Assembly for electric bicycle equipped with a positioning device, and method for determining the current geographical location of an electric bicycle

Abstract

The proposed solution relates to an assembly for an electric bicycle, comprising a positioning device configured and provided for determining the geographical location of the electric bicycle, and a sensor device for determining navigation information. The sensor device has one or more of the following: a distance measuring unit configured and provided for measuring the length of the trajectory traveled by the electric bicycle; a compass unit configured and provided for determining the direction in which the electric bicycle is moving; and a posture unit configured and provided for determining the posture of the electric bicycle. The assembly also comprises an evaluation unit configured and provided for determining the current geographical location of the electric bicycle based on at least past geographical locations and determined navigation information. The proposed solution also relates to a method.

Description

Technical Field

[0001] The proposed solution relates to an assembly for an electric bicycle as described in the preamble of claim 1 and a method for determining the current geographical location of an electric bicycle as described in claim 11.

Background Art

[0002] It is known to equip an electric bicycle with a positioning device. The positioning device operates using satellite technology and can determine the geographical location. For this purpose, global navigation satellite systems (GNSS) such as the Global Positioning System (GPS) are available. The geographical location is determined based on signals from a number of satellites (for example, at least four satellites in the case of GPS). If the positioning device cannot establish communication with the satellites, it is impossible to determine the position. This can occur, for example, when an object such as a building or a mountain is in the line of sight (line-of-sight) to one or more satellites. Therefore, in an environment with many high-rise buildings, bridges, or mountains, it may not be possible to use the positioning device. Furthermore, in tunnels and underground parking lots, communication with satellites is usually impossible, meaning that even limited use is not possible. Even when conditions are good, the geographical location may be inaccurate, for example, due to only partial availability of satellite signals.

Summary of the Invention

Problems to be Solved by the Invention

[0003] Such problems can make the commercial use of electric bicycles difficult, for example, in the case of comprehensive rental bicycle offerings. This is because accurate geographical location information is desirable for this purpose. Furthermore, for a driver who is not familiar with the area and has to rely on the geographical location determined by the positioning device, the use of an electric bicycle may become difficult. An accurate geographical location is also desirable for insurance companies that conduct insurance contracts based on usage profiles obtained from the positioning device and for operators of road toll collection stations. [Means for solving the problem]

[0004] Against this backdrop, the proposed solution is based on the challenge of providing an assembly for electric bicycles that is configured and equipped with a positioning device to determine the geographical location of the electric bicycle, enabling reliable and accurate determination of the electric bicycle's current location.

[0005] According to a first aspect of the proposed solution, this problem is solved by the assembly for an electric bicycle described in claim 1.

[0006] According to this, the assembly includes a sensor device for determining navigation information having one or more of the following: A distance measuring unit is provided, configured to measure the length of the trajectory traveled by an electric bicycle. A compass unit is provided and configured to determine the direction in which the electric bicycle is moving, and / or A posture unit configured and installed to determine the posture of an electric bicycle.

[0007] Furthermore, this assembly includes an evaluation unit configured to determine the current geographical location of the electric bicycle based on at least past geographical locations and determined navigation information.

[0008] The distance measuring unit can measure the length of the path an electric bicycle takes in space by using the length of the trajectory it travels. The path may extend in the XY plane, for example, when traveling on flat ground. Furthermore, the path may extend in the Z plane, for example, when traveling on uneven terrain. Therefore, measuring the length of the trajectory can include determining the length of the path the electric bicycle takes in the three-dimensional space.

[0009] The azimuth unit may be configured and provided to determine the direction in relation to a ground coordinate system (e.g., one with respect to the base direction) or relative to the previous direction of the electric bicycle. Determination relative to the previous direction (in the form of a direction difference) may be more accurate, while determination relative to a ground coordinate system has no cumulative error.

[0010] A posture unit can be used to determine the posture of an electric bicycle in space. The posture unit may be configured and provided to determine, for example, the yaw angle, pitch angle, and / or roll angle of the electric bicycle. Since the direction of travel can be inferred from the posture of the electric bicycle (specifically, primarily the yaw angle) when the electric bicycle is used for forward travel as intended, the posture unit can be used indirectly in addition to, or as an alternative to, determining direction.

[0011] The proposed solution is based on the idea that the evaluation unit has at least one past geographical location of the electric bicycle, and that this geographical location is accurate enough to be used as a starting point for determining the electric bicycle's current geographical location via dead reckoning using navigation information. In this case, the movement of the electric bicycle in up to three spatial directions can be taken into account in order to accurately determine the current geographical location. The past geographical location may be determined by the positioning device. In one possible scenario, as the electric bicycle moves from the past geographical location to the current geographical location, the positioning device loses communication with one or more satellites necessary to determine the geographical location, and as a result, is unable to determine the current geographical location. Alternatively, the past geographical location may be entered by the electric bicycle driver.

[0012] Determining the current geographical location based at least on past geographical locations includes the possibility that the current geographical location is also determined by the evaluation unit based on previous navigation information and / or multiple past geographical locations. Therefore, the current geographical location can be inferred from past geographical locations using the determined navigation information.

[0013] In one embodiment, the distance measuring unit includes a speed sensor for measuring the angular velocity of the electric bicycle's wheels, an altitude sensor for measuring the electric bicycle's altitude relative to the sea surface, and / or an acceleration sensor for measuring the electric bicycle's acceleration. Using the angular velocity of the electric bicycle's wheels, the distance traveled by the wheels can be calculated based on the wheel radius. Alternative speed sensors are also conceivable and possible. The altitude sensor can be used to determine, for example, whether the electric bicycle is going uphill, which changes the electric bicycle's altitude relative to the sea surface. The electric bicycle's altitude can be made available, in particular, to a map matching algorithm configured to map the current geographical location to a traffic route on a map. For example, in cases where traffic routes overlap, such as on a bridge (where communication with positioning satellites may be lost), the current geographical location can be mapped to a traffic route based on the altitude, thus allowing the electric bicycle's movement to be mapped to the correct traffic route.

[0014] In a further embodiment, the evaluation unit is configured and provided to determine whether the acceleration measured by the acceleration sensor corresponds to the change in the speed of the electric bicycle measured by the speed sensor. This makes it possible to check the measurement value of the speed sensor, because acceleration is defined as the change in velocity per unit time.

[0015] In a further embodiment, the evaluation unit is further configured and provided to determine the current speed based on the last measured speed and the current acceleration when the change in speed does not correspond to the acceleration. This embodiment is based on the idea that, under certain circumstances, an acceleration sensor may enable a more accurate determination of speed. This is the case, for example, when a speed sensor is configured to measure the angular velocity of a wheel on an electric bicycle, and this wheel is spinning freely. In such a situation, the speed sensor may indicate a speed different from the actual speed at which the electric bicycle is traveling, by measuring the angular velocity. In particular, the angular velocity of the wheel does not correspond to the distance traveled (it is shorter than the distance expected based on the measured angular velocity). In such a case, the measured acceleration does not reflect the change in speed. This is because the acceleration does not change even when the wheel is spinning freely, but the measured speed increases. In that case, starting from the last measured speed v0, which is assumed to be correct, the current speed v can be calculated according to v = v0 + a·t, using the current acceleration a measured over a measurement interval t.

[0016] Similarly, the current geographical position x can be determined from the past geographical position x0 using velocity and acceleration (x = x0 + v0·t + 0.5·a·t). 2 ).

[0017] In one embodiment, the altitude sensor includes a barometric pressure sensor. The altitude of an electric bicycle can be easily determined from the barometric pressure because the typical barometric pressure at different altitudes is known.

[0018] In one embodiment, the orientation unit includes at least one angular velocity sensor and / or magnetic field sensor, which can be used to determine the orientation of the electric bicycle relative to the Earth's magnetic field. In principle, an angular velocity sensor can be provided for each of the three spatial directions. This allows for the determination of the roll angle (X-axis), pitch angle (Y-axis), and yaw angle (Z-axis), which represent rotation around their respective associated axes. The orientation of the electric bicycle in space can be used to draw conclusions about the direction in which the electric bicycle is moving. When used as intended, the electric bicycle can move along the X-axis. Thus, the yaw angle can be used to determine the direction of travel of the electric bicycle rider in the XY plane.

[0019] A magnetic field sensor can be used to determine the direction of an electric bicycle relative to Earth's magnetic north. This determination can be used alone or in combination with direction determination using at least one angular velocity sensor. In particular, using a magnetic field sensor can prevent the accumulation of errors that result from the (always relative) determination by at least one angular velocity sensor. Furthermore, a magnetic field sensor can be used to quickly determine the bearing on a map when a positioning device cannot establish communication with a sufficient number of satellites quickly enough.

[0020] In principle, measuring the length of the trajectory traveled by an electric bicycle based on, for example, the measurement of angular velocity by a speed sensor, and determining the direction in which the electric bicycle is moving using at least one angular velocity sensor, is sufficient to determine the geographical position of the electric bicycle at a given time in at least one plane. The current geographical position is determined based on two spatial directions.

[0021] In one embodiment, the attitude unit has at least one angular velocity sensor. The at least one angular velocity sensor of the attitude unit may be configured to determine, in particular, the pitch angle of the electric bicycle (rotation around the Y-axis lateral to the intended direction of travel). Thus, the attitude unit may be configured and provided to determine whether the electric bicycle is moving on an inclined surface. The pitch angle is important because when the electric bicycle is traveling along an inclined surface (which causes a change in the pitch angle), the current geographical position of the electric bicycle will be closer to its past geographical position compared to when it is not (even if the length of the trajectory traveled is the same).

[0022] The length of the traveled trajectory, combined with the pitch angle of the electric bicycle, allows for the calculation of the change in altitude of the electric bicycle above sea level. Furthermore, if an altitude sensor is installed, the measurements from the distance measurement unit and the attitude unit can be verified by calculating the change in altitude. Using the attitude unit and / or altitude sensor, it is conceivable and possible to determine the current geographical position based on up to three spatial directions.

[0023] In principle, the orientation unit and the attitude unit can share at least one angular velocity sensor. Alternatively, the orientation unit and the attitude unit could each have at least one angular velocity sensor (for example, the orientation unit with an angular velocity sensor for yaw angle and the attitude unit with an angular velocity sensor for pitch angle).

[0024] In one embodiment, the evaluation unit is configured and provided to determine the current geographical location of the electric bicycle based on the current geographical location determined by the positioning device and the acquired navigation information. This makes it possible to determine the current geographical location more accurately than by the positioning device alone. The evaluation unit can use a Kalman filter (known as the "tightly coupled Kalman filter algorithm") for the determination (especially a tightly coupled one). In particular, the current geographical location of the electric bicycle can be determined via an assembly based on a weighted average of the geographical location determined by the positioning device and the navigation information (for example, angular velocity, air pressure, orientation with respect to geomagnetism, attitude, and / or acceleration).

[0025] The current geographical location determined in this way can be more accurate than the geographical location determined by the positioning device and can also be more accurate than the geographical location determined from past geographical locations using navigation information. Furthermore, the current geographical location determined in this way can be used as the past geographical location for determining the next current geographical location. The method for determining the current geographical location of the electric bicycle can be implemented to be repeatedly executed in this regard. This also makes it possible, for example, to identify the location of a stolen electric bicycle from which the positioning device has been removed to prevent tracking.

[0026] In one embodiment, the evaluation unit is configured and provided to calibrate the sensor device based on the determined geographical location. The calibration can be performed by using the positioning device to determine the current geographical location and also using the determined navigation data to determine an additional current geographical location from past geographical locations. The sensor device can be calibrated by comparing the current geographical location determined by the positioning device with the additional current geographical location. This means that it can always provide an accurate alternative to the determination of the current geographical location by the positioning device.

[0027] The proposed solution also relates to an electric bicycle equipped with the described assembly.

[0028] According to a second aspect of the proposed solution, the problem is solved by a method for determining the current geographical position of an electric bicycle. This method includes the following steps. Determining a first geographical position of the electric bicycle, Moving the electric bicycle and simultaneously determining navigation information including the length of the trajectory along which the electric bicycle has moved, the direction in which the movement is performed, and / or the form of the posture of the electric bicycle, Based on the first geographical position and the navigation information, determining a second, current geographical position of the electric bicycle.

[0029] The first geographical position of the electric bicycle can form a past geographical position according to the first aspect, which is used to determine the second, current geographical position. The first geographical position can be determined by a positioning device.

[0030] The features and advantages described in relation to the first aspect of the present invention can also be applied to the method according to the second aspect, and vice versa.

[0031] The proposed solution further relates to a computer program product for an evaluation unit capable of determining the current geographical position of an electric bicycle, the product including instructions which, when executed, cause at least one processor of the evaluation unit to execute the above-described method.

Brief Description of the Drawings

[0032] The accompanying drawings illustrate possible embodiments of the proposed solution. [Figure 1] Shows a diagram of the function of an assembly for determining the current geographical position of an electric bicycle. [Figure 2] Shows a schematic diagram of a speed sensor. [Figure 3] Shows a diagram of the movement of an electric bicycle along a trajectory. [Figure 4A]This shows the movement of an electric bicycle in the XY plane. [Figure 4B] This shows an electric bicycle moving in the XZ plane. [Modes for carrying out the invention]

[0033] Figure 1 shows how an assembly works to determine the current geographical location of an electric bicycle E. The assembly has a positioning device 1 configured to determine its geographical location via a global positioning satellite system such as GPS. In principle, if communication with a sufficient number of satellites is possible, the information provided by the positioning device 1 is sufficient to determine the current geographical location.

[0034] Furthermore, the assembly has a sensor device 2 that provides navigation information. An evaluation unit 3 is configured and provided to determine the current geographical location of the electric bicycle E based on the determined navigation information. To do this, the evaluation unit 3 also uses at least one past geographical location, which could be, for example, a geographical location previously determined by the positioning device 1. Based on the past geographical location and the determined navigation information, the evaluation unit 3 can independently determine the current geographical location. For this purpose, a determination by the positioning device 1 is not absolutely necessary. In this regard, the sensor device 2 can be used as a substitute for the positioning device 1 to determine the current geographical location (for example, if the positioning device 1 is unable to do so). Furthermore, the sensor device 2 can be used to complement the positioning device 1 in order to improve the geographical location determined by the positioning device 1.

[0035] The sensor device 2 is configured to measure the length of the trajectory T traveled by the electric bicycle E and includes a distance measuring unit 21. For this purpose, the distance measuring unit 21 includes a speed sensor 211 for measuring the angular velocity of the wheels H of the electric bicycle E, an altitude sensor 212 for measuring the altitude of the electric bicycle E relative to the sea surface, and an acceleration sensor 213 for measuring the acceleration a of the electric bicycle E.

[0036] Based on the past geographical position measured at the first time point, the current geographical position at the second time point can be determined, for example, by determining the distance traveled from the time difference between the first and second time points, the angular velocity measured by the speed sensor 211, and the radius of the wheel H, via velocity. The distance traveled can be used to determine the length of the trajectory T.

[0037] Such decisions can be improved by including changes in altitude experienced by the electric bicycle E since its past geographical location was determined.

[0038] Furthermore, the determination of the current geographical location can be improved by including the acceleration a of the electric bicycle E. This is because it can compensate for, for example, the difference between the speed measured at the wheels H of the electric bicycle E and the actual speed of the electric bicycle E in motion. This makes it possible to compensate for, for example, wheel slippage on slippery surfaces when determining the current geographical location.

[0039] The sensor device 2 also has a compass unit 22 that can be used to determine the direction in which the electric bicycle E is moving. For this purpose, the compass unit 22 has a magnetic field sensor 221 and an angular velocity sensor 222. The magnetic field sensor 221 can be used to determine the orientation of the electric bicycle E relative to the Earth's magnetic field, similar to a compass. The angular velocity sensor 222 makes it possible to determine the orientation of the electric bicycle E in space. The angular velocity sensor 222 in the form of a yaw angle sensor is preferred for the compass unit 22. This makes it possible to determine the orientation of the electric bicycle E so that it can be steered as intended. In principle, an angular velocity sensor can be provided for each of the three spatial directions X, Y, and Z. In this regard, the representation of the angular velocity sensor is merely illustrative. For example, a three-axis gyroscope is suitable as an angular velocity sensor.

[0040] The sensor device 2 also has an attitude unit 23 that can determine the attitude of the electric bicycle E in space. The attitude of the electric bicycle E may include rotation around one of three spatial directions X, Y, and Z. The pitch angle N corresponding to rotation around the Y axis may be particularly important as it can lead to conclusions about whether the electric bicycle E is moving uphill or downhill. Such movement along an inclined surface can also be determined from the altitude difference using the altitude sensor 212. However, to more accurately determine the distance between the current geographical location and the past geographical location, it may be advantageous to use the pitch angle N in addition to, or as an alternative to, the altitude difference traveled.

[0041] Figure 2 shows a speed sensor 211 for measuring the angular velocity of the rear wheel H of an electric bicycle E rotating in the rotational direction R, where the rear wheel H is shown as an example of any wheel on the electric bicycle. The rear wheel H may have components configured to rotate at the same angular velocity as the rear wheel H and to facilitate measurement by the speed sensor 211. According to the signal S shown, the speed sensor 211 measures the angular velocity of the rear wheel H in the form of a peak of amplitude A over time t. From the angular velocity thus determined, the rotational speed of the rear wheel H can be calculated via the radius of the rear wheel H. If the rear wheel H is connected to the ground on which movement is occurring by force fitting (friction coupling), the rotational speed of the rear wheel H is the same as the speed of the electric bicycle E.

[0042] Figure 3 shows an electric bicycle E moving along the X-axis. If the electric bicycle E deviates from the X-axis, a compass unit 22 provided on the electric bicycle E, configured to determine the direction of the electric bicycle E, can measure rotation around the Z-axis, for example, via the angular velocity sensor 222 of the compass unit 22. This rotation corresponds to a change in the yaw angle G of the electric bicycle E. Therefore, the trajectory T of the electric bicycle E initially includes a straight line along the X-axis, which transitions to an arc shape after the change in yaw angle G. Thus, in addition to a distance measuring unit 21 provided, configured to measure the length of the trajectory T of the electric bicycle E, it may be advantageous to provide a compass unit 22 equipped with a magnetic field sensor 221 or an angular velocity sensor 222 to determine the direction in which the electric bicycle E is moving.

[0043] Figure 4A shows a diagram of an electric bicycle E moving along the X-axis. The electric bicycle E is accelerated along the X-axis with acceleration ax. The distance measuring unit 21 of the assembly of the electric bicycle E may include an acceleration sensor 213 for measuring acceleration ax.

[0044] The electric bicycle E is also subject to acceleration g due to gravity. This acts laterally with respect to the direction of travel along the Z-axis.

[0045] Figure 4B shows an electric bicycle E moving along an inclined surface. Note that the geographical position of the electric bicycle E changes to a degree smaller than the length of the trajectory T it travels. The change in geographical position corresponds to the projection of the trajectory T onto a virtual plane of the Earth (dashed line).

[0046] The fact that the electric bicycle E is climbing an incline can be determined, for example, by the pitch angle N of the electric bicycle E, as described above. Furthermore, the measurement of acceleration a can also provide information about the fact that the electric bicycle E is climbing a flat surface. Due to Earth's gravity g (in particular its component gx along the X-axis that opposes the forward acceleration ax), the speed of the electric bicycle E decreases more significantly than when moving laterally against Earth's gravity. An altitude sensor 212 in the form of a barometric pressure sensor can be used to help determine movement on an incline, for example, where barometric pressure can be converted to an altitude value.

[0047] Therefore, geographical location can not only be determined more accurately, but it can also be linked to a higher degree. This allows drivers to electronically save past travels and access selected routes again later. [Explanation of symbols]

[0048] 1. Positioning device 2 Sensor device 21 Distance measuring unit 211 Speed ​​sensor 212 Advanced Sensor 213 Accelerometer 22 compass units 221 Magnetic field sensor 222 angular velocity sensors 23 Posture Unit 231 Angular velocity sensor 3. Evaluation Unit A Amplitude a,ax,az acceleration g,gx,gz Gravitational acceleration E Electric Bicycle G Yaw angle H rear wheel N Tilt angle R rotation direction S signal T locus X,Y,Z spatial direction

Claims

1. An assembly for an electric bicycle (E), A positioning device (1) is provided and configured to determine the geographical location of the electric bicycle (E), A sensor device (2) for determining navigation information, It has, The sensor device (2) is A distance measuring unit (21) is provided, configured to measure the length of the trajectory (T) traveled by the electric bicycle (E). A compass unit (22) is provided, configured to determine the direction in which the electric bicycle (E) is moving, and A posture unit (23) is provided, configured to determine the posture of the electric bicycle (E). Having at least one of the following, The aforementioned assembly is An assembly for an electric bicycle (E) characterized by having an evaluation unit (3) provided, which is configured to determine the current geographical location of the electric bicycle (E) based at least on its past geographical location and the determined navigation information.

2. The assembly according to claim 1, wherein the distance measuring unit (21) includes at least one of a speed sensor (211) for measuring the angular velocity of the wheels of the electric bicycle (E), an altitude sensor (212) for measuring the altitude of the electric bicycle (E) relative to the sea surface, and an acceleration sensor (213) for measuring the acceleration (a) of the electric bicycle (E).

3. The assembly according to claim 2, characterized in that the evaluation unit (3) is configured and provided to determine whether the acceleration (a) measured by the acceleration sensor (213) corresponds to a change in the speed of the electric bicycle (E) measured by the speed sensor (211).

4. The assembly according to claim 3, wherein the evaluation unit (3) is further configured and provided to determine the current velocity based on the last measured velocity and the current acceleration (a) if the change in velocity does not correspond to the acceleration (a).

5. The assembly according to any one of claims 2 to 4, characterized in that the altitude sensor (212) includes a barometric pressure sensor.

6. The assembly according to any one of the preceding claims, wherein the orientation unit (22) includes at least one angular velocity sensor (222) and at least one magnetic field sensor (221) capable of determining the orientation of the electric bicycle (E) with respect to the Earth's magnetic field.

7. The assembly according to any one of the preceding claims, characterized in that the attitude unit (23) has at least one angular velocity sensor (222).

8. The assembly according to any one of the preceding claims, characterized in that the evaluation unit (3) is configured and provided to determine the current geographical location of the electric bicycle (E) based on the current geographical location determined by the positioning device (1) and the determined navigation information.

9. The assembly according to any one of the preceding claims, characterized in that the evaluation unit (3) is configured and provided to calibrate the sensor device (2) based on a determined geographical location.

10. An electric bicycle (E) having the assembly described in any one of the preceding claims.

11. A method for determining the current geographical location of an electric bicycle (E), To determine the first geographical location of the electric bicycle (E), The electric bicycle (E) is moved, and at the same time, navigation information is determined in at least one form of the following: the length of the trajectory (T) of the electric bicycle (E), the direction in which the movement is performed, and the posture of the electric bicycle (E). Based on the first geographical location and the navigation information, the second current geographical location of the electric bicycle (E) is determined. A method that includes this.

12. A computer program product for an evaluation unit (3) capable of determining the current geographical location of an electric bicycle (E), the computer program product comprising an instruction that, when the instruction is executed, causes at least one processor of the evaluation unit (3) to execute the method according to claim 11.

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