Methods for driving pedal-driven vehicles, pedal-driven vehicles, computer program products, media and data carrier signals
A control unit-managed torque transition method for pedal-driven vehicles addresses gear shift abruptness, ensuring component protection and improved comfort by adapting torque phases based on shift end points.
Patent Information
- Authority / Receiving Office
- JP · JP
- Patent Type
- Applications
- Current Assignee / Owner
- ROBERT BOSCH GMBH
- Filing Date
- 2025-12-02
- Publication Date
- 2026-06-25
Smart Images
Figure 2026104815000001_ABST
Abstract
Description
[Technical Field]
[0001] This invention relates to a method for driving a pedal-driven vehicle and to a pedal-driven vehicle. [Background technology]
[0002] Pedal-driven vehicles, especially electric bicycles, may be equipped with an additional electric drive unit, which assists the driver during pedaling, thereby making it easier for the driver to propel the vehicle.
[0003] When gear changes are performed in pedal-driven vehicles to alter the gear ratio within the powertrain, the drive torque provided by the electric drive unit can negatively affect the components of the gear shift mechanism used for gear changes.
[0004] For example, in a chain-driven shift mechanism, the chain needs to be switched to a different sprocket during the gear change. During this switching process, the chain can be accelerated strongly because the electric drive unit temporarily loses contact with the sprocket, and as a result, the drive unit is not under load. When contact between the sprocket and the chain is subsequently re-established, this can lead to a jerky or abrupt braking of the chain. Such a shifting process can damage the components involved and further limit the riding comfort of pedal-driven vehicles, because it is perceived by the driver as jerky or abrupt. [Overview of the project] [Problems that the invention aims to solve]
[0005] The present invention relates to a method for driving a pedal-driven vehicle, a pedal-driven vehicle, a computer program product, a computer-readable medium, and a data carrier signal. Further features and details of the present invention can be found in the dependent claims, specification, and drawings. It is obvious that features and details described in relation to the method according to the present invention also apply in relation to the pedal-driven vehicle according to the present invention, and / or the computer program product according to the present invention, and / or the computer-readable medium according to the present invention, and / or the data carrier signal according to the present invention, and vice versa, and as a result they are always or can be referenced to each other with respect to disclosures of individual embodiments of the invention.
[0006] The present invention is used, in particular, to provide improved driving of a pedal-driven vehicle's gear shift mechanism with respect to improved user comfort and / or improved lifespan of the components involved. [Means for solving the problem]
[0007] According to a first aspect, the present invention relates to a method for driving a pedal-driven vehicle, Pedal-driven vehicles are A drive unit that provides driving torque for propelling the vehicle, At least one control unit, At least one grasping unit, At least one gear shift mechanism, It has, This method, A step of providing shift information, including the start time and end time of the planned shift process, for a planned shift process, particularly by a gear shift mechanism, A step of determining, in particular, a time-dependent target torque transition with respect to the drive torque, in accordance with shift information, particularly by a control unit, wherein the target torque transition comprises a first upper holding phase, a decreasing phase, a lower holding phase, an increasing phase, and a second upper holding phase. The drive unit is driven and controlled, in particular by a control unit, so that the temporal progression of the drive torque corresponds to or approximately corresponds to the target torque progression. A step of carrying out a planned shift process and detecting the end of the shift process at an end-point, particularly by a grasping unit and / or a control unit, wherein the end-point is located prior to a step, The steps include adapting the target torque transition according to the end point, particularly by the control unit, to include, This concerns how to drive a pedal-driven vehicle.
[0008] Preferably, the method steps listed may be performed in the order shown. Additionally or alternatively, at least the individual method steps may be performed iteratively, particularly in a loop, and / or at least partially simultaneously. Additionally or alternatively, the method may be shaped as a method to be implemented on a computer.
[0009] In other words, the present invention proposes a method for driving a pedal-driven vehicle, wherein the pedal-driven vehicle has at least one drive unit that provides driving torque for propelling the vehicle. The drive unit may, in particular, be configured to assist the driver when propelling the pedal-driven vehicle. Furthermore, the pedal-driven vehicle has at least one control unit, at least one gripping unit, and at least one gear shift mechanism.
[0010] According to the present invention, shift information about a planned shift process is provided, in particular by a gear shift mechanism. The shift information includes a start time and an end time.
[0011] The start point, in this context, should be understood as the point at which the planned shift process is initiated by the gear shift mechanism. When the gear shift mechanism is configured as a chain shift mechanism, the start point could be, for example, the point at which the derailleur of the gear shift mechanism moves to shift the chain from one sprocket to another. The point at which the derailleur moves does not necessarily represent the point at which the chain moves. In particular, the movement of the chain may occur with a delay relative to the start point or the point at which the derailleur moves, and this will be explained in more detail below.
[0012] The end point, in this context, should be understood as the point at which the planned shift process is assumed to be completed by the gear shift mechanism. The period between the start point and the end point thus represents the duration of the planned shift process. The duration of the shift process can be influenced by various factors. Thus, for example, whether the gear change is performed toward a higher gear or a lower gear; that is, in the case of a chain shift mechanism, whether the chain is shifted from a smaller sprocket to a larger sprocket (shifting to a lower gear) or from a larger sprocket to a smaller sprocket (shifting to a higher gear) is important. The use and number of possible ride-up assist devices, as well as the current circumferential position of each ride-up assist device relative to one revolution of each sprocket, also affect the duration of the shift process. Preferably, the end point can be determined as the maximum end point, i.e., the point at which the shift process would absolutely be completed.
[0013] Furthermore, according to the shift information, particularly according to the start - point and the end - point, the target - torque transition is obtained, particularly by the control unit. The target - torque transition should be understood as the torque transition with respect to time. Preferably, the target - torque transition has a first upper holding phase, a decreasing phase, a lower holding phase, an increasing phase, and a second upper holding phase.
[0014] The first upper holding phase should be understood as the phase in which the driving torque provided by the driving unit is held constant or substantially constant. The first upper holding phase thereby represents a period during which torque reduction on the driving unit side is not yet required. The torque provided in the first upper holding phase can thereby be selected as the torque currently provided by the driving unit.
[0015] The decreasing phase should be understood as the phase in which the driving torque provided by the driving unit is reduced to a lower value compared to the upper holding phase. The reduction of the driving torque in the decreasing phase can preferably be carried out linearly or substantially linearly and / or continuously, particularly without abrupt changes. In particular, the reduction can be carried out under the use of a predetermined reduction gradient. The predetermined reduction gradient can be selected such that a comfortable driving feeling for the driver is obtained despite the reduction of the driving torque. In particular, the jerky or impact - accompanied reduction of the driving torque can thus be avoided.
[0016] The lower holding phase should be further understood as the phase in which the driving torque provided by the driving unit is held constant or substantially constant at a value reduced compared to the upper holding phase. Due to the reduction of the driving torque in the decreasing phase or the lower holding phase, the gear - shifting mechanism or the powertrain of a pedal - driven vehicle is relieved of load, and the mechanical burden on the components involved during the implementation of the shift process can be reduced. The torque provided in the lower holding phase can be such that mechanical damage to the gear - shifting mechanism or other components during the implementation of the shift process is avoided.
[0017] The increasing phase should be understood as the phase in which the driving torque provided by the drive unit is increased again from the value presented, particularly in the lower holding phase. Preferably, the driving torque can be increased to the torque in the first upper holding phase. The increase in the driving torque in the increasing phase can preferably be implemented linearly or substantially linearly and / or continuously, particularly without a step change. In particular, the increase can be implemented using a predetermined increase gradient. The predetermined increase gradient can be selected such that, in particular, a comfortable driving feel for the driver can be obtained despite the increase in the driving torque. In particular, the feeling of a jerky or impactful increase in the driving torque can thus be avoided.
[0018] Preferably, the increase gradient and the decrease gradient may be the same or substantially the same with respect to their numerical values.
[0019] Furthermore, the second upper holding phase should be understood as the phase in which the driving torque provided by the drive unit, particularly at present, is held constant or substantially constant. At that time, preferably, the driving torque provided in the second upper holding phase can correspond to or be substantially equivalent to the driving torque in the first upper holding phase.
[0020] Preferably, the phases mentioned may be carried out or arranged in the order mentioned. In particular, the decreasing phase may directly follow the upper holding phase, and / or the lower holding phase may directly follow the decreasing phase, and / or the increasing phase may directly follow the lower holding phase, and / or the second upper holding phase may directly follow the increasing phase. Preferably, the driving torque transitions continuously or without a step change during the transition between two phases.
[0021] According to the present invention, the drive unit of a pedal-driven vehicle is further controlled, particularly by a control unit, so that the drive torque provided by the drive unit corresponds to or substantially corresponds to a target torque transition. In other words, the drive unit is controlled so that the drive torque provided by the drive unit follows a target torque transition.
[0022] Furthermore, the planned shift process is carried out, particularly by the gear shift mechanism, and the completion of the shift process, especially the planned shift process, is detected at the end point. In this case, the end point of the gear change is located before the end point provided within the range of shift information. Furthermore, the target torque transition is adapted according to the end point.
[0023] Within the scope of the present invention, it is understood that the end-times available on the gear shift mechanism side must be determined conservatively based on numerous influencing factors on the duration of the shift process. Only in this way can it be ensured that a sufficiently long reduction in drive torque is implemented and that the shift process can be performed with high reliability without mechanical damage to the components involved. However, based on this conservative estimate, the shift process may have already ended before the initially assumed end-time. In this case, if the target torque transition is kept constant, this would result in an unnecessarily long pause in driver assistance by the drive unit. This is avoided by adapting the target torque transition to the end-time. In this respect, the present invention makes it possible, on the one hand, to protect the mechanical components involved in the shift process, such as the chain or sprocket, from mechanical damage, and on the other hand, to ensure the highest possible utilization rate of the drive unit to assist the driver.
[0024] The start point can be easily provided, especially in the case of automatic gear shifting mechanisms, because the driver cannot directly influence it, and the shift point is usually known in advance. When determining the start point, for example, the progression of driver torque may also be taken into consideration, and as a result, the shift process is performed at the dead center of the driver torque, i.e., when the applied driver torque is as low as possible.
[0025] In the case of a manual gear shift mechanism, the start point may be the point at which the user interface of the gear shift mechanism, particularly the user handling of the shift lever, becomes clear.
[0026] The end-time can be considered depending on various influencing factors, particularly those related to the gear shift mechanism and / or control unit. Specifically, the shift direction can be considered. Thus, in a chain-shift mechanism, changing from a smaller sprocket to a larger sprocket typically takes more time than changing from a larger sprocket to a smaller one. Furthermore, the currently present and target gears can also be considered. In other words, the duration of the shift process can depend on the gears being shifted between during the shift process.
[0027] Information such as the shift direction, target gear, and / or current gear may be included in the shift information in particular.
[0028] In particular, for example, given a given sprocket and a given shift direction, the maximum number of rotations of the sprocket or sprocket cassette required for the chain to reliably change sprockets and for the shift process to be completed may be predetermined. For example, given the sprocket diameter, the current rotational speed of the sprocket or sprocket cassette, which can be determined via a rotational speed sensor, can then be used to derive the time period during which the gear change will definitely be completed. From this time, the end time, in relation to the start time, can be determined, in particular conservatively.
[0029] In particular, the start of the reduction phase may be selected according to the point at which the reduction of the drive torque should or must have ended. This point preferably represents the end of the reduction phase or the beginning of the lower holding phase. If this point is known, the necessary point at which the reduction of the drive moment must begin can be determined, especially when using the reduction gradient in which it is used.
[0030] The point at which the reduction in driving torque must end, i.e., the end of the reduction phase or the beginning of the lower holding phase, may be, for example, the start-point included in the shift information. Particularly preferably, however, this point may be located after the start-point in time. Especially in the case of a chain shift mechanism, during the shift process, the movement of the chain is performed with a time lag relative to the derailleur. While the chain is not yet moving, the torque can be transmitted through the chain without expecting any mechanical damage. Until the chain moves from sprocket to sprocket, the driving torque can therefore be kept to assist the driver as much as possible.
[0031] To determine or estimate the timing of chain motion, for example, given a given sprocket and a given shift direction, the minimum number of rotations of the sprocket or sprocket cassette required for the chain to move from sprocket to sprocket may be predetermined. For example, from the current rotational speed of the sprocket or sprocket cassette, which can be determined via a rotational speed sensor, particularly in the case of a sprocket cassette on the rear wheel of a pedal-driven vehicle, the period during which the chain has not yet moved after the start-time, and therefore no reduction in driving torque is required, can be derived. Alternatively, the rotational speed of the sprocket, particularly the sprocket on the rear wheel, can also be determined from the rotational speed of the crank mechanism of a pedal-driven vehicle, given knowledge of the current gear ratio. From this period, in relation to the start-time, that is, the end time of the reduction phase or the beginning of the lower holding phase can be determined. The period during which the chain is still available before moving can preferably be provided by the gear shift mechanism, particularly in the control unit.
[0032] In particular, the start of the reduction phase may be selected so that the first upper holding phase is kept for as long as possible. This has the advantage that the driver can be assisted by the drive unit for as long as possible.
[0033] The end of the lower holding phase or the beginning of the increment phase may preferably be characterized by an end-time included in the shift information.
[0034] With respect to the present invention, advantageously, the step of adapting the target torque transition is: When the end point is located within the first upper holding phase, the transition from the first upper holding phase to the second upper holding phase, It may be made to include this.
[0035] In other words, when the end point is within the first upper holding phase, the transition from the first upper holding phase to the second upper holding phase may be made direct. The transition between the first and second upper holding phases may be characterized in particular by the constant maintenance of the drive torque. This can ensure that the driver is continuously assisted, especially when the planned shift process is interrupted, without any reduction in drive torque.
[0036] Additionally or alternatively, the step of adapting the target-torque transition is: When the end point is located within the decreasing phase, there is an increase in the driving torque and a transition to the second upper holding phase. It is possible to include it.
[0037] In other words, when the end point is within the reduction phase, the drive torque may be increased again, particularly directly, and then transition to the second upper holding phase. In this case, the drive torque may be increased by the amount that was previously reduced from the first upper holding phase. This ensures that the reduced drive torque is increased again as quickly as possible, especially in the event of an interruption in the planned shift process, and that the driver receives the desired assistance from the drive unit again as quickly as possible.
[0038] Furthermore, advantageously, the step of adapting the target-torque transition is, When the end point is located within the lower holding phase, transition to the increasing phase. It may be made to include this.
[0039] In other words, when the end point is located within the lower holding phase, the transition to the increase phase may be made particularly direct. The increase phase is thus brought forward in time to the initially requested target torque transition, thereby allowing the driver assistance by the drive unit to be reformed more quickly at the desired scale.
[0040] Additionally or alternatively, the decrease in drive torque during the decrease phase may be implemented linearly, and / or the increase in drive torque during the increase phase may be implemented linearly. This has proven particularly advantageous with respect to the driver's comfort of using pedal-driven vehicles.
[0041] Furthermore, with respect to the present invention, this method is The rotational speed signal of the drive unit is grasped, in particular by a grasping unit, and the end time is determined according to the rotational speed signal. It may be made to include this.
[0042] In this case, the rotational speed signal should be understood as the change in rotational speed over time. The rotational speed signal can be determined or formed, in particular, by the time-discrete tracking of rotational values. Based on the rotational speed signal, the end of the shift process can be detected with high reliability.
[0043] According to a second aspect, the present invention relates to a pedal-driven vehicle, A drive unit that provides driving torque for propelling the vehicle, At least one control unit, At least one grasping unit, At least one gear shift mechanism, The present invention relates to a pedal-driven vehicle. The pedal-driven vehicle is preferably configured to be driven by the method according to the present invention, in particular by the method according to any one of claims 1 to 7. Preferably, the pedal-driven vehicle can be configured as a bicycle, preferably an electric bicycle or a pederec. With respect to the pedal-driven vehicle, the same advantages described with respect to the method according to the present invention arise. The pedal-driven vehicle may preferably have two wheels, in particular one front wheel and one rear wheel.
[0044] In particular, the gear shift mechanism may be configured to provide a variable gear ratio, especially within the powertrain of a pedal-driven vehicle. The gear ratio may be specific in particular to the number of rotations of the drive wheels of a pedal-driven vehicle per revolution of the vehicle's crank mechanism. A high gear ratio or high gear position characterizes, in this respect, a relatively high number of rotations of the drive wheels per revolution of the crank mechanism. A low gear ratio or low gear position, conversely, characterizes a relatively low number of rotations of the drive wheels per revolution of the crank mechanism. In particular, via the crank mechanism, the driver of a pedal-driven vehicle can input driver torque to propel the vehicle, especially via the pedals of the crank mechanism.
[0045] In particular, the rear wheels of a pedal-driven vehicle may be used as drive wheels that can be driven via a crank mechanism. The interaction relationship between the drive wheels and the crank mechanism can be formed via a gear shift mechanism, which can provide a variable gear ratio between the drive wheels and the crank mechanism.
[0046] The gear shift mechanism can be formed here as a chain-type shift mechanism or a hub-internal shift mechanism. The present invention has proven to be particularly advantageous with respect to chain-type shift mechanisms.
[0047] Additionally or alternatively, the gear shift mechanism may be configured as an automatic or at least partially automated gear shift mechanism. In particular, the shift process of the gear shift mechanism may not need to be manually triggered by the vehicle driver, but may be automated and performed based on one or more driving parameters. Driving parameters may be, for example, the speed of a pedal-driven vehicle, the pedaling frequency of the driver of a pedal-driven vehicle, the driver torque input by the driver of a pedal-driven vehicle that propels the vehicle, or the power input by the driver of a pedal-driven vehicle that propels the vehicle.
[0048] Within the scope of the present invention, at least one gripping unit may have at least one sensor. In particular, the gripping unit may have, for example, at least one rotational speed sensor that grasps the rotational speed of the drive unit. By evaluating the rotational speed signal of the drive unit, it is possible to estimate the end of the shift process in particular. In the case of a chain-type shift mechanism in particular, short periods of freewheeling or sprocket changes in the flow of the shift process can lead to fluctuations in the rotational speed over time, and these fluctuations themselves may be detected. Thus, by evaluating the rotational speed signal or rotational speed, the end point can be determined.
[0049] Within the scope of the present invention, at least one gear shift mechanism and / or a control unit and / or a gripping unit and / or at least one drive unit may have means for data processing. The means for data processing may have at least one processor and / or working memory and / or a non-volatile data storage device.
[0050] At least one control unit may be communicated and / or signaled at least temporarily with the gear shift mechanism and / or gripping unit and / or at least one drive unit. Thus, data and / or open-loop or closed-loop control signals may be exchanged between the respective units.
[0051] In a third aspect, the present invention relates to a computer program product which includes instructions causing a pedal-driven vehicle according to the present invention, in particular the pedal-driven vehicle described in claim 8, to perform a method according to the present invention, in particular the method according to any one of claims 1 to 7. With respect to the computer program product according to the present invention, the same advantages as those already described with respect to the method and / or pedal-driven vehicle according to the present invention arise.
[0052] According to a fourth aspect, the present invention relates to a computer-readable medium, particularly a storage medium, on which a computer program product according to the present invention, particularly the computer program product described in claim 9, is stored. With respect to the computer-readable medium according to the present invention, the same advantages as those already described with respect to the method and / or the pedal-driven vehicle and / or the computer program product according to the present invention arise.
[0053] According to a fifth aspect, the present invention relates to a data carrier signal for transmitting a computer program product according to the present invention, and more particularly to the computer program product described in claim 9. With respect to the data carrier signal according to the present invention, the same advantages as those already described with respect to the method and / or the pedal-driven vehicle and / or the computer program product and / or the computer-readable medium according to the present invention arise.
[0054] Further advantages, features, and details of the present invention can be found in the following description. Embodiments of the present invention will be described in detail below with reference to the drawings. Note that the features mentioned in the claims and specification may be essential to the invention, either individually or in any combination.
[0055] Please note that the drawings are approximate. [Brief explanation of the drawing]
[0056] [Figure 1] This is a schematic diagram of the method. [Figure 2] This is a schematic diagram of a pedal-driven vehicle. [Figure 3] This is a schematic diagram of the target-torque transition. [Modes for carrying out the invention]
[0057] Figure 1 shows a method for driving a pedal-driven vehicle 200, The pedal-driven vehicle 200 is A drive unit 201 provides drive torque AM for propelling the vehicle 200, Control unit 202 and Grasping unit 203 and Gear shift mechanism 204 and It has, This method 100 is, Regarding the planned shift process, the start time of the shift process is t. Start And, at the end of the planned shift process - pointt End Step 110 provides shift information including, Target Torque - Torque Transition M Soll Step 120 for determining the target torque transition according to the shift information, wherein the target torque transition comprises a first upper holding phase 10, a decreasing phase 20, a lower holding phase 30, an increasing phase 40, and a second upper holding phase 50. Step 130 involves controlling the drive unit so that the temporal progression of the drive torque corresponds to or approximately corresponds to the target torque progression, Implement the planned shift process and complete the shift process at point t Done Step 140, which detects in the end - time point t Done is, end-point t End Step 140 located in front of it, Target-Torque Transition M Soll Ending at point t Done Step 150 to adapt accordingly, to include, This diagram shows a schematic representation of how to operate the pedal-driven vehicle 200.
[0058] Figure 2 further shows a pedal-driven vehicle 200, A drive unit 201 provides drive torque AM for propelling the vehicle 200, At least one control unit 202, Grasping unit 203 and The gearshift mechanism 204 and, comprising, shows a schematic view of a pedal-driven vehicle 200. Preferably, the pedal-driven vehicle 200 is configured to be operated by the method 100 shown in FIG. 1.
[0059] FIG. 3 further shows a target-torque transition M having a first upper holding phase 10, a decreasing phase 20, a lower holding phase 30, an increasing phase 40, and a second upper holding phase 50. Soll Preferably, the end of the decreasing phase 20 or the start of the lower holding phase 30 is located temporally after the start-time t Start in order to keep the driving torque M as long as possible.
[0060] Furthermore, the end of the lower holding phase 30 or the start of the increasing phase 40 is represented by the end-time t End .
[0061] The dashed line further depicts an exemplary adaptation of the target-torque transition M Done corresponding to the end-time t Soll . As can be seen from FIG. 3, the end of the shift process represented by the end-time t Done is located within the lower holding phase 30 and temporally before the initially predicted end-time t End . For this reason, immediately before the arrival of the end-time t End and immediately after the end of the shift process, a forward-shifted increasing phase 40 is now entered.
[0062] The foregoing description of the embodiments has merely described the invention within the scope of examples. It is self-evident that, without departing from the scope of the invention, the individual features of the embodiments can be freely combined with each other as long as they are technically meaningful.
Description of the reference numerals
[0063] 10 First upper holding phase 20 Decrease Phase 30 Lower holding phase 40 Increase Phase 50 Second upper holding phase 100 How to drive a pedal-driven vehicle 110 Steps to provide shift information about the planned shift process. 120 Target for drive torque - Steps to determine torque transition based on shift information 130 A step of controlling the drive unit so that the temporal progression of the drive torque corresponds to or approximately corresponds to the target torque progression. 140 Steps to execute the planned shift process and detect the end of the shift process at the end point. 150 Steps to adapt the target torque transition according to the end point in time. 200 Pedal-driven vehicles 201 Drive Unit 202 Control Unit 203 Grasping Unit 204 Gear Shift Mechanism AM drive torque M Drive Torque M Soll Target-Torque Transition t Done End - Point in Time t End End point t Start Start - Point in Time
Claims
1. A method (100) for driving a pedal-driven vehicle (200), The aforementioned pedal-driven vehicle (200) A drive unit (201) that provides a drive torque (M) for propelling the vehicle (200), Control unit (202), Grasping unit (203), Gear shift mechanism (204), It has, The above method (100) is, For the planned shift process, the start time (t) of the shift process. Ｓｔａｒｔ ) and the end time of the planned shift process (t Ｅｎｄ (110) a step of providing shift information including ) and Target-torque transition (M) for the aforementioned drive torque Ｓｏｌｌ Step (120) to determine the target torque transition according to the shift information, wherein the target torque transition comprises a first upper holding phase (10), a decreasing phase (20), a lower holding phase (30), an increasing phase (40), and a second upper holding phase (50). The drive unit is controlled to drive such that the temporal progression of the drive torque corresponds to or substantially corresponds to the target torque progression (130), The planned shift process is carried out, and the end of the shift process is marked as end time (t Ｄｏｎｅ ) step (140) which detects at the end of time (t Ｄｏｎｅ ) is the aforementioned end-time (t Ｅｎｄ The step (140) located in front of ) The aforementioned target - torque transition (M Ｓｏｌｌ ) to the aforementioned end-time (t Ｄｏｎｅ A step (150) to adapt according to, to include, A method (100) for driving a pedal-driven vehicle (200).
2. The step (150) of adapting the target - torque transition (M Ｓｏｌｌ ) comprises The aforementioned termination - time (t) Ｄｏｎｅ When ) is located within the first upper holding phase (10), the transition from the first upper holding phase (10) to the second upper holding phase (50) to include, The method according to claim 1 (100), characterized in that...
3. The aforementioned target - torque transition (M Ｓｏｌｌ The step (150) of adapting ) is, The aforementioned termination - time (t) Ｄｏｎｅ When ) is located within the decreasing phase (20), the driving torque increases, and the transition to the second upper holding phase (50) occurs. to include, The method according to claim 1 or 2, characterized by (100).
4. The aforementioned target - torque transition (M Ｓｏｌｌ The step (150) of adapting ) is, The aforementioned termination - time (t) Ｄｏｎｅ When the lower holding phase (30) is located, the transition to the increasing phase (40) to include, The method according to any one of claims 1 to 3, characterized in that (100).
5. The method according to any one of claims 1 to 4 (100), characterized in that the decrease in the driving torque in the decrease phase (20) is carried out linearly, and / or the increase in the driving torque in the increase phase (40) is carried out linearly.
6. The method according to any one of claims 1 to 5 (100), characterized in that the start of the reduction phase (20) is selected such that the first upper holding phase (10) is kept for as long as possible.
7. moreover, The rotational speed signal of the drive unit (201) is grasped, in particular by the grasping unit (203), and the end time (t) is determined according to the rotational speed signal. Ｄｏｎｅ ) step to determine to include, The method according to any one of claims 1 to 6, characterized in that (100).
8. A pedal-driven vehicle (200), A drive unit (201) that provides a drive torque (M) for propelling the vehicle (200), At least one control unit (202), Grasping unit (203), Gear shift mechanism (204), Equipped with, The pedal-driven vehicle (200) is configured to be driven by the method (100) described in any one of claims 1 to 7. A pedal-driven vehicle (200).
9. A computer program product comprising a command causing a pedal-driven vehicle (200) according to claim 8 to perform the method (100) according to any one of claims 1 to 7.
10. A computer-readable medium in which the computer program product described in claim 9 is stored.
11. A data carrier signal for transmitting the computer program product described in claim 9.