| 摘要 |
A brake assist system (1) for a cyclist on a bicycle (100) by a haptic feedback comprises: - a first sensor (2) for measuring the angular speed (ω1) of a first bicycle wheel (101), suitable for generating a signal representing the first wheel angular speed; - a second sensor (3) for measuring the angular speed (ω2) of a second bicycle wheel (102), suitable for generating a signal representing the second wheel angular speed; - an actuator (4) applicable to a bicycle portion, suitable for producing vibrations; - a control module (5) configured for: - receiving at the input the signals representing the angular speeds (ω1, ω2) of the first (101) and second wheels (102); - determining a variable representing the slip and/or the deceleration of the first wheel (λ, eλ, eη, eε) or the risk of flipping over the bicycle around said first wheel (R) based on at least said angular speeds (ω1,ω2) of the first (101) and second wheels (102); - determining a vibration frequency (f) of the actuator based on said variable representing the slip and/or deceleration of the first wheel (λ, eλ, eη, eε), or the risk of flipping over the bicycle around said first wheel (R); - generating a command signal of the actuator (4) so that the actuator vibrates at said vibration frequency (f), wherein said vibration forms said haptic feedback for the cyclist. |
