DE102022208532A1 - Evaluation system for determining the speed of a bicycle - Google Patents

Abstract

The present invention relates to a system for determining the speed of a bicycle, in particular a bicycle with a driving-assistance drive, comprising a stationary sensor for measuring electrical and/or magnetic fields, a component which actively and/or passively generates an electrical and /or influenced by a magnetic field and is arranged in the measuring range of the sensor, a compensation device for at least partial compensation of the sensor signals in such a way that essentially sensor signals from an electrical and/or magnetic field that is optimized or unaffected by the component are provided to an evaluation device, with the evaluation device for Carrying out the following steps is formed, - determining a time profile of the electric and / or magnetic field in at least two, in particular three sensor spatial directions of the sensor, wherein one of the at least two spatial directions ments essentially corresponds to the direction of travel of the vehicle and the second of the at least two spatial directions corresponds to the vertical axis of the vehicle,- detecting a flank over time in the electric and/or magnetic field in one of the two spatial directions, preferably in the first spatial direction- determining the speed of the Vehicle based on at least two, in particular consecutive, recognized flanks.

Description

State of the art

The invention relates to a system for determining a speed of a bicycle.

The invention further relates to a method for determining field influence data of a component for a sensor for measuring electric and/or magnetic fields.

The invention further relates to a bicycle, in particular with a driving assistance drive.

The invention further relates to a method for determining a speed of a bicycle, in particular a bicycle with a driving assistance drive.

Although the present invention is generally applicable to any bicycle, the present invention will be described in relation to bicycles in the form of pedelecs.

Although generally applicable to electric and/or magnetic fields, the present invention will be explained in relation to magnetic fields.

Pedelecs enable driving support for a driver through a drive unit with a motor. The respective drive unit not only includes the respective drive motor, but also sensors to determine the driving speed of the pedelec. Here, it has become known to arrange a magnet on a bicycle wheel and to measure its magnetic field by means of a magnetic field sensor. The magnetic field sensor is arranged in a stationary manner on the frame, in particular in the drive unit. In this way, the speed of the bicycle can be determined for each lap based on the time interval between two measured pulses of the magnetic field and the tire circumference. The problem is that components of the drive unit, such as gear wheels, screws, bolts or the like can be made of soft magnetic material and can thus influence the measurement result of the magnetic field sensor. In addition, the installation situation of the drive unit can be different on different bicycles. Both can affect the measurement result of the magnetic field sensor.

Disclosure of Invention

• - Ermitteln eines zeitlichen Verlaufs elektrischen und/oder magnetischen Feldes in zumindest zwei, insbesondere drei Sensorraumrichtungen des Sensors, wobei die eine der zumindest zwei Raumrichtungen im Wesentlichen der Fahrtrichtung des Fahrzeugs entspricht und die zweite der zumindest zwei Raumrichtungen der Hochachse des Fahrzeugs entspricht,
• - Erkennen einer Flanke im zeitlichen Verlauf des elektrischen und/oder magnetischen Feldes in einer der beiden Raumrichtungen vorzugsweise in der ersten Raumrichtung mittels
• - Ermitteln von Hoch- und Tiefpunkten im zeitlichen Verlauf des elektrischen und/oder magnetischen Feldes,
• - Ermitteln einer fallenden oder steigenden Flanke anhand der zeitlichen Abfolge eines Hoch- und Tiefpunkts,
• - Vergleichen der Amplitude der ermittelten Flanke mit einem Schwellenwert, wobei die ermittelte Flanke als erkannt gilt, wenn die Amplitude der ermittelten Flanke größer ist als ein erster niedrigerer Schwellenwert, und/oder größer ist als ein zweiter größerer adaptiver Schwellenwert, und
• - Ermitteln der Geschwindigkeit des Fahrzeugs anhand von zumindest zwei, insbesondere aufeinanderfolgender, erkannter Flanken.

In one embodiment, the present invention provides a system for determining a speed of a bicycle, in particular a bicycle with a driving support drive, comprising
an in particular stationary arranged sensor for measuring an electric and/or magnetic field, a component which actively and/or passively influences an electric and/or magnetic field and is arranged in the measuring range of the sensor,
a compensation device for at least partially compensating for the sensor signals in such a way that essentially sensor signals are made available to an evaluation device by an electrical and/or magnetic field that is optimized or unaffected by the component, wherein
the evaluation device is designed to carry out the following steps,

• - Determination of a time profile of the electric and/or magnetic field in at least two, in particular three sensor spatial directions of the sensor, one of the at least two spatial directions essentially corresponding to the direction of travel of the vehicle and the second of the at least two spatial directions corresponding to the vertical axis of the vehicle,
• - Detecting a flank in the time course of the electric and/or magnetic field in one of the two directions in space, preferably in the first direction in space
• - Determination of high and low points over time in the electric and/or magnetic field,
• - Determination of a falling or rising edge based on the time sequence of a high and low point,
• - comparing the amplitude of the determined edge with a threshold value, the determined edge being considered to be detected if the amplitude of the determined edge is greater than a first lower threshold value and/or is greater than a second larger adaptive threshold value, and
• - Determining the speed of the vehicle based on at least two, in particular consecutive, detected edges.

• - Anordnen von Sensor und Bauelement in einer definierten Orientierung und in einem definierten Abstand zueinander, sodass das Bauteil im Messbereich des Sensors angeordnet ist,
• - Beaufschlagen des Sensors mit einem elektrischen und/oder magnetischen Referenzfeld, insbesondere in allen drei Raumrichtungen, und
• - Ermitteln der Feldbeeinflussungsdaten anhand eines Vergleichs des Referenzfeldes am Ort des Sensors und gemessenen Werten des Sensors.

In one embodiment, the present invention provides a method for determining field influence data of a component for a sensor for measuring electric and/or magnetic fields, for use in a system according to any one of claims 1-7, comprising the steps

• - arranging the sensor and component in a defined orientation and at a defined distance from one another, so that the component is arranged in the measuring range of the sensor,
• - Subjecting the sensor to an electrical and/or magnetic reference field, in particular in all three spatial directions, and
• - Determination of the field influence data based on a comparison of the reference field at the location of the sensor and measured values of the sensor.

In one embodiment, the present invention provides a bicycle with a system according to one of Claims 1-7 and with a drive unit, in particular for driver support.

• - Messen von einem elektrischen und/oder magnetischen Feld mittels eines insbesondere stationär angeordneten Sensors, wobei im Messbereich des Sensors ein Bauelement, welches aktiv und/oder passiv ein elektrisches und/oder magnetisches Feld beeinflusst, angeordnet ist,
• - Zumindest teilweises Kompensieren der gemessenen Sensorsignale derart, dass im Wesentlichen Sensorsignale von einem von dem Bauelement optimierten oder unbeeinflussten elektrischen und/oder magnetischen Feld bereitgestellt werden,
• - Ermitteln eines zeitlichen Verlaufs des zumindest teilweise kompensierten elektrischen und/oder magnetischen Feldes in zumindest zwei, insbesondere drei Sensorraumrichtungen des Sensors, wobei die eine der zumindest zwei Raumrichtungen im Wesentlichen der Fahrtrichtung des Fahrzeugs entspricht und die zweite der zumindest zwei Raumrichtungen der Hochachse des Fahrzeugs entspricht,
• - Erkennen einer Flanke im zeitlichen Verlauf des elektrischen und/oder magnetischen Feldes in einer der beiden Raumrichtungen vorzugsweise in der ersten Raumrichtung mittels
  • - Ermitteln von Hoch- und Tiefpunkten im zeitlichen Verlauf des elektrischen und/oder magnetischen Feldes,
  • - Ermitteln einer fallenden oder steigenden Flanke anhand der zeitlichen Abfolge eines Hoch- und Tiefpunkts,
  • - Vergleichen der Amplitude der ermittelten Flanke mit einem Schwellenwert, wobei die ermittelte Flanke als erkannt gilt, wenn die Amplitude der ermittelten Flanke größer ist als ein erster niedrigerer Schwellenwert, und/oder größer ist als ein zweiter größerer adaptiver Schwellenwert,
• - Ermitteln der Geschwindigkeit des Fahrzeugs anhand von zumindest zwei, insbesondere aufeinanderfolgender, erkannter Flanken.

In one embodiment, the present invention provides a method for determining a speed of a bicycle, in particular a bicycle with a driving support drive, comprising the steps

• - Measurement of an electric and/or magnetic field by means of a sensor arranged in particular in a stationary manner, with a component which actively and/or passively influencing an electric and/or magnetic field being arranged in the measuring area of the sensor,
• - At least partial compensation of the measured sensor signals in such a way that essentially sensor signals are provided by an electrical and/or magnetic field that is optimized or unaffected by the component,
• - Determination of a time profile of the at least partially compensated electric and/or magnetic field in at least two, in particular three spatial directions of the sensor, wherein one of the at least two spatial directions essentially corresponds to the direction of travel of the vehicle and the second of the at least two spatial directions to the vertical axis of the vehicle is equivalent to,
• - Detecting a flank in the time course of the electric and/or magnetic field in one of the two directions in space, preferably in the first direction in space
  • - Determination of high and low points over time in the electric and/or magnetic field,
  • - Determination of a falling or rising edge based on the time sequence of a high and low point,
  • - Comparing the amplitude of the determined edge with a threshold value, wherein the determined edge is considered to be detected if the amplitude of the determined edge is greater than a first, lower threshold value, and/or is greater than a second, larger adaptive threshold value,
• - Determining the speed of the vehicle based on at least two, in particular consecutive, detected edges.

One of the advantages achieved in this way is that the bicycle speed can be reliably determined by means of the sensor even in the presence of components that influence the electric and/or magnetic field in the measuring range of the sensor. At the same time, flexibility is increased since greater tolerances are made possible when arranging the sensor and, for example, a magnet, which also reduces the manufacturing costs and the time required for assembly.

In other words, at least partial compensation of distortions in the electric and/or magnetic fields measured by the sensor is possible by means of appropriate components with simultaneous high flexibility when assembling the sensor and magnet.

Other features, advantages, and other embodiments of the invention are described below or will become apparent thereby.

According to an advantageous development, the sensor is a magnetic field sensor. In this way, for example, in combination with a rim magnet, a speed signal based on a detected magnetic field can be made possible in a simple manner. The rim magnet differs from spoke magnets in particular by a large or essentially maximum distance from the wheel axle.

According to a further advantageous development, the component, in particular the component being arranged between a source of the electrical and/or magnetic field and the sensor, is at least partially made of a soft magnetic material. This means that reliable and inexpensive metal components can be used, which increases the service life of the component without reducing the reliability of the speed measurement.

According to a further advantageous development, the component includes a housing for a drive unit of a bicycle. The component can thus be used or arranged in a drive unit of a bicycle in a simple manner.

According to a further advantageous development, the compensation device is designed to carry out the compensation on the basis of predefined component-specific field influencing data. This will ensure sufficient accuracy of determining the driving speed, even with different components.

According to a further advantageous development, the compensation device is designed to compensate for the measured sensor signals using a single mathematical matrix operation. The advantage of this is a fast and efficient compensation of the sensor signals.

According to a further advantageous development, the steps are carried out multiple times with different components of the same pattern and/or with different sensors of the same pattern, and overall field influence data are determined using the respective field influence data. This increases the accuracy of the component-specific and/or sensor-specific determination of the speed of the bicycle. Components of the same pattern are to be understood in particular as meaning identical components that differ in terms of manufacturing tolerances.

According to a further advantageous development, the field influencing data are transmitted to a compensation device and stored there. Independent of the specific use, this enables compensation by means of a compensation device, for example in different arrangements, bicycles or with different components.

According to a further advantageous development, the electrical and/or magnetic reference field is provided in the form of a sphere. This means that measured values from the sensor can be recorded along several spatial axes at the same time, which increases the number of measurements. Measurement inaccuracies are thus minimized.

According to an advantageous development, before the edge is detected, the at least partially compensated signals are filtered using a bandpass filter, with a stopband and passband of the bandpass filter being adapted to a predetermined rotational frequency of a wheel of the vehicle. The advantage of this is that, for example, outliers or the like can be filtered out, which improves the reliability of the detection of edges. In addition, more precise or more suitable filtering can be provided depending on the speed of the bicycle, for example.

According to a further advantageous development, the values provided in at least two sensor spatial directions are rotated into the main axis of the electric and/or magnetic field before a flank is detected. "Spatial direction" is synonymous to understand a "spatial axis". This increases the useful amplitude for detecting flanks, which further improves overall reliability.

According to a further advantageous development, the angle of the main axis for the rotation is determined using measured values in the second spatial direction, in particular for a predeterminable number of flanks. The angle of the main axis can thus be determined in a simple and at the same time reliable manner.

According to a further advantageous development, the angle of the main axis is stored and made available for further calculations. The determined value can thus be used for further calculations and/or other devices, which saves resources.

According to a further advantageous development, the course over time of the vector of the electrical and/or magnetic field is also evaluated to evaluate the rising and/or falling edges, in particular to check their plausibility. The advantage of this is that it improves edge detection even further.

According to a further advantageous development, a determined edge is checked using a plausibility check method, with an implausible determined edge being discarded. The advantage of this is that it further improves the reliability of the speed measurement.

• - Wenn die mögliche Geschwindigkeit oberhalb eines vorgebbaren Schwellenwerts liegt, wird die ermittelte Flanke verworfen,
• - Wenn der Gradient der ermittelten Flanke unterhalb eines Schwellenwerts liegt, wird die ermittelte Flanke verworfen
• - Wenn die Zeitdifferenz zwischen dem Tiefpunkt der ermittelten Flanke und dem Zeitpunkt des Überschreitens eines Schwellenwerts in dem Flankenverlauf oberhalb eines vorgebbaren Schwellenwerts ist, wird die ermittelte Flanke verworfen
• - die Fahrzeugbeschleunigungen berechnet aus einer aktuell ermittelten Flanke und einer früheren Flanke, oberhalb eines vorgebbaren Schwellenwerts liegen, wird die aktuell ermittelte Flanke verworfen.

According to a further advantageous development, the plausibility check method calculates a possible speed based on the edge determined and checks for at least one of the following conditions

• - If the possible speed is above a definable threshold value, the edge determined is discarded,
• - If the gradient of the determined edge is below a threshold value, the determined edge is discarded
• - If the time difference between the low point of the determined edge and the point in time at which a threshold value in the edge curve is exceeded is above a predefinable threshold value, the determined edge is discarded
• - the vehicle accelerations, calculated from a currently determined edge and an earlier edge, are above a predefinable threshold value, the currently determined edge is discarded.

One of the advantages achieved in this way is that a particularly high level of reliability is achieved during the plausibility check.

According to a further advantageous development, the plausibility checking method includes an edge prediction, in particular based on acceleration data of the vehicle, so that a recognized edge is rejected as implausible if no edge is predicted based on the acceleration data. The reliability of the edge detection can thus be improved.

According to a further advantageous development, at least one of the threshold values of the first and second threshold value, in particular the second threshold value for the edge detection and plausibility check, is reduced for the time of the edge prediction and a tolerance range. The advantage of this is that the method is more sensitive, particularly for this time range, so that the reliability of the edge detection and the plausibility check method can be improved even further.

According to a further advantageous development, if a magnetic field is provided by means of a magnet, to detect the polarization of the magnet, a predeterminable number of determined flanks and in particular an angular profile of the magnetic field vector are determined based on the measured magnetic field, with the polarization being determined based on a comparison of the maximum amplitude of the rising and falling amplitude is determined, where if the maximum falling amplitude is greater than the maximum rising amplitude, the polarization of the magnet is assumed to be reversed and the readings of the magnetic field are inverted. One of the advantages this achieves is that the polarization of the magnet can be recognized quickly and easily without any additional effort.

According to a further advantageous development, the polarization is evaluated using a predefinable number of rising and/or falling edges. The advantage of this is that the polarization of the magnet can be detected with sufficient accuracy.

Further important features and advantages of the invention result from the subclaims, from the drawings and from the associated description of the figures based on the drawings.

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

Preferred designs and embodiments of the present invention are shown in the drawings and are explained in more detail in the following description, with the same reference symbols referring to identical or similar or functionally identical components or elements.

• 1 in schematischer Form ein durch ein Bauteil beeinflusstes Magnetfeld im Vergleich zu einem Referenzfeld;
• 2 eine Vorrichtung gemäß einer Ausführungsform der vorliegenden Erfindung und
• 3 Schritte eines Verfahrens gemäß einer Ausführungsform der vorliegenden Erfindung;
• 4 Schritte eines Verfahrens zur Ermittlung einer Geschwindigkeit eines einspurigen Fahrzeugs gemäß einer Ausführungsform der vorliegenden Erfindung;
• 5 Schritte eines Verfahrens zur Ermittlung einer Geschwindigkeit eines einspurigen Fahrzeugs gemäß einer Ausführungsform der vorliegenden Erfindung;
• 6 ein Diagramm eines zeitlichen Verlaufs eines gemessenen Magnetfelds gemäß einer Ausführungsform der vorliegenden Erfindung; und
• 7 eine Darstellung von unterschiedlichen Einbauwinkeln für einen Sensor gemäß einer Ausführungsform der vorliegenden Erfindung;

while showing

• 1 in schematic form, a magnetic field influenced by a component compared to a reference field;
• 2 an apparatus according to an embodiment of the present invention and
• 3 steps of a method according to an embodiment of the present invention;
• 4 Steps of a method for determining a speed of a single-track vehicle according to an embodiment of the present invention;
• 5 Steps of a method for determining a speed of a single-track vehicle according to an embodiment of the present invention;
• 6 a diagram of a time course of a measured magnetic field according to an embodiment of the present invention; and
• 7 a representation of different installation angles for a sensor according to an embodiment of the present invention;

In 1 a magnetic field 11 influenced by a component 3 is shown in schematic form in comparison to a reference field 10 . A magnetic field sensor 2 is arranged in the component, here in a drive unit 3, which has components made of soft magnetic material. If a magnetic field 10 is now measured by the sensor 2 as a reference magnetic field, it measures a magnetic field 11 that deviates from the reference field 10 and is caused by the soft-magnetic components of the drive unit 3 . If a variable, for example the speed of a bicycle, is now determined on the basis of the sensor measurement values, this is falsified by the deviating magnetic field 11 . In other words, the magnetic field 11 measured by the sensor 2 does not correspond to the external, undistorted magnetic field 10.

For example, a rim magnet generates a magnetic field exclusively in the bike plane. However, due to the distortion caused by the component 3, the magnetic field sensor 2 shown also measures a magnetic field 11 with a proportion from the bicycle level out. This does not correspond to the physical reality. If only the magnetic field in the bicycle plane is evaluated, the amplitude of the useful signal is lower due to the distortion. Distortion is also different for different materials and component configurations.

2 Figure 12 shows an apparatus according to an embodiment of the present invention.

• - Ermitteln eines zeitlichen Verlaufs elektrischen und/oder magnetischen Feldes in zumindest zwei, insbesondere drei Sensorraumrichtungen des Sensors, wobei die eine der zumindest zwei Raumrichtungen im Wesentlichen der Fahrtrichtung des Fahrzeugs entspricht und die zweite der zumindest zwei Raumrichtungen der Hochachse des Fahrzeugs entspricht,
• - Erkennen einer Flanke im zeitlichen Verlauf des elektrischen und/oder magnetischen Feldes in einer der beiden Raumrichtungen vorzugsweise in der ersten Raumrichtung mittels
  • - Ermitteln von Hoch- und Tiefpunkten im zeitlichen Verlauf des elektrischen und/oder magnetischen Feldes,
  • - Ermitteln einer fallenden oder steigenden Flanke anhand der zeitlichen Abfolge eines Hoch- und Tiefpunkts,
  • - Vergleichen der Amplitude der ermittelten Flanke mit einem Schwellenwert, wobei die ermittelte Flanke als erkannt gilt, wenn die Amplitude der ermittelten Flanke größer ist als ein erster niedrigerer Schwellenwert, und/oder kleiner als ein zweiter größerer Schwellenwert
  • - Ermitteln der Geschwindigkeit des Fahrzeugs anhand von zumindest zwei, insbesondere aufeinanderfolgender, erkannter Flanken.

In 2 a system 1 for determining a speed of a bicycle, in particular a bicycle with a driving assistance drive, is shown in schematic form. The system 1 comprises a sensor 2 arranged in a stationary manner for measuring electric and/or magnetic fields, a component 3 which actively and/or passively influences an electric and/or magnetic field and is arranged in the measuring range of the sensor, a compensation device 5 for at least partial compensation of the sensor signals in such a way that essentially sensor signals are provided to an evaluation device 4 by an electrical and/or magnetic field that is optimized or unaffected by the component 3, with the evaluation device 4 being designed to carry out the following steps,

• - Determination of a time profile of the electric and/or magnetic field in at least two, in particular three sensor spatial directions of the sensor, one of the at least two spatial directions essentially corresponding to the direction of travel of the vehicle and the second of the at least two spatial directions corresponding to the vertical axis of the vehicle,
• - Detecting a flank in the time course of the electric and/or magnetic field in one of the two directions in space, preferably in the first direction in space
  • - Determination of high and low points over time in the electric and/or magnetic field,
  • - Determination of a falling or rising edge based on the time sequence of a high and low point,
  • - Comparing the amplitude of the determined edge with a threshold value, the determined edge being considered recognized if the amplitude of the determined edge is greater than a first, lower threshold value and/or smaller than a second, larger threshold value
  • - Determining the speed of the vehicle based on at least two, in particular consecutive, detected edges.

In addition, the evaluation device 4 can have a plausibility checking device 46 which is designed to carry out a plausibility check of the detected edges.

The compensation device 5 thus enables compensation for the component-related distortion in the fields 11 measured by the sensor 2, for example the magnetic field data. As a result, precise information about the electric and/or magnetic field 10 actually present outside of the drive unit 3 is obtained. The compensated magnetic field data are used to measure the speed, for example using a rim magnet. This is explained below.

The structure of the drive unit 3 is known with regard to the materials, arrangement of the components and the magnetic field sensor 2 and does not change over the product life cycle. Thus, the distortion of the magnetic field by the drive unit 3 does not change over the life cycle.

setzt sich aus dem externen Magnetfeld $\overrightarrow{E}$

und einer Verzerrung, die mit der Matrix V beschrieben werden kann, zusammen: $$\overrightarrow{S}=\text{V}*\overrightarrow{E}$$

The magnetic field measured by sensor 2, designed here as a magnetic field sensor $\overrightarrow{S}$

composed of the external magnetic field $\overrightarrow{E}$

and a distortion that can be described with the matrix V together: $$\overrightarrow{S}=\text{V}*\overrightarrow{E}$$

Solving the equation for the external magnetic field E yields $$\overrightarrow{E}={\text{V}}^{-1*}\overrightarrow{S}$$

The distortion matrix V or V ⁻¹ for each product, ie for each combination of magnetic field sensor 2 and drive unit 3 , is determined using a test stand that can generate magnetic fields in defined directions.

For this purpose, the drive unit 3 is placed in a defined orientation in the test stand, which generates a reference magnetic field 10 . At least three measurements can be carried out, in which the reference magnetic field 10 is generated in one of the three spatial axes. It is also possible to generate a spherical reference magnetic field 10 in which several axes are activated at the same time. This increases the number of measurements and minimizes measurement inaccuracies. While the reference magnetic field 10 is present, the internal magnetic field sensor 2 is read out and the data is stored. After the measurements have been completed, the distortion matrix is created using the measured data from the internal magnetic field sensor 2 and the data from the reference field 10 V or V ^-1 determined. Since the drive units 3 of a product line have an identical structure, the distortion V is also identical. A certain number of samples is measured for each product line and the results are averaged to compensate for small scatters.

anhand des vom Sensor 2 gemessenen Magnetfelds $\overrightarrow{S}$

und der folgenden Formel berechnet: $$\overrightarrow{E}={\text{V}}^{-1*}\overrightarrow{S}$$

The matrix V ^-1 is stored in the drive unit 3 of the respective product line. During operation, the external magnetic field $\overrightarrow{E}$

based on the magnetic field measured by sensor 2 $\overrightarrow{S}$

and calculated using the following formula: $$\overrightarrow{E}={\text{V}}^{-1*}\overrightarrow{S}$$

The calculated, compensated magnetic field is then used by the evaluation device to determine the speed of the bicycle.

3 shows steps of a method according to an embodiment of the present invention.

In 3 steps of a method for determining field influence data of a component for a sensor for measuring electric and/or magnetic fields, for use in a system according to one of claims 1-7, are shown.

• - Anordnen T1 von Sensor und Bauelement in einer definierten Orientierung und in einem definierten Abstand zueinander, sodass das Bauteil im Messbereich des Sensors angeordnet ist.
• - Beaufschlagen T2 des Sensors mit einem elektrischen und/oder magnetischen Referenzfeld, insbesondere in allen drei Raumrichtungen, und
• - Ermitteln T3 der Feldbeeinflussungsdaten anhand eines Vergleichs des Referenzfeldes am Ort des Sensors und gemessenen Werten des Sensors.

The procedure includes the following steps

• - Arranging T1 of sensor and component in a defined orientation and at a defined distance from one another, so that the component is arranged in the measuring range of the sensor.
• - Applying an electric and/or magnetic reference field to the sensor T2, in particular in all three spatial directions, and
• - Determination T3 of the field influence data based on a comparison of the reference field at the location of the sensor and measured values of the sensor.

4 FIG. 12 shows, in schematic form, steps of a method for determining a speed of a single-track vehicle according to an embodiment of the present invention.

In 4 steps for a speed measurement using a rim magnet 51 (see 4 ) of a bicycle 300 (see 7 ) shown. For this purpose, a magnetic field sensor 2, which is installed in a drive unit 52 (see 7 ) of the bicycle 300 is arranged, the magnetic field in the three spatial directions x, y and z in a step S1. Since the magnetic fields detected by the internal magnetic field sensor 2 can be distorted by surrounding steel parts, these are corrected in a second step S2. As a result, the magnetic field can be calculated outside of the drive unit 52, ie without distortion. The rotating rim magnet 2 generates a magnetic field in the direction of travel axis 70 and the vertical axis 71 (provision of the components of the magnetic field according to steps S31, S33 after the correction, which is why this data is provided to a rim magnet detection method in a step S3 and evaluated in a step S4 A magnetic field component provided according to step S32 outside the plane of the vehicle is not further evaluated.

If the evaluation according to step S4 has shown that the magnet 2 has rotated past the drive unit 52 and has provided a magnetic pulse, a time stamp is generated or provided in a step S5. The speed is then calculated according to step S7 and output according to step S8 using the time difference between two pulses and the wheel circumference provided according to step S6. Instead of a time stamp, a counter or the like can also be used to calculate the time difference between the individual pulses. For this purpose, the counter is set to 0 after each pulse and then increased in defined time steps. With the next pulse, the time difference between the last pulse is directly available and there is no need to calculate the difference between the time stamps.

5 shows steps of a method for determining a speed of a single-track vehicle according to an embodiment of the present invention and 6 a diagram of a time course of a measured magnetic field according to an embodiment of the present invention.

5 now shows in detail the step S4 - rim magnet detection method - according to an embodiment of the present invention. 6 1 shows a diagram 100 of a time course of a measured magnetic field according to an embodiment of the present invention with a time axis 101 as the x-axis and a strength of the magnetic field 102 as the y-axis.

In 5 the magnetic field in the direction of travel and the vertical axis 70, 71 are first fed to a signal processing unit 41 S31, S33. The magnetic field data in the direction of travel and vertical axis 70, 71 are filtered with a bandpass filter in the signal processing unit 41. The filter adapts its passband and stopband in particular depending on the instantaneous rear wheel frequency of a rear wheel of bicycle 300. Known EMC interference frequencies are also damped.

The filtered magnetic field data is rotated with the angle φ of the main axis, so that the largest signal deviation is in one axis. These two signals are then fed to an edge detection 42 according to S41-1, S41-2. The determination of the angle φ of the major axis will be described later.

wobei Mag_Hoch und Mag_Fahrtrichtung den jeweiligen Signalen beziehungsweise Werten der gemäß S41-1, S41-2 bereitgestellten Signale entspricht, wobei diese gemäß S41-3 ebenfalls der Flankenerkennung 42 bereitgestellt werden.Based on the magnetic field in the direction of travel and vertical axis 70, 71, the instantaneous angle of the magnetic field vector is calculated using the following formula. $$\propto =atan2\left(MaG\_HOcH,MaG\_faH\mathrm{right}t\mathrm{right}icHt\mathrm{and}nG\right)$$

Mag_Hoch and Mag_Fahrtrichtung corresponding to the respective signals or values of the signals provided according to S41-1, S41-2, these also being provided to the edge detection 42 according to S41-3.

High points 112 and low points 111 are detected in the magnetic field signal that has been filtered and rotated into the main axis 70 and is provided according to S41-1. If a low point 111 is followed by a high point 112, this is recognized as a rising edge 140. Conversely, a falling edge 140 is detected. To detect an edge 140, its amplitude 130 must be greater than a first low threshold 120.

If the difference between the detected low point 111 and the current value of the magnetic field signal 110 is greater than a certain proportion of a specified amplitude, in particular the amplitude is learned, represented by a second threshold value 121, the amplitude 111, 112 of the flank 140 is plausible and the detected one Flank 140 is transmitted to the plausibility check 46. At this point in time, a time stamp is determined according to S42-4 for the speed calculation according to step S7, since this point in time is more defined than the point in time of the high point 112. Since the speed is calculated using the time difference between two pulses, the time stamps (provided according to S42-4) is always generated at the same time of an edge 140.

If the first low threshold value 120 is exceeded but not the second adaptive threshold value 121, the flank 140 is nevertheless transmitted to the plausibility check 46. In the case of a pulse prediction 47, this edge 140 can nevertheless be evaluated as plausible with the data provided according to S47-2. Edge detection 42 can also detect falling edges 140 . These are not used here for the speed calculation according to S7, but are necessary for a polarization detection using a polarization detection device 45 of the magnet.

During the detection of an edge 140, the angle of the magnetic field vector is calculated. As the bicycle 300 moves forward and the rim magnet 51 rotates past the drive unit 52, the angle increases continuously. In addition, the angle of the vector at the beginning of the edge 140, here at the low point 111, when the second threshold value 121 is exceeded and at the end of an edge 140, here at the high point 112, is determined. The angle signal provided according to S42-3 is assessed as plausible if it depicts the rotation of the magnetic field vector during the detection of an edge 140.

Since the distance between the rim magnet 51 and the sensor can vary greatly depending on the bicycle 300, for example depending on the frame geometry, tire, rim of the bicycle 300, the amplitude 130 of the useful signal also varies depending on the bicycle 300. The amplitude 130 of the useful signal is learned individually according to step S43 and later used for plausibility checking.

In order to know the correct amplitude 130 as quickly as possible, the amplitudes 130 of the first complete rising and falling edges 140, at which the angle signal is plausible, are stored according to step S43-1. After a certain number of detected edges, the maximum is calculated from the stored amplitudes 130. If this is greater than the currently stored amplitude 130, this is used for further calculations.

Once the rapid learning of the amplitude 130 is completed, the amplitude 130 is continuously learned using each complete, plausible rising edge 140 with a plausible angle signal.

When the system is switched off, the learned amplitude 130 is written here to a non-volatile memory in the drive unit 52 . When the system starts, the last taught-in amplitude 130 is loaded from this memory and the correct taught-in amplitude 130 is made available to the system at the beginning after it is switched on again.

In principle, the rim magnet 51 can be installed rotated by 180°. This inverts the waveform. This is detected by the polarization detection device 45 and the signal is again inverted using a method, in particular a software program, so that the method can continue to detect the rising edges 140 . In order to identify the polarization of the magnet, the amplitudes 130 of the first rising and falling edges 140 are stored according to S43-1, for which the angle signal of the magnetic field vector is also plausible and is provided according to S42-3. Became a certain Number of edges 140 recognized, the maximum of the stored rising amplitudes 130 and the maximum of the stored falling amplitudes 130 are calculated. If the maximum falling amplitude is greater than the maximum rising amplitude 130, the currently used polarization is incorrect and the signal curve is output inverted by the signal processing 41 with the corresponding information from the polarization detection device 45 according to S45-1.

This check takes place here with the first magnetic pulses when the vehicle starts moving, since the polarization could change every time it stops.

When the system is switched off, the polarization that has been learned is written to the non-volatile memory of the drive unit 52 . When the system starts up, the last programmed polarization is loaded from memory and the correct polarization is provided.

7 shows representations of different installation angles for a sensor according to an embodiment of the present invention.

The drive unit 52 and thus the respective sensor can be installed in a vehicle, for example a pedelec 300, in various angular positions. The sensor then measures a magnetic field along the sensor space axes 60, 61. However, the main axis 70, in which the largest signal swing is located, does not change when viewed from the outside. At the beginning, an installation angle of 0° is assumed. The method according to an embodiment of the present invention functions even if the drive unit 52 and thus the sensor is severely twisted. However, the useful amplitude is lower and less robust in the event of an external magnetic field disturbance.

Therefore, with each plausible flank 140, the rotation Δφ to the main axis 70 is calculated according to S42-5, the magnetic field data is rotated accordingly according to S44 and the data is made available to the signal processing 41 according to S44-1.

For this purpose, the magnetic field in the second axis, provided according to step S41-1, is additionally evaluated during edge detection 42. As a result, the main axis 70 is obtained after a few revolutions of the wheel and a useful signal with a large amplitude is achieved even in the case of strong rotations.

When the system is switched off, the angle of the taught-in main axis 70 is written to the non-volatile memory of the drive unit 52. When the system starts, the angle last taught in is loaded from the memory and, after switching on again, the correct angle of the main axis 70 is provided right at the beginning.

1. 1. Ist die mögliche Geschwindigkeit über einem Schwellenwert, beispielsweise 100km/h, ist die Flanke 140 nicht plausibel. Das heißt, dass die Flanken 140 unplausibel schnell aufeinander folgen.
2. 2. Je schneller das Fahrrad 300 fährt, desto größer ist die Geschwindigkeit, mit der sich der Magnet 51 an der Antriebseinheit 52 vorbei bewegt. Deshalb ist bei hohen Geschwindigkeiten auch der Gradient der steigenden Flanke 140 größer und die Zeitdifferenz zwischen dem Tiefpunkt 111 und dem zweiten Schwellenwert 121 geringer. Deshalb muss der Gradient der Flanke 140 über einem geschwindigkeitsabhängigen Schwellenwert liegen. Außerdem kann insbesondere die Zeitdifferenz zwischen dem Tiefpunkt 111 und dem zweiten Schwellenwert 121 kleiner sein als ein zweiter geschwindigkeitsabhängiger Schwellenwert 121. Sind die beiden Bedingungen nicht erfüllt, wird die Flanke 140 als unplausibel gewertet.
3. 3. Mit jeder detektierten Flanke 140 wird die Beschleunigung zwischen der letzten plausiblen Flanke und der aktuell detektierten Flanke 140 berechnet. Ist diese Beschleunigung über einem Schwellenwert, ist die Flanke 140 unplausibel. Diese Plausibilisierung wird nur kurzzeitig verwendet, da es ansonsten gegebenenfalls zu einer dauerhaft falschen Geschwindigkeitsmessung führen kann.

The edges detected by edge detection 42 are checked for plausibility by plausibility check 46 in several steps. For this purpose, edge detection 42 provides or transmits amplitude 130 of edge 140 according to S42-1, edge gradient, provided according to S42-2, and plausible magnetic field vector according to S42-3 of plausibility check 46. If a detected edge is determined to be implausible, edge 140 and the associated time stamp signal provided according to S42-4 are not used by edge detection 42 for speed calculation. With each detected edge 140, it is calculated in particular what speed would be measured if this edge 140 were plausible. This is referred to as "possible speed" in the following. In particular, flanks 140 are checked for plausibility based on the following conditions or queries:

1. 1. If the possible speed is above a threshold value, for example 100 km/h, edge 140 is not plausible. This means that the flanks 140 follow one another implausibly quickly.
2. 2. The faster the bicycle 300 travels, the greater the speed at which the magnet 51 moves past the drive unit 52 . For this reason, the gradient of the rising edge 140 is also greater at high speeds and the time difference between the low point 111 and the second threshold value 121 is smaller. Therefore, the gradient of edge 140 must be above a speed dependent threshold. In addition, in particular the time difference between the low point 111 and the second threshold value 121 can be smaller than a second speed-dependent threshold value 121. If the two conditions are not met, the flank 140 is evaluated as implausible.
3. 3. With each detected edge 140, the acceleration between the last plausible edge and the currently detected edge 140 is calculated. If this acceleration is above a threshold value, edge 140 is implausible. This plausibility check is only used for a short time, since otherwise it may lead to a permanently incorrect speed measurement.

Using the data from the acceleration sensor, which is provided to the pulse prediction 47 according to S47-1, the pulse prediction 47 predicts the point in time when the next plausible edge 140 should be present. About this one In particular, a window is laid in which the method is more sensitive. If the amplitude 130 of an edge 140 is reduced, for example by an external magnetic field disturbance, so that it does not exceed the second threshold value 121 during the edge detection 42, this edge 140 can still be plausible if it is detected in this time window. The same applies if the speed-dependent threshold values for the gradient and the time difference are not reached.

• - Einfache Implementierung
• - Einfache, kostengünstige Herstellung
• - Einfache, schnelle und zuverlässige Bestimmung einer Geschwindigkeit

In summary, at least one of the embodiments has at least one of the following features and/or enables at least one of the following advantages:

• - Easy implementation
• - Simple, inexpensive manufacture
• - Simple, fast and reliable determination of a speed

Although the present invention has been described on the basis of preferred exemplary embodiments, it is not limited thereto but can be modified in many different ways.

Claims (25)

System (1) for determining a speed of a bicycle, in particular a bicycle with a driving support drive, comprising a sensor (2) arranged in particular in a stationary manner for measuring an electric and/or magnetic field (10, 11), a component (3) which actively and/or passively influences an electric and/or magnetic field (10, 11) and is arranged in the measuring range of the sensor (2), a compensation device (5) for at least partial compensation of the sensor signals in such a way that essentially sensor signals from an electrical and/or magnetic field (10) that is optimized or unaffected by the component (3) are provided to an evaluation device (4), the evaluation device (4 ) is trained to perform the following steps, - Determination (S1) of a time profile of the electric and/or magnetic field (10, 11, 110) in at least two, in particular three sensor spatial directions (60, 61) of the sensor (2), with one of the at least two spatial directions essentially being the direction of travel (70) of the vehicle (300) and the second of the at least two spatial directions corresponds to the vertical axis (71) of the vehicle, - Recognition (S42) of a flank (140) in the time profile (110) of the electric and/or magnetic field in one of the two spatial directions (70, 71), preferably in the first spatial direction (70) by means - Determining high and low points (111, 112) over time in the electric and/or magnetic field (110), - Determining a falling or rising edge (140) based on the time sequence of a high and low point (111, 112), - Comparing the amplitude (130) of the determined edge (140) with a threshold value, the determined edge (140) being considered recognized if the amplitude (130) of the determined edge (140) is greater than a first, lower threshold value, and/ or is greater than a second larger adaptive threshold. - Determining the speed of the vehicle based on at least two, in particular consecutive, detected edges (140). system after claim 1 , characterized in that the sensor (2) is designed to measure electric and / or magnetic fields that directly or indirectly represent a speed. system according to claim 1 or 2 , wherein the sensor (2) is a magnetic field sensor. system according to one of Claims 1 - 3 , wherein the component (3), in particular wherein the component (3) is arranged between a source of the electric and/or magnetic field and the sensor (2), is at least partially made of a soft magnetic material. system according to one of Claims 1 - 4 , wherein the component (3) comprises a housing for a drive unit of a bicycle (300). system according to one of Claims 1 - 5 , wherein the compensation device (5) is designed to carry out the compensation on the basis of predetermined component-specific field influence data. system according to claim 6 , wherein the compensation device (5) is designed to compensate for the measured sensor signals by means of a single mathematical matrix operation. Method for determining field influencing data of a component (3) for a sensor (2) for measuring electric and/or magnetic fields for use in a system (1) according to one of Claims 1 - 7 , comprising the steps - arranging (S1) of sensor (2) and component (3) in a defined orientation and at a defined distance from one another, so that the component (3) is arranged in the measuring range of the sensor (2). - Applying (S2) the sensor (2) with a electric and/or magnetic reference field (10), in particular in all three spatial directions, - determining (S3) the field influence data by comparing the reference field (10) at the location of the sensor (2) and measured values (11) of the sensor (2) of the reference field (10). procedure according to claim 8 , the steps (S1-S3) being carried out multiple times with different components (3) of the same pattern and/or with different sensors (2) of the same pattern and overall field influencing data are determined on the basis of the respective field influencing data. Method according to one of Claims 8 - 9 the field influencing data being transmitted to a compensation device (5) and being stored there. Method according to one of Claims 8 - 10 , wherein the electric and / or magnetic reference field (10) is provided spherically. Bicycle with a system (1) according to one of Claims 1 - 7 and with a drive unit, in particular for driver support. bike after claim 12 , characterized in that the sensor in the drive unit, in particular in the housing of the drive unit, and the bicycle has at least one rim magnet which is arranged on the rim or in the rim. Method for determining a speed of a bicycle, in particular a bicycle with a driving support drive, comprising the steps - Measurement of electric and / or magnetic fields (10, 11), in particular by means of a stationary sensor (2), wherein in the measuring range of the sensor (2) a component (3) which actively and / or passively an electrical and / or magnetic field (10, 11) influenced, is arranged - At least partial compensation of the measured sensor signals in such a way that essentially sensor signals are provided by an electrical and/or magnetic field (10) that is optimized or unaffected by the component (3), - Determination (S1) of a time profile of the at least partially compensated electric and/or magnetic field (10, 11, 110) in at least two, in particular three sensor spatial directions (60, 61) of the sensor (2), wherein one of the at least two spatial directions essentially corresponds to the direction of travel (70) of the vehicle (300) and the second of the at least two spatial directions corresponds to the vertical axis (71) of the vehicle, - Recognition (S42) of a flank (140) in the time profile (110) of the electric and/or magnetic field in one of the two spatial directions (70, 71), preferably in the first spatial direction (70) by means - Determining high and low points (111, 112) over time in the electric and/or magnetic field (110), - Determining a falling or rising edge (140) based on the time sequence of a high and low point (111, 112), - Comparing the amplitude (130) of the determined edge (140) with a threshold value, the determined edge (140) being considered recognized if the amplitude (130) of the determined edge (140) is greater than a first, lower threshold value, and/ or is greater than a second larger adaptive threshold, - Determining the speed of the vehicle (300) based on at least two, in particular consecutive, recognized flanks (140). procedure according to Claim 14 , wherein before the edge (140) is detected (S42), the at least partially compensated signals are filtered by means of a bandpass filter, with a blocking and passband of the bandpass filter being adapted to a predetermined rotational frequency of a wheel (51) of the vehicle (300). Method according to one of Claims 14 - 15 , wherein the values provided in at least two sensor spatial directions (60, 61) are rotated into the main axis (70) of the electrical and/or magnetic field before a flank (140) is detected. procedure according to Claim 16 , the angle of the main axis (70) for the rotation being determined (S33) on the basis of measured values in the second spatial direction (71), in particular for a predeterminable number of flanks (140). procedure after Claim 17 , where the angle of the major axis (70) is stored and made available for further calculations. Method according to one of Claims 14 - 18 , with the time profile of the vector of the electric and/or magnetic field (S41-3) also being evaluated to evaluate the rising and/or falling edges (140), in particular to check their plausibility. Method according to one of Claims 14 - 19 , wherein a determined edge (140) is checked by means of a plausibility process (S46), with an implausible determined edge being discarded. procedure according to claim 20 , the plausibility check method (S46) using the determined edge (140) calculates a possible speed and checks for at least one of the following conditions - If the possible speed is above a specifiable threshold value, the determined edge (140) is discarded, - If the gradient determined edge (140) is below a threshold value, the determined edge (140) is discarded - if the time difference between the low point (111) of the determined edge (140) and the point in time at which a threshold value in the edge profile is exceeded is above a predefinable threshold value , the determined edge (140) is discarded - if the vehicle accelerations, calculated from a currently determined edge (140) and an earlier edge (140), are above a predefinable threshold value, the currently determined edge (140) is discarded. procedure after Claim 21 , wherein the plausibility method (S46) includes an edge prediction (S47), in particular based on acceleration data of the vehicle, so that a detected edge (140) is rejected as implausible if no edge (140) is predicted based on the acceleration data. procedure according to Claim 22 , wherein at least one of the threshold values from the first and second threshold value, in particular the second threshold value for the edge detection and plausibility check, is reduced for the time of the edge prediction and a tolerance range. Method according to one of Claims 14 - 23 , wherein if a magnetic field is provided by means of a magnet, a predeterminable number of determined edges (140) and in particular an angular profile of the magnetic field vector (S41-3) is determined to detect the polarization of the magnet (S45), the polarization being determined on the basis of a comparison of maximum amplitude of the rising and the falling amplitude is determined, where if the maximum falling amplitude is greater than the maximum rising amplitude, the polarization of the magnet is assumed to be reversed and the measured values are inverted. Method according to one of Claims 14 - 24 , wherein the polarization is evaluated based on a predeterminable number of rising and/or falling edges (140).

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