, the user's smartphone can be attached to the vehicle, which can detect stairs located in front of the vehicle using a camera and an image recognition program. One advantage of this is that a staircase can be detected even before the vehicle has reached it. Furthermore, the stairs can be detected, for example, using a radar signal, an ultrasonic signal, or the like.

[0028] According to an advantageous development of the invention, the stairs are determined based on position data of the vehicle and / or position data of the stairs. For example, the current position of the vehicle can be determined using a GPS signal. By comparing this with a map and stairs marked on the map, it can be determined whether the vehicle is in front of and / or on a staircase. This makes it easy to determine a staircase.

[0029] According to a further advantageous development of the invention, the control of the drive unit includes an adjustment of the degree of assistance, in particular the degree of torque assistance of the drive unit. The advantage of this is that, when stairs are detected, the state of the drive can be adapted to the stairs. In particular, a suitable change in the position of the vehicle can be suggested to a user. A suitable change in position can be, for example, a navigation instruction.

[0030] According to an advantageous development of the invention, the vehicle has a push assist function, and the control of the drive unit comprises a particularly automatic activation and / or adjustment of the push assist function based on the detected stairs. One advantage of this is that a user can push the vehicle up the stairs more comfortably and with less effort, since the push assist function can be adjusted based on the stairs, in particular the characteristics of the stairs.

[0031] According to an advantageous development of the invention, the control of the drive unit comprises adjusting or changing, in particular adjusting or changing the pushing assistance, very particularly reducing, a torque of the drive unit, in particular adjusting the pushing assistance comprises changing, in particular reducing, a torque of the drive unit of the vehicle. It is conceivable that, alternatively or additionally, a speed of the vehicle is reduced. If the vehicle is traveling at high speed, there is a risk that the vehicle will move suddenly upon impact with the stairs or even slip out of the user's control. By reducing the speed, the user has more control over the vehicle, which improves the user experience. In particular, a cyclical reduction in the torque of the drive unit is advantageous.

[0032] According to an advantageous development of the invention, the length, height, gradient, start, end, stair height, and / or regularity of the stair height are determined. By determining the geometry and shape of the stairs, the push assistance, in particular, can be better adapted to the stairs currently being negotiated.The length of the staircase is in particular the length of the distance between the first and the last step, the height is in particular the difference in height between the first and the last step, the gradient is in particular the angle between an axis along the staircase and a horizontal, the start and the end of the staircase are in particular the transition from a subfloor to the first step or from a last step to the subfloor, the step height is in particular the difference in height between an individual step and a previous and / or subsequent step and the regularity of the step height is in particular the relative difference in the step height of the individual steps, whereby, for example, the standard deviation of the step height and / or the difference in step height of successive steps can be used as a measure of the regularity.The geometry and shape of the stairs can also be used to control the drive unit while the vehicle is driving up the stairs or while the vehicle is being pushed up the stairs.

[0033] According to an advantageous development of the invention, the control of the drive unit additionally takes into account a position and / or rotation of the vehicle in relation to the stairs, at least an acceleration of the vehicle, a stair height and / or a regularity of the stair height. In particular, this advantageous development means changing the torque of the drive unit. The advantage of this is that a user can push the vehicle up the stairs more easily and safely. For example, the torque of the drive unit and / or the speed can be reduced when the vehicle is pushed up a step and / or increased when the vehicle has overcome the step. Furthermore, it is conceivable that the torque and / or the speed are reduced at the beginning and / or in the middle of the stairs and / or increased when a front wheel of the vehicle has passed the stairs.It is also conceivable that the torque and / or speed are reduced if the steps are comparatively high and / or irregularly shaped. In other words, changing the torque can be used to increase the torque at the right time, especially when climbing a subsequent step.

[0034] According to an advantageous development of the invention, the control of the drive unit additionally includes the following further step: determining an alternative navigation route to avoid the stairs. This allows the user to be automatically suggested an alternative route that allows the user to avoid the stairs, thus eliminating the need to exert any effort to climb them. Determining an alternative navigation route can be based, for example, on position data and / or map data.

[0035] 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 refers to the first, particularly physical, contact of the vehicle with a new stair step. If the staircase is regularly constructed, it is possible to estimate when the next stair step will be reached. To cushion the impact on the vehicle, the vehicle's speed can, for example, be reduced before the next stair step.

[0036] According to an advantageous development of the invention, the control of the drive unit is additionally based on a user setting. User preferences can, for example, be set by the user and / or learned automatically using machine learning. Depending on these settings, the push assistance can, for example, be adjusted in order to tailor the pushing of the vehicle up to the user's needs. For example, the push assistance can be configured for a desired number of steps to be climbed per minute. This makes it easier for the user to push the vehicle up the stairs. It is conceivable for a user to set whether they prefer to push the vehicle up stairs or prefer to avoid stairs.

[0037] According to an advantageous development of the invention, the control of the drive unit additionally comprises storing information about the detected stairs in a local and / or global database. By storing information about the stairs, for example length, height, gradient, step height, or similar, the pushing assistance can be better adapted to the geometry of the stairs when the stairs are climbed again. The information can be stored locally, i.e., only accessible by the vehicle itself, and / or globally, i.e., accessible by different vehicles. If information about a staircase can be retrieved from a database, the stairs can also be detected by comparing the position of the stairs with the current position of the vehicle, for example, by comparing the GPS signal.To avoid having to push the vehicle up the stairs, this information can also be used to define a route at an early stage that avoids one or more stairs.

[0038] According to an advantageous development of the invention, the sensor signal is configured as information from an external device and / or the cloud and / or a server and / or is processed internally by the sensor unit. The advantage of this is flexible processing of sensor signals.

[0039] Further important features and advantages of the invention emerge from the subclaims, from the drawings and from the associated description of the figures.

[0040] It is understood that the features mentioned above and those to be explained below can be used not only in the combination specified in each case, but also in other combinations or on their own, without departing from the scope of the present invention.

[0041] Preferred embodiments and embodiments of the present invention are illustrated in the drawings and are explained in more detail in the following description.

[0042] This shows

[0043] Figure 1 shows in schematic form steps of a method according to an embodiment of the present invention;

[0044] Figure 2 shows, in schematic form, a profile of a rotational speed of a drive unit according to an embodiment of the present invention; and Figure 3 shows, in schematic form, a vehicle according to an embodiment of the present invention;

[0045] Figure 1 shows in schematic form steps of a method according to an embodiment of the present invention.

[0046] The method for controlling a drive unit 8, in particular a single-track vehicle 2 such as an eBike, comprising a sensor unit 10 with at least one sensor element comprises the following steps.

[0047] In a first step S1, a sensor signal is detected by the at least one sensor element of the sensor unit 10.

[0048] In a second step S2, the stairs are determined based on the detected sensor signal, in particular by the sensor unit 10. The stairs can be detected before reaching the stairs, for example, by an optical detection system and / or while pushing the vehicle upwards, for example, by cyclical acceleration of the vehicle.

[0049] In a third step S3, the drive unit 8 is controlled based on the determined stairs. For example, the control may include adjusting a push assist 9 or adjusting a degree of assistance based on the determined stairs and / or determining an alternative route to avoid the stairs.

[0050] Figure 2 shows in schematic form a profile of a rotational speed of a drive unit 8 according to an embodiment of the present invention.

[0051] The upper part of the drawing shows the curve 1 of the position of a vehicle 2, here in the form of an eBike, on a staircase 3. The lower part shows the curve 1 ' of a rotational speed of a drive unit 8 (shown in Figure 3) of the vehicle 2. The X-axis 4 shows the qualitative position on the stairs 3 and the Y-axis 5 shows the rotational speed of the drive unit 8, each in an arbitrary unit. Initially, the vehicle 2 is moved at a high speed in the direction of the stairs 3. The drive unit 8 therefore has a high rotational speed at a first position 6. According to step S1 of Figure 1, the vehicle 2 is approached to the stairs 3.

[0052] In the second position 6', the vehicle 2 hits the stairs 3. As the vehicle continues to move, the front wheel 7 of the vehicle 2 is raised, 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 from this it is automatically determined that the vehicle is moving over stairs 3 according to step S2 of Figure 1. It is also possible for the vehicle 2 to have an inertial sensor that can record the cyclical acceleration curves caused by the steps when driving up the stairs 3 and thus detect the stairs 3. Furthermore, it is possible for a camera (not shown) to be arranged on the vehicle 2, with which the stairs 3 can be optically detected.Furthermore, the drive power required to push the vehicle 2 up from one step to the next—i.e., when climbing a step—is higher than when pushing the vehicle 2 along the step to the next step. As a result, the drive unit 8 has a cyclical speed, or a cyclical current strength, in the drive unit 8. From this, the presence of the stairs 3 can also be determined.

[0053] As soon as the stairs 3 are detected, the control of the drive unit is carried out as a subsequent action based on the determined stairs 3. For example, a push assistance 9 of the vehicle 2 is activated or adjusted according to step S3 of Figure 1. First, the speed of the vehicle 2 is reduced, allowing a user to better handle the vehicle 2. At position 6", the drive unit 8 of the vehicle 2 has a low rotational speed, and thus the speed of the vehicle 2 is also low.

[0054] From position 6", the speed of the drive unit 8 is periodically increased and then decreased again. This allows a user to push the vehicle 2 up the stairs 3 in a more comfortable manner. Before the front wheel 7 hits a step of the stairs 3, the speed of the vehicle 2 is reduced in order to reduce the impact on the vehicle 2. The speed is then slightly increased so that the vehicle 2 can be pushed up the stairs 3 faster and easier until the front wheel 7 hits the next step. The increase and / or reduction in speed can depend on the height of the steps, so that, for example, the speed can be lower on high steps than on low steps.

[0055] To prevent a wheel of the vehicle 2 from slipping when being pushed up, especially when a rear wheel of the vehicle 2 reaches a step, the push assistance 9, in particular the torque of the push assistance 9, can be increased slowly. This means that the push assistance 9 is increased more slowly when a rear wheel hits a step than when a front wheel 7 hits a step. This prevents the vehicle 2 from losing its grip on the steps 3.

[0056] The measured accelerations and / or rotation rates of the vehicle 2 can be used to determine the geometry of the stairs 3. This information can be stored so that when the stairs 3 are traveled through again, this information can be used directly to adjust the push assistance 9.

[0057] At position 6'”, the front wheel 7 has now reached the end of the stairs 3, so that the speed of the drive unit 8 and thus the speed of the vehicle 2 can be increased again.

[0058] Another possible example of controlling the drive unit is to determine an alternative route to bypass stairs 3. Thus, the user would not have to push the vehicle 2 up stairs 3.

[0059] Figure 3 shows in schematic form a vehicle according to an embodiment of the present invention.

[0060] A vehicle 2, here in the form of an e-bike, comprises a drive unit 8 and a push assist system 9. The push assist system 9 can be part of the drive unit 8. The vehicle 2 further comprises a sensor unit 10, designed for the automatic detection of the stairs 3 by the vehicle 2. The sensor unit 10 can comprise a gyroscope, an inertial sensor, and / or a camera. In particular, the sensor unit 10 can be a smartphone. Using the sensor unit 10, a geometry of the stairs 3 can be detected.

[0061] In addition, the vehicle 2 has an execution device 11 for controlling the drive unit of the vehicle based on the detected stairs 3. The control of the vehicle can, for example, be the adjustment of the push assistance 9 based on the detected stairs 3. The drive unit 8 can comprise the execution device 11. The execution device 11 and the sensor unit 10 can be parts of a control unit (not shown) of the drive unit 8. With the aid of the execution device 11, for example, the push assistance 9 can be changed or adjusted so that the vehicle 2 can be pushed up the detected stairs 3 in a manner suitable for a user.

[0062] Furthermore, the vehicle 2 can have a determination device 13. Using the determination device 13, an alternative route can be determined, allowing a previous route to be bypassed. For this purpose, the determination device 13 can have a map and / or a position detection system. The determination device 13 can 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] Increasing the user-friendliness of the push assistance.

[0065] More comfortable pushing up or enabling the vehicle to drive up the stairs.

[0066] Pushing or driving the vehicle with less effort. Steering the vehicle based on a detected staircase.

[0067] Although the present invention has been described using preferred embodiments, it is not limited thereto but can be modified in many ways.

Claims

Claims 1. Method for controlling a drive unit (8) of a vehicle (2), in particular a single-track vehicle (2) such as an eBike, comprising a drive unit (8) and a sensor unit (10) with at least one sensor element, comprising the steps: Detecting (S1) a sensor signal by the at least one sensor element of the sensor unit (10), Determining (S2) a staircase (3) based on the detected sensor signal, in particular by the sensor unit (10), and Control (S3) of the drive unit (8) based on the determined staircase (3).

2. Method according to claim 1, wherein the staircase (3) is determined on the basis of, in particular, wave-shaped and / or cyclic acceleration curves in the direction of a longitudinal axis of the vehicle (2).

3. Method according to one of claims 1 - 2, wherein the staircase (3) is determined on the basis of a particularly wave-shaped and / or cyclic acceleration curve in the direction of a vehicle vertical axis.

4. Method according to one of claims 1 -3, wherein the staircase (3) is determined on the basis of a particularly wave-shaped and / or cyclical rotation rate curve in the direction of a pitch axis of the vehicle (2).

5. Method according to one of claims 1 - 4, wherein the staircase (3) is determined on the basis of a particularly wave-shaped and / or cyclical speed curve and / or a curve of one or more electrical drive parameters in the drive unit (8) of the vehicle (2).

6. Method according to one of claims 1 - 5, wherein the staircase (3) is determined by means of an optical and / or acoustic detection device (10), in particular a camera. Method according to one of claims 1-6, wherein the stairs (3) are determined based on position data of the vehicle (2) and / or position data of the stairs (3). Method according to one of claims 1-7, wherein the control (S3) of the drive unit (8) comprises an adjustment of a level of assistance, in particular a level of torque assistance of the drive unit (8). Method according to one of claims 1-8, wherein the drive unit (8) has a push assistance (9) and wherein the control (S3) of the drive unit (8) comprises an activation, in particular automatic activation and / or adjustment of the push assistance (9). Method according to one of claims 1-9, wherein the control (S3) of the drive unit (8) comprises an adjustment or modification, in particular an adjustment or modification of the push assistance (9), very particularly a reduction, of a torque of the drive unit (8) of the vehicle (2).Method according to one of claims 1-10, wherein the control (S3) of the drive unit (8) is additionally carried out taking into account a length, height, gradient, start, end, stair height, and / or regularity of a stair height of the stairs (3). Method according to one of claims 1-11, wherein the control (S3) of the drive unit (8) is additionally based on taking into account a position and / or rotation of the vehicle (2) with respect to the stairs (3), at least one acceleration of the vehicle (2), a stair height, and / or a regularity of the stair height. Method according to one of claims 1-12, wherein the control (S3) of the drive unit (8) additionally comprises the following step: determining an alternative navigation path for bypassing the stairs (3). Method according to one of claims 1-13, wherein the control (S3) of the drive unit (8) is additionally based on a predicted impact event with a stair step. Method according to one of claims 1-14, wherein the control (S3) of the drive unit (8) is additionally based on a user setting. Method according to one of claims 1-15, wherein the control (S3) of the drive unit (8) additionally comprises storing information about the determined staircase (3) in a local and / or global database. Method according to one of claims 1-16, wherein the sensor signal is embodied as information from an external device and / or the cloud and / or a server and / or is processed internally by the sensor unit. Method for determining route information, wherein at least one route section has information that was determined by a method according to claim 16.Drive unit, in particular for a single-track vehicle (2) such as an e-bike, comprising a sensor unit with at least one sensor element, wherein the drive unit is designed to carry out the method according to one of claims 1-18. Vehicle, in particular a single-track vehicle (2) such as an e-bike, comprising a drive unit according to claim 19.

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