Assembly for an electric bicycle, comprising a localizing device, and method for determining a current geolocation of an electric bicycle

Abstract

The invention relates to an assembly for an electric bicycle, comprising a localizing device which is designed and provided for determining the geolocation of the electric bicycle and comprising a sensor device for ascertaining navigation information, comprising one or more of - a distance measuring unit which is designed and provided for measuring the length of a trajectory traversed by the electric bicycle, - a direction unit which is designed and provided for determining the direction in which the electric bicycle is moving, and / or - a position unit which is designed and provided for determining the position of the electric bicycle. The assembly additionally has an analysis unit which is designed and provided for determining the current geolocation of the electric bicycle at least on the basis of a previous geolocation and the ascertained navigation information. The invention also relates to a method.

Description

[0001] Assembly for an electric bicycle with a tracking device and method for determining a current geolocation of an electric bicycle

[0002] Description

[0003] The proposed solution relates to an assembly for an electric bicycle according to the preamble of claim 1 and a method for determining a current geolocation of an electric bicycle according to claim 11.

[0004] It is common practice to equip an electric bike with a tracking device. A tracking device can work with satellites to determine a geolocation. Global navigation satellite systems (GNSS), such as the Global Positioning System (GPS), are available for this purpose. Geolocation is determined based on signals from a large number of satellites (e.g., at least four satellites for GPS). If the tracking device cannot establish contact with the satellites, determination is not possible. This can be the case, for example, if an object such as a building or a mountain is in the line of sight of one or more of the satellites. Using the tracking device in environments with many tall buildings, bridges, or mountains may therefore not be possible. Furthermore, contact with the satellites is generally not possible in tunnels or underground car parks, so use is not even possible to a limited extent.Even under better conditions, the determination of geolocation may be inaccurate, e.g. due to only partial availability of satellite signals.

[0005] Such challenges can complicate the commercial use of electric bicycles, for example, in the case of widespread rental bike provision, because precise geolocation determination is desirable for this. Furthermore, the use of the electric bicycle by a rider who is unfamiliar with an area and therefore has to rely on the geolocation determined by the tracking device can be difficult. Precise geolocation determination is also desirable for insurance companies that base their policies on usage profiles obtained by a tracking device, and for operators of road toll stations.

[0006] Against this background, the proposed solution is based on the task of providing an assembly for an electric bicycle with a tracking device that is designed and intended to determine a geolocation of the electric bicycle, which enables a reliable and accurate determination of the current position of the electric bicycle.

[0007] According to a first aspect of the proposed solution, the object is achieved by an assembly for an electric bicycle according to claim 1.

[0008] Accordingly, the assembly comprises a sensor device for determining navigation information with one or more of a distance measuring unit which is configured and provided to measure a length of a trajectory covered by the electric bicycle, a direction unit which is configured and provided to determine a direction in which the electric bicycle is moving, and / or a position unit which is configured and provided to determine a position of the electric bicycle.

[0009] The assembly also comprises an evaluation unit which is configured and intended to determine a current geolocation of the electric bicycle at least on the basis of a previous geolocation and the determined navigation information.

[0010] The distance measuring unit can use the swept trajectory length to measure the length of a path along which the electric bicycle moves in space. The path can extend in an XY plane, e.g., when moving across flat land. The path can also extend in the Z plane, e.g., when moving across hilly terrain. Measuring the length of the swept trajectory can thus include determining the length of a path in three-dimensional space along which the electric bicycle moves.

[0011] The direction unit can be configured and provided to determine the direction relative to an earth coordinate system (e.g., relative to the cardinal directions) or relative to a previous direction of the electric bicycle. Determining the direction relative to the previous direction (in the form of a direction difference) can be more accurate, while determining the direction relative to an earth coordinate system is free of accumulated errors.

[0012] The position unit can be used to determine the position of the electric bicycle in space. The position unit can be configured and intended, for example, to determine the yaw angle, pitch angle, and / or roll angle of the electric bicycle. When the electric bicycle is used as intended for forward travel, the position of the electric bicycle (specifically, primarily the yaw angle) can be used to determine the direction of travel, so the position unit can be used indirectly in addition to or alternatively to determine the direction.

[0013] The proposed solution is based on the idea that the evaluation unit has at least one previous geolocation of the electric bicycle and that this geolocation is sufficiently precise to be used as a starting point for determining the current geolocation of the electric bicycle via dead reckoning with 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 precisely determine the current geolocation. The previous geolocation may have been determined by the tracking device. In one possible scenario, the tracking device lost contact with one or more satellites required to determine the geolocation while the electric bicycle was moving from the previous geolocation to the current geolocation, meaning that it is unable to determine the current geolocation.Alternatively, the previous geolocation may have been specified by an electric bicycle rider.

[0014] Determining the current geolocation based at least on the previous geolocation includes the possibility that the current geolocation was additionally determined by the evaluation unit based on previous navigation information and / or on a plurality of previous geolocations. The determined navigation information can thus be used to infer the current geolocation from the previous geolocation.

[0015] In one embodiment, the distance measuring unit has a speed sensor for measuring the angular velocity of a wheel of the electric bicycle, an altitude sensor for measuring the altitude of the electric bicycle relative to sea level, and / or an acceleration sensor for measuring the acceleration of the electric bicycle. The angular velocity of the wheel of the electric bicycle can be used to calculate the distance traveled by the wheel, based on the radius of the wheel. Alternative speed sensors are also conceivable and possible. The altitude sensor can be used to determine whether the electric bicycle is traveling up a hill, for example, which would change the altitude of the electric bicycle relative to sea level. The altitude of the electric bicycle can, in particular, be made available to a map matching algorithm designed to assign a current geolocation to a traffic route on a map.For example, in the case of overlapping traffic routes such as bridges (where contact with navigation satellites can be lost), the current geolocation can be assigned to a traffic route based on the altitude, so that the movement of the electric bike is assigned to the correct traffic route.

[0016] In a further embodiment, the evaluation unit is configured and intended to determine whether an acceleration measured by the acceleration sensor corresponds to a change in speed of the electric bicycle measured by the speed sensor. This allows the speed sensor's measurement to be verified, because acceleration is defined as a change in speed over time.

[0017] In a further embodiment, the evaluation unit is further configured and provided to determine a current speed based on the last measured speed and a current acceleration if the change in speed does not correspond to the acceleration. This embodiment is based on the idea that under certain circumstances the acceleration sensor enables a more precise determination of the speed. This is the case, for example, if the speed sensor is designed to measure an angular velocity of the wheel of the electric bicycle and this wheel spins, for example. In such a situation, the speed sensor can indicate a different speed of the electric bicycle than the speed at which the electric bicycle is actually moving based on the measurement of the angular velocity.In particular, the angular velocity of the wheel does not correspond to the distance traveled (this is lower than 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 because the wheel is spinning, but the measured speed increases. Starting from the last measured speed v0, whose value is assumed to be correct, the current speed can be calculated using the current acceleration a (v = v0 + a*t), where the current acceleration is measured over a measurement interval t.

[0018] Similarly, the current geolocation can be determined from a previous geolocation xO using the speed and acceleration (x=x0+v0*t+0, 5*a*t 2 ) .

[0019] In one embodiment, the altitude sensor includes an air pressure sensor. The altitude of the electric bike can be easily determined using the air pressure, because the air pressure prevails at each altitude.

[0020] In one embodiment, the directional unit comprises at least one yaw rate sensor and / or a magnetic field sensor, via which the orientation of the electric bicycle relative to the earth's magnetic field can be determined. In principle, a yaw rate sensor can be provided for each of the three spatial directions. This can be used to determine a roll angle (X-axis), pitch angle (Y-axis), and yaw angle (Z-axis), which indicate a rotation about the respective assigned axis. The position of the electric bicycle in space can be used to draw conclusions about the direction in which the electric bicycle is moving. During intended use, the electric bicycle can move along the X-axis. The yaw angle can therefore be used to determine the direction of movement of the electric bicycle rider in the XY plane.

[0021] The magnetic field sensor can be used to determine the direction of the electric bicycle relative to the Earth's magnetic north pole. This determination can be used independently or in combination with the direction determination via the at least one yaw rate sensor. In particular, the magnetic field sensor can prevent the accumulation of errors due to (always relative) determinations by the at least one yaw rate sensor. Furthermore, the magnetic field sensor can be used to quickly determine cardinal directions on a map if the tracking device cannot establish contact with a sufficient number of satellites quickly enough.

[0022] In principle, measuring the length of a trajectory traveled by the electric bicycle, for example, based on the angular velocity measurement via the speed sensor and the determination of the direction in which the electric bicycle is moving via the at least one yaw rate sensor, is sufficient to determine the geolocation of the electric bicycle at a series of points in time, at least in one plane. The current geolocation is determined based on two spatial directions.

[0023] In one embodiment, the position unit has at least one yaw rate sensor. The at least one yaw rate sensor of the position unit can be designed, in particular, to determine a pitch angle (rotation around the Y-axis, transverse to the intended direction of travel) of the electric bicycle. The position unit can therefore be configured and provided to determine whether the electric bicycle is moving along an inclined plane. The pitch angle is important because a current geolocation of the electric bicycle is closer to the previous geolocation if the electric bicycle was moving along an inclined plane (which causes a change in the pitch angle) than if this is not the case (with the same length of the swept trajectory).

[0024] The length of the swept trajectory, in combination with the pitch angle of the electric bike, also allows for the calculation of a change in the electric bike's altitude above sea level. Furthermore, if an altitude sensor is provided, the measurements of the distance unit and the position unit can be verified by calculating the change in altitude. With the position unit and / or the altitude sensor, it is conceivable and possible to determine the current geolocation based on up to three spatial directions.

[0025] In principle, the direction unit and the attitude unit can be divided into at least one yaw rate sensor. It is also conceivable and possible for the direction unit and the attitude unit to each have at least one yaw rate sensor (e.g., a direction unit with a yaw rate sensor for the yaw angle and an attitude unit with a yaw rate sensor for the pitch angle).

[0026] In one embodiment, the evaluation unit is configured and provided to determine a current geolocation of the electric bicycle based on a current geolocation determined by the tracking device and the determined navigation information. This allows the current geolocation to be determined more precisely than by the tracking device alone. For the determination, the evaluation unit can use a (particularly tightly coupled) Kalman filter (so-called "tightly-coupled Kalman filter algorithm"). In particular, the current geolocation of the electric bicycle can be determined via the assembly based on weighted averages of navigation information (e.g., angular velocity, air pressure, orientation relative to the Earth's magnetic field, position, and / or acceleration) in conjunction with the geolocation determined by the tracking device.

[0027] A current geolocation determined in this way can be more precise than the geolocation determined by the tracking device and more precise than a geolocation determined from the previous geolocation using the navigation information. Furthermore, a current geolocation determined in this way can be used as a previous geolocation to determine the next current geolocation. A method for determining the current geolocation of the electric bicycle can therefore be designed iteratively. This also enables, for example, the tracking of a stolen electric bicycle whose tracking device was removed to prevent tracking.

[0028] In one embodiment, the evaluation unit is configured and provided to calibrate the sensor device based on a determined geolocation. Calibration can be performed by determining a current geolocation using the tracking device and, in addition, determining an additional current geolocation from the previous geolocation using the determined navigation data. The sensor device can be calibrated by comparing the current geolocation determined by the tracking device with the additional current geolocation. Thus, it can always provide a precise alternative to determining the current geolocation using the tracking device.

[0029] The proposed solution also applies to an electric bicycle with the described assembly.

[0030] According to a second aspect of the proposed solution, the problem is solved by a method for determining the current geolocation of an electric bicycle. The method comprises the following steps:

[0031] - Determining an initial geolocation of the electric bike,

[0032] - Moving the electric bicycle and simultaneously determining navigation information in the form of a length of a trajectory along which the electric bicycle is moved, a direction in which the movement takes place and / or a position of the electric bicycle,

[0033] - Determining a second, current geolocation of the electric bicycle based on the first geolocation and the navigation information. The first geolocation of the electric bicycle can form a previous geolocation according to the first aspect, which is used to determine the second, current geolocation. The first geolocation can be determined by a tracking device.

[0034] The features and advantages described in connection with the first aspect of the invention may also apply to the method according to the second aspect and vice versa.

[0035] The proposed solution also relates to a computer program product for an evaluation unit with which a current geolocation of an electric bicycle can be determined, which comprises instructions which, when the instructions are executed, cause at least one processor of the evaluation unit to carry out the method described above.

[0036] The attached figures illustrate possible embodiments of the proposed solution.

[0037] Here we show:

[0038] Figure 1 shows a schematic diagram of the functioning of an assembly for determining the current geolocation of an electric bicycle;

[0039] Figure 2 is a schematic view of a speed sensor;

[0040] Figure 3 is an illustration of the movement of an electric bicycle along a trajectory;

[0041] Figure 4A shows the movement of an electric bicycle in an XY plane; and

[0042] Figure 4B shows the movement of an electric bicycle in an XZ plane.

[0043] Figure 1 shows a schematic diagram of the functionality of an assembly for determining the current geolocation of an electric bicycle E. The assembly comprises a tracking device 1 configured and intended to determine a geolocation via a global navigation satellite system such as GPS. In principle, the information provided by the tracking device 1 is sufficient to determine a current geolocation if contact with a sufficient number of satellites is possible.

[0044] The assembly also includes a sensor device 2 that provides navigation information. An evaluation unit 3 is configured and provided to determine a current geolocation of the electric bicycle E based on the determined navigation information. To this end, the evaluation unit 3 also uses at least one previous geolocation. This can, for example, be a geolocation that the tracking device 1 determined in the past. The evaluation unit 3 can independently determine the current geolocation based on the previous geolocation and the determined navigation information. Determination by the tracking device 1 is not absolutely necessary for this. In this respect, the sensor device 2 can be used as a substitute for the tracking device 1 - for example, if the tracking device 1 is not capable of doing so - to determine the current geolocation.In addition, the sensor device 2 can be used in addition to the locating device 1 in order to improve the geolocation determined by the locating device 1.

[0045] The sensor device 2 has a distance measuring unit 21, which is configured and provided to measure a length of a trajectory T swept by the electric bicycle E. For this purpose, the distance measuring unit 21 has a speed sensor 211 for measuring an angular velocity of a wheel H of the electric bicycle E, an altitude sensor 212 for measuring an altitude of the electric bicycle E relative to sea level, and an acceleration sensor 213 for measuring an acceleration a of the electric bicycle E.

[0046] Based on the previous geolocation measured at a first point in time, the current geolocation at a second point in time can be determined, for example, using the speed. A rolled path is determined from the time difference between the first and second points in time, the angular velocity measured by the speed sensor 211, and a radius of the wheel H. The rolled path can be used to determine the swept length of the trajectory T.

[0047] Such a determination can be improved by incorporating a change in altitude that the electric bicycle E has made since the previous geolocation was determined. Furthermore, the determination of the current geolocation can be improved by incorporating the acceleration a of the electric bicycle E, because this can compensate, for example, for a difference between the speed measured at wheel H of the electric bicycle E and the actual speed of the electric bicycle E. This can compensate, for example, for the slipping of wheel H on a smooth surface when determining the current geolocation.

[0048] The sensor device 2 further comprises a direction unit 22, with which a direction in which the electric bicycle E is moving can be determined. For this purpose, the direction unit 22 has a magnetic field sensor 221 and a yaw rate sensor 222. The magnetic field sensor 221 can be used to determine an orientation of the electric bicycle E relative to the earth's magnetic field - similar to a compass. The yaw rate sensor 222 allows an orientation of the electric bicycle E in space to be determined. For the direction unit 22, a yaw rate sensor 222 in the form of a yaw angle sensor is preferred. This makes it possible to determine an orientation of the electric bicycle E in which the electric bicycle E can be steered as intended. In principle, a yaw rate sensor can be provided for each of the three spatial directions X, Y, Z. In this respect, the representation of a yaw rate sensor is merely exemplary. A three-axis gyroscope, for example, is suitable as a yaw rate sensor.

[0049] The sensor device 2 further comprises a position unit 23 with which a position of the electric bicycle E in space can be determined. The position of the electric bicycle E can comprise a rotation about one of the three spatial directions X, Y, Z. A pitch angle N, which corresponds to a rotation about the Y-axis, can be of particular importance because this allows a conclusion to be drawn as to whether the electric bicycle E is moving uphill or downhill. Such a movement along an inclined plane can also be determined from a height difference using the height sensor 212. For a more precise determination of the distance between the current geolocation and the previous geolocation, however, it can be advantageous to use the pitch angle N in addition to or as an alternative to a covered height difference.

[0050] Figure 2 shows a speed sensor 211 for measuring an angular velocity of a rear wheel H of an electric bicycle E rotating along the direction of rotation R, wherein the rear wheel H is shown as an example for any wheel of the electric bicycle. The rear wheel H can have a component that is designed to rotate at the same angular velocity as the rear wheel H and to facilitate the 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 peaks of an amplitude A over time t. From an angular velocity determined in this way, a rotational speed of the rear wheel H can be calculated over a radius of the rear wheel H.The rotational speed of the rear wheel H is identical to the speed of the electric bicycle E when the rear wheel H is frictionally connected to a ground on which the movement takes place.

[0051] Figure 3 shows the movement of an electric bicycle E along an X-axis. If the electric bicycle E deviates from the X-axis, a direction unit 22 provided on the electric bicycle E, which is configured and intended to determine a direction of the electric bicycle E, can measure a rotation about the Z-axis, for example via a yaw rate sensor 222 of the direction unit 22. The rotation corresponds to a change in a yaw angle G of the electric bicycle E. Accordingly, a swept trajectory T of the electric bicycle E first comprises a straight line along the X-axis, which transitions into an arc after the change in the yaw angle G.Accordingly, it may be advantageous to provide, in addition to a distance measuring unit 21, which is designed and provided to measure a length of a trajectory T covered by the electric bicycle E, a direction unit 22 with a magnetic field sensor 221 or a rotation rate sensor 222 in order to determine a direction in which the electric bicycle E moves.

[0052] Figure 4A shows a view of an electric bicycle E moving along an X-axis. The electric bicycle E is accelerated along the X-axis with an acceleration ax. The distance measuring unit 21 of an assembly of the electric bicycle E can have an acceleration sensor 213 for measuring the acceleration ax.

[0053] The electric bicycle E is also subjected to an acceleration g due to gravity. This acceleration acts perpendicular to the direction of travel along a Z-axis.

[0054] Figure 4B shows a view of an electric bicycle E moving along an inclined plane. It should be noted that the geolocation of the electric bicycle E changes to a lesser extent than the length of the swept trajectory T. The change in geolocation corresponds to a projection of the swept trajectory T onto an imaginary, flat surface of the Earth (dashed straight line). The fact that the electric bicycle E is moving up the inclined plane can be determined, for example, as described above, via a pitch angle N of the electric bicycle E. In addition, a measurement of the acceleration a can also provide information that the electric bicycle E is traveling up the plane. Due to the Earth's gravity g (in particular its component gx along the x-axis, which opposes a forward acceleration ax), the speed of the electric bicycle E decreases more than when moving perpendicular to the Earth's gravity.An altitude sensor 212, for example in the form of an air pressure sensor, can be used to support the determination of movement on an inclined plane. The air pressure can be converted into altitude values.

[0055] Geolocation can thus not only be determined more precisely but can also be linked to altitude. This can allow a driver to electronically save their past journeys for later retrieval of selected routes.

[0056] List of reference symbols

[0057] 1 tracking device

[0058] 2 Sensor device

[0059] 21 Distance measuring unit

[0060] 211 Speed ​​sensor

[0061] 212 altitude sensor

[0062] 213 Accelerometer

[0063] 22 Directional unit

[0064] 221 Magnetic field sensor

[0065] 222 yaw rate sensor

[0066] 23 Location unit

[0067] 231 yaw rate sensor

[0068] 3 Evaluation unit

[0069] A Amplitude a, ax, az Acceleration g, gx, gz Acceleration due to gravity

[0070] E electric bike

[0071] G Yaw angle

[0072] H rear wheel

[0073] N inclination angle

[0074] R Rotation direction

[0075] S Signal

[0076] T trajectory

[0077] X, Y, Z spatial directions

Claims

Claims 1. Assembly for an electric bicycle (E), comprising a locating device (1) which is designed and provided to determine a geolocation of the electric bicycle (E) and a sensor device (2) for determining navigation information with one or more of - a distance measuring unit (21) which is designed and provided to measure a length of a trajectory (T) covered by the electric bicycle (E), - a direction unit (22) which is designed and provided to determine a direction in which the electric bicycle (E) moves, and / or - a position unit (23) which is designed and provided to determine a position of the electric bicycle (E), characterized by an evaluation unit (3) which is designed and provided to determine a current geolocation of the electric bicycle (E) at least on the basis of a previous geolocation and the determined navigation information.

2. Assembly according to claim 1, characterized in that the distance measuring unit (21) has a speed sensor (211) for measuring an angular speed of a wheel of the electric bicycle (E), a height sensor (212) for measuring a height of the electric bicycle (E) relative to sea level and / or an acceleration sensor (213) for measuring an acceleration (a) of the electric bicycle (E).

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

4. Assembly according to claim 3, characterized in that the evaluation unit (3) is further configured and provided to determine a current speed based on the last measured speed and the current acceleration (a) if the change in speed does not correspond to the acceleration (a).

5. Assembly according to one of claims 2 to 4, characterized in that the height sensor (212) comprises an air pressure sensor.

6. Assembly according to one of the preceding claims, characterized in that the direction unit (22) comprises at least one rotation rate sensor (222) and / or a magnetic field sensor (221), via which an orientation of the electric bicycle (E) relative to the earth's magnetic field can be determined.

7. Assembly according to one of the preceding claims, characterized in that the position unit (23) has at least one rotation rate sensor (222).

8. Assembly according to one of the preceding claims, characterized in that the evaluation unit (3) is designed and provided to determine a current geolocation of the electric bicycle (E) on the basis of a current geolocation determined by the locating device (1) and the determined navigation information.

9. Assembly according to one of the preceding claims, characterized in that the evaluation unit (3) is designed and provided to calibrate the sensor device (2) on the basis of a determined geolocation.

10. Electric bicycle (E) with an assembly according to one of the preceding claims.

11. Method for determining a current geolocation of an electric bicycle (E), comprising the following steps: - Determining a first geolocation of the electric bicycle (E), - moving the electric bicycle (E) and simultaneously determining navigation information in the form of a length of a trajectory (T) over which the electric bicycle (E) is moved, a direction in which the movement takes place and / or a position of the electric bicycle (E), - Determining a second, current geolocation of the electric bicycle (E) based on the first geolocation and the navigation information.

12. Computer program product for an evaluation unit (3) with which a current geolocation of an electric bicycle (E) can be determined, comprising instructions that cause at least one processor of the evaluation unit (3) to carry out a method according to claim 11 when the instructions are executed.

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