# US 2021/0239477 A1 · Surface detection for micromobility vehicles

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- Number: US 2021/0239477 A1
- Document ID: US20210239477A1
- Status: Published application
- Kind: A1
- Application number: 16/779,844
- Filed: 2020-02-03
- Published: 2021-08-05
- Earliest claimed: 2020-02-03
- Assignees: Bose Corporation
- Applicants: Bose Corporation
- Inventors: Pelham Norville; Robert Timothy Bettridge; llissa Brooke Bruser; Naganagouda Patil; Erich Andrew Wiernasz; Thomas David Chambers; Ramiz Kamal Khan; Tian Hung Lim; Denis Mathieu Lirette; Chloe Elizabeth Blanchard; Kama Gabriela Kaczmarczyk; Mikkel Lunding
- Web page: https://patentgrep.com/patent/US20210239477A1

## CPC

- B62K 3/002: {without a seat, i.e. the rider operating the vehicle in a standing position, e.g. non-motorized scooters; non-motorized scooters with skis or runners}
- G01C 21/3461: {Preferred or disfavoured areas, e.g. dangerous zones, toll or emission zones, intersections, manoeuvre types or segments such as motorways, toll roads or ferries}
- A63C 17/01: Skateboards (A63C17/02 - A63C17/28 take precedence)
- A63C 17/16: for use on specially shaped or arranged runways
- A63C 17/26: with special auxiliary arrangements, e.g. illuminating, marking, or push-off devices
- B60L 15/00: Methods, circuits, or devices for controlling the traction-motor speed of electrically-propelled vehicles
- 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
- B62J 27/00: Safety equipment
- B62J 45/20: Cycle computers as cycle accessories
- B62J 45/41: characterised by the type of sensor
- G01C 21/3629: {Guidance using speech or audio output, e.g. text-to-speech (text to speech systems per se G10L13/00)}
- G01C 21/3652: {Guidance using non-audiovisual output, e.g. tactile, haptic or electric stimuli}
- G01C 21/3673: {Labelling using text of road map data items, e.g. road names, POI names}
- G01C 21/3691: {Retrieval, searching and output of information related to real-time traffic, weather, or environmental conditions (arrangements for giving variable traffic instructions G08G1/09)}
- G01C 21/3694: {Output thereof on a road map}
- G01C 21/3697: {Output of additional, non-guidance related information, e.g. low fuel level (G01C21/3679 takes precedence)}
- G07C 5/085: {using electronic data carriers}
- G08G 1/052: with provision for determining speed or overspeed {(speed measuring in general G01P)}
- G08G 1/09626: {where the origin of the information is within the own vehicle, e.g. a local storage device, digital map}
- G08G 1/096725: {where the received information generates an automatic action on the vehicle control}
- G08G 1/0968: Systems involving transmission of navigation instructions to the vehicle
- G08G 1/207: {with respect to certain areas, e.g. forbidden or allowed areas with possible alerting when inside or outside boundaries}
- A63C 17/12: with driving mechanisms
- A63C 2203/18: Measuring a physical parameter, e.g. speed, distance
- A63C 2203/22: Radio waves emitting or receiving, e.g. remote control, RFID
- A63C 2203/24: Processing or storing data, e.g. with electronic chip
- B60L 2200/12: Bikes
- B60L 2200/14: Vehicles with one wheel only
- B60L 2200/22: Microcars, e.g. golf cars
- B60L 2200/24: Personal mobility vehicles
- B60L 2240/12: Speed
- B60L 2240/62: Vehicle position
- B60L 2240/647: Surface situation of road, e.g. type of paving
- B60L 2240/80: Time limits
- B60L 2250/10: by alarm
- B60L 2250/12: by confirmation, e.g. of the input
- B60L 2260/46: by self learning
- B62J 45/40: Sensor arrangements (sensors for control of electrically assisted cycles B62M6/50); Mounting thereof
- B62J 50/21: intended to provide information to rider or passenger
- B62K 1/00: Unicycles
- B62K 3/00: Bicycles
- B62K 5/02: Tricycles (children's tricycles B62K9/02)
- B62K 2202/00: Motorised scooters
- B62K 2204/00: Adaptations for driving cycles by electric motor
- Y02T 10/72: Electric energy management in electromobility
- Y02T 90/16: Information or communication technologies improving the operation of electric vehicles
- B62K: CYCLES; CYCLE FRAMES; CYCLE STEERING DEVICES; RIDER-OPERATED TERMINAL CONTROLS SPECIALLY ADAPTED FOR CYCLES; CYCLE AXLE SUSPENSIONS; CYCLE SIDECARS, FORECARS, OR THE LIKE
- G01C: MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY (measuring liquid level G01F; radio navigation, determining distance or velocity by use of propagation effects, e.g. Doppler effects, propagation time, of radio waves, analogous arrangements using other waves G01S)
- A63C: SKATES; SKIS; ROLLER SKATES; DESIGN OR LAYOUT OF COURTS, RINKS OR THE LIKE (water skis B63B32/00, B63B34/00)
- 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
- 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
- G07C: TIME OR ATTENDANCE REGISTERS; REGISTERING OR INDICATING THE WORKING OF MACHINES; GENERATING RANDOM NUMBERS; VOTING OR LOTTERY APPARATUS; ARRANGEMENTS, SYSTEMS OR APPARATUS FOR CHECKING NOT PROVIDED FOR ELSEWHERE
- 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})
- Y02T: CLIMATE CHANGE MITIGATION TECHNOLOGIES RELATED TO TRANSPORTATION

## Abstract

Various implementations include approaches for training a surface detection classifier and detecting characteristics of a surface, along with related micromobility vehicles. Certain implementations include a method including: comparing: i) detected movement of a micromobility (MM) vehicle or a device located with a user at the MM vehicle while operating the MM vehicle, with ii) a surface detection classifier for the MM vehicle; and in response to detecting that the MM vehicle is traveling on a restricted surface type for a threshold period, performing at least one of: a) notifying an operator of the MM vehicle about the travel on the restricted surface type, b) outputting a warning at an interface connected with the MM vehicle or the device, c) limiting a speed of the MM vehicle, or d) disabling operation of the MM vehicle.

## Claims

### Claim 1

A computer-implemented method comprising:
comparing: i) detected movement of a micromobility (MM) vehicle or a device located with a user at the MM vehicle while operating the MM vehicle, with ii) a surface detection classifier for the MM vehicle; and
in response to detecting that the MM vehicle is traveling on a restricted surface type for a threshold period, performing at least one of: a) notifying an operator of the MM vehicle about the travel on the restricted surface type, b) outputting a warning at an interface connected with the MM vehicle or the device, c) limiting a speed of the MM vehicle, or d) disabling operation of the MM vehicle.

### Claim 2 (depends on 1)

The computer-implemented method of claim 1, further comprising logging sensor data and location data about the MM vehicle or the device in response to detecting that the MM vehicle is traveling on the restricted surface type.

### Claim 3 (depends on 1)

The computer-implemented method of claim 1, further comprising updating the detection classifier in response to detecting that the MM vehicle is traveling on a restricted surface type or in response to detecting that the MM vehicle is traveling on a permitted surface type.

### Claim 4 (depends on 1)

The computer-implemented method of claim 1, wherein the surface detection classifier includes correlations between: sensor data about movement of the MM vehicle or the smart, and travel surface types.

### Claim 5 (depends on 1)

The computer-implemented method of claim 1, wherein the threshold period is based on a confidence level of detecting that the MM vehicle is traveling on a restricted surface type.

### Claim 6 (depends on 1)

The computer-implemented method of claim 1, further comprising:
prompting the user for feedback about the surface type over which the MM vehicle is travelling; and
updating the surface detection classifier based upon received feedback from the user.

### Claim 7 (depends on 1)

The computer-implemented method of claim 1, wherein the device comprises at least one of a smart device or a wearable audio device.

### Claim 8 (depends on 1)

The computer-implemented method of claim 1, further comprising providing navigation instructions to the user based on a travel route of the MM vehicle, the surface detection classifier for the MM vehicle, and a known surface type along the travel route.

### Claim 9 (depends on 8)

The computer-implemented method of claim 8, wherein the navigation instructions prompt the user to limit travel of the MM vehicle over the restricted surface type, wherein the navigation instructions are provided as an indicator including at least one of an affirmation indicator or an action indicator, and wherein the indicator includes audio instructions on the device or a tactile indicator at the device or the MM vehicle.

### Claim 10 (depends on 1)

The computer-implemented method of claim 1, further comprising providing navigation instructions to the user based on a detected ambient environmental condition in an environment proximate a travel route of the MM vehicle, wherein the ambient environmental condition is detected by sensors on a plurality of distinct MM vehicles in the environment that are distinct from the MM vehicle.

### Claim 11

A micromobility (MM) vehicle comprising:
a body at least partially containing: a platform for supporting a user, at least one wheel, and a motor coupled with the at least one wheel; and
a controller in communication with the sensor and configured to regulate the motor, wherein the controller is programmed to:
compare: i) detected movement of the micromobility (MM) vehicle or a device located with the user at the MM vehicle while operating the MM vehicle, with ii) a surface detection classifier for the MM vehicle; and
in response to detecting that the MM vehicle is traveling on a restricted surface type for a threshold period, performing at least one of: a) notify the user of the MM vehicle about the travel on the restricted surface type, b) output a warning at an interface connected with the MM vehicle or the device, c) limit a speed of the MM vehicle, or d) disable operation of the MM vehicle.

### Claim 12 (depends on 11)

The MM vehicle of claim 11, wherein the sensor comprises at least one of: a micro-electro-mechanical system (MEMS) sensor configured to detect vibration of the MM vehicle, or an inertial measurement unit (IMU) configured to detect vibration of the device.

### Claim 13 (depends on 11)

The MM vehicle of claim 11, further comprising a location sensor coupled with the controller for detecting a geographic location of the MM vehicle,
wherein the controller is further configured to log sensor data and location data about the MM vehicle or the device in response to detecting that the MM vehicle is traveling on the prohibited surface type.

### Claim 14 (depends on 11)

The MM vehicle of claim 11, wherein the controller is further configured to update the detection classifier based upon detecting that the MM vehicle is traveling on a restricted surface type or based upon detecting that the MM vehicle is traveling on a permitted surface type,
wherein the surface detection classifier includes correlations between: sensor data about movement of the MM vehicle or the device, and travel surface types, and
wherein the threshold period is based on a confidence level of detecting that the MM vehicle is traveling on a restricted surface type.

### Claim 15 (depends on 11)

The MM vehicle of claim 11, wherein the controller is further configured to:
prompt the user for feedback about the surface type over which the MM vehicle is travelling; and
update the surface detection classifier based upon received feedback from the user.

### Claim 16 (depends on 11)

The MM vehicle of claim 11, wherein the device comprises at least one of a smart device or a wearable audio device, and wherein the controller executes at least one programmed function at the MM vehicle or in a cloud-based platform.

### Claim 17 (depends on 11)

The MM vehicle of claim 11, wherein the controller is further configured to provide navigation instructions to the user based on a travel route of the MM vehicle, the surface detection classifier for the MM vehicle, and a known surface type along the travel route, wherein the navigation instructions prompt the user to limit travel of the MM vehicle over the restricted surface type, wherein the navigation instructions are provided as an indicator including at least one of an affirmation indicator or an action indicator, and wherein the indicator includes audio instructions on the device or a tactile indicator at the device or the MM vehicle.

### Claim 18 (depends on 11)

The MM vehicle of claim 11, wherein the controller is further configured to provide navigation instructions to the user based on a detected ambient environmental condition in an environment proximate a travel route of the MM vehicle, and wherein the ambient environmental condition is detected by sensors on a plurality of distinct MM vehicles in the environment that are distinct from the MM vehicle.

### Claim 19

A method of training a surface detection classifier for a micromobility (MM) vehicle, the method comprising:
obtaining sensor data from a set of MM vehicles about travel along a route;
obtaining tagged image data comprising tagged images of the set of MM vehicles traveling along the route; and
assigning a sensor threshold indicating that the MM vehicle is traveling on a surface type based on correlations between the sensor data about travel along the route and the tagged images of the MM vehicles.

### Claim 20 (depends on 19)

The method of claim 19, wherein the surface type comprises a sidewalk surface or another surface over which MM vehicle travel is restricted by a governing body, wherein the correlations are determined by aligning respective timestamps for the sensor data about travel along the route with the tagged image data, wherein the sensor threshold comprise a range of sensor values or a threshold pattern of sensor values indicative of travel on the surface type, and wherein the set of MM vehicles comprises a plurality of MM vehicles comprising at least one of: a scooter, a tricycle, a bicycle, a unicycle, a skateboard, a multi-person transport vehicle or a personal transport vehicle.