Method and device for detecting backward rolling of a two-wheeled vehicle, two-wheeled vehicle and computer program

Abstract

In a first embodiment, the invention relates to a method and a device for detecting backward rolling of a two-wheeled vehicle, to a two-wheeled vehicle and to a computer program. The method comprises capturing a standstill of the two-wheeled vehicle (200) by means of a wheel speed sensor (230), and capturing a first distance (310) of the two-wheeled vehicle (200) to a first stationary object (410) situated in a front region located in front of the two-wheeled vehicle. The method further comprises capturing a movement of the two-wheeled vehicle (200) by means of the wheel speed sensor (230), and capturing a first comparison distance (311) of the two-wheeled vehicle (200) to the first stationary object (410). The characterising feature is a comparison of the first distance (310) and the first comparison distance (311), wherein backward rolling of the two-wheeled vehicle (200) is detected if the first comparison distance (311) is greater than the first distance (310).

Description

[0001] R. 416707

[0002] - 1 -

[0003] Description

[0004] title

[0005] Method and device for detecting a two-wheeler rolling backwards, as well as two-wheeler and computer program

[0006] State of the art

[0007] The present invention relates to a method for detecting a two-wheeler rolling backwards, as described in the independent claims. The present invention also relates to a device for detecting a two-wheeler rolling backwards, a two-wheeler with such a device, and a computer program.

[0008] Many two-wheeled vehicles are equipped with a distance control system that automatically maintains a fixed distance to the vehicle in front. This includes braking to a standstill and accelerating again in stop-and-go traffic when the vehicle in front brakes and accelerates accordingly. Distance control can be achieved using a radar-based system that determines the relative distance.

[0009] Disclosure of the invention

[0010] According to the invention, a method with the characterizing features of the independent claims is provided. Such methods offer the particular advantage that a two-wheeler rolling backward and the resulting change in distance to another road user are not recognized as a movement of the road user. This could lead to an unintended acceleration of the two-wheeler and cause an accident. R. 416707

[0011] - 2 -

[0012] A first method according to the invention for detecting a two-wheeler rolling backwards comprises detecting that the two-wheeler is stationary using a wheel speed sensor, and detecting a first distance between the two-wheeler and a first stationary object located in a front area in front of the two-wheeler. It further comprises detecting movement of the two-wheeler using the wheel speed sensor, and detecting a first comparative distance between the two-wheeler and the first stationary object. This includes comparing the first distance and the first comparative distance, whereby a backward roll of the two-wheeler is detected if the first comparative distance is greater than the first distance.

[0013] A second method according to the invention for detecting a two-wheeler rolling backwards comprises detecting that the two-wheeler is stationary using a wheel speed sensor, and detecting a second distance between the two-wheeler and a second stationary object located in a rear area behind the two-wheeler. Furthermore, it includes detecting movement of the two-wheeler using the wheel speed sensor, and detecting a second comparative distance between the two-wheeler and the second stationary object. This involves comparing the second distance with the second comparative distance, whereby backwards rolling of the two-wheeler is detected if the second comparative distance is smaller than the second distance. Both embodiments address the problem that a detected change in the relative distance to another road user alone is insufficient to reliably determine whether the two-wheeler is rolling backwards.

[0014] For example, if a distance to a vehicle ahead is detected and this distance increases, this can mean either that the two-wheeler is rolling backwards and / or that the vehicle ahead is accelerating. An analogous relationship exists for a detected distance to a road user behind the two-wheeler. In this case, a decrease in the distance can indicate either that the two-wheeler is rolling backwards and / or that the road user is accelerating. A speed sensor typically detects the rotation of a wheel, but not its direction. Only a combination of these factors allows for a conclusion about backwards rolling. R. 416707

[0015] - 3 -

[0016] Both embodiments share the common feature of detecting a distance and a reference distance, and comparing this distance with the reference distance when a movement of the two-wheeler is detected. A backward roll is then inferred from the result of this comparison, whereby an increase in the distance is detected for the front area and a decrease in the distance for the rear area.

[0017] Further advantageous embodiments of the present invention are the subject of the dependent claims.

[0018] It should be noted that a front area, located in front of the two-wheeler, is defined as an area covered by a forward-facing detection unit with a detection angle that can be between 0° and 180°. A rear area, located behind the two-wheeler, is defined as an area covered by a rear-facing detection unit with a detection angle that can be between 0° and 180°. The term "front" refers to the direction in which the two-wheeler travels when traveling straight ahead.

[0019] It is advantageous if the first and second methods according to the invention are used together. The combined method for detecting a two-wheeler rolling backward comprises detecting that the two-wheeler is stationary using a wheel speed sensor, and detecting a first distance between the two-wheeler and a first stationary object located in a front area. It further comprises detecting movement of the two-wheeler using the wheel speed sensor, and detecting a first comparison distance between the two-wheeler and the first stationary object. This includes comparing the first distance and the first comparison distance, whereby a backward roll of the two-wheeler is detected if the first comparison distance is greater than the first distance.The combined method for detecting a two-wheeler rolling backwards includes detecting when the two-wheeler is stationary using a wheel speed sensor, and detecting the distance between the two-wheeler and a second stationary object located in a rear area behind the two-wheeler. It also includes detecting movement of the R. 416707.

[0020] - 4 -

[0021] The system uses the wheel speed sensor to detect the movement of a two-wheeler and a second stationary object. This involves comparing the two distances, and detecting if the two-wheeler is rolling backwards when the second distance is smaller than the first. This increases the accuracy with which backwards rolling is detected and reduces the risk of false detections.

[0022] In a further embodiment, it is advantageous if the method additionally comprises, when the two-wheeler is detected to be stationary, a step of detecting a third distance between the two-wheeler and a third stationary object located in a front area in front of the two-wheeler, which is different from the first object, as well as detecting movement of the two-wheeler by means of the wheel speed sensor, and detecting a third comparative distance between the two-wheeler and the third stationary object. Furthermore, a step of comparing the third distance and the third comparative distance is included, whereby backward rolling of the two-wheeler is detected if the third comparative distance is greater than the third distance. This has the advantage of further increasing the accuracy with which backward rolling can be detected. The third stationary object can be detected with the same detection unit as the first stationary object.However, it is also conceivable to combine different systems, and thus to record the first and third objects with different systems and additionally to record the distances and associated comparison distances with different systems.

[0023] It is further advantageous if the procedure additionally includes, when the two-wheeler is detected to be stationary, a step of classifying the first, second, and / or third stationary object as not being in front of or behind the two-wheeler. This ensures that the detected change in distances is not caused by a road user starting to move, but rather by the two-wheeler rolling backward. Road users are defined here as vehicles, in particular cars, trucks, or other two-wheelers, that are actively participating in traffic in the immediate vicinity, i.e., within the detection range of the two-wheeler. Stationary road users, such as parked cars, should not be included. (R. 416707)

[0024] - 5 -

[0025] This should be understood in more detail below. Classification can be camera-based or radar-based, for example. Systems are known that can detect other vehicles, pedestrians, or traffic signs. Classification can then be performed based on such detection. This classification can be carried out for objects in the foreground and rear, and each object can be classified separately. It is conceivable that if more than one object is classified, the process is then repeated with the object that was not classified as a road user. It is also conceivable that the process is restarted for the distances to other road users that were recorded after classification. In this way, the process can be iterated until all recorded distances are distances to objects not classified as road users.

[0026] It is advantageous to use a camera-based and / or radar-based system to detect stationary objects. These systems are known and in use on two-wheeled vehicles and can be used for a method according to the invention.

[0027] It is also advantageous to use a camera-based and / or radar-based system to detect the distance and the reference distance. These systems are known and in use in two-wheeled vehicles and can be used for a method according to the invention. In particular, an embodiment in which the detection of the objects themselves is camera-based and the distances and reference distances are detected radar-based. However, it is also conceivable to use other systems to carry out the method, such as laser, lidar, or ultrasound-based systems, which are known and used in the field of driver assistance systems. [Inventor: preferred combination]

[0028] It is further advantageous if the pitch angle of the two-wheeler is detected and a backward roll of the two-wheeler is recognized when the pitch angle is greater than 0 degrees. The result of the procedure can be verified and confirmed using this angle. For example, backward roll is not possible for a two-wheeler standing on a horizontal plane, and a detected backward roll should be considered a malfunction. The pitch angle here refers to the angle by which the two-wheeler moves. R. 416707

[0029] - 6 -

[0030] The angle is 0° when the two-wheeler is stationary or moving on a horizontal road; when moving uphill, it is greater than 0°. An additional angle change resulting from the compression of the two-wheeler's suspension components could also be taken into account.

[0031] The present invention also relates to a device for detecting a two-wheeler rolling backwards. Such a device comprises a first detection unit configured to detect when the two-wheeler is stationary using a wheel speed sensor and further configured to detect movement of the two-wheeler using the wheel speed sensor. The device further comprises at least a second detection unit configured to detect a first distance of the two-wheeler to a first stationary object located in a front area and / or a rear area, and further configured to detect a first comparative distance of the two-wheeler to the first stationary object.It also includes an evaluation unit configured to compare the initial distance with the initial reference distance and further configured to detect backward rolling of the two-wheeler if the initial reference distance to an object in front of the two-wheeler is greater than the initial distance and / or if the initial reference distance to an object behind the two-wheeler is less than the initial distance. This device can be installed in a two-wheeler, and the procedure can thus be carried out on any two-wheeler.

[0032] Furthermore, the present invention also relates to a two-wheeled vehicle, in particular a motorcycle, equipped with the device described above. Motorcycles, in particular, can accelerate faster than cars, and an incorrectly triggered acceleration can lead to serious injuries for the rider, who is poorly protected on a two-wheeler, in the event of an accident.

[0033] The present invention also relates to a computer program designed to execute and / or control the steps of the method described above and / or is executed in an evaluation unit in a device described above. R. 416707

[0034] - 7 -

[0035] Brief description of the drawings

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

[0037] Figure 1 shows a schematic representation of a method according to an embodiment of the invention.

[0038] Figure 2a is a schematic representation of a driving situation by means of which a method according to the invention is explained.

[0039] Figure 2b is a schematic representation of a driving situation by means of which a method according to the invention is explained.

[0040] Figure 3 is a schematic representation of an embodiment according to the invention.

[0041] Figure 1 schematically shows a process sequence according to an embodiment of the invention. The process begins with step 100. In step 101, a stationary state of a two-wheeler is detected by means of a wheel speed sensor. A stationary state can be detected if the wheel speed is below a defined limit value, for example, a value of less than 1 revolution per minute. In step 102, a first distance of the two-wheeler to a first stationary object located in a front area is detected. In step 103, a second distance to a second stationary object located in a rear area is detected. In step 104, a third distance to a third stationary object located in a front area is detected. In step 105, the objects detected in steps 102, 103, and 104 are classified.If one of the objects from steps 102, 103, or 104 is classified as a road user, the step in which this classification applies can be repeated until a distance to an object that is not a road user has been recorded. Alternatively, it is also conceivable that the distances to road users are not used in the further procedure as long as at least one distance to a non-road user remains in the procedure. In step 106, the movement of the two-wheeler is recorded using the wheel speed sensor. In step R. 416707.

[0042] - 8 -

[0043] In step 107, a comparison distance is recorded for the objects detected in steps 102, 103, and 104. In other words, the distance to the objects detected in steps 102, 103, and 104 is measured again. In step 108, the comparison distances from step 107 are then compared with their corresponding distances from steps 102, 103, and 104. If the comparison distance to an object located in the foreground has increased, this indicates that the two-wheeler is rolling backward. If the comparison distance to an object located in the rearground has decreased, this also indicates that the two-wheeler is rolling backward. The procedure ends with step 108 and can be repeated.

[0044] Figures 2a and 2b schematically show two different points in time of a driving situation in a side view, based on which the procedure with possible additions is described. A sloping road 1000 is shown, on which a two-wheeler 200 is depicted. The two-wheeler 200 has a forward-facing detection device 210 and a rear-facing detection device 220. The detection devices 210 and 220 are connected to an evaluation unit 240. Furthermore, the two-wheeler 200 has a wheel speed sensor 230 with a detection device 231, which is connected to the evaluation unit 240. The wheel speed sensor 230 with the detection device 231 is shown here on a rear wheel of the two-wheeler 200, but these can also be located on a front wheel of the two-wheeler. It is also conceivable to have an embodiment of a two-wheeler which has a wheel speed sensor 230 with a detection device 231 on both wheels.Figure 2a shows that the front detection device 210 has detected a first distance 310 to a first stationary object 410, in this example a tree. The rearward-facing detection device 220 has detected a second distance 320 to a second stationary object 420. Figure 2b shows the situation that arises when the two-wheeler 200 rolls backward. In this example, due to the inclined road 1000, the pitch angle of the two-wheeler relative to the horizon is greater than 0 degrees. The detection device 231 would first detect the rolling of the two-wheeler 200 by means of the wheel speed sensor 230. The forward-facing detection device 210 then detects the comparison distance 311 to the object 410. The rearward-facing detection device 220 detects the comparison distance 321 to the object 420. The forward-facing device 220 detects the comparison distance 321 to the object 420.

[0045] - 9 -

[0046] The measured comparison distance 311 is greater than the distance 310, from which a backward roll can be deduced. The measured comparison distance 321 to the rear is smaller than the distance 320, from which a backward roll can also be deduced.

[0047] Figure 3 schematically shows a top view of a two-wheeled vehicle 200 with a device according to an embodiment of the invention. The two-wheeled vehicle 200 comprises a detection device 210 directed forward in the direction of travel. The detection device 210 has a detection angle of 180 degrees, resulting in the detection cone 510. Preferably, the detection cone is rotationally symmetrical about an axis that extends from the detection device parallel to the longitudinal axis of the two-wheeled vehicle. The range of the detection cone is limited by the technology used in the detection device 210. Thus, radar-based systems may have different ranges than, for example, camera-based systems. In this embodiment, the detection unit 210 has detected a distance 511 to the object 430, with the distance 511 being measured directly between the detection unit 210 and the object 430.However, it is also conceivable to determine only the longitudinal component 512 of the distance 511 using the angle 512. The subsequent procedure can be carried out with either of the two distances 511, 512, or with both together. An analogous situation arises in the rear area of ​​the two-wheeler 200. The detection unit 220 also has a detection angle of 180 degrees, resulting in the detection cone 520. The detection unit 220 has detected the distance 521 to the object 440. Here, too, it is conceivable to determine the longitudinal component 523 of the distance 521 using the angle 522.

Claims

R. 416707 - 10 - Claims 1. Method for detecting a two-wheeler rolling backwards (200), comprising: • Detecting a standstill of the two-wheeler (200) using a wheel speed sensor (230), and • Determining a first distance (310) of the two-wheeler (200) to a first stationary object (410) located in a front area in front of the two-wheeler • Detecting movement of the two-wheeler (200) using the wheel speed sensor (230), and • Determining an initial comparison distance (311) of the two-wheeler (200) to the first stationary object (410), • Comparison of the first distance (310) and the first comparison distance (311), whereby a backward roll of the two-wheeler (200) is detected when the first comparison distance (311) is greater than the first distance (310).

2. Method for detecting a two-wheeler rolling backwards (200), comprising • Detecting a standstill of the two-wheeler (200) using a wheel speed sensor (230), and • Detecting a second distance (320) of the two-wheeler (200) to a second stationary object (420) located in a rear area behind the two-wheeler (200) • Detecting movement of the two-wheeler (200) using the wheel speed sensor (230), and • Capturing a second comparison distance (321) of the two-wheeler (200) to the second stationary object (420), • Comparison of the second distance (320) and the second comparison distance (321), whereby a backward roll of the two-wheeler (200) is detected when the second comparison distance is reached. 416707 - 11 - The equal distance (321) is smaller than the second distance (320).

3. Method according to claim 1 and claim 2 4. Method according to one of the preceding claims, additionally comprising in the event of the two-wheeler coming to a standstill when detected • Detecting a third distance of the two-wheeler (200) to a third stationary object located in a front area in front of the two-wheeler, which is different from the first object (410), • Detecting movement of the two-wheeler (200) using the wheel speed sensor (230), and • Recording a third comparison distance of the two-wheeler (200) to the third stationary object, • Comparison of the third distance and the third comparison distance, whereby a backward roll of the two-wheeler (200) is detected if the third comparison distance is greater than the third distance.

5. Method according to one of the preceding claims, additionally comprising in the event of the two-wheeler coming to a standstill when detected • Classifying the first, second and / or third stationary object (410,420) as not being in front of or behind the two-wheeler (200) 6. Method according to one of the preceding claims, wherein a camera-based and / or radar-based system is used to detect the stationary objects (410, 420, 430, 440).

7. Method according to one of the preceding claims, wherein a camera-based and / or radar-based system is used to detect the distance (310, 320, 511, 513, 521, 523) and the comparison distance (311, 321).

8. Method according to one of the preceding claims, wherein a pitching angle of the two-wheeler (200) is detected and a backward rolling of the two-wheeler (200) is detected. R. 416707 - 12 - This occurs when the pitch angle is greater than 0 degrees.

9. Device for detecting a backward roll of a two-wheeler (200), which is configured to carry out a method according to claims 1 to 8 comprising, • a first detection device which is configured to detect a standstill of the two-wheeler by means of a wheel speed sensor (230) and is further configured to detect a movement of the two-wheeler (200) by means of the wheel speed sensor (230), • at least a second detection device (210) which is configured to detect a first distance (310) of the two-wheeler (200) to a first stationary object (410) located in a front position in front of the two-wheeler (200) and is further configured to detect a first comparative distance (311) of the two-wheeler to the first stationary object (410,420), • an evaluation unit (240) which is configured to compare the first distance (310) with the first comparison distance (311) and is further configured to detect a backward roll of the two-wheeler (200) if the first comparison distance (311) to an object (410) located in front of the two-wheeler is greater than the first distance (310).

10. Device for detecting a backward roll of a two-wheeler (200), which is configured to carry out a method according to claims 1 to 8 comprising, • a first detection device which is configured to detect a standstill of the two-wheeler by means of a wheel speed sensor (230) and is further configured to detect a movement of the two-wheeler (200) by means of the wheel speed sensor (230), • at least a second detection device (220) which is configured to detect a second distance (320) of the two-wheeler (200) to a second stationary object (420) located in a rear area behind the two-wheeler (200) and is further configured to detect a second comparison distance (321) of the two-wheeler to the first stationary object (420), • an evaluation unit (240) configured to compare the first distance (320) with the first comparison distance (321) and further configured to be aR. 416707 - 13 - To detect the backward rolling of the two-wheeler (200) if the first comparison distance (321) to an object (420) located behind the two-wheeler is smaller than the first distance (320) 11. Two-wheeler (200), in particular a motorcycle with at least one device according to claim 9 and / or 10.

12. Computer program designed to execute and / or control the steps of the method according to any one of claims 1 to 8 and / or is executed in an evaluation unit (240) in a device according to claim 9 and / or 10.

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