Method for checking a bicycle algorithm

Abstract

The invention relates to a method for checking a bicycle algorithm, comprising the following method steps: - detecting a first sensor signal of a first sensor element (100) of a first bicycle (10) and determining a first bicycle characteristic variable on the basis of the first sensor signal; - detecting a second sensor signal of a second sensor element (120) of the first bicycle (10) and determining a second bicycle characteristic variable on the basis of the second sensor signal and the bicycle algorithm; - transmitting the determined bicycle characteristic variables to an evaluation unit; - checking the bicycle algorithm on the basis of a comparison of the first bicycle characteristic variable with the second bicycle characteristic variable.

Description

[0001] Description

[0002] title

[0003] Procedure for verifying a bicycle algorithm

[0004] State of the art

[0005] In DE 10 2017 212 924 A1 a method for verifying the detection of a rotational speed based on the detection of a first and a second rotational speed quantity is described.

[0006] Disclosure of the invention

[0007] The invention relates to a method for verifying a bicycle algorithm, comprising the following method steps:

[0008] - Capturing a first sensor signal from a first sensor element of a first bicycle and determining a first bicycle characteristic based on the first sensor signal;

[0009] - Capturing a second sensor signal from a second sensor element of the first bicycle and determining a second bicycle parameter based on the second sensor signal and the bicycle algorithm;

[0010] - Transmission of the determined bicycle parameters to an evaluation unit;

[0011] - Verification of the bicycle algorithm based on a comparison of the first bicycle parameter with the second bicycle parameter.

[0012] This allows the functionality and / or effectiveness of the bicycle algorithm to be effectively tested, and the bicycle algorithm to be improved and / or validated.

[0013] The bicycle can be designed as a non-motorized bicycle and / or as an electric bicycle. Alternatively, it is also conceivable that the method according to the invention is used for other electric light vehicles. An electric light vehicle is understood to be, in particular, a vehicle that is powered by an electric motor and, in particular, supplied with energy via a battery pack. The electric light vehicle can, for example, be an electric scooter, an electric skateboard, an electric bicycle, an electric kick scooter, an electric Segway, an electric mini-car, an electric hoverboard, or the like.

[0014] For the purposes of this application, an electric bicycle is understood to be, in particular, a bicycle that has a drive unit to assist the rider. The electric bicycle is preferably designed as an e-bike, a pedelec, an S-pedelec, a cargo bike, a folding bike, or the like. The drive unit comprises a motor, which may, for example, be a mid-drive motor or a hub motor. The motor is preferably an electric motor. The drive unit is connected to the battery pack to supply the drive unit with energy. The housing of the battery pack is preferably detachably connected to the electric bicycle, in particular to the frame of the electric bicycle. The electric bicycle includes electronics with a control unit for controlling or regulating the electric bicycle.The electronics preferably comprise a sensor unit, which may include, for example, motion sensors, gyroscopes, torque sensors, speed sensors, a GNSS receiver, magnetic sensors, or the like. Furthermore, the electronics preferably include a communication interface for wirelessly connecting the e-bike to an external device, such as a smartphone, and / or a backend, for example, in the form of a server.

[0015] In the context of this patent application, a bicycle algorithm is understood to be a bicycle function that is executed, in particular automatically, by at least one electronic component of the bicycle in order to determine a specific result, preferably in the form of characteristic values, from given input data, preferably at least partially in the form of sensor signals, through defined operations. Examples of bicycle functions include a route determination function, a function for locking or unlocking the bicycle, a function for diagnosing the performance or wear of a bicycle component, a riding dynamics function for controlling the riding dynamics of the bicycle, a function for determining a riding speed, or the like. The bicycle algorithm is preferably stored in a memory unit of the bicycle.

[0016] The first and second bicycle parameters are configured to represent the same characteristic or parameter. For example, if the bicycle algorithm to be tested is a speed algorithm, both the first and second bicycle parameters are configured as speed parameters, such as speed, acceleration, wheel speed, or the like. Preferably, the bicycle parameters are configured to serve as inputs for other bicycle functions; for example, a speed parameter in an electric bicycle can be used as an input for motor control.

[0017] The evaluation unit is preferably assigned to an external device, for example a mobile device or a backend in the form of a cloud or server. The evaluation unit is preferably provided with the bicycle parameters of a large number of bicycles for verification.

[0018] Furthermore, it is proposed that the procedure for verifying the bicycle algorithm includes the following additional steps:

[0019] - capturing a third sensor signal from a third sensor element of a second bicycle and determining a third bicycle parameter based on the first sensor signal;

[0020] - capturing a second sensor signal from a second sensor element of the second bicycle and determining a fourth bicycle parameter based on the second sensor signal and the bicycle algorithm;

[0021] - Verification of the bicycle algorithm based on a comparison of the first bicycle parameter with the second bicycle parameter and the third bicycle parameter with the fourth bicycle parameter, wherein the first sensor element of the first bicycle and the third sensor element of the second bicycle are designed differently.

[0022] The advantage of using a second bicycle with different sensors is that the bicycle algorithm can be checked even better and also tested and optimized for other uses.

[0023] Furthermore, it is proposed that the sensor signals of the first and third sensor elements differ in their accuracy and / or robustness. This would allow the bicycle algorithm to be tested as broadly and in as many different ways as possible. It is also conceivable that the first and third sensor elements are essentially designed to detect the same sensor signal, although their sampling rates differ.

[0024] Furthermore, it is proposed that the second sensor element of the first bicycle and the second sensor element of the second bicycle be essentially identical. In particular, the second sensor element is designed as an inertial sensor. Alternatively, a different design for the second sensor element would also be conceivable, for example, a cadence sensor or another sensor element as previously described. This advantageously allows the bicycle algorithm to be tested with essentially the same sensor signals as input on different bicycles using different sensor configurations.

[0025] The sensor elements may be a wheel speed sensor, in particular a spoke magnet or rim magnet sensor or an ABS wheel speed sensor, an inertial sensor, a cadence sensor, an engine speed sensor, an engine power sensor, a GN SS receiver, a radar sensor, a speed-over-ground sensor, a lidar, a camera or another sensor element known to those skilled in the art.

[0026] Furthermore, it is proposed that the first bicycle be controlled based on the first bicycle parameter and the second bicycle based on the third bicycle parameter, without controlling the first bicycle based on the second bicycle parameter or the second bicycle based on the fourth bicycle parameter. Advantageously, this allows the bicycle algorithm to be tested without interfering with the system or the riding experience, thus ensuring that the determination of the respective bicycle parameter is not distorted. The bicycle algorithm under test is therefore executed in the background for the user of the bicycle.Furthermore, it is proposed that the method include an additional step for storing the first and second bicycle parameters on a storage unit of the first bicycle and for storing the third and fourth bicycle parameters on a storage unit of the second bicycle. The stored data can be transmitted to the evaluation unit, for example, via a connectable diagnostic device or via a wireless communication interface.

[0027] Furthermore, it is proposed that the storage of bicycle parameters be based on a comparison, in particular a threshold comparison. This advantageously improves the quality of the determined data and reduces the required storage space. Specifically, the threshold comparison is designed such that only relevant bicycle parameters are stored, for example, in cases of particularly high deviation or particularly high agreement. Preferably, the bicycle parameters are stored for a predefined period to facilitate better understanding of how they were determined. This predefined period can be a few seconds or a few minutes.

[0028] Furthermore, it is proposed that the stored bicycle parameters be weighted based on one of the sensor signals and / or one of the bicycle parameters and / or another sensor signal and / or another bicycle parameter. This would advantageously improve the verification process.

[0029] Furthermore, it is proposed that the transmission of bicycle parameters be anonymized. Preferably, the bicycle parameters are stored anonymously but in a way that allows for identification, and / or transmitted to the evaluation unit. This can be achieved, for example, by assigning position information of the bicycle to the bicycle parameters. The position information is captured and provided by the bicycle, specifically by a sensor element of the bicycle. The position information can, for example, be in the form of altitude data, which is captured, for instance, by a GNSS receiver, a pressure sensor, or an altitude sensor.

[0030] Drawings

[0031] Further advantages arise from the following drawing description. The drawings, the description, and the claims contain numerous features in combination. A person skilled in the art will expediently consider the features individually and combine them into meaningful further combinations. Different embodiments are identified by the same reference numeral and an additional letter characterizing the embodiment.

[0032] They show:

[0033] Fig. 1 shows a first bicycle with a first sensor element and a second sensor element in a side view;

[0034] Fig. 2 shows a second bicycle with a third sensor element and a second sensor element in a side view;

[0035] Fig. 3 shows a flowchart with a procedure for verifying a bicycle algorithm.

[0036] Description of the exemplary implementations

[0037] Figure 1 shows a side view of a first bicycle 10, in particular an electric bicycle 12 with an energy storage device 14 in the form of a battery pack 16. The electric bicycle 12 is designed as an eMTB by way of example.

[0038] The electric bicycle 12 has a housing in the form of a frame 20, or bicycle frame. Two wheels 22, a front wheel 21 and a rear wheel 23, are connected to the frame 20. The electric bicycle 12 also has a drive unit 26, which includes an electric motor or an auxiliary motor. The electric motor is preferably a permanent magnet excited, brushless DC motor. The electric motor is, by way of example, a mid-drive motor, although a hub motor or the like is also conceivable. The electric bicycle 12, and in particular the drive unit 26 of the electric bicycle 12, is supplied with energy via the battery pack 16. The battery pack 16 is connected to the electric bicycle 12, and in particular to the frame 20 of the electric bicycle 12, by means of a battery pack connection device 25. This connection is effected, for example, by means of a pivoting motion.

[0039] The electric bicycle 12 comprises a control unit (not shown in detail) designed to control or regulate the electric bicycle 12, in particular the drive unit 26. The control or regulation preferably does not extend to the motor drive, but also includes the connection or communication with the battery pack 16 and other bicycle components of the electric bicycle 12, for example, a front light 40 and a display device 30. The display device 30 is, by way of example, designed to be connectable to the electric bicycle 12 without tools.

[0040] The bicycle 10, and in particular the electric bicycle 12, also has a sensor unit. The sensor unit of the electric bicycle 12 comprises, for example, several sensor elements, such as a torque sensor, a cadence sensor, a brightness sensor, an altitude sensor, a GNSS receiver, a magnetometer, and other sensor elements. It is also conceivable that the sensor unit has a different configuration with a different number of sensor elements, whereby sensor elements may be added, omitted, or included multiple times. The sensor elements can be arranged in one component of the bicycle 10, for example, in the drive unit 26. It is also conceivable that the sensor elements are arranged in different components. The sensor unit of the electric bicycle 12 is connected to the control unit of the electric bicycle 12 in such a way that the information from the sensor unit is available to the control unit.

[0041] Alternatively or additionally, it is also conceivable that an external device, for example a mobile device such as a smartphone (not shown), is connected to the bicycle 10 via a wireless communication interface, for example a Bluetooth interface, and that a sensor unit of the mobile device provides information from the sensor unit of the mobile device to the control unit of the electric bicycle 12.

[0042] The control unit and the drive unit 26, comprising the electric motor and the crank axle, are arranged in a drive housing 27 connected to the frame 20. The electric bicycle 12 has a crank 28. The crank 28 has a crank axle (not shown). The drive motion of the electric motor is preferably transmitted to the crank axle via a gearbox (not shown), with the level of assistance provided by the drive unit 26 being controlled or regulated by the control unit. The control unit is designed to actuate the drive unit 26 in such a way that the rider of the electric bicycle 12 receives assistance while pedaling. For this purpose, the control unit is provided with information from the sensor unit, in particular a torque sensor and a cadence sensor. Preferably, the control unit is designed to be operable by the rider, so that the rider can, for example, adjust the level of assistance.The setting can be made, for example, via the display device 30, another control component (not shown) on the handlebars or in the frame and / or an external device not shown, such as a smartphone.

[0043] The control unit and the sensor unit are associated with an electronics assembly (not shown), which, for example, comprises a circuit board on which a processing unit in the form of a CPU, a memory unit, and the sensor unit are arranged. The electronics can be located almost entirely within the drive unit. However, it is also conceivable that the electronics of the electric bicycle 12 are located entirely or partially within another bicycle component. For example, it would also be conceivable that the display device 30 is designed as an on-board computer and additionally includes the control unit for controlling the electric bicycle 12. In this case, however, the electric bicycle 12 would only be usable when connected to the on-board computer.

[0044] The display device 30 is detachably attached to the handlebar 32 of the electric bicycle 12. The display device 30 is designed to display information. The display device 30 also includes at least one control element (not shown) by which the user or rider can control the display device 30 and / or the electric bicycle 12. The control element is, for example, a touch-sensitive screen. The display device 30 is connected to the control unit of the electric bicycle 12 in such a way that information can be exchanged. For example, the display device 30 can show a speed determined by the control unit, a set level of electric motor assistance, route information from a navigation unit, and the charge level of the battery pack 16.

[0045] The first bicycle 10 has a first sensor element 100 for determining a bicycle parameter in the form of speed, which is exemplified as a wheel speed sensor 102. A signal transmitter 104, exemplified as a steel sensor wheel 106, is associated with the wheel speed sensor 102. The steel sensor wheel 106 is fixedly connected to the front wheel 21. The signal transmitter 104 is arranged near the wheel axle of the front wheel 21. The signal transmitter 104 is designed such that a plurality of signals, e.g. approximately 50, are provided for each wheel revolution, detectable by the wheel speed sensor 102.

[0046] The wheel speed sensor 102 is located in close proximity to the steel encoder wheel 106 on the suspension fork 108 of the bicycle 10. The wheel speed sensor 102 has a housing in which a magnet and a magnetic sensor in the form of a Hall-effect sensor are arranged. However, it would also be conceivable that the signal transmitter 104 is designed as a multipole and that the wheel speed sensor 102 has no magnet and only a magnetic sensor.

[0047] When the front wheel 21 rotates, the wheel speed sensor generates an initial sensor signal in the form of a changing voltage, proportional to the changing magnetic field. Based on this initial sensor signal, a speed sensor algorithm derives rotational speed information and determines an initial bicycle parameter in the form of a speed. Due to the multitude of signals provided by the signal generator 104 during one revolution of the front wheel 21, a very precise speed determination down to 0.1 km / h is advantageously possible. This initial bicycle parameter is provided to the bicycle's control unit 10, enabling the bicycle 10 and / or a bicycle component to be controlled based on this initial parameter.For example, based on the first bicycle parameter in the form of speed, both the motor support of the drive unit 26 and the display device 30, on which the speed is displayed, are controlled.

[0048] In addition to the first sensor element 100, the first bicycle 10 has a second sensor element 120, which is configured as an inertial sensor. The inertial sensor can include an accelerometer and / or a gyroscope. The bicycle 10 also includes a bicycle algorithm to be tested, based on which a second bicycle parameter is determined. The determination of the second bicycle parameter is performed, for example, by the control unit of the bicycle 10 and is based on a second sensor signal from the second sensor element 120. The second sensor element 120 is, for example, arranged in the drive housing 27 of the electric bicycle 12 on a circuit board (not shown), on which the pController of the control unit of the electric bicycle 12 is also located.

[0049] The second bicycle parameter, like the first, is represented as a speed value. However, the second bicycle parameter is not used to control the electric bicycle 12, but is stored and / or compared with the first bicycle parameter.

[0050] Figure 2 shows a side view of a second electric bicycle 12a. The second electric bicycle 12a is essentially identical to the first electric bicycle 12 and differs in particular in that the second electric bicycle 12a has a third sensor element 130a instead of the first sensor element 100 of the previously described electric bicycle 12.

[0051] The second bicycle 10a has a signal transmitter 132a in the form of a rim magnet 134a. The rim magnet 134a is, for example, attached to the rim in the area of ​​a valve 136a of the rear wheel 23a. The third sensor element 130a of the electric bicycle 12a is designed as a wheel speed sensor 131a, wherein the wheel speed sensor 131a is, for example, designed as a magnetic sensor element, in particular as a Hall sensor, and is, for example, arranged within the drive housing 27a. The rear wheel 23a has, in particular, a single signal transmitter 132a, so that only a third signal per wheel revolution can be detected by the third sensor element 130a. Based on the third signal from the third sensor element 130a, a third bicycle parameter in the form of a speed is determined.The third bicycle parameter is provided analogously to the first bicycle parameter described above by the control unit of the second bicycle 10a for controlling the drive unit 26a and the display device 30a.

[0052] Furthermore, the second bicycle 10a has a second sensor element 120a, which essentially corresponds to the second sensor element 120 of the first bicycle 10. The second sensor element 120a is therefore also designed as an inertial sensor.

[0053] The inertial sensor system can include an accelerometer and / or a gyroscope. The second bicycle 10a also includes the same bicycle algorithm to be tested as the first bicycle 10, based on which a fourth bicycle parameter is determined. The determination of the fourth bicycle parameter is carried out, for example, by the control unit of the second bicycle 10a and is based on a fourth sensor signal from the fourth sensor element 130a.

[0054] The fourth bicycle parameter, like the third, second, and first bicycle parameters, is represented as a speed. However, the fourth bicycle parameter is not used to control the second electric bicycle 12a, but is stored and / or compared with the third bicycle parameter.

[0055] It is also conceivable to use the bicycle algorithm in a third bicycle (not shown), which includes a wheel speed sensor in the form of a reed sensor for detecting a conventional spoke magnet and an inertial sensor. Figure 3 shows a flowchart with a method for verifying the bicycle algorithm.

[0056] In process step 300, a first sensor signal is detected using the first sensor element 100 of the first bicycle 10 and the first bicycle characteristic is determined based on the sensor signal.

[0057] In a further process step 302, a second sensor signal is detected by means of the second sensor element 120 of the first bicycle 10 and the second bicycle characteristic is determined based on the sensor signal.

[0058] In a further process step 304, the control unit of the first bicycle 10 performs a threshold comparison between the first and second bicycle parameters. If the second bicycle parameter deviates from the first bicycle parameter by more than a predefined threshold, an event is detected, and the bicycle parameters are stored on a memory unit of the first bicycle 10. The stored bicycle parameters cover a period around the event, for example, a period of 30 seconds. Alternatively, a cost function can be used to identify relevant events where the bicycle parameters differ and advantageously avoid the acquisition and storage of redundant data. The cost function can, for example, accumulate the deviations between a reference signal and the respective determined bicycle parameters.It is also conceivable that there is a tolerance range within which no accumulation occurs. The relevant bicycle parameters are then assigned additional information, such as altitude data, which advantageously allows for a more effective check.

[0059] In an optional step 306, bicycle parameters are anonymized or pseudo-anonymized by the control unit of the first bicycle 10a. This anonymization or pseudo-anonymization can be based, for example, on inertial sensors, allowing inferences to be made about the distance traveled. It is also conceivable to condense location data provided by the display device or a navigation device and, based on this location data, determine a classification of the operating location, such as forest, urban environment, or trail.

[0060] In a further step, the stored bicycle parameters are transmitted to an evaluation unit. The evaluation unit is exemplified as a server, with the bicycle (10) having a communication interface (not shown) for transmitting data to the server. Transmission can occur, for example, directly via a mobile network interface or indirectly via a smartphone and a Bluetooth connection. All stored bicycle parameters can be transmitted, or alternatively, for resource optimization, the bicycle parameters can be weighted and transmitted based on events. Weighting based on a difference in the bicycle parameters or based on other sensor signals, such as recorded power and / or characteristics of other optional modules, is also possible. Alternatively, no intermediate storage is performed.Furthermore, it is conceivable that if storage capacity is limited, the number of stored bicycle parameters and / or a sampling rate and / or a resolution may be varied.

[0061] The process steps 300 to 308 are optionally carried out analogously in process steps 310 to 318 by the second bicycle 10a, so that the evaluation unit is also provided with third and fourth bicycle parameters.

[0062] In a further process step 320, the bicycle algorithm is checked based on a comparison of the first bicycle parameter with the second bicycle parameter and, optionally, the third bicycle parameter with the fourth bicycle parameter. Since the first bicycle parameter is based on a sensor element with a higher sampling rate compared to the third bicycle parameter, it can be assumed that a check of the bicycle algorithm based on the first bicycle parameter will have higher accuracy.

[0063] The bicycle algorithm is specifically designed as a bicycle algorithm that has been determined based on a machine learning methodology.

[0064] The results of the review can in turn be used as further training or adaptation data to adapt and improve the bicycle algorithm in a process step 322.

[0065] The verified or improved bicycle algorithm can be provided to the first bicycle 10 or the second bicycle 10a in a process step 324.

[0066] In a process step 326, the verified bicycle algorithm is used to determine the second bicycle parameter or fourth bicycle parameter, wherein the bicycles 10, 10a, in particular the control units of the bicycles 10, 10a, use the bicycle parameters to control the respective bicycles 10, 10a.

[0067] For example, the bicycle parameters determined using the verified or improved bicycle algorithm can be used to monitor the determination of the first or third bicycle parameter. If, for example, the first or third sensor element fails, this can be detected via a comparison. In this case, bicycle 10, 10a can, for example, be put into a protection or monitoring mode with reduced power. It is also conceivable that, in the event of a failure or defect, the second or fourth bicycle parameter could be used to control the respective bicycle 10, 10a.

[0068] It is also conceivable that the verified or improved bicycle algorithm is provided to another bicycle (not shown) in a process step 328, which does not have dedicated wheel speed sensors but only inertial sensors for determining the speed.

Claims

Claims 1. Procedure for verifying a bicycle algorithm, comprising the following procedural steps: - Capturing a first sensor signal from a first sensor element (100) of a first bicycle (10) and determining a first bicycle characteristic based on the first sensor signal; - Acquiring a second sensor signal from a second sensor element (120) of the first bicycle (10) and determining a second bicycle characteristic based on the second sensor signal and the bicycle algorithm; - Transmission of the determined bicycle parameters to an evaluation unit; - Verification of the bicycle algorithm based on a comparison of the first bicycle parameter with the second bicycle parameter.

2. Method for verifying a bicycle algorithm according to claim 1, characterized by - a detection of a third sensor signal from a third sensor element (130a) of a second bicycle (10a) and determination of a third bicycle characteristic based on the first sensor signal; - a detection of a second sensor signal from a second sensor element (120a) of the second bicycle (10a) and determination of a fourth bicycle parameter based on the second sensor signal and the bicycle algorithm; - Verification of the bicycle algorithm based on a comparison of the first bicycle parameter with the second bicycle parameter and the third bicycle parameter with the fourth bicycle parameter, wherein the first sensor element (100) of the first bicycle (10) and the third sensor element (130a) of the second bicycle (10a) are configured differently.

3. Method for verifying a bicycle algorithm according to claim 2, characterized in that the sensor signals of the first sensor element (100) and the third sensor element (130a) differ in their accuracy and / or robustness differentiate.

4. Method for verifying a bicycle algorithm according to one of claims 2 to 3, characterized in that the second sensor element (120) of the first bicycle (10) and the second sensor element (120a) of the second bicycle (10a) are identical.

5. Method for verifying a bicycle algorithm according to one of claims 2 to 4, characterized in that the second sensor element (120; 120a) is designed as an inertial sensor and / or as a cadence sensor.

6. Method for verifying a bicycle algorithm according to one of claims 2 to 5, characterized by controlling the first bicycle (10) based on the first bicycle parameter and controlling the second bicycle (10a) based on the third bicycle parameter, wherein there is no control of the first bicycle (10) based on the second bicycle parameter and no control of the second bicycle (10a) based on the fourth bicycle parameter.

7. Method for verifying a bicycle algorithm according to one of claims 2 to 6, characterized by storing the first bicycle parameter and the second bicycle parameter on a storage unit of the first bicycle (10) and storing the third bicycle parameter and the fourth bicycle parameter on a storage unit of the second bicycle (10a).

8. Method for verifying a bicycle algorithm according to claim 7, characterized in that the storage of the bicycle parameters is based on a comparison, in particular on a threshold comparison.

9. Method for verifying a bicycle algorithm according to one of claims 7 to 8, characterized in that the stored bicycle parameters are weighted based on one of the sensor signals and / or one of the bicycle parameters and / or a further sensor signal and / or a further bicycle parameter.

10. Method for verifying a bicycle algorithm according to one of claims 2 to 9, characterized in that the transmission of the bicycle parameters is anonymized.

11. Method for verifying a bicycle algorithm according to one of claims 2 to 10, characterized by providing position information of the bicycle (10; 10a) which is assigned to the bicycle parameters.

12. Bicycle, in particular an electric bicycle, wherein the bicycle does not have a wheel speed sensor, with a second sensor element, in particular in the form of an inertial sensor, and a bicycle algorithm, wherein the bicycle algorithm has been checked or improved by a method according to one of claims 1 to 11.

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