# US 11,897,565 B2 · Friction detection system for an electric bicycle

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- Number: US 11,897,565 B2
- Document ID: US11897565B2
- Status: Granted
- Kind: B2
- Application number: 17/564,080
- Filed: 2021-12-28
- Published: 2023-06-29
- Granted: 2024-02-13
- Earliest claimed: 2021-12-28
- Assignees: Rad Power Bikes Inc.
- Applicants: Rad Power Bikes LLC
- Inventors: Redwood Stephens; Kyle Lobisser; Derek Gutheil; Jake Silsby; Andrew Ressa; Neal Wilding; Zachary Williams
- Web page: https://patentgrep.com/patent/US11897565B2

## CPC

- B62J 6/028: specially adapted for rider-propelled cycles with or without additional source of power
- B60L 3/0015: {Prevention of collisions}
- B60L 15/10: for automatic control superimposed on human control to limit the acceleration of the vehicle, e.g. to prevent excessive motor current (electric devices for safety purposes B60L3/00)
- B60L 15/20: for control of the vehicle or its driving motor to achieve a desired performance, e.g. speed, torque, programmed variation of speed
- B60L 15/2009: {for braking}
- B60L 50/20: using propulsion power generated by humans or animals
- B60L 58/10: for monitoring or controlling batteries
- B62H 5/18: acting on a braking device (locking cycle brake actuating mechanisms B62L3/06)
- B62H 5/20: indicating unauthorised use, e.g. acting on signalling devices {(alarm locks in general E05B45/00, e.g. alarm cable or chain lock E05B45/005)}
- B62J 1/28: Other additional equipment, e.g. back-rests for children
- B62J 3/10: Electrical devices
- B62J 6/015: using electrical power not supplied by the cycle motor generator, e.g. using batteries or piezo elements
- B62J 6/057: Automatic activation, e.g. by sensors
- B62J 6/22: Warning or information lights
- B62J 6/24: warning or informing the rider, e.g. low fuel warning lights
- B62J 6/26: warning or informing other road users, e.g. police flash lights
- B62J 27/00: Safety equipment
- B62J 43/13: on rider-propelled cycles with additional electric propulsion
- B62J 45/20: Cycle computers as cycle accessories
- B62J 45/41: characterised by the type of sensor
- B62J 45/416: Physiological sensors, e.g. heart rate sensors
- B62J 45/42: characterised by mounting
- B62J 45/421: at the pedal crank
- B62J 45/422: on the handlebar
- B62J 50/21: intended to provide information to rider or passenger
- B62J 50/22: electronic, e.g. displays
- B62K 11/00: Motorcycles, engine-assisted cycles or motor scooters with one or two wheels (fairings or streamlining parts not forming part of the frame B62J; transmission of drive from engines to wheels B62M)
- B62K 11/10: characterised by the engine being over or beside driven rear wheel
- B62K 21/12: Handlebars; Handlebar stems
- B62M 6/40: Rider propelled cycles with auxiliary electric motor
- B62M 6/45: Control or actuating devices therefor
- B62M 6/50: characterised by detectors or sensors, or arrangement thereof
- B62M 6/55: power-driven at crank shafts parts
- B62M 6/60: power-driven at axle parts
- B62M 6/90: Batteries
- G06V 20/58: Recognition of moving objects or obstacles, e.g. vehicles or pedestrians; Recognition of traffic objects, e.g. traffic signs, traffic lights or roads
- G06V 20/588: {Recognition of the road, e.g. of lane markings; Recognition of the vehicle driving pattern in relation to the road}
- G08G 1/166: {for active traffic, e.g. moving vehicles, pedestrians, bikes}
- B60L 2200/12: Bikes
- B60L 2250/20: by driver identification
- B60L 2250/22: by presence detection
- B62J 6/01: Electric circuits
- B62J 45/412: Speed sensors
- B62J 45/414: Acceleration sensors
- B62J 45/415: Inclination sensors
- B62J 50/25: intended to provide information to other road users, e.g. signs or flags
- B62K 11/02: Frames (motorcycles or cycles with auxiliary engines characterised by position of engine B62M)
- B62K 2204/00: Adaptations for driving cycles by electric motor
- 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
- B60L: PROPULSION OF ELECTRICALLY-PROPELLED VEHICLES (arrangements or mounting of electrical propulsion units or of plural diverse prime-movers for mutual or common propulsion in vehicles B60K1/00, B60K6/20; arrangements or mounting of electrical gearing in vehicles B60K17/12, B60K17/14; preventing wheel slip by reducing power in rail vehicles B61C15/08; dynamo-electric machines H02K; control or regulation of electric motors H02P); SUPPLYING ELECTRIC POWER FOR AUXILIARY EQUIPMENT OF ELECTRICALLY-PROPELLED VEHICLES (electric coupling devices combined with mechanical couplings of vehicles B60D1/64; electric heating for vehicles B60H1/00); ELECTRODYNAMIC BRAKE SYSTEMS FOR VEHICLES IN GENERAL (control or regulation of electric motors H02P); MAGNETIC SUSPENSION OR LEVITATION FOR VEHICLES; MONITORING OPERATING VARIABLES OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRIC SAFETY DEVICES FOR ELECTRICALLY-PROPELLED VEHICLES
- B62H: CYCLE STANDS; SUPPORTS OR HOLDERS FOR PARKING OR STORING CYCLES; APPLIANCES PREVENTING OR INDICATING UNAUTHORIZED USE OR THEFT OF CYCLES; LOCKS INTEGRAL WITH CYCLES; DEVICES FOR LEARNING TO RIDE CYCLES
- B62K: CYCLES; CYCLE FRAMES; CYCLE STEERING DEVICES; RIDER-OPERATED TERMINAL CONTROLS SPECIALLY ADAPTED FOR CYCLES; CYCLE AXLE SUSPENSIONS; CYCLE SIDECARS, FORECARS, OR THE LIKE
- B62M: RIDER PROPULSION OF WHEELED VEHICLES OR SLEDGES; POWERED PROPULSION OF SLEDGES OR {SINGLE-TRACK} CYCLES; TRANSMISSIONS SPECIALLY ADAPTED FOR SUCH VEHICLES (arrangements or mounting of transmissions in vehicles in general B60K; transmission elements per se F16)
- G06V: IMAGE OR VIDEO RECOGNITION OR UNDERSTANDING
- G08G: TRAFFIC CONTROL SYSTEMS (guiding railway traffic, ensuring the safety of railway traffic B61L; arrangement of road signs or traffic signals E01F9/00; radar or analogous systems, sonar systems, lidar systems specially adapted for traffic control G01S13/91, G01S15/88, G01S17/88; {radar or analogous systems, sonar systems, lidar systems specially adapted for anti-collision purposes G01S13/93, G01S15/93, G01S17/93})

## Abstract

Various systems and methods associated with protecting a rider of an electric bicycle from hazards while riding their bicycle are described. In some embodiments, the systems and methods enhance the safety of the rider in response current detected conditions surrounding the rider, such as conditions associated with the route or path traveled by the rider, other vehicles within the route or path traveled by the rider, potential hazards within the route or path traveled by the rider, environmental conditions through which the rider is traveling, and so on.

## Claims

### Claim 1

An electric bicycle, comprising:
a frame having a head tube, down tube, top tube, and seat tube;
a front wheel attached to the frame via a fork connected to the head tube;
a rear wheel attached to the frame via a dropout assembly of the frame;
an electric motor mounted to the rear wheel that propels the electric bicycle;
a battery pack mounted to the frame of the electric bicycle that provides power to the electric motor;
a controller that controls operations of the battery pack of the electric bicycle and the electric motor of the electric bicycle;
one or more sensors attached to the frame of the electric bicycle; and
a friction detection system stored in memory of the controller, the friction detection system having multiple hardware modules, including:
a sensor data module that receives information captured by the one or more sensors of the electric bicycle;
a friction module that determines one or more metrics associated with a contact friction currently applied to the electric bicycle by a road surface upon which the electric bicycle is traveling, by:
determining multiple force vectors applied to the electric bicycle at a current speed and tilt angle of the electric bicycle from motion data captured by the one or more sensors of the electric bicycle;
comparing the multiple force vectors to baseline force vectors for the electric bicycle at the current speed and tilt angle; and
determining the one or more metrics based on the comparison of the multiple force vectors to the baseline force vectors for the electric bicycle; and
an action module that performs an action in response to the estimated contact friction currently applied to the electric bicycle.

### Claim 2 (depends on 1)

The electric bicycle of claim 1, wherein the friction module determines one or more metrics associated with a contact friction currently applied to the electric bicycle based on force vectors determined for the electric bicycle from accelerometer data that identifies a current speed and tilt angle for the electric bicycle.

### Claim 3 (depends on 1)

The electric bicycle of claim 1, wherein the one or more sensors attached to the frame of the electric bicycle include an accelerometer located at a center of mass of the electric bicycle.

### Claim 4 (depends on 1)

The electric bicycle of claim 1, wherein the one or more sensors attached to the frame of the electric bicycle include multiple inertial measurement units (IMUs) located at multiple positions of the frame of the electric bicycle.

### Claim 5 (depends on 1)

The electric bicycle of claim 1, wherein the action module presents an alert to a rider of the electric bicycle via a user interface of the electric bicycle that indicates a slippery condition on the road surface upon which the electric bicycle is traveling.

### Claim 6 (depends on 1)

The electric bicycle of claim 1, wherein the action module performs an automatic braking operation when the one or more metrics represent a slippery condition on the road surface upon which the electric bicycle is traveling.

### Claim 7 (depends on 1)

The electric bicycle of claim 1, wherein the action module presents a haptic feedback warning to a rider of the electric bicycle that indicates a slippery condition on the road surface upon which the electric bicycle is traveling.

### Claim 8

A method performed by a friction detection system stored in memory of a controller of an electric bicycle, the method comprising:
receiving information captured by one or more sensors of the electric bicycle;
determining one or more metrics associated with a contact friction currently applied to the electric bicycle by a road surface upon which the electric bicycle is traveling, by:
determining multiple force vectors applied to the electric bicycle at a current speed and tilt angle of the electric bicycle from motion data captured by the one or more sensors of the electric bicycle;
comparing the multiple force vectors to baseline force vectors for the electric bicycle at the current speed and tilt angle; and
determining the one or more metrics based on the comparison of the multiple force vectors to the baseline force vectors for the electric bicycle; and
performing an action in response to the estimated contact friction currently applied to the electric bicycle.

### Claim 9 (depends on 8)

The method of claim 8, wherein the one or more metrics include force vectors determined for the electric bicycle from accelerometer data that identifies a current speed and tilt angle for the electric bicycle.

### Claim 10 (depends on 8)

The method of claim 8, wherein the one or more sensors of the electric bicycle include an accelerometer located at a center of mass of the electric bicycle.

### Claim 11 (depends on 8)

The method of claim 8, wherein the one or more sensors of the electric bicycle include multiple inertial measurement units (IMUs) located at multiple positions of the frame of the electric bicycle.

### Claim 12 (depends on 8)

The method of claim 8, wherein performing an action in response to the estimated contact friction currently applied to the electric bicycle includes presenting an alert to a rider of the electric bicycle via a user interface of the electric bicycle that indicates a slippery condition on the road surface upon which the electric bicycle is traveling.

### Claim 13 (depends on 8)

The method of claim 8, wherein performing an action in response to the estimated contact friction currently applied to the electric bicycle includes performing an automatic braking operation when the one or more metrics represent a slippery condition on the road surface upon which the electric bicycle is traveling.

### Claim 14 (depends on 8)

The method of claim 8, wherein performing an action in response to the estimated contact friction currently applied to the electric bicycle includes presenting a haptic feedback warning to a rider of the electric bicycle that indicates a slippery condition on the road surface upon which the electric bicycle is traveling.

### Claim 15

A non-transitory computer-readable medium whose contents, when executed by a friction detection system stored in memory of a controller of an electric bicycle, causes the friction detection system to perform a method, the method comprising:
identifying, from one or more sensors of the electric bicycle, an unsafe environmental condition at an environment within which the electric bicycle is traveling;
determining a friction condition for a road surface upon which the electric bicycle is traveling through the environment, by:
determining multiple force vectors applied to the electric bicycle at a current speed and tilt angle of the electric bicycle from motion data captured by the one or more sensors of the electric bicycle;
comparing the multiple force vectors to baseline force vectors for the electric bicycle at the current speed and tilt angle; and
determining the friction condition based on the comparison of the multiple force vectors to the baseline force vectors for the electric bicycle; and
performing an action in response to the determined friction condition for the road surface upon which the electric bicycle is traveling through the environment.

### Claim 16 (depends on 15)

The non-transitory computer-readable medium of claim 15, wherein the one or more sensors of the electric bicycle include an accelerometer located at a center of mass of the electric bicycle or multiple inertial measurement units (IMUs) located at multiple positions of the frame of the electric bicycle.

### Claim 17 (depends on 15)

The non-transitory computer-readable medium of claim 15, wherein the one or more sensors of the electric bicycle include a temperature sensor and a humidity sensor.