WO2024067970A1 - Procédé pour empêcher automatiquement une bicyclette de rouler vers l'arrière sur une pente, dispositif de commande, produit de programme informatique, support lisible par ordinateur, bicyclette - Google Patents

Procédé pour empêcher automatiquement une bicyclette de rouler vers l'arrière sur une pente, dispositif de commande, produit de programme informatique, support lisible par ordinateur, bicyclette Download PDF

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Publication number
WO2024067970A1
WO2024067970A1 PCT/EP2022/077088 EP2022077088W WO2024067970A1 WO 2024067970 A1 WO2024067970 A1 WO 2024067970A1 EP 2022077088 W EP2022077088 W EP 2022077088W WO 2024067970 A1 WO2024067970 A1 WO 2024067970A1
Authority
WO
WIPO (PCT)
Prior art keywords
bicycle
current
control device
torque
output speed
Prior art date
Application number
PCT/EP2022/077088
Other languages
German (de)
English (en)
Inventor
Markus Wallner
Uwe Schraff
Alexander Jungaberle
Original Assignee
Zf Friedrichshafen 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 Zf Friedrichshafen Ag filed Critical Zf Friedrichshafen Ag
Priority to PCT/EP2022/077088 priority Critical patent/WO2024067970A1/fr
Publication of WO2024067970A1 publication Critical patent/WO2024067970A1/fr

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
    • B62J45/415—Inclination sensors
    • B62J45/4152—Inclination sensors for sensing longitudinal inclination of the cycle
    • 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
    • B62J45/413—Rotation sensors
    • 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

Definitions

  • the invention relates to a method for automatically preventing a bicycle from rolling back on an incline, a control device, a computer program product, a computer-readable medium, and a bicycle.
  • Bicycles with electric (auxiliary) drive such as e-bikes and pedelecs
  • auxiliary drive such as e-bikes and pedelecs
  • eMTBs Sporty e-mountain bikes
  • the bike can roll back if the brake is not applied in time. This poses a safety risk, especially for inexperienced riders.
  • the invention is based on the object of increasing the safety of a rider when stopping with a bicycle on an incline. This object is achieved by a method for automatically preventing a bicycle from rolling back on an incline with the features of claim 1, a control device with the features of claim 4, a computer program product with the features of claim 6, a computer-readable medium with the features of claim 7, and by a bicycle with the features of claim 8. Further developments are contained in the subclaims and emerge from the following description.
  • a current inclination angle and a current output speed of the bicycle are first determined.
  • the current tilt angle is compared to a tilt angle threshold.
  • the current output speed is compared with an output speed threshold. If the inclination angle threshold is exceeded by the current inclination angle and if the output speed threshold is exceeded by the current output speed, a motor torque of the at least one electric motor is increased until a holding torque is reached.
  • the term bicycle refers to all vehicles that have both an electric (auxiliary) drive and a muscle-powered drive, whereby the bicycle can be driven either purely by muscle power or purely electrically or in hybrid mode both by muscle power and electrically.
  • the bicycle has a pedal crank unit and an electric drive system with at least one electric motor.
  • the bicycle can also include a bicycle transmission, which can be, for example, a multi-speed planetary gear or a CVT transmission or similar.
  • the bicycle transmission can then be operatively connected to the electric drive system.
  • the bicycle transmission can be operatively connected to the pedal crank unit.
  • the bicycle transmission can be designed as a bottom bracket transmission or as a hub transmission.
  • the bicycle can be designed, for example, as an e-bike, (S-)pedelec, eMTB, cargo bike, velomobile or as another suitable micromobility vehicle.
  • the procedure can be activated by the rider when the bicycle is in motion, either if he or she wants assistance when stopping the bicycle on an incline, or the procedure can be permanently active, so that it is carried out automatically every time the bicycle is stopped on an incline.
  • the procedure can also be deactivated by the rider if he or she no longer wants assistance.
  • the current angle of inclination and the current output speed of the bicycle are determined.
  • the angle of inclination of the bicycle is a measure of the gradient of the route the bicycle travels.
  • the angle of inclination is determined using sensors, for example with a bicycle's own angle of inclination sensor or with a sensor that is part of an external unit, for example a mobile device such as a smartphone, smartwatch, fitness tracker. or similar.
  • the current output speed is determined.
  • the output speed is a measure of whether and to what extent the bicycle is rolling back.
  • the output speed can be measured, for example, on a non-driven wheel of the bicycle. Alternatively, the output speed can be measured on a driven wheel of the bicycle.
  • the output speed is determined using sensors, for example with a speed sensor on the bicycle. Alternatively, the output speed can be determined using a calculation model from other sensor-detected values.
  • the sensor data is transmitted to a control device that the bicycle has.
  • the control device is connected to the corresponding sensors in a signal-effective manner.
  • a signal-effective connection is such that a data and signal exchange is possible between the connection partners.
  • each connection partner has a corresponding interface.
  • the data and signal transmission can be either wired or wireless.
  • the control device and the corresponding sensors therefore have interfaces that enable such a connection. If the sensor data from the external unit are to be used, a data and signal exchange takes place between the external unit and the control device of the bicycle, for example via a radio connection or by means of wired communication.
  • the current inclination angle is compared with the inclination angle threshold value. This determines whether the bike is on a steep or moderate incline or decline.
  • the inclination angle threshold value is stored in a memory device of the control device of the bicycle.
  • the inclination angle threshold value is preferably stored at the factory.
  • the tilt angle threshold may be 2°, 5°, 10°, 15° or even more than 15°.
  • threshold or “threshold value” does not refer to a global limit value that cannot physically be exceeded or undercut. Rather, it is a specific value set by a user. All values are to be understood as including tolerances. If the current inclination angle exceeds the inclination angle threshold, the procedure continues. If this is not the case, the procedure is terminated. The procedure is therefore only used for slopes that have a certain strength, which is determined by the inclination angle threshold.
  • the current output speed is compared with the output speed threshold value. This determines whether the bicycle is rolling back, i.e. moving in the opposite direction of travel.
  • the output speed threshold value is stored in the memory of the bicycle's control device. The output speed threshold value is preferably stored at the factory. If the current output speed exceeds the output speed threshold value, the method is continued. If this is not the case, the method is terminated.
  • the motor torque of the at least one electric motor is increased until a holding torque is reached.
  • the engine power is automatically increased until the rolling back occurs. This supports the rider of the bicycle who does not brake at all or brakes too late on the slope. When rolling back on steep terrain, this is a significant safety benefit for the bike rider.
  • a current crank torque of the bicycle is also determined. This is preferably done at the same time as determining the current angle of inclination and the current output speed.
  • the crank torque is determined by sensors and transmitted to the control device of the bicycle.
  • the crank torque is a measure of the muscle power applied by the rider, which he transmits to the pedal crank unit via the pedals.
  • the current crank torque is then compared with the holding torque in a fourth step of the method which follows the third step. At If the current crank torque falls below the holding torque, the motor torque of the at least one electric motor is increased until a holding torque is reached. An additional check is therefore carried out, but the result of the procedure remains the same. If the holding torque is exceeded or reached by the current crank torque, the process is ended. In this case, the rider muster enough muscle strength to keep the bike from rolling backwards.
  • the engine torque is permanently controlled depending on the current output speed and depending on the current inclination angle.
  • the current output speed is permanently compared with the output speed threshold value and the current inclination angle is permanently compared with the inclination angle threshold value, so that the method is permanently active.
  • a control device for a bicycle can be connected to an electric drive system of the bicycle in a signal-effective manner, and the control device comprises means for carrying out the method which has already been described in the previous description.
  • the control device can be designed, for example, as a domain ECU or as an ECU.
  • control device If the control device is used in a bicycle, it is connected to the electric drive system, more precisely to the actuator system of the electric drive system, in a signal-effective manner, so that the control device can control the actuator system.
  • the control device can therefore request an increase in the engine power and thus an increase in the engine torque.
  • the control device can sense which moment is currently present.
  • control device is used in a bicycle, it is additionally connected to at least one sensor for signaling purposes.
  • the control device receives data from the sensors, for example, on the current inclination angle or the current output torque or, if applicable, the current crank torque.
  • the control device can be connected to a torque sensor, a Tilt angle sensor and/or signal-effectively connected to a mobile device. If the control device is connected to the mobile device, the latter can receive data and signals from the mobile device that the sensors present in the mobile device detect. For example, the control device can use the tilt angle data, the speed data, the GPS data or similar from the mobile device.
  • a computer program product comprises instructions which, when the program is executed by the control device described above, cause the control device to carry out the method described above.
  • a computer-readable medium comprises instructions which, when executed by the control device described above, cause it to carry out the method described above.
  • the computer-readable medium can be embodied, for example, as a data carrier or as a downloadable data stream.
  • the bicycle has the electric drive system and the control device already described, the electric drive system being connected to the control device in a signal-effective manner.
  • the control device can thus control the actuators of the electric drive system so that an increase in the engine torque can be requested.
  • the bicycle can therefore carry out the method for automatically preventing the bicycle from rolling back on an incline, which has already been described.
  • the bicycle also has the pedal crank unit.
  • the electric drive system has at least one electric motor and an electric energy storage device.
  • the bicycle also has the bicycle transmission. Both the pedal crank unit and the electric drive system are connected to the bicycle transmission.
  • the bicycle has several sensors that are connected to the control device in a signal-effective manner, e.g. B. torque sensors, inclination angle sensors, and/or a mobile device.
  • B. torque sensors, inclination angle sensors, and/or a mobile device e.g. B. acceler sensors, inclination angle sensors, and/or a mobile device.
  • Fig. 1 is a schematic representation of a bicycle according to an embodiment
  • Fig. 2 is a schematic representation of a process sequence for the driving situation from Fig. 1 .
  • Fig. 1 shows a schematic representation of a bicycle 1 according to an embodiment.
  • the bicycle 1 is designed as an e-bike or pedelec or in particular as an eMTB.
  • the bicycle 1 has a pedal crank unit 6, of which only one pedal 4 is shown for better clarity.
  • the bicycle 1 also has an electric drive system 3, the electric motor of which can be arranged, for example, in the area of the bottom bracket.
  • the electric drive system 3 has an electrical energy store 5 which is connected to the electric motor.
  • the energy store 5 can supply the electric motor with electrical energy (motor operation) or can be supplied with electrical energy by means of the electric motor (generator operation).
  • the bicycle 1 also has a bicycle gear 2.
  • the bicycle gear 2 is designed as a bottom bracket gear.
  • the bicycle gear 2 is operatively connected to the electric drive system 3 and to the pedal crank unit 6.
  • the bicycle 1 can therefore be driven either purely by muscle power or purely electrically or both by muscle power and electrically.
  • the bicycle 1 has a control device 20 which is connected to the electric drive system 3, more precisely to the actuator system of the electric drive system 3, in a signal-effective manner.
  • the control device 20 can therefore control the electric drive system 3.
  • the bicycle 1 has several sensors that are connected to the control device 20 in a signal-effective manner.
  • the bicycle 1 has an inclination angle sensor 21 that is designed to measure the current inclination angle of the bicycle 1.
  • the inclination angle sensor 21 transmits this value to the control device 20 so that, based on the inclination angle values, it can be determined whether the bicycle 1 is on a steep incline 7.
  • the bicycle 1 has a speed sensor 22, which is set up to determine the current output speed of the bicycle 1.
  • the speed sensor 22 transmits this value to the control device 20. In this way, it can be determined whether the bicycle 1 rolls back due to the incline 7 against the direction of travel, which is shown by the block arrow.
  • the bicycle 1 can have a crank torque sensor 23, which is set up to determine the current crank torque of the bicycle 1.
  • the crank torque sensor 23 transmits this value to the control device 20.
  • an automated prevention of the bicycle 1 rolling back on the slope 7 can be carried out, as shown in the process flow diagram of Fig. 2.
  • Fig. 2 shows a schematic representation of a process sequence for the driving situation from Fig. 1.
  • an X represents the termination of the method 100.
  • a current angle of inclination a and a current output speed nab of the bicycle are determined.
  • a current crank torque k of the bicycle can be determined.
  • the current inclination angle a is compared with an inclination angle threshold value alim. If the current inclination angle a is smaller than the inclination angle threshold value alim, the method 100 is aborted, since there is then no sufficiently steep gradient that would make it necessary to carry out the method 100. If the current If the inclination angle a is greater than the inclination angle threshold value alim, the method 100 is continued.
  • the current output speed nab is compared with an output speed threshold nablim. If the current output speed nab is less than the output speed threshold nablim, the method 100 is aborted since there is then no rolling back that would make carrying out the method 100 necessary. If the current output speed nab is greater than the output speed threshold nablim, method 100 is continued.
  • the fourth step 140 shown below is optional and serves to further increase the driver's safety.
  • the current crank torque k is compared with the holding torque h, where the holding torque is a value of the electric motor of the bicycle. If the current crank torque k is greater than the holding torque h, the method 100 is aborted because the driver of the bicycle applies the necessary muscle strength to prevent the bicycle from rolling back. If the current crank torque k falls below the holding torque h, the method 100 continues.
  • a final step 150 of the method 100 the motor torque m of the at least one electric motor is increased until a holding torque h is reached. This effectively prevents the bike from rolling back on an incline and increases safety.
  • the last step 150 can follow the third step 130 if the optional fourth step 140 is omitted, otherwise the last step 150 follows the fourth step 140. reference symbol

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  • Engineering & Computer Science (AREA)
  • Mechanical Engineering (AREA)
  • Chemical & Material Sciences (AREA)
  • Combustion & Propulsion (AREA)
  • Transportation (AREA)
  • Electric Propulsion And Braking For Vehicles (AREA)

Abstract

Dans un procédé (100) pour empêcher automatiquement une bicyclette (1) de rouler vers l'arrière sur une pente (7), la bicyclette (1) comporte une unité de manivelle (6) et un système d'entraînement électrique (3) avec au moins un moteur électrique, un premier angle d'inclinaison actuel (a) et une vitesse de sortie actuelle (nab) de la bicyclette (1) étant déterminés. L'angle d'inclinaison courant (a) est comparé à une valeur seuil d'angle d'inclinaison (alim). La vitesse de sortie actuelle (nab) est comparée à une valeur seuil de vitesse de sortie (nablim). Si l'angle d'inclinaison actuel (a) dépasse la valeur seuil d'angle d'inclinaison (alim) et si la vitesse de sortie actuelle (nab) dépasse la valeur seuil de vitesse de sortie (nablim), un couple moteur (m) du ou des moteurs électriques est augmenté jusqu'à ce qu'un couple de maintien (h) soit atteint.
PCT/EP2022/077088 2022-09-29 2022-09-29 Procédé pour empêcher automatiquement une bicyclette de rouler vers l'arrière sur une pente, dispositif de commande, produit de programme informatique, support lisible par ordinateur, bicyclette WO2024067970A1 (fr)

Priority Applications (1)

Application Number Priority Date Filing Date Title
PCT/EP2022/077088 WO2024067970A1 (fr) 2022-09-29 2022-09-29 Procédé pour empêcher automatiquement une bicyclette de rouler vers l'arrière sur une pente, dispositif de commande, produit de programme informatique, support lisible par ordinateur, bicyclette

Applications Claiming Priority (1)

Application Number Priority Date Filing Date Title
PCT/EP2022/077088 WO2024067970A1 (fr) 2022-09-29 2022-09-29 Procédé pour empêcher automatiquement une bicyclette de rouler vers l'arrière sur une pente, dispositif de commande, produit de programme informatique, support lisible par ordinateur, bicyclette

Publications (1)

Publication Number Publication Date
WO2024067970A1 true WO2024067970A1 (fr) 2024-04-04

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PCT/EP2022/077088 WO2024067970A1 (fr) 2022-09-29 2022-09-29 Procédé pour empêcher automatiquement une bicyclette de rouler vers l'arrière sur une pente, dispositif de commande, produit de programme informatique, support lisible par ordinateur, bicyclette

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Citations (3)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
DE102004035089A1 (de) 2003-07-23 2005-02-24 Ford Global Technologies, LLC, Dearborn Bremssystem mit Rückrollsicherung für elektro-hybrid angetriebene Fahrzeuge
DE102011083072A1 (de) * 2011-09-20 2013-03-21 Robert Bosch Gmbh Verfahren zum automatischen Ansteuern des Elektromotors eines Fahrrads und entsprechende Steuervorrichtung
DE102019009236A1 (de) * 2019-12-06 2021-06-10 Robert Bosch Gmbh Steuerungsverfahren für einen Elektromotor zum Halten des Zweirads an einer erkannten Steigung der Fahrtstrecke, Steuergerät und Zweirad

Patent Citations (3)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
DE102004035089A1 (de) 2003-07-23 2005-02-24 Ford Global Technologies, LLC, Dearborn Bremssystem mit Rückrollsicherung für elektro-hybrid angetriebene Fahrzeuge
DE102011083072A1 (de) * 2011-09-20 2013-03-21 Robert Bosch Gmbh Verfahren zum automatischen Ansteuern des Elektromotors eines Fahrrads und entsprechende Steuervorrichtung
DE102019009236A1 (de) * 2019-12-06 2021-06-10 Robert Bosch Gmbh Steuerungsverfahren für einen Elektromotor zum Halten des Zweirads an einer erkannten Steigung der Fahrtstrecke, Steuergerät und Zweirad

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