METHOD FOR CONTROLLING AN ELECTRIC BICYCLE AND ELECTRIC BICYCLE

Description

[0001] The invention relates to a method for controlling an electric bicycle with an electric drive, which can be operated by motor power and / or pedal power. The invention further relates to such an electric bicycle. State of the art

[0002] EP 3 251 936 B1 discloses a control method for an electric motor for controlling a push assist of an electric bicycle depending on a detected tilt angle of the electric bicycle.

[0003] Furthermore, methods for securing a push assist system have already been proposed. In current implementations of a push assist system, the planned activation of the push assist is ensured by a two-stage concept. First, a control element is pressed once to activate the push assist; then, within a specific time, another control element must be held down to activate the push assist.

[0004] Document DE 10 2016 224314 A1 discloses a generic process and electric bicycle. Disclosure of the invention

[0005] The invention relates to a method for controlling an electric bicycle that can be operated by motor power and / or pedal power, comprising the method steps of providing at least one trigger signal to enable activation of a walk mode and / or a trigger signal to activate the walk mode to a control unit of the electric bicycle, providing a measurement signal from a sensor device relating to a property of the electric bicycle and / or to a component encompassed by the electric bicycle to the control unit, recognizing the plausibility of the trigger signal to enable activation of the walk mode and / or the trigger signal to activate the walk mode based on the provided measurement signal, and controlling the electric bicycle.by enabling the activation of the push mode depending on the plausibility of the trigger signal for enabling the push mode, and / or by activating the push mode depending on the plausibility of the trigger signal for enabling the push mode, the measurement signal relating to acceleration as a movement state of the electric bicycle, and the plausibility of the trigger signal being recognized when the movement state fulfills a predetermined condition.

[0006] The electric bicycle has a crank mechanism, typically connected to two cranks, each with a pedal for applying force exerted by the rider. The crank mechanism, cranks, and pedals convert the rider's force into torque acting on the crank mechanism. This torque can be further converted into output torque, which acts on at least one wheel of the electric bicycle, to propel it. In one operating state, the electric bicycle is at least partially driven by an electric drive, comprising a motor. For this to occur, the rider's torque is superimposed on the drive torque generated by the electric drive during its conversion into output torque.

[0007] High-quality e-bikes typically use at least one torque sensor to detect the rider's torque. When the rider requests assistance, the electric drive amplifies this torque, usually proportionally. This torque sensor provides the rider with a natural riding feel, as increased force input results in increased assistance, up to a maximum level.

[0008] A computer-implemented method for activating a push mode, in particular a control method for controlling the push mode, comprises, according to the prior art, a two-stage activation concept, wherein the first stage represents the release of the activation and the second stage the activation of the push mode. The release for activating the push mode, in particular the control method for controlling the push mode, can be effected via a separate release button or by a detected release input on a control unit of the e-bike. Following the release, a predetermined time period for activating the push mode elapses, during which the user of the e-bike can activate the power assistance when pushing the e-bike by means of the electric drive by pressing an activation input. This activation input is detected by means of a separate activation button on a control unit of the e-bike.The electric drive then generates motor torque to push the e-bike. Typically, the user must continuously hold down the activation button to ensure continuous motor torque generation while pushing. The two-stage activation concept prevents unintentional activation of the push mode.

[0009] The control unit serves to control the functional components of at least the electric drive of the e-bike and is configured, i.e., wired and / or programmed, to generate a control signal for controlling the electric drive and to transmit it to the drive, depending on at least one of the torque measurement signals provided by the at least one torque sensor. The control unit is further configured to carry out the proposed procedure for operating the e-bike. Specifically, the control unit is configured to receive and process a provided trigger signal and provided measurement signals, to recognize the plausibility of the trigger signal depending on the measurement signals, and, depending on the recognition of the plausibility of the trigger signal, to enable or activate the walk mode of the e-bike."Unlock activation" means that the slide mode can be activated after unlocking; this function is therefore not blocked or locked. "Activate" means that the slide mode is executed.

[0010] "Providing" means that corresponding values ​​and / or quantities, especially information, are transferred or transmitted via signal technology to the control unit executing the process, in particular to a processor device or a computer device of the control unit. Provision can, in principle, occur in any form; preferably, provision is achieved by signal transmission of at least one trigger signal and one measurement signal from a sensor device to the control unit.

[0011] A "trigger signal for enabling activation" represents, in particular, a first part of a two-stage activation concept, specifically an activation request. In one embodiment of the method, the trigger signal is initiated by a user of the e-bike, for example, by actuating a control unit. In an alternative or additional embodiment of the method, it is also conceivable to trigger the signal automatically, for example, depending on an operating state of the e-bike, and to provide it to the control unit.

[0012] A "trigger signal for activation" represents, in particular, a second part of a two-stage activation concept, specifically an activation step. In one embodiment of the method, the trigger signal is activated by a user of the e-bike, for example, as a result of operating a control unit. In an alternative or additional embodiment of the method, it is also conceivable to trigger the signal automatically, for example, depending on an operating state of the e-bike, and to provide it to the control unit.

[0013] It should be noted that in this document, "trigger signal" refers to both the trigger signal for enabling activation and the trigger signal for activation, unless explicitly stated which trigger signal is being referred to.

[0014] A "measurement signal relating to a property of the e-bike and / or a component of the e-bike" encompasses any form of measurement signal suitable for characterizing a state of the e-bike in order to verify the provision of the trigger signal, in particular its validity or plausibility. "Plausible" means that the trigger signal is assessed in such a way that its provision does not contradict a situation and / or state, in particular an operating state, of the e-bike and / or a component of the e-bike, or is reasonably compatible with this situation and / or state. A measurement signal is acquired, in particular measured, by means of a sensor device.A sensor device is understood to be a measuring device that, for example, uses physical or chemical laws to determine a property of the electric bicycle and / or a component comprising the electric bicycle.

[0015] The present invention makes it possible to overcome disadvantages of the prior art described above. In particular, the present invention makes it possible to improve the currently used two-stage activation concept, which is often not intuitively understandable and difficult to implement for a user of the e-bike.

[0016] In one embodiment, the present invention enables a trigger signal to be sent to the control unit to enable activation following the activation of a control element of a control unit (e.g., pressing it for 2 seconds). To safeguard the novel activation concept, this embodiment now allows the execution of the walk mode to be activated, and in particular controlled or regulated, based on measurement signals from additional sensors arranged in or on the e-bike, for example, in the event that acceleration of the e-bike in the walking direction is detected. The present invention advantageously allows the activation of the walk mode to be enabled in the first stage, based on the additional plausibility check, to prevent accidental and / or unintentional activation of the walk mode.The sliding mode can then be activated, in particular controlled or regulated, in a very intuitive way, even if this intuitive way can no longer be clearly attributed to a user's wish to activate or execute the sliding mode.

[0017] In another embodiment, it is possible to provide a trigger signal to the control unit to activate the walk mode following the actuation (e.g., continuous pressing) of a control element on a control unit. Furthermore, a trigger signal to release the activation is also provided to the control unit following the actuation of the control element. Validating the trigger signal for releasing the activation and / or the trigger signal for activating the walk mode using measurement signals provided by sensors located in or on the e-bike advantageously allows for the reliable implementation of a walk mode activation concept, even when using a single control element. This validation serves, in particular, as the second stage of the activation concept.For example, in addition to evaluating acceleration, plausibility checks can also be performed by evaluating the speed of the e-bike in the pushing direction. Consequently, a very intuitive method of enabling activation and / or activating the push mode can be implemented here as well.

[0018] Consequently, the result is an e-bike with increased safety while simultaneously offering intuitive user operation. Furthermore, different control units, particularly from different manufacturers, can be used with the e-bike without prior verification of their proper functionality. Most importantly, the proposed method enables the secure implementation of an activation concept for the walk mode using only a single input from a control unit. The advantageous two-stage activation, i.e., the safeguarding, can be achieved using additional sensor signals during an intuitive movement (e.g., pushing) of the e-bike.

[0019] In one embodiment of the method, the measurement signal relates to the position of the e-bike, and the plausibility of the trigger signal is recognized when the e-bike is in an upright position. The position of the e-bike refers to its orientation in three-dimensional space ("lying down," "standing up," etc.) and can be detected, for example, by means of position sensors, in particular by means of at least three position sensors. Suitable position sensors include, for example, inertial sensors known to those skilled in the art, in particular a 6D inertial sensor system comprising acceleration and / or yaw rate sensors. "Upright position" is understood to mean, in particular, that the bicycle is positioned standing on its wheels, i.e., not lying down or turned upside down.This way, it can be ruled out that the trigger signal was triggered incorrectly or accidentally, for example as a result of an accident or during a maintenance procedure in which a control element intended to enable the activation of the push mode on the electric bicycle is operated.

[0020] In one embodiment of the method, the measurement signal relates to a motion state of the e-bike, in particular a speed and / or acceleration, and the plausibility of the trigger signal is recognized when the motion state fulfills a predetermined condition. In one exemplary embodiment, the predetermined condition is implemented as a threshold value. Thus, it is conceivable to classify a trigger signal as plausible only if the forward speed of the e-bike is less than 6 km / h, particularly if the acceleration is also negligible. Sensors for speed and acceleration measurement are generally known to those skilled in the art. In this way, it can be ruled out that the trigger signal is triggered erroneously or accidentally during riding, especially by the user of the e-bike.

[0021] In one embodiment of the method, the measurement signal relates to a rider torque applied to the crank drive of the e-bike, and the plausibility of the trigger signal is recognized when the rider torque is essentially zero and within the tolerance. Furthermore, it is conceivable to use a time period during which the rider torque is already zero as a plausibility criterion. "Essentially and within the tolerance" means that the measurement signal does not have to be exactly zero, but minor deviations, for example, of up to 5 Nm or within the range of measurement signal noise, also lead to plausibility of the trigger signal. In this way, it can be ensured that the trigger signal is only classified as plausible in situations in which a user of the e-bike is not operating it for cycling.

[0022] In one embodiment of the method, the measurement signal relates to a user's cadence, and the plausibility of the trigger signal is recognized when the cadence is essentially zero and within tolerance. Cadence represents the number of revolutions of the crank drive per unit of time, for example, 60 revolutions per minute, and can be determined in various ways, such as by means of a cadence sensor or from the rotational speed of the electric drive motor. Furthermore, it is conceivable to use a period of time during which the cadence is already zero as a plausibility criterion. "Essentially and within tolerance" means that the measurement signal does not have to be exactly zero; minor deviations, for example, of up to 5 revolutions per minute or within the range of measurement signal noise, also lead to plausibility of the trigger signal.This ensures that the trigger signal is only considered plausible in situations where the user of the electric bicycle is not operating it as part of cycling.

[0023] In one embodiment of the method, the measurement signal relates to the duration of the trigger signal provision, and the plausibility of the trigger signal is recognized if the duration falls below a predefined threshold. This ensures that the generation of the trigger signal is indeed attributable to a single event, such as a single actuation of a control element. It also ensures that the trigger signal is not due to a faulty and therefore, in particular, prolonged triggering, for example, due to a mechanically jammed control element. In one embodiment, the threshold can be 10 seconds, in particular 5 seconds or 1 second, and most especially 0.5 seconds. Consequently, situations that could lead to safety-critical behavior of the e-bike can be avoided.Plausibility checks based on measurement signals from at least one sensor device make it possible to decide whether the request is desired by the driver in the current driving situation or arises due to an error in the requesting device, for example the control unit.

[0024] In one embodiment of the method, the trigger signal is used not only to enable the activation of the push mode but also to maintain an activated state (i.e., to keep the push mode active). It is conceivable that the trigger signal is generated over a longer period (for example, by holding down a control element of the e-bike's control unit). Initially, the trigger signal is recognized as plausible based on a measurement signal, for example, if the measurement signal detects the e-bike being pushed, and consequently, the electric drive assistance is activated. Subsequently, the assistance is generated by the continuous activation of the push mode, corresponding to the duration of the activation.In this case, it is also conceivable that the plausibility of the trigger signal used to activate the walk mode is verified by a measurement signal from the sensor device and / or another sensor device provided to the control unit. Consequently, the continuous trigger signal for activation is also subjected to a plausibility check using a measurement signal, for example, a signal that characterizes the speed of the e-bike, whereby this speed must not exceed 6 km / h. If the activation of the walk mode is suspended (for example, by releasing the control element), the walk mode is deactivated. It can then be reactivated by reactivating it (for example, by pressing the control element again).It is conceivable to specify a time threshold for reactivation, after which a new activation of the sliding mode is required.

[0025] It should be noted that the embodiments of the method can also be combined in meaningful ways. For example, it is conceivable that in the previous embodiment, where the trigger signal is used not only to enable the activation of the push mode but also to maintain the activated state of the push mode, and where the trigger signal is generated over a longer period – specifically, for as long as the push mode is to remain activated – both the trigger signal for enabling activation and the trigger signal for activation could be validated using a measurement signal, for example, a measurement signal relating to a rider torque applied to the crank drive of the e-bike, a cadence, or a speed of the e-bike.

[0026] In one embodiment of the method, the trigger signal is provided by a user of the e-bike via a control unit. Various control units, in particular comprising control elements (input elements), are conceivable and generally known to those skilled in the art. In one exemplary embodiment, the control unit is located on the handlebars of the e-bike. Alternatively or additionally, the control unit can be operated by voice input. Furthermore, a separate control unit from the e-bike is conceivable, for example, in the form of a smart device (smartphone, smartwatch, or the like) that can be signal-linked to the control unit.

[0027] In one embodiment of the method, the activation of the sliding mode and / or the activation of the sliding mode is suspended when the plausibility of the trigger signal is not recognized until the plausibility of the trigger signal is recognized. For example, it is conceivable that the trigger signal, despite a single or continuous triggering at an excessively high speed, could be classified as plausible from the point at which the speed falls below the aforementioned threshold. In an alternative or additional embodiment, the proper functioning of a control element can be inferred from a negative trigger signal edge, so that plausibility can be checked following the detection of the negative trigger signal edge. In this way, a particularly user-friendly implementation can be achieved.

[0028] In one embodiment of the method, a function of the e-bike is executed, terminated, or modified depending on a number of provided trigger signals with unrecognized plausibility and / or depending on the duration of one or more provided trigger signals, particularly regardless of whether their plausibility is recognized. Specifically, the activation of the push-pull mode and / or the activation of the push-pull mode is blocked, so that the push-pull mode can no longer be activated. This block can, for example, last until a system restart or until a predetermined time period has elapsed. Furthermore, it is conceivable to issue a notification (e.g., a warning) to the user of the e-bike, particularly by displaying it on a screen of the e-bike. In one embodiment, it is conceivable to block the activation of the push-pull mode and / or the push-pull mode.to block the activation of the push mode if a trigger signal is present for more than 10 seconds at a riding speed of more than 10 km / h and the request started at a speed above 10 km / h and / or if a trigger signal is present for more than 20 seconds at a riding speed of more than 10 km / h and the request started at a speed below 10 km / h and / or a trigger signal is present for more than 10 seconds and a user is pedaling with sufficient rider torque (i.e., for example, that rider torque and cadence are above predefined thresholds).

[0029] Furthermore, an electric bicycle operable by motor power and / or pedal power is proposed, comprising an electric drive, a crank mechanism, at least one torque sensor configured to detect a torque applied to the crank mechanism by a rider (user), and a control unit, wherein the control unit is configured to control the electric drive depending on the detected torque and to implement an embodiment of the method according to the invention. Drawings

[0030] The invention is explained in more detail below with reference to exemplary embodiments illustrated in the drawings. The drawings, the description, and the claims contain numerous features in combination. It is advantageous for those skilled in the art to also consider the features individually and combine them into meaningful further combinations. Identical reference numerals in the figures denote identical elements.

[0031] They show: Figure 1 is a schematic view of an electric bicycle according to an embodiment of the invention; Figure 2 is a process diagram of an embodiment of the method according to the invention; Figure 3 is an extended process diagram of an embodiment of the method according to the invention. Description of the exemplary implementations

[0032] In Figure 1 An embodiment of the electric bicycle 10 according to the invention is shown. As shown in the figure below. Figure 1As can be seen, the electric bicycle 10 comprises a crank mechanism 12 with two cranks 14 and an electric drive 16. A battery, which serves to supply energy to the electric drive 16, is designated by reference numeral 18. Furthermore, a chainring 20 is provided on the crank mechanism 12, into which a chain 22 engages, so that an output torque can be transmitted from the chainring 20 to a sprocket on a derailleur 24 on the rear wheel of the electric bicycle 10. The electric bicycle 10 also includes a control unit 26. The control unit 26 is connected to the electric drive 16 and is configured to control the electric drive 16 according to one of the methods described below. The control unit 26 has an operating unit 28 comprising operating elements (not shown in detail here).Furthermore, the electric bicycle 10 has a first sensor device 30, which here serves as an example for measuring speed as a quantity characterizing a state of motion of the electric bicycle 10. The electric bicycle 10 also has sensor devices 30 (not shown in detail) that serve to detect measurement signals relating to the position of the electric bicycle 10, a rider torque applied to the crank mechanism 12 of the electric bicycle 10, a user's pedaling frequency, and the duration of the trigger signal.

[0033] Figure 2Figure 100 presents an embodiment of method 100 for controlling the electric bicycle 10, which can be operated by motor power and / or pedal power, in a process diagram. In a first process step 102, a trigger signal to enable activation of the push mode of the electric bicycle 10 is provided to the control unit 26 of the electric bicycle 10, i.e., transmitted via signal transmission. The trigger signal is activated by a user via the operating unit 28 and thus provided to the control unit 26. In process step 104, a measurement signal from at least one of the sensor devices 30 of the control unit 26 is provided. Method 100 takes into account the following measurement signals, which are regularly or as needed transmitted to the control unit 26 in process step 104: a measurement signal relating to the position of the electric bicycle 10; a measurement signal relating to the speed of the electric bicycle 10; a measurement signal relating to a rider torque applied to the crank drive 12 of the electric bicycle 10; a measurement signal relating to a user's cadence; a measurement signal relating to the duration of the provision of the trigger signal.

[0034] In process step 106, the plausibility of the trigger signal is then analyzed based on the measurement signal provided in process step 104. Depending on the measurement signal, the plausibility of the trigger signal is recognized based on the provided measurement signal if a. based on a measurement signal relating to the position of the electric bicycle 10, it is recognized that the electric bicycle 10 is in an upright position; b. based on a measurement signal relating to the speed of the electric bicycle 10, it is recognized that the speed of the electric bicycle meets a predetermined condition; c. based on a measurement signal relating to a rider torque applied to the crank drive 12 of the electric bicycle 10, it is recognized that the rider torque is zero; d. based on a measurement signal relating to a user's cadence, it is recognized that the cadence is zero; or e. based on a measurement signal relating to the duration of the provision of the trigger signal, it is recognized that the duration falls below a predetermined threshold.

[0035] If one of these conditions ae is present, the trigger signal is classified as plausible and then, in process step 108, the electric bicycle 10 is controlled in such a way that the push mode can be activated, thus enabling the push mode. In a subsequent, optional process step 110, it is conceivable to switch on the now enabled push mode using a further measurement signal, for example, based on a further input via the control unit or by pushing the electric bicycle 10.

[0036] In Figure 3An extended procedure 200 is shown as a flowchart. In procedure step 202, procedure 200 starts from an operating state of any kind (state while driving, stationary, after an accident, or the like). In this procedure step 202, the system waits for the activation request for the coasting mode, i.e., for the triggering of a signal to enable activation. In procedure step 204, a trigger signal to activate the coasting mode is detected by the control unit 26. The subsequent procedure step 206 comprises procedure steps 104 and 106 of the procedure 100 described above, i.e., the analysis of a provided measurement signal and the plausibility check of the trigger signal based on this analysis. Consequently, after completion of procedure step 206, it is analyzed whether the trigger signal can be classified as plausible (path "y") or not (path "n").If the trigger signal is deemed plausible, in process step 208 the electric bicycle 10 is controlled such that the activation of the walk mode is enabled (and can consequently be activated, i.e., switched on, by fulfilling a further condition). The activation of the walk mode remains enabled until a deactivation signal in the form of another trigger signal is triggered in process step 210, or until the trigger signal for actual activation fails to materialize. In this case, the process returns to process step 202, where a (new) activation request for the walk mode is awaited. If the trigger signal in process step 206 is not deemed plausible (path "n"), the activation of the walk mode is not enabled in process step 212. Instead, a counter incrementally increments (or alternatively decrements) in the control unit 26 executing process 200.In the following process step 214, it is then checked whether this counter has already exceeded a predefined number of permissible activation requests with unrecognized plausibility. This number can be, for example, three. If this is the case (path "y"), then in process step 216 the possibility of enabling the activation of the push mode is completely deactivated, at least until a restart of the control unit 26 of the electric bicycle 10. Consequently, this function is no longer available until a restart of the control unit 26. Furthermore, the user is given information (for example, a warning) (in the event of a restart, the counter is reinitialized, for example, to zero or to a last saved value minus a constant).If the counter has not yet reached (or exceeded) the specified number of permissible activation requests with unrecognized plausibility (path "n"), the process switches back to process step 202 via procedure step 210 - in which the trigger signal for actual activation is absent - in which the system waits for the activation request of the shift mode.

Claims

1. Method for controlling an electric bicycle that can be operated with motor force and / or pedal force, comprising the method steps of - providing a control unit of the electric bicycle with at least one trigger signal for enabling the activation of a walk mode and / or for activating the walk mode, - providing the control unit with a measurement signal of a sensor device relating to a property of the electric bicycle and / or relating to a component comprised by the electric bicycle, - identifying a plausibility of the trigger signal on the basis of the provided measurement signal, - controlling the electric bicycle by enabling the activation of the walk mode and / or activating the walk mode in accordance with the identification of the plausibility of the trigger signal, characterized in that the measurement signal relates to an acceleration as a state of motion of the electric bicycle and the plausibility of the trigger signal is identified when the state of motion meets a predetermined condition.

2. Method according to Claim 1, wherein the measurement signal relates to a position of the electric bicycle and the plausibility of the trigger signal is identified when the electric bicycle is in an upright position.

3. Method according to either one of the preceding claims, wherein the measurement signal relates to a state of motion of the electric bicycle, in particular a speed, and the plausibility of the trigger signal is identified when the state of motion meets a predetermined condition.

4. Method according to any one of the preceding claims, wherein the measurement signal relates to a rider torque applied to a crank drive of the electric bicycle and the plausibility of the trigger signal is identified when the rider torque is zero.

5. Method according to any one of the preceding claims, wherein the measurement signal relates to a cadence of the user and the plausibility of the trigger signal is identified when the cadence is zero.

6. Method according to any one of the preceding claims, wherein the measurement signal relates to a duration of the provision of the trigger signal and the plausibility of the trigger signal is identified when the duration falls below a predetermined threshold value.

7. Method according to any one of the preceding claims, wherein the trigger signal is provided by means of an operating unit by a user of the electric bicycle.

8. Method according to any one of the preceding claims, wherein the enabling of the activation of the walk mode and / or the activation of the walk mode is suspended when the plausibility of the trigger signal is not identified until the plausibility of the trigger signal is identified.

9. Method according to any one of the preceding claims, wherein a function of the electric bicycle is executed or terminated or modified depending on a number of provided trigger signals with unidentified plausibility and / or depending on a duration of a provided trigger signal, in particular independently of the identification of the plausibility thereof.

10. Method according to any one of the preceding claims, wherein, in addition to the enabling of the activation of the walk mode, the trigger signal is also used for the activation of the walk mode.

11. Electric bicycle that can be operated with motor force and / or pedal force having an electric drive, a crank drive, at least one torque sensor designed to detect a torque applied by a rider to the crank drive and having a control unit, wherein the control unit is configured to actuate the electric drive depending on the torque measured, characterized in that the control unit is also configured to carry out a method according to any one of Claims 1 to 10.