System for assisting in driving a bicycle by sending a haptic feedback to a cyclist

• US 10,392,070 B2
• Filed: 12/12/2016
• Issued: 08/27/2019
• Est. Priority Date: 02/04/2016
• Status: Active Grant

• Current Assignee: BluBrake S.r.l.
• Original Assignee: BluBrake S.r.l.
• Inventors: Todeschini, Fabio, Savaresi, Sergio Matteo, Corno, Matteo, Panzani, Giulio, Pasquini, Matteo, Cota, Alessio Nicolo
• Primary Examiner(s): Barakat, Mohamed
• Application Number:
  US16/074,785
• Publication Number:
  US 20190039674A1
• Time in Patent Office: 988 Days
• CPC Class Codes: B60Q 9/00 Arrangement or adaptation of signal devices not provided for in one of main groups B60Q1/00 - B60Q7/00 , e.g. haptic signalling
• CPC Class Codes: B60Q 9/002 for parking purposes, e.g. for warning the driver that his vehicle has contacted or is about to contact an obstacle warning arrangements in garages E04H6/42
• CPC Class Codes: B60Q 9/008 for anti-collision purposes
• CPC Class Codes: B62J 45/20 Cycle computers as cycle accessories
• CPC Class Codes: B62J 45/412 Speed sensors
• CPC Class Codes: B62J 45/423 on or besides the wheel
• CPC Class Codes: B62J 50/21 intended to provide information to rider or passenger
• CPC Class Codes: B62K 23/02 hand actuated arrangements of controls on handle-bars of engine-driven cycles B62K11/14
• CPC Class Codes: B62L 3/02 for control by a hand lever hand levers for control of cycles in general B62K23/06
• CPC Class Codes: G01C 21/3652 Guidance using non-audiovisual output, e.g. tactile, haptic or electric stimuli

Abstract

System for assisting in driving a bicycle by sending a haptic feedback to a cyclist having means for detecting the current value of a target quantity (q, v); and a memory module configured for supplying an optimal value of the target quantity (q_max; v_max) corresponding to the current spatial position (x) of the bicycle along the predetermined path or corresponding to the current instant (t). A comparator module is configured for determining a quantity representative of the error (e_q; e_v) between said current value of the target quantity (q, v) and said optimal value of the target quantity (q_max; v_max) supplied by the memory module. An actuator is applicable to a portion of the bicycle (100), suitable for generating vibrations. A control module is configured for determining a vibration frequency (f) of the actuator based on the error (e_q; e_v), wherein the said vibration implements the haptic feedback to the cyclist.

Claims

1. System for assisting in driving a bicycle by sending a haptic feedback to a cyclist, comprising:

means for detecting the current value of a target quantity (q;

v);

a memory module wherein an optimal profile of said target quantity is stored or storable, as a function of a spatial position (x) of the bicycle along a predetermined path, or as a function of time (t), configured for supplying an optimal value of the target quantity (q_max;

v_max) corresponding to the current spatial position (x) of the bicycle along the predetermined path or corresponding to the current instant (t);

a comparator module configured for determining a quantity representative of the error (e_q;

e_v) between said current value of the target quantity (q;

v) and said optimal value of the target quantity (q_max;

v_max) supplied by the memory module;

an actuator applicable to a portion of the bicycle, suitable for generating vibrations;

a control module configured for determining a vibration frequency (f) of the actuator, based on said error (e_q;

e_v) between the current (q;

v) and the optimal values (q_max;

v_max) of the target quantity and for generating a command signal of the actuator so that the actuator vibrates at said vibration frequency (f), wherein said vibration implements the haptic feedback to the cyclist,

wherein said quantity representative of the error between the current value of the target quantity (q;

v) and the optimal value of the target quantity (q_max;

v_max) is calculated by the comparator module, based on the following relation;

e_q=(q_max−

q)/q_max

wherein;

q is the current value of the target quantity;

q_max is the optimal value of the target quantity, and

wherein said vibration frequency (f) is settable by the control module between a maximum value (f_max) and a value equal to 0, so that;

the vibration frequency (f) is equal to the maximum frequency (f_max) if the current value of the target quantity (q, v) is greater than the optimal value of the target quantity (q_max;

v_max);

the vibration frequency (f) gradually or instantaneously decreases as the current value of the target quantity (q, v) decreases in comparison with the optimal value of the target quantity (q_max;

v_max), until it becomes zero when the target quantity error (e_q) reaches a threshold value e_q* in the range 0-1.

2. System according to claim 1, wherein said target quantity is the bicycle speed and said means for detecting the current value of the target quantity comprise an angular speed sensor suitable for being coupled to a wheel of the bicycle and for generating a signal representative of its angular speed (ω

).

3. System according to claim 2, wherein said means for detecting the target quantity comprise an inertial measurement unit suitable for measuring at least one of the longitudinal (ax), lateral (ay) and vertical accelerations (az), the roll (ω

x), pitch (ω

y) and yaw (ω

z) angular speeds of the bicycle and for generating signals representative of the same.

4. System according to claim 1, wherein said target quantity is the cyclist'"'"'s pedaling power and said means for detecting the current value of the target quantity comprise a torque sensor, suitable for being coupled to a pedaling system of the bicycle and for generating a signal representative of the torque applied to the bicycle pedaling system, and an angular speed sensor suitable for being coupled to the bicycle pedaling system and for generating a signal representative of the speed of the bicycle pedaling system.

5. System according to claim 1, wherein said target quantity is the cyclist'"'"'s heart rate and said means for detecting the current value of the target quantity comprise a heart rate sensor suitable for being applied to the cyclist and for generating a signal representative of the cyclist'"'"'s heart rate.

6. System according to claim 1, wherein an optimal profile of said target quantity is stored or storable in said memory module as a function of the bicycle spatial position (x) along a predetermined path;

the memory module, configured for supplying the optimal value of the target quantity (q_max;

v_max) corresponding to the current spatial position (x) of the bicycle along the predetermined path, wherein system further comprises a module for determining the bicycle spatial position (x) along said predetermined path.

7. System according to claim 3, wherein an optimal profile of said target quantity is stored or storable in said memory module as a function of the bicycle spatial position along a predetermined path;

the memory module, configured for supplying the optimal value of the target quantity (q_max;

v_max) corresponding to the current spatial position (x) of the bicycle along the predetermined path, wherein the system further comprises a module for determining the bicycle spatial position (x) along said predetermined path, and wherein said module for determining the spatial position of the bicycle along a predetermined path is configured for determining said bicycle spatial position (x) along the predetermined path based on said signal representative of the angular speed (ω

) of the bicycle wheel and/or based on said signals representative of the longitudinal (ax), lateral (ay) and vertical (az) accelerations and of the roll (ω

x), pitch (ω

y) and yaw (ω

z) angular speeds of the bicycle.

8. System according to claim 6, wherein said module for determining the bicycle spatial position along a predetermined path is a GPS module, adapted to detect the current latitude, longitude and height and to determine the bicycle spatial position (x) along the predetermined path based on said current latitude, longitude and height.

9. Bicycle comprising the system for assisting in driving the bicycle itself by sending a haptic feedback to the cyclist according to claim 1.

10. Bicycle according to claim 9, comprising a brake lever, wherein said actuator is configured for vibrating at a vibration frequency (f) so as to supply said vibratory haptic feedback to the cyclist through said brake lever.

11. Bicycle according to claim 10, wherein said actuator is housed in a rear groove of said brake lever.

12. System for assisting in driving a bicycle by sending a haptic feedback to a cyclist, comprising:

means for detecting the current value of a target quantity (q;

v);

a memory module wherein an optimal profile of said target quantity is stored or storable, as a function of a spatial position (x) of the bicycle along a predetermined path, or as a function of time (t), configured for supplying an optimal value of the target quantity (q_max;

v_max) corresponding to the current spatial position (x) of the bicycle along the predetermined path or corresponding to the current instant (t);

a comparator module configured for determining a quantity representative of the error (e_q;

e_v) between said current value of the target quantity (q;

v) and said optimal value of the target quantity (q_max;

v_max) supplied by the memory module;

an actuator applicable to a portion of the bicycle, suitable for generating vibrations;

a control module configured for determining a vibration frequency (f) of the actuator, based on said error (e_q;

e_v) between the current (q;

v) and the optimal values (q_max;

v_max) of the target quantity and for generating a command signal of the actuator so that the actuator vibrates at said vibration frequency (f), wherein said vibration implements the haptic feedback to the cyclist,

further comprising a module for the current control of the actuator, comprising;

a memory module suitable for supplying, at the output, a reference current (I_ref) starting from the actuator command signal based on a static map stored in the memory module itself, which correlates said reference current (I_ref) with the actuator vibration frequency (f);

a current sensor suitable to measure an effective current (I) of the motor;

a voltage command module adapted to determine a voltage (DC) to be applied to the actuator so that the latter is supplied by a predetermined current;

wherein said module for the current control of the actuator is configured so to determine a current error (e_I) between the reference current (I_ref) and the effective current (I) and said voltage command module is configured so to determine the voltage to be applied to the actuator so that the actuator effective current (I) follows the trend of the reference current and therefore said current error (e_I) is minimized.

13. Bicycle comprising the system for assisting in driving the bicycle itself by sending a haptic feedback to the cyclist according to claim 12.