KR101312143B1 - Recognition system for drive conditions of bicycle - Google Patents

Abstract

Disclosed is a driving situation recognition system of a bicycle. The disclosed driving situation recognition system is mounted on one side of the bicycle, the acceleration measurement module for measuring and transmitting the acceleration value according to the movement of the bicycle wirelessly; And a terminal for receiving and storing the acceleration value measured from the acceleration measurement module and calculating driving status information of the bicycle based on the acceleration value.

Description

Bike Recognition System {RECOGNITION SYSTEM FOR DRIVE CONDITIONS OF BICYCLE}

The present invention relates to a system and method for recognizing a driving situation of a bicycle, and more particularly, a bicycle capable of recognizing driving status information such as whether the bicycle is running, a slope of a road being driven (flat-uphill-downhill), and road conditions. The driving situation recognition system of the present invention.

Recently, the value of bicycles is newly discovered for the purpose of eco-friendliness, energy saving, and health, and the number of people using bicycles is increasing so that the global bicycle market of 120 million is formed annually. In addition, the frequency of use in everyday life as an element of healthy living rather than commuting is increasing.

However, unlike a car, the bicycle is exposed to the outside environment as it is, so it is necessary to grasp and utilize prior information about the surrounding weather and waiting conditions rather than the car. Furthermore, since the bicycle uses human power as its power, if the characteristics of the driving route such as road slope, curvature, and road surface can be identified in advance, the shortest route estimation can be used to increase the efficiency of the movement. As the driving distance and the use time can be increased, the recognition of the driving situation can result in greatly increasing the usability of the bicycle.

Recently, there have been many cases in which various electronic information devices such as a driving speedometer and an exercise amount estimating device are mounted on a bicycle, and in particular, the younger generation is also using the smartphone service in conjunction with the use of the bicycle.

In order to satisfy the increased use of bicycles and the expectations of users, the development of systematic analysis techniques for the dynamic and mechanical characteristics of the bicycle body and the occupants must be preceded.

In addition, in order for bicycle users to use these bicycle-specific IT devices and services more safely and effectively, more intelligent bicycle-related technologies such as interface technology considering various situation changes while driving are required.

However, there is no dedicated equipment that can precisely perform kinematic measurements on bicycles actually driving on roads. This is because there is no technique for measuring and analyzing dynamic characteristics such as small and precise motion tracking applicable to the speed and range of the bicycle, and there are not many cases of systematic technology development for this.

The present invention was devised to solve the conventional problems as described above, measuring various acceleration components acting on the bicycle and transmitting them wirelessly to the outside in real time, as well as analyzing the acceleration component and processing whether the bicycle is running or not. It is an object of the present invention to provide a driving situation recognition system of a bicycle capable of recognizing driving situation information, such as a slope (flat-uphill-downhill) and a road surface of a driving road.

In order to achieve the above object, the driving situation recognition system of the present invention is mounted on one side of the bicycle, the acceleration measurement module for wirelessly measuring the acceleration value according to the movement of the bicycle; And a terminal for receiving and storing the acceleration value measured from the acceleration measurement module and calculating driving status information of the bicycle based on the acceleration value.

The terminal includes a wireless receiving unit for receiving an acceleration value detected by the acceleration measuring module; A data receiver connected to the wireless receiver to store the acceleration value as acceleration data; And a driving condition calculator connected to the data receiver to calculate driving condition information of the bicycle based on the acceleration data.

으로 노면의 상태를 판단하여, T<T₀ 일 경우, 부드러운 노면, T>T₀ 일 경우, 거친 노면으로 판단하는 것을 특징으로 하는 자전거의 주행상황인식 시스템.
The driving condition calculating unit includes an algorithm for calculating the driving condition information from the acceleration data, wherein the algorithm is a vertical direction with respect to the ground of the bicycle, the X axis, the lateral direction of the bicycle, the Y axis, and the forward traveling direction of the bicycle. The axis is referred to as Ax for the X-axis acceleration measurement of the acceleration sensor, Ay for the Y-axis acceleration measurement for the acceleration sensor, Az for the Z-axis acceleration measurement of the acceleration sensor, and G for gravity acceleration. If Ax ² + Ay ² + Az ² = G ² , and Ax ² + Ay ² = G ^2, it is determined that the bicycle is stopped on a flat surface, and Ax ² + Ay ² + Az ² = G ² , If Ax ² + Ay ² ≠ G ^2, it is determined that the bicycle is stopped uphill or downhill, Ax ² + Ay ² + Az ² ≠ G ² , and Ax ² + Ay ² + Az ² > G ² Otherwise, it is determined that the bicycle is traveling downhill, Ax ² + Ay ² + Az ² ≠ G ² , and Ax ² + Ay ² + Az ² > G ² If Ax ² + Ay ² = G ^2, the bicycle is determined to be flat driving, Ax ² + Ay ² + Az ² ≠ G ² , and Ax ² + Ay ² + Az ² > G ² Where Ax ² + Ay ² ≠ G ² If it is determined that the bicycle is uphill driving, the acceleration value is X (Ω) = FT (x (t)) for the state of the road surface while driving,

To determine the state of the road surface, T <T ₀ In the case of a smooth road surface, T> T ₀ , the driving situation recognition system of the bicycle, characterized in that it is determined as a rough road surface.

Can be configured to

이 되도록 구성할 수 있다. The algorithm further includes a correction equation for calculating correction values of the Ax and the Az according to an error in which the X axis of the acceleration sensor is inclined with respect to the vertical direction with respect to the ground.

It can be configured to be.

The acceleration measuring module includes a 3-axis acceleration sensor for detecting an acceleration value acting on a bicycle, and a low power wristwatch-type embedded device having a wireless transmitter configured to wirelessly transmit the acceleration value detected from the 3-axis acceleration sensor. can do.

According to the present invention, it is possible to easily determine and recognize the driving situation of the bicycle using only one 3-axis acceleration sensor without the configuration of an additional inertial sensor through the algorithm of the driving situation calculation unit.

The driving status information of these bicycles can activate the development and use of IT-based bicycle devices, and enable the development and use of more diverse and useful bicycle applications linked to smartphones.

In addition, it is possible to support the development of advanced user interface technology for bicycles that can be appropriately reacted and controlled according to driving conditions, ultimately increasing the use of bicycles and growing the industrial market for various bicycle related fields.

1 is a view schematically showing the configuration of a driving situation recognition system of a bicycle according to an embodiment of the present invention,
2 is a block diagram of a driving situation recognition system of a bicycle according to an embodiment of the present invention,
3 is an algorithm flowchart of the driving situation calculating unit of FIG. 2;
4 is a view showing the acceleration direction by gravity acceleration and pedaling while driving the bicycle in the driving situation recognition system of the bicycle according to an embodiment of the present invention,
FIG. 5 is a flowchart illustrating an algorithm for calculating an acceleration value in a vertical direction according to a road surface while driving a bicycle in a driving situation recognition system of a bicycle according to an exemplary embodiment of the present invention.

Hereinafter, a driving situation recognition system of a bicycle according to an embodiment of the present invention will be described with reference to the drawings.

The driving situation recognition system of the bicycle includes an acceleration measurement module 100 and a terminal 200.

Acceleration measurement module 100 is composed of a low-power wristwatch embedded device embedded with a wireless transmitter 110 and a three-axis acceleration sensor 120. Acceleration measurement module 100 is attached by fixing the central axis to the bicycle saddle and frame closest to the center of gravity of the occupant in order to exclude unnecessary movement signal of the bicycle.

The acceleration measurement module 100 according to the present embodiment may use a wrist watch type low power MCU kit EZ430 Chronos (Texas Instrument, USA) in order to increase convenience and usability.

The acceleration measurement module 100 detects an acceleration value acting on the bicycle 10 through the three-axis acceleration sensor 120 and transmits it through the wireless transmitter 110 of the low power wireless communication protocol method.

The terminal 200 receives and stores an acceleration value from the acceleration measuring module 100 and calculates driving state information of the bicycle based on the acceleration value.

The terminal 200 may include a wireless receiver 210, a data receiver 220, and a driving situation calculator 230, and may be implemented as a general personal computer (hereinafter, referred to as a PC).

The wireless receiver 210 communicates with the wireless transmitter 110 of the acceleration measurement module 100 to receive an acceleration value measured from the three-axis acceleration sensor 120. In the present embodiment, the wireless receiver 210 may be implemented as a USB communication antenna mounted on a USB port of a PC.

The data receiver 220 may be configured to receive and store the acceleration value received by the wireless receiver 210 as acceleration data using dedicated software written in LabVIEW 10.0.

The driving situation calculator 230 is connected to the data receiver 220, and is configured to recognize and determine characteristics of a driving path such as a road slope, a curve, and a road surface state based on the acceleration data received / stored in the data receiver 220. do.

The accelerometer's measurement data always includes the vertical upward acceleration (1G) component, and the tilt angle of the accelerometer can be adjusted by using static acceleration acting on the three measurement coordinate axes. ) Will be available. However, the acceleration sensor 120 attached to the moving object (bike) 10 includes dynamic acceleration components due to external forces during movement in addition to gravity acceleration, so that the sensor being measured using an additional inertial sensor such as a gyro sensor It is generally impossible to estimate the position or situation of a moving object using only the acceleration sensor unless the coordinate axis is measured and corrected separately.

However, the driving situation calculation unit 230 of the present embodiment, in the bicycle 10 while driving or stopped, the positional situation that may occur during the movement path, the gravity and external force involved in each case, and the three-axis acceleration sensor accordingly ( The measurement value of 120 may be used to determine driving conditions without using an additional inertial sensor.

First, since no external force acts in the stationary state except gravity, the following relationship is established between the components of gravity acceleration acting on the three-way measurement coordinate axis of the 3-axis acceleration sensor 120.

Ax ² + Ay ² + Az ² = G ² ....... (1)

 Ax is the x-axis acceleration value of the acceleration sensor

Ay is the y-axis acceleration value of the acceleration sensor

Az is the z-side acceleration value of the acceleration sensor

At the same time, when stopped on a flat surface, the special relationship as shown in Eq. (2) is satisfied.

Ax ² + Ay ² = G ² ........ (2)

Or it can also be represented by Formula (1) and Formula (3).

Az = 0 ........ (3)

At this time, the inclination angle with respect to the ground of the bicycle body can be estimated from the ratio of components in each axial direction.

On the other hand, since there is an external force while driving, it is represented by Equation (4), and the relationship between the acceleration components appearing in each coordinate axis is different between the downhill road and the uphill road.

Ax ² + Ay ² + Az ² ≠ G ² .......... (4)

First, in the case of traveling on a flat land, the same relationship as in equation (5) is established as in the flat stop state.

Ax ² + Ay ² = G ² ............ (5)

However, in the driving direction, the acceleration component by pedaling acts instead of the gravity acceleration perpendicular to the ground, resulting in equation (6) unlike equation (3), resulting in a relationship of equation (7).

Az = a ........... (6)

a is the acceleration component of the driving direction due to pedaling

Ax ² + Ay ² + Az ² > G ² ............ (7)

As shown in FIG. 4, the direction of gravity acceleration and external force during driving downhill and uphill road, that is, the direction of action of the driving force by bicycle pedaling is shown in a schematic diagram. On the downhill road, the acceleration component of the bicycle driving direction due to pedaling acts in the opposite direction to the acceleration due to the acceleration of gravity, resulting in a decrease in magnitude. That is, it is Formula (8), and as a result, it becomes Formula (9).

Az = │a-Gz│ ......... (8)

 Gz is the driving direction acceleration component due to gravity acceleration

Ax ² + Ay ² + Az ² <G ² ........... (9)

On the other hand, in an uphill road, the acceleration component of the bicycle driving direction due to pedaling acts in the same direction as the 1G acceleration, resulting in Equation (10), and thus, Equation (11).

Az = │a + Gz│ ........ (10)

a is an acceleration component in the driving direction due to pedaling

Gz is the driving direction acceleration component due to gravity acceleration

Ax ² + Ay ² + Az ² <G ² ......... (11)

The above relationship is summarized in Table 1.

division flat ascent Downhill stop Ax ² + Ay ² = G ² Ax ² + Ay ² + Az ² = G ² Ax ² + Ay ² + Az ² = G ² Driving Ax ² + Ay ² + Az ² > G ²
Ax ² + Ay ² = G ² Ax ² + Ay ² + Az ² > G ²
Ax ² + Ay ² ≠ G ² Ax ² + Ay ² + Az ² > G ²
Ax ² + Ay ² ≠ G ²

Table 1 shows that even though the gravity acceleration and the pedaling of the bicycle are moving at the same time, the driving situation of the bicycle can be distinguished and recognized based only on the measurement value of the 3-axis acceleration sensor without the use of an additional inertial sensor. Can be.

Based on the above, the driving situation calculator 230 of the present embodiment is configured to include the algorithm shown in FIG. 3. That is, when the algorithm of the driving situation calculating unit 230 is Ax ² + Ay ² + Az ² = G ² , and Ax ² + Ay ² = G ^2, it is determined that the bicycle is stopped on a flat surface and Ax ² + Ay ^{If 2} + Az ² = G ² and Ax ² + Ay ² ≠ G ² , the bicycle is determined to be stopped at an uphill or downhill, Ax ² + Ay ² + Az ² ≠ G ² , and Ax ² + Ay ² + Az ² > G ² Otherwise, it is determined that the bicycle is traveling downhill, Ax ² + Ay ² + Az ² ≠ G ² , and Ax ² + Ay ² + Az ² > G ² Where Ax ² + Ay ² = G ² If it is determined that the bicycle is flat driving, Ax ² + Ay ² + Az ² ≠ G ² , Ax ² + Ay ² + Az ² > G ² Where Ax ² + Ay ² ≠ G ² If it is, the bicycle is determined to be driving uphill.

Regarding the state of the road surface while driving, each acceleration value is obtained by the following equation (12).

X (Ω) = FT (x (t)) ......... (12)

Ω is the digital frequency

At this time, T representing the state of the road surface is represented by equation (13),

............(13)

............ (13)

Ωc is the predefined frequency

Equation (14) determines the smooth road surface, and Equation (15) determines the rough road surface.

T <T ₀ ....................... (14)

T> T ₀ ....................... (15)

T ₀ Is a predefined value

The driving situation calculator 230 may be implemented using dedicated software written in Matlab. Of course, it can be written using various programs besides Matlab.

As described above, the driving situation calculating unit 230 uses the acceleration value from the acceleration measuring module attached to the bicycle 10 through an algorithm to calculate driving status information of the bicycle, that is, stopping, driving, downhill and uphill driving conditions, and road surface conditions. It can be calculated automatically.

In particular, when the algorithm of the driving situation calculating unit 230 is applied, the driving situation information of the bicycle may be determined using only the acceleration values measured from one triaxial acceleration sensor 120 without installing an additional inertial sensor such as a gyro sensor. It becomes possible.

The driving condition information calculated by the driving condition calculator 230 may be displayed or displayed on a monitor (not shown) of a PC, and data may be stored in a memory (not shown).

According to the algorithm of the driving situation calculator 230 of the present embodiment, when the acceleration measurement module 100 is attached to the bicycle 10, the X axis of the three-axis acceleration sensor 120 may be inclined within a certain error limit without being perpendicular to the ground. In this case, the inclination angle of the X-axis of the 3-axis acceleration sensor 120 is estimated from the static acceleration data obtained in the predefined initial stop section, and the beam can be used to correct the acceleration value measured from the 3-axis acceleration sensor 120. Formula (16) may be further provided.

..........(16)

.......... (16)

Ax and Az are acceleration data measured from 3-axis acceleration sensor

Ax 'and Az' are corrected acceleration data

On the other hand, the three-axis acceleration sensor 120 during actual driving has a lot of noise factors such as irregular vibrations generated from the road surface, vibrations generated from the bicycle body, and secondary vibrations generated from the shock absorber of the vehicle body. It can be a factor.

In particular, when the acceleration force due to pedaling during uphill driving is small, there is a situation where it is difficult to be distinguished as an uphill driving because it does not clearly match the condition of Equation (11). In such a case, it may be more accurate to determine uphill for a section that has increased significantly than usual based on equation (10).

While the present invention has been particularly shown and described with reference to exemplary embodiments thereof, it is to be understood that the invention is not limited to the disclosed exemplary embodiments. It will be understood by those skilled in the art that many changes and modifications of the present invention can be made without departing from the spirit and scope of the appended claims. Accordingly, all such appropriate modifications and changes, and equivalents thereof, should be regarded as within the scope of the present invention.

10 ... Bike
100 ... Acceleration measurement module
110.Wireless transmitter
120 ... 3-axis acceleration sensor
200 ... terminal
210.Wireless receiver
220.Data receiving unit
230. Driving situation calculator

Claims (5)

An acceleration measurement module mounted on one side of the bicycle and wirelessly measuring an acceleration value according to the movement of the bicycle; And
And a terminal for receiving and storing the acceleration value measured from the acceleration measurement module and calculating driving status information of the bicycle based on the acceleration value.
The terminal is
A wireless receiver configured to receive an acceleration value detected by the acceleration measurement module;
A data receiver connected to the wireless receiver to store the acceleration value as acceleration data; And
And a driving condition calculator connected to the data receiver to calculate driving condition information of the bicycle based on the acceleration data.
The driving situation calculation unit includes an algorithm for calculating the driving situation information from the acceleration data,
The algorithm comprises:
The X-axis is perpendicular to the ground of the bicycle, the Y-axis is the lateral direction of the bicycle, the Z-axis is the forward movement direction of the bicycle, the X-axis acceleration measurement value of the acceleration sensor is Ax, and the Y-axis of the acceleration sensor is When the acceleration measurement value is Ay, the Z-axis acceleration measurement value of the acceleration sensor is Az and the gravity acceleration is G,
When Ax ² + Ay ² + Az ² = G ² and Ax ² + Ay ² = G ² , the bicycle is determined to be stopped on a flat surface.
When Ax ² + Ay ² + Az ² = G ² and Ax ² + Ay ² ≠ G ² , the bicycle is determined to be stopped uphill or downhill,
If Ax ² + Ay ² + Az ² ≠ G ² , and not Ax ² + Ay ² + Az ² > G ² , the bicycle is determined to travel downhill,
When Ax ² + Ay ² + Az ² ≠ G ² , Ax ² + Ay ² + Az ² > G ² , and Ax ² + Ay ² = G ^2, the bicycle is determined to be flat.
When Ax ² + Ay ² + Az ² ≠ G ² , Ax ² + Ay ² + Az ² > G ² , and Ax ² + Ay ² ≠ G ^2, the bicycle is determined to be uphill. Driving situation recognition system.
delete delete The method of claim 1,
The algorithm further includes a correction equation for calculating the correction value of the Ax and the Az according to the error in which the X axis of the acceleration sensor is inclined with respect to the vertical direction to the ground,
The correction formula is

Driving situation recognition system of a bicycle, characterized in that.
The method of claim 1,
The acceleration measurement module,
It is a low-power wristwatch embedded device that includes a three-axis acceleration sensor for sensing the acceleration value acting on the bicycle, and a wireless transmission unit for wirelessly transmitting the acceleration value detected from the three-axis acceleration sensor. Context awareness system.

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