EP3341277A1 - Appareil de commande pour bicyclette - Google Patents

Appareil de commande pour bicyclette

Info

Publication number
EP3341277A1
EP3341277A1 EP16769873.7A EP16769873A EP3341277A1 EP 3341277 A1 EP3341277 A1 EP 3341277A1 EP 16769873 A EP16769873 A EP 16769873A EP 3341277 A1 EP3341277 A1 EP 3341277A1
Authority
EP
European Patent Office
Prior art keywords
operating system
data
control
control device
interface
Prior art date
Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
Withdrawn
Application number
EP16769873.7A
Other languages
German (de)
English (en)
Inventor
Daniel MEERMANN
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
Bloks AG
Original Assignee
Bloks AG
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by Bloks AG filed Critical Bloks AG
Publication of EP3341277A1 publication Critical patent/EP3341277A1/fr
Withdrawn legal-status Critical Current

Links

Classifications

    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
    • B62J—CYCLE SADDLES OR SEATS; AUXILIARY DEVICES OR ACCESSORIES SPECIALLY ADAPTED TO CYCLES AND NOT OTHERWISE PROVIDED FOR, e.g. ARTICLE CARRIERS OR CYCLE PROTECTORS
    • B62J45/00—Electrical equipment arrangements specially adapted for use as accessories on cycles, not otherwise provided for
    • B62J45/40—Sensor arrangements; Mounting thereof
    • B62J45/41—Sensor arrangements; Mounting thereof characterised by the type of sensor
    • B62J45/414—Acceleration sensors
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
    • B62J—CYCLE SADDLES OR SEATS; AUXILIARY DEVICES OR ACCESSORIES SPECIALLY ADAPTED TO CYCLES AND NOT OTHERWISE PROVIDED FOR, e.g. ARTICLE CARRIERS OR CYCLE PROTECTORS
    • B62J45/00—Electrical equipment arrangements specially adapted for use as accessories on cycles, not otherwise provided for
    • B62J45/20—Cycle computers as cycle accessories
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
    • B62J—CYCLE SADDLES OR SEATS; AUXILIARY DEVICES OR ACCESSORIES SPECIALLY ADAPTED TO CYCLES AND NOT OTHERWISE PROVIDED FOR, e.g. ARTICLE CARRIERS OR CYCLE PROTECTORS
    • B62J45/00—Electrical equipment arrangements specially adapted for use as accessories on cycles, not otherwise provided for
    • B62J45/40—Sensor arrangements; Mounting thereof
    • B62J45/41—Sensor arrangements; Mounting thereof characterised by the type of sensor
    • B62J45/412—Speed sensors
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
    • B62J—CYCLE SADDLES OR SEATS; AUXILIARY DEVICES OR ACCESSORIES SPECIALLY ADAPTED TO CYCLES AND NOT OTHERWISE PROVIDED FOR, e.g. ARTICLE CARRIERS OR CYCLE PROTECTORS
    • B62J45/00—Electrical equipment arrangements specially adapted for use as accessories on cycles, not otherwise provided for
    • B62J45/40—Sensor arrangements; Mounting thereof
    • B62J45/41—Sensor arrangements; Mounting thereof characterised by the type of sensor
    • B62J45/415—Inclination sensors
    • B62J45/4151—Inclination sensors for sensing lateral inclination of the cycle
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
    • B62M—RIDER PROPULSION OF WHEELED VEHICLES OR SLEDGES; POWERED PROPULSION OF SLEDGES OR SINGLE-TRACK CYCLES; TRANSMISSIONS SPECIALLY ADAPTED FOR SUCH VEHICLES
    • B62M6/00—Rider propulsion of wheeled vehicles with additional source of power, e.g. combustion engine or electric motor
    • B62M6/40—Rider propelled cycles with auxiliary electric motor
    • B62M6/45—Control or actuating devices therefor
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
    • B62M—RIDER PROPULSION OF WHEELED VEHICLES OR SLEDGES; POWERED PROPULSION OF SLEDGES OR SINGLE-TRACK CYCLES; TRANSMISSIONS SPECIALLY ADAPTED FOR SUCH VEHICLES
    • B62M6/00—Rider propulsion of wheeled vehicles with additional source of power, e.g. combustion engine or electric motor
    • B62M6/40—Rider propelled cycles with auxiliary electric motor
    • B62M6/45—Control or actuating devices therefor
    • B62M6/50—Control or actuating devices therefor characterised by detectors or sensors, or arrangement thereof
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
    • B62M—RIDER PROPULSION OF WHEELED VEHICLES OR SLEDGES; POWERED PROPULSION OF SLEDGES OR SINGLE-TRACK CYCLES; TRANSMISSIONS SPECIALLY ADAPTED FOR SUCH VEHICLES
    • B62M9/00—Transmissions characterised by use of an endless chain, belt, or the like
    • B62M9/04—Transmissions characterised by use of an endless chain, belt, or the like of changeable ratio
    • B62M9/06—Transmissions characterised by use of an endless chain, belt, or the like of changeable ratio using a single chain, belt, or the like
    • B62M9/10—Transmissions characterised by use of an endless chain, belt, or the like of changeable ratio using a single chain, belt, or the like involving different-sized wheels, e.g. rear sprocket chain wheels selectively engaged by the chain, belt, or the like
    • B62M9/12—Transmissions characterised by use of an endless chain, belt, or the like of changeable ratio using a single chain, belt, or the like involving different-sized wheels, e.g. rear sprocket chain wheels selectively engaged by the chain, belt, or the like the chain, belt, or the like being laterally shiftable, e.g. using a rear derailleur
    • B62M9/121—Rear derailleurs
    • B62M9/122—Rear derailleurs electrically or fluid actuated; Controls thereof
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
    • B62M—RIDER PROPULSION OF WHEELED VEHICLES OR SLEDGES; POWERED PROPULSION OF SLEDGES OR SINGLE-TRACK CYCLES; TRANSMISSIONS SPECIALLY ADAPTED FOR SUCH VEHICLES
    • B62M9/00—Transmissions characterised by use of an endless chain, belt, or the like
    • B62M9/04—Transmissions characterised by use of an endless chain, belt, or the like of changeable ratio
    • B62M9/06—Transmissions characterised by use of an endless chain, belt, or the like of changeable ratio using a single chain, belt, or the like
    • B62M9/10—Transmissions characterised by use of an endless chain, belt, or the like of changeable ratio using a single chain, belt, or the like involving different-sized wheels, e.g. rear sprocket chain wheels selectively engaged by the chain, belt, or the like
    • B62M9/12—Transmissions characterised by use of an endless chain, belt, or the like of changeable ratio using a single chain, belt, or the like involving different-sized wheels, e.g. rear sprocket chain wheels selectively engaged by the chain, belt, or the like the chain, belt, or the like being laterally shiftable, e.g. using a rear derailleur
    • B62M9/131—Front derailleurs
    • B62M9/132—Front derailleurs electrically or fluid actuated; Controls thereof
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
    • B62M—RIDER PROPULSION OF WHEELED VEHICLES OR SLEDGES; POWERED PROPULSION OF SLEDGES OR SINGLE-TRACK CYCLES; TRANSMISSIONS SPECIALLY ADAPTED FOR SUCH VEHICLES
    • B62M25/00—Actuators for gearing speed-change mechanisms specially adapted for cycles
    • B62M2025/006—Actuators for gearing speed-change mechanisms specially adapted for cycles with auxiliary shift assisting means

Definitions

  • the invention relates to a control device for a bicycle.
  • Control units for bicycles are known from the prior art, which control, for example, an electric drive unit of the bicycle or an electric gearshift of the bicycle.
  • the object of the invention is to provide at least one control device that can perform more diverse functions and applications. Moreover, it is an object of the present invention to provide a control device for a bicycle, which ensures a stable and robust execution of applications and performance of functions.
  • the basic idea of the invention is to provide a plurality of operating systems on the control unit, which are executed in parallel and to which different task priorities are assigned.
  • a control device for a bicycle having at least one device which influences the driving characteristics of the bicycle, the control device having control electronics which are adapted to
  • At least one application for controlling and / or monitoring the device affecting the driving characteristics of the bicycle is carried out on the first operating system during normal operation of the control device, and
  • the devices which influence the driving characteristics of the bicycle are, in particular, an electric drive unit which is provided to assist the drive of the bicycle, or an electric gearshift.
  • the applications running on the first operating system to control these devices may control the power of the electric drive unit-degree of assistance-or a selection of a gear.
  • Applications for monitoring this device include, for example, measuring the state of charge of a battery provided for the electric drive unit, determining the current load state of the electric drive unit, determining the currently used gear and / or the like.
  • the custom applications running on the second operating system may be, for example, user-installed applications such as APPs. Concrete examples are navigation systems and Internet applications.
  • one or more applications which assume safety-relevant functions can additionally be executed on the first operating system during normal operation of the control unit.
  • the control device preferably has an interface to which the direction of action (s) for exchanging / receiving control data and / or monitoring data can be connected.
  • One or more sensors providing additional control data or monitoring data necessary for the control and / or monitoring of the device (s); and or
  • One or more display devices for displaying information data output from the first and / or second operating system;
  • One or more devices for generating haptic feedback and / or audio feedback are provided.
  • the sensors may be, for example, a speed sensor, measuring sensors for measuring the state of charge of the battery, sensors for determining the engaged gear, sensors for Measurement of the force acting on a pedal crank of the bicycle, camera sensors, acceleration and tilt sensors, compass sensors, pressure sensors, ultrasonic sensors, and / or the like act.
  • the said input devices may be, for example, a remote control (for example in the form of a touch sensor) for issuing the control instructions.
  • the communication adapters may be, for example, GPS, Bluetooth, Wifi, GSM adapters.
  • control electronics of the control unit is configured to execute a third operating system (OS3) on which system-specific applications are executed.
  • OS3 operating system
  • System-specific applications include the interface application described below, a watchdog application and an update application for updating the applications running on the operating systems.
  • the native applications executing on the third operating system control the first and / or second operating systems.
  • the native applications running on the third operating system include the following applications for controlling the first and / or second operating systems:
  • a watchdog application monitoring the first operating system and / or the second operating system and, depending thereon, changing the first and / or second operating system itself and / or applications executing on the first or second operating system, stop and / or start; and or
  • the interface application is preferably set up to perform an authentication of the first and / or second operating system and to inhibit the data communication if the authentication fails.
  • the controller includes a virtualization layer, preferably a hypervisor, at least between the control electronics and a first virtual machine running the first operating system and a second virtual machine running the second operating system
  • the third operating system for controlling the first and / or second operating system is configured to control the virtualization cache.
  • the virtualization layer is also located between the control electronics and a third virtual machine on which runs the third operating system, wherein the third operating system for controlling the first and / or second operating system is adapted to control the virtualization layer.
  • the control electronics include a CPU (central processing unit) with a single processor core, with the virtualization layer allocating appropriate resources to each virtual machine.
  • control electronics preferably include a CPU (central processing unit) having a plurality of processor cores, wherein the virtualization layer associates at least one processor core with each virtual machine.
  • CPU central processing unit
  • the first operating system a single processor core
  • the second operating system two processor cores
  • the third operating system in turn assigned a single processor core.
  • the watchdog application monitors the first operating system and / or the second operating system by monitoring a utilization of the processor core of the first virtual machine and / or the second virtual machine, and in dependence thereon the first and / or second operating system itself and / or Applications running on the first and / or second operating system modify, terminate and / or launch.
  • the interface application controls the data communication by controlling the virtualization layer accordingly.
  • the third operating system furthermore preferably provides an internal interface for the first and second operating systems, wherein the interface application is set up such that at least the data communication, which contains the control data and security-relevant data, takes place exclusively via the internal interface.
  • the other data can also be communicated via the internal interface, although it is also possible, as an alternative, for this data to be transmitted directly to the first and second operating systems. but the first and second operating systems will only be able to process them after being checked by the third operating system.
  • the interface application controls the data communication by controlling the virtualization layer such that data that is in an interface memory allocated by the virtualization layer of the first and / or the second virtual machine is checked before being passed to the corresponding operating system.
  • the virtualization layer assigns the first operating system a first virtual frame memory for storing the corresponding information data and the second operating system a second virtual frame memory for storing the corresponding information data, wherein the virtualization layer, the information data from the first and second frame memory before output to the display device for common display on the display device in a third frame memory merges.
  • the virtualization layer can also process signals for the devices for generating the audio feedback and / or the haptic feedback via corresponding latches.
  • the attached figure shows an inventive control device 1, which is provided for installation in a bicycle with at least one device affecting the driving characteristics of the bicycle.
  • the device mentioned may be, for example, an electrical act sches drive unit, which takes over the function of an electric drive assistance, or to an electric gear shift.
  • the control unit 1 has a virtualization layer 2, which preferably allocates the control electronics (hardware) to three virtual machines.
  • the basic idea is to run two or more operating systems with different task priorities in parallel.
  • three operating systems OS1, OS2, OS3 are installed on the control unit 1.
  • the virtualization layer 2 (preferably a hypervisor) abstracts the underlying hardware or control electronics (not shown) for realizing the multiple virtual machines, each of the operating systems being installed on one of the virtual machines.
  • the hardware or control electronics includes a CPU having a plurality of processor cores, wherein the virtual machine for the operating system OS1 is assigned a processor core, the operating system OS2 is assigned two processor cores, and the operating system OS3 is assigned a processor core through the virtualization layer 2.
  • the control unit 1 includes an interface, not shown, to which the device to be controlled (for example, drive assistance or gear shift) is connected for input / output of control data and / or monitoring data.
  • the device to be controlled for example, drive assistance or gear shift
  • the individual operating systems OS1 and OS3 or the corresponding processor cores can preferably be started and terminated. Splitting the functions into multiple operating systems increases the robustness of all concurrent applications, accelerated and preferred the implementation of legal requirements assured.
  • OS1 Bicycle Specific Applications
  • OS2 user-specific applications (user-installed applications such as APPs, Internet applications, navigation applications and the like)
  • OS3 native applications (update applications, Watch Dog application, interface application to control data communication between vehicle / bike and OS1 and OS2 or other OS)
  • Preference can also be connected to the interface: One or more sensors providing additional control data / monitoring data necessary for the control and / or monitoring of the device (s); and or
  • One or more input devices eg, touch sensor signal, probe signal, etc.
  • the user can input control instructions for controlling the device (s), which are passed to the interface in the form of corresponding command data; and or
  • One or more input devices eg, touch sensor signal, probe signal, etc.
  • the user can input setting instructions for setting the user-specific applications, which are passed to the interface in the form of corresponding setting data; and or
  • One or more communication adapters e.g., GPS, Bluetooth, Wifi, GSM, etc. for inputting communication signal data providing communication data necessary for the execution of the user-specific applications; and or
  • a data transmission device for transmitting and installing the user-specific applications; and or
  • One or more display devices for displaying information data output from the first and / or second operating system.
  • OS3 provides the other operating systems (0S1, OS2) with internal interfaces for this purpose and executes a corresponding interface application for implementing the data communication.
  • the data flow of the data communication is shown in the figure by the solid arrows.
  • the data flow indicated by dashed arrows in the figure relates, with respect to the first operating system OS1, to the data communication of the command data obtained from an input device and, with respect to the second operating system OS2, to the setting data also obtained from an input device become.
  • OS3 is set up to check the command data and setting data before execution of the corresponding control instructions or setting instructions, if execution thereof is permitted.
  • the entire data exchange occurs indirectly via OS3, i. in the figure along the solid arrows.
  • OS3 or the interface application executed on it is set up to control the virtualization layer accordingly.
  • an access rights application is preferably executed on the operating system OS3, which determines which data the first and / or second operating system has access to and which data may be transferred to the operating systems OS1, OS2.
  • a watchdog application is preferably installed on the operating system OS3, which is the first operating system
  • This watchdog application will preferably in OS3 executes and monitors the general availability and utilization of the other operating systems (OS1, OS2) and of individual applications that are executed by these operating systems, eg the display of legally required information: current speed or the control lamp for the high beam, etc.
  • the watchdog application can preferably cause the hypervisor 2 to terminate the execution of individual operating systems, to restart them or to inform the monitored operating system via the internal interface to start or terminate a specific program or specific application.
  • the contents of multiple image memories are merged by the hypervisor 2 into a single image memory (e.g., physical frame buffer), which is then brought to display on the display device screen.
  • the separation of the various operating systems increases the operability of each operating system and the applications / programs executed by the operating system, or reduces failures due to dependencies between applications / programs.
  • Dependencies between an application The specific application / program (eg navigation) and an application for a bicycle component / vehicle component (eg battery) are avoided, there is no interaction and these subcomponents of the system do not mutually coruscate each other.
  • the software watchdog monitors the clock rate (in Hz) of the clock
  • the watchdog application detects and prevents the occurrence of such a system state by terminating the responsible operating system or the respective process in a timely manner and, if necessary, restarting it.
  • the functional range of the operating system eg low-level kernel driver
  • the number of program modules to load eg Bluetooth stack
  • the complexity of a user interface eg HTML
  • the vehicle manufacturer, the dealer or the end customer could manipulate the display of certain information demanded by the legislator (obscure display, modify calculation, import new program code, etc.).
  • the access right application i. granting of access rights
  • Rapidly establishing a system state that is meaningful for the respective application is also possible without the use of conventional fastboot strategies, in which a specific operating system state is stored in the volatile memory (flash memory) and the corresponding memory module has to be supplied with voltage. This can significantly reduce the capacity of any integrated battery.
  • the control unit 1 can preferably already be programmed with OS1, OS2 and OS3 at the time of its production, so that the OS3. Is dependent on the display device installed at the time of production of the vehicle, at the time of sale of the vehicle by the dealer or subsequently by the end customer of the control unit 1 decides which operating systems (OS1, OS2) must be performed in order to control the display device correctly and to be able to record with content. Thus, a pure LCD interface or a wired remote control does not require the output of content that be calculated by the graphics processor. Thus, depending on the eventual scope of functions, not required processor cores can be deactivated, eg the execution of a higher-value operating system, cf. Android as OS2. This reduces the power consumption considerably depending on the functionality.
  • the solution according to the invention is preferably based on the fact that hardware resources are shared, but also very preferably relates to a virtual instance (OS3) that controls other virtual instances (watch-oog) and these instances (OS1, OS2) in accordance with defined rights Access to data and commands provides.
  • OS3 virtual instance
  • OS1, OS2 virtual instances
  • OS3 interface application
  • OS3 is the only operating system that communicates directly - or via the IPC - with the electrical system.
  • security-critical data or functions that are only restrictedly visible in accordance with a defined rights model are controlled by OS3 as a central instance.
  • the on-board-related command and data flow is thus initially processed / filtered by a central instance OS3.
  • the central instance OS3 recognizes by means of requests / samples executed at regular intervals whether the other instances (OS1 and OS2) correspond to the OS3 required operating state. If OS3 detects an operating state that requires action (eg, OS2 is frozen because a navigation application stops responding to user input), OS3 can direct the virtualization layer to share limited resources (input and output) with the sampled operating system or not at all For example, the display of OS1 may occupy the full screen when OS3 detects that OS2 is no longer on Screen input is responding). For example, OS3 can instruct the virtualization layer to display the full screen content of OS1 during the boot process, and to use a screen layout that will display both OS1 and OS2 after a full boot from OS2.
  • OS3 recognizes by means of requests / samples executed at regular intervals whether the other instances (OS1 and OS2) correspond to the OS3 required operating state. If OS3 detects an operating state that requires action (eg, OS2 is frozen because a navigation application stops responding to user input), OS3 can direct the virtualization layer to share limited

Landscapes

  • Engineering & Computer Science (AREA)
  • Mechanical Engineering (AREA)
  • Chemical & Material Sciences (AREA)
  • Combustion & Propulsion (AREA)
  • Transportation (AREA)
  • Stored Programmes (AREA)
  • User Interface Of Digital Computer (AREA)

Abstract

L'invention concerne un appareil de commande pour bicyclette, qui comprend au moins un dispositif influençant le comportement sur route de la bicyclette, lequel appareil de commande comprend une électronique de commande qui est conçue pour exécuter en parallèle un premier système d'exploitation (OS1) et un second système d'exploitation (OS2), au moins une application destinée à la commande et/ou la surveillance du dispositif influençant le comportement sur route de la bicyclette étant exécutée sur le premier système d'exploitation (OS1) en mode de fonctionnement normal de l'appareil de commande, et des applications utilisateur spécifiques étant exécutées sur le second système d'exploitation (OS2) en mode de fonctionnement normal de l'appareil de commande.
EP16769873.7A 2015-08-26 2016-08-26 Appareil de commande pour bicyclette Withdrawn EP3341277A1 (fr)

Applications Claiming Priority (2)

Application Number Priority Date Filing Date Title
DE102015216346 2015-08-26
PCT/EP2016/070227 WO2017032890A1 (fr) 2015-08-26 2016-08-26 Appareil de commande pour bicyclette

Publications (1)

Publication Number Publication Date
EP3341277A1 true EP3341277A1 (fr) 2018-07-04

Family

ID=56979513

Family Applications (1)

Application Number Title Priority Date Filing Date
EP16769873.7A Withdrawn EP3341277A1 (fr) 2015-08-26 2016-08-26 Appareil de commande pour bicyclette

Country Status (4)

Country Link
US (1) US20180354581A1 (fr)
EP (1) EP3341277A1 (fr)
CN (1) CN108367796A (fr)
WO (1) WO2017032890A1 (fr)

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WO2017046980A1 (fr) * 2015-09-14 2017-03-23 パナソニック インテレクチュアル プロパティ コーポレーション オブ アメリカ Dispositif passerelle, système de réseau monté sur véhicule, et procédé de mise à jour de micrologiciel
DE102018001883A1 (de) 2018-03-08 2019-09-12 Sigma Elektro Gmbh Vorrichtung zum Einstellen der Unterstützungsstufen eines Antriebssystems eines Elektrofahrzeugs
CN111367185B (zh) * 2018-12-26 2024-08-09 博西华电器（江苏）有限公司 家电控制系统、家电控制方法、存储介质及家电
JP7259571B2 (ja) * 2019-06-11 2023-04-18 株式会社デンソー 車両用制御装置、車両用表示システム、及び車両用表示制御方法

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Also Published As

Publication number Publication date
CN108367796A (zh) 2018-08-03
WO2017032890A1 (fr) 2017-03-02
US20180354581A1 (en) 2018-12-13

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