Method, controller and two-wheeler for controlling an electric motor for a push assist operating mode

Abstract

The invention relates to a method for controlling an electric motor (111) as drive motor of a two-wheeler (100), having the following method steps: Identifying (220) based on a sensor that the two-wheeler (100) is being pushed by a user; Detecting (240) an input of the user for activating a push-assist operating mode, wherein the detection (240) takes place in particular in dependence on the identified pushing of the two-wheeler (100); and Generating (250) a motor torque for driving the two-wheeler (100) in the push-assist operating mode in dependence on the identified pushing and the detected input of the user.

Description

TECHNICAL FIELD

[0001] The invention relates to a method for controlling an electric motor as drive motor of a two-wheeler for a push assist operating mode. Furthermore, the invention also relates to a controller configured to implement the method of the invention and a two-wheeler having the controller. BACKGROUND

[0002] Two-wheelers, in particular electric bicycles, having an electric motor as drive motor are known. The control of the electric motor is in the normal operating mode preferably carried out in dependence on a detected pedalling force of a rider on the pedals of the two-wheeler or electric bicycle, for example for this purpose a sensoric detection of the rider torque. Furthermore, for the push of the two-wheeler a push assist operating mode is disclosed for force support of the rider when pushing the two-wheeler. This push assist operating mode is also referred to as push assist in short. It is an important function of two-wheelers which are in recent years mostly relatively heavy, because the push can be difficult, in particular on uphill stretches of the route of travel. In the push assist operating mode the rider is supported by the motor when walking next to the bicycle when pushing the two-wheeler at a relatively small speed. In other words, the rider does not exert a pedalling force on the pedals during the force support by the motor torque generated in the push assist operating mode. Typically, a two-stage release, for example by pressing two buttons, of the push assist operating mode by the push assist operating mode can avoid an unintentional triggering of the push assist operating mode, for example by a misoperation on steep steps or during maintenance. However, the two detections of the input for activating the push assist operating mode are not particularly intuitive, so that many users do not know how they are supposed to activate the push assist operating mode.

[0003] The document DE 10 2016 218 374 B3 discloses a control method for generating a torque by an electric motor for driving an electric bicycle in the case of an activated push assist.

[0004] The document DE 10 2016 209 570 B3 discloses a control method for a push assist of an electric bicycle.

[0005] In the document DE 10 2016 209 560 B3 a control method for adjusting an electric motor for a push assist of an electric bicycle is disclosed. The control method adjusts the electric motor in dependence on a detected pitch angle of the electric bicycle about its transverse axis. SUMMARY

[0006] It is the task of the invention to simplify the activation of the push assist operating mode for the rider or user.

[0007] The invention relates to a method for controlling an electric motor as drive motor of a two-wheeler. The two-wheeler is in particular an electric bicycle. The control method has a method step of identifying the two-wheeler being pushed by a user on the basis of a sensor by means of a sensor or sensor unit, which preferably has an acceleration sensor. In other words, it is advantageously identified that the two-wheeler is being pushed by the user while walking. Optionally, the pushing direction in which the two-wheeler is being pushed by the user is additionally identified. Advantageously, the identification of the pushing is effected on the basis of a sensor, whereby an automatic identification of the pushing is achieved. In a further step of the method, an input of the user for activating a pushing assistance operating mode is detected, in particular by means of an input means, for example by means of a switch, a key, a touch screen or a button. The input is in particular only detected if the input means is continuously inputted or continuously manipulated. As soon as the input is greater than or equal to a predefined duration, for example the input lasts for a predefined duration of 1 to 10 seconds, for example, a continuous input or manipulation of the input means is identified or detected. The detection of the user input is advantageously carried out in accordance with the identified pushing or during the pushing. In other words, in this alternative configuration, the input of the user for activating the pushing assistance operating mode is released or enabled by the identified pushing of the two-wheeler. Alternatively, the identification of the pushing is advantageously carried out after the detection of the user input, wherein the identification of the pushing is advantageously carried out in accordance with the detected input. In other words, in this alternative configuration, the identification of the pushing is released or enabled by the detected input of the user. A motor torque for driving the two-wheeler is then generated in accordance with the detected input for activating the pushing assistance operating mode and in accordance with the identified pushing. In other words, advantageously a torque for the pushing assistance or the activation of the pushing assistance is generated during the sensor-based detection of the pushing by means of the detected input of the user for activating the pushing assistance operating mode. The generated motor torque can advantageously be set for driving the two-wheeler forwards or backwards in the direction of travel in accordance with the identified pushing direction of the pushing. Furthermore, the motor torque is advantageously generated in accordance with the identified pushing. Thereby, for example, the generation of the motor torque is activated when the input of the user has previously been detected. Thereby, for example, the generation of the motor torque is interrupted additionally or alternatively when the pushing of the two-wheeler is no longer identified or the two-wheeler is actively braked by the rider, and / or optionally the speed of the two-wheeler is adapted in accordance with a detected pushing speed of the identified pushing. The advantage achieved by the method is that the detected only input of the rider or user for activating the pushing assistance operating mode is sufficient to activate the pushing assistance or to generate a motor torque which supports the pushing, wherein the pushing assistance is not unintentionally activated. Advantageously, the deactivation of the pushing assistance operating mode can additionally be simply achieved, for example, the input of the user is only detected if the input means is continuously manipulated.Thereby, the control method can achieve an easy and intuitive operation comfort, wherein a false activation of the push assist operating mode due to the necessity of an automatic recognition of a push of the two-wheeler by a user or rider as a prerequisite for the activation of the push assist operating mode for generating a motor torque is almost excluded. In other words, the control method advantageously represents a two-stage activation of the push assist operating mode for generating a motor torque, by recognizing a push as a first stage and detecting a user input as a further stage. It is especially provided that the push assist operating mode for generating a motor torque is activated by detecting a user input and subsequently recognizing a push, thereby generating a motor torque for driving the two-wheeler or e-bike, wherein it is especially required that the input of the user for generating a motor torque is continuously detected. Alternatively, it is provided that the push assist operating mode for generating a motor torque is activated by recognizing a push and subsequently or simultaneously detecting a user input, thereby generating a motor torque for driving the two-wheeler or e-bike, wherein it is especially required that the input of the user for generating a motor torque is continuously detected. It is particularly preferred that the recognition of the push is performed by means of a sensor unit and by means of a controller of a drive unit of the two-wheeler and the detection of the user input is performed by means of input means or a key on a control device on the handlebar of the two-wheeler and / or by means of a display device on the handlebar of the two-wheeler, thereby achieving the advantage that a motor torque for the push assist operating mode is not generated even in case of a malfunction of these components of the two-wheeler. Thereby, the safety of the user of the two-wheeler is advantageously increased.

[0008] In a preferred configuration, the user is displayed information about the release of the detection of the input for activating the push assist operating mode depending on the recognized push or during the push. In other words, after recognizing the push, the user is displayed that the push assist operating mode can be activated as soon as or when a user input is recognized, wherein this input has to be especially continuously performed. The display of this information is advantageously performed by means of a display of a display device, which is for example arranged on the handlebar of the two-wheeler, especially by means of a human-machine interface (HMI). Alternatively or additionally, the display of this information can be performed by means of a light, which is for example arranged on or in the handlebar and / or on or in the frame of the two-wheeler and / or on or in a key for activating the push assist, which especially comprises a light emitting diode. Alternatively or additionally, the display of this information can be performed by an acoustic signal and / or by means of at least one actuator, which is provided for generating a haptic signal or a vibration of the handlebar and / or the frame of the two-wheeler. By this configuration, the user can be informed and intuitively perform the operation or activation of the push assist operating mode.

[0009] In another particularly preferred configuration, information is displayed to the user about the recognition of the push based on the recognized user input for activating the push assist operating mode, wherein in particular it is displayed to the user that the motor torque is generated by a sensor-based recognition of the push immediately after the detection of the user input or that the push assist operating mode is activated by a sensor-based recognition of the push. In other words, after the detection of the input, it is displayed to the user that the push assist operating mode is activated as soon as or when the push of the scooter is recognized, wherein the detected input in particular must be carried out continuously. The display of this information is advantageously carried out by means of a display of a display device, which is arranged, for example, on the handlebar of the scooter, in particular by means of a human-machine interface (HMI). Alternatively or additionally, the display of this information can be carried out by means of a light, which is arranged, for example, on or in the handlebar and / or on or in the frame of the scooter and / or on or in the key for activating the push assist, which in particular comprises a light-emitting diode. Alternatively or additionally, the display of this information can be carried out by means of an acoustic signal and / or by means of at least one actuator, wherein the actuator is provided for generating a haptic signal or a vibration of the handlebar and / or the frame of the scooter. By means of this configuration, the user can also be informed and intuitively operate or activate the push assist operating mode.

[0010] In a preferred embodiment of the application, the speed of the scooter is detected in a step which precedes the recognition of the push. The recognition of the push is then carried out based on the detected speed. In particular, the push is only recognized if the detected speed is less than or equal to a maximum speed of, for example, 6 km / h. By means of this embodiment, the false activation of the push assist operating mode is avoided for most driving states in the normal operation during the driving with the scooter.

[0011] In a preferred configuration of the application, the acceleration of the scooter in the longitudinal direction of the scooter and / or in the transverse direction of the scooter is detected. The push is then recognized based on the detected acceleration of the scooter. Optionally, the direction of the push is additionally recognized based on the detected acceleration of the scooter. By means of this purchase, the advantage is achieved that the movement of the scooter is recognized at standstill or at very small accelerations and / or speeds. The recognition of the push based on the detected acceleration is preferably carried out when a threshold value is exceeded, in particular after filtering of the signals of the sensor unit representing the acceleration and / or by means of a machine-trained recognition method or artificial intelligence or a learning neural network. Thereby, for example, the driving acceleration profile of the scooter at low speeds, for example on an uphill of the driving route, can be distinguished from the acceleration profile when the scooter is pushed, so that the push is recognized automatically and reliably.

[0012] In a particularly preferred configuration, at least one statistical parameter is determined from the detected acceleration or the detected deceleration in the longitudinal axis direction of the scooter and / or in the transverse axis direction of the scooter after detecting the acceleration. For example, the standard deviation, the mean value, the variance or the covariance of the two detected acceleration curves is determined as the statistical parameter. The statistical parameter, for example the standard deviation, is advantageously determined over a predefined time period, for example 1 to 10 seconds. In this configuration, the pushing is then additionally identified from the at least one determined statistical parameter, for example the standard deviation, and a threshold value. In particular, when the determined standard deviation exceeds the threshold value during the predefined time period, pushing is identified. The advantage of this configuration is that small movements or slight movements of the bicycle can be identified as pushing.

[0013] In another embodiment, it can be provided that the direction change of the detected acceleration in the transverse axis direction over a predefined time period is identified. In this embodiment, the pushing is then additionally identified from the identified direction change of the detected acceleration in the transverse axis direction. The advantage of this configuration is that the user can perform an easily perceptible and intuitive movement pattern to identify the pushing or the pushing desire.

[0014] In another embodiment, the rotation of a rotor of an electric motor for the movement of the scooter in the direction pointing backwards along the longitudinal axis of the scooter is detected. In this case, the pushing is then identified from the detected rotor rotation. In particular, the direction of the pushing is also identified here from the detected rotor rotation. The advantage of this is that in a typical drive arrangement, which has a motor stroke with a rotation direction pointing forwards, the movement of the scooter can be detected very quickly and identified as pushing or as representing pushing.

[0015] Furthermore, it can be provided in one step that a sequence of camera images of at least a portion of the surroundings of the scooter is detected. The camera can be advantageously arranged on a component of the scooter, for example on the handlebar of the scooter, with the viewing direction in the direction of travel or forwards along the longitudinal axis of the scooter. In this case, the pushing and / or the direction of the pushing is identified from the detected camera images or the sequence of camera images. For example, it can be provided that the pushing is identified on the basis of the movement of the scooter determined from the determined optical flow. The optical flow can be determined from the sequence of camera images. By means of this aspect of the application, the pushing of the scooter by the user can advantageously be identified relatively reliably and simply.

[0016] Furthermore, it can be provided in another configuration of the application that the force of the user or rider on the handlebar of the scooter in the longitudinal axis direction of the scooter is detected. In this configuration, the pushing and / or the direction of the pushing is then identified from the detected user force. By means of this configuration, the desired pushing of the scooter and / or the direction of the pushing can be identified very reliably.

[0017] Additionally, in a further step in this direction, a pedalling variable of the user is detected, in particular a cadence is detected and / or a rider torque is detected. Subsequently, a propulsion is identified depending on the detected pedalling variable of the user, wherein in particular no propulsion is identified in case a pedalling variable is detected. By this configuration a false activation of the propulsion assistance or of the propulsion assistance operating mode can be reliably avoided.

[0018] Preferably, the display of the information for possibly activating the propulsion assistance operating mode is performed by adapting a light of a key for inputting an input of the user for activating the propulsion assistance operating mode. Advantageously, the key is coloredly illuminated or flashed, for example green illuminated or green flashed, when a propulsion is identified. By this configuration an advantageous display to the user or rider can be performed when a propulsion assistance is desired.

[0019] The present application also relates to a controller. The controller is configured such that it performs the method of the present application. In other words, the controller is provided for performing the method of the present application.

[0020] The present application also relates to a two-wheeler having the controller of the present application. BRIEF DESCRIPTION OF DRAWINGS

[0021] Further advantages are derived from the following description of embodiments with reference to the drawings.

[0022] Figure 1 An e-bike is shown as a two-wheeler;

[0023] Figure 2 A flow chart of the method is shown as a block diagram. DETAILED DESCRIPTION

[0024] In Figure 1 An e-bike or a two-wheeler 100 is schematically shown in Fig. 1 as a two-wheeler 100. Alternatively, the two-wheeler 100 can also be a motorcycle, wherein the motorcycle is driven with an electric motor 111. Figure 1 The e-bike or the two-wheeler 100 in Fig. 1 has a front wheel 101 and a rear wheel 102 as wheels. Figure 1The two-wheeler 100 in Fig. 1 comprises a drive unit 110 on the pedal shaft 106 or crankshaft, which has an electric motor 111 as drive motor. The drive unit 110 has a controller 180, which is configured such that it controls the electric motor 111 to generate a motor torque for driving the two-wheeler 100 or e-bike. In other words, the controller 180 is provided for controlling the electric motor 111, thereby generating a motor torque for driving the two-wheeler 100. The pedal 115 is connected with the pedal shaft 106 or crankshaft by means of the crank 114 to generate a rider torque by the rider. The rider torque can be detected as a pedaling variable by means of a torque sensor 105 in the region of the pedal shaft 106. Alternatively, the pedaling frequency or cadence can be detected as a user's pedaling variable, for example by means of a rotational speed sensor on the pedal shaft 106 and / or on the pedal 115. The pedal shaft 106 or crankshaft and the electric motor 111 are connected with a driven pinion 117 by means of a transmission. The driven pinion 117 is connected with the wheel hub of the rear wheel 102 as drive wheel for driving the two-wheeler 100, for example by means of a connecting element 116, for example a chain or a belt. It can be provided that at least one rotational speed sensor 107 is arranged on or in the electric motor 111 and / or the transmission of the drive unit 110 and / or on the driven pinion 117 and / or on the connecting element 116 and / or on the rear wheel 102 and / or on the front wheel 101. In other words, the rotational speed sensor 107 is provided for detecting the rotational speed or the speed of the two-wheeler 100, in particular the rotation or rotational speed and / or the direction of rotation of the electric motor 111 of the drive unit 110. Furthermore, the vehicle has at least one speed sensor 114a and / or 114b and / or 114c. The speed sensor 114a, 114b and / or 114c comprises, for example, a reed sensor 114a on the front wheel 101 or the rear wheel 102, a rotational speed sensor 114c, a satellite-based position sensor 114b and / or a radar sensor. The speed sensor 114a, 114b, 114c is provided for detecting the speed of the two-wheeler 100. Preferably, the speed sensor 114c is arranged on the wheel hub of the rear wheel 102 and / or on the wheel hub of the front wheel 101. Preferably, but not necessarily, the speed sensor 114c is the rotational speed sensor 107. A battery module 120 is arranged on the two-wheeler 100 for energizing the drive unit 110, in particular for energizing the electric motor 111. Furthermore, the drive unit 110 comprises an inertial measurement unit or sensor unit 112 or sensor. The sensor unit 112 has at least one acceleration sensor. Advantageously, the sensor unit 112 comprises an acceleration sensor for detecting the acceleration in the direction of the longitudinal axis 190 of the two-wheeler 100 and an acceleration sensor for detecting the acceleration in the direction of the transverse axis 191 of the two-wheeler 100.Furthermore, an input device or a key 130 or a switch is provided on the handlebar 103 of the two-wheeler 100 or of the e-bike, for activating and / or deactivating the push assist mode of operation. The key 130 can comprise a transparent sub-area 131 and a light-emitting device 132, wherein the light-emitting device 132 is arranged in particular behind the transparent sub-area 131 and has for example a green light-emitting diode. Furthermore, the two-wheeler 100 has a display device 140 with a display 141. The display device 140 is arranged in particular on the handlebar 103 of the two-wheeler 100. The display 141 is provided for displaying information to the user or rider. Alternatively or additionally to the display device 140, at least one actuator 142, for example a vibration motor or an electric motor with an unbalanced mass, is provided on the handlebar 103. The actuator 142 arranged on the handlebar 103 is advantageously provided for generating a haptic signal for the user on at least one handle grip 104 of the handlebar 103. It can furthermore be provided that a force sensor 160 is provided on the handlebar 103. The force sensor 160 is provided for detecting a force acting by the user on the handlebar 103 in the longitudinal direction. Furthermore, the two-wheeler comprises an optical camera unit 150, which is arranged for example on the handlebar 103 or on the frame 108 of the two-wheeler 100, wherein the camera unit 150 advantageously has a camera 151, the viewing direction of which is directed in the longitudinal direction towards the front. The camera 151 is provided for detecting at least a portion of the surroundings of the two-wheeler 100 as a camera image.

[0025] In Figure 2A flow chart of the method is shown schematically as a block diagram. In an optional step 201, the speed of the two-wheeler is detected. In another optional step 202, the rotation of a rotor of an electric motor of the two-wheeler can be detected, in particular when the rotation of the rotor represents a movement of the two-wheeler 100 in a longitudinal direction backwards. Alternatively or additionally, in an optional step 203, a camera image of at least a portion of the surroundings of the two-wheeler is detected. Further, it can optionally be provided that a force of a user acting on a handlebar of the two-wheeler in a longitudinal axis direction of the two-wheeler is detected in step 204. Further, a detection 205 of a pedaling variable of the user, in particular a cadence and / or a rider torque, is optionally carried out. In an optional step 206, an acceleration of the two-wheeler in a longitudinal axis direction of the two-wheeler and / or an acceleration of the two-wheeler in a transversal axis direction of the two-wheeler is detected. In a following optional step 210, it can be provided that a change of direction of the detected acceleration in the transversal axis direction is identified within a predefined time period. Alternatively or additionally, in step 211, it is optionally provided that a standard deviation is calculated from the detected acceleration in the longitudinal axis direction of the two-wheeler and / or in the transversal axis direction of the two-wheeler. In step 220, an identification of a pushing of the two-wheeler by the user is carried out by means of the sensor or sensor unit 112. The pushing based sensor identification 220 is carried out, for example, from the detected speed. Alternatively or additionally, the pushing based sensor identification 220 is carried out, preferably, from the detected speed, the detected rotor rotation, the detected camera image, the detected user force and / or the detected user pedaling variable and / or the detected acceleration in the longitudinal axis and / or transversal axis direction. For example, in step 220, a pushing is identified when the speed is less than or equal to a threshold value of 6 km / h or in the case of a detected pedaling variable other than less than or equal to 6 km / h, in particular no pushing is identified. Preferably, the pushing based sensor identification 220 is carried out alternatively or additionally from the detected two-wheeler acceleration. In particular, it is provided that the pushing in step 220 is identified additionally from a standard deviation calculated for the detected acceleration and a threshold value for the standard deviation, wherein, in particular, a pushing is identified when the calculated standard deviation exceeds the threshold value. Alternatively or additionally, it can be provided that the pushing based sensor identification 220 is carried out additionally from an identified change of direction of the detected acceleration in the transversal axis direction. Particularly preferably, the pushing based sensor identification in step 220 is carried out from a plurality of detected variables, for example from the speed and the acceleration. Subsequently, in an optional step 230, an information is displayed for releasing an input for activating a pushing assistance operating mode depending on the identified pushing. The optional display 230 is preferably carried out by means of the display device 140 or the display 141, by means of a haptic signal generated by the actuator 142 and / or by adapting a light of a key for detecting an input of the user for activating the pushing assistance operating mode.In step 240, the detection 240 of the user's input for activating the push assist operating mode is implemented, for example, by means of the input means or key 130. Optionally, the user's input is only detected if the manipulation of the input means or key is carried out continuously. Advantageously, this detection 240 can be made in dependence on the recognized pushing. In other words, the user's input in step 240 is advantageously only detected or taken into account if the pushing of the two-wheeler has been recognized beforehand in step 220. Alternatively, the detection 240 of the user's input for activating the push assist operating mode is first carried out in step 240, in particular only if the user's input or the input means are continuously manipulated. Then, in this alternative, the pushing of the two-wheeler by the user is recognized in step 220 by means of the sensor or sensor unit 112 in dependence on the detected user input after the user's input has been detected. In other words, the sequence is reversed in this alternative implementation, that is to say, in this alternative, the user's input for activating the push assist operating mode is a prerequisite for the sensor-based recognition of the pushing of the two-wheeler. It can advantageously be provided that, after the input has been detected, information is displayed to the user, wherein the information comprises an indication to the user that the user has activated the push assist by the pushing of the two-wheeler, as a result of which the motor torque is generated. In step 250, the motor torque for driving the two-wheeler is generated in dependence on the detected user input and in dependence on the recognized pushing. As a result, the push assist is activated or the motor force or motor torque for supporting the user or rider when pushing the two-wheeler is generated by this step 250. It can be provided that the motor torque is additionally carried out in dependence on the recognition 220 of the pushing of the two-wheeler. In particular, it is provided that said step 250 is interrupted as soon as the pushing of the two-wheeler is no longer recognized. In other words, it can in particular be provided that the method is repeatedly or continuously implemented.

Claims

1. Method for controlling an electric motor (111) as drive motor of a two-wheeler (100), with the following method steps: • recognizing (220) a push of the two-wheeler (100) based on sensors; • detecting an input of a user for activating a push-assisted operating mode; and • generating (250) a motor torque for driving the two-wheeler (100) in the push-assisted operating mode as a function of the recognized push and the detected input of the user, wherein the following steps are carried out before the generation (250) of the motor torque: • displaying (230) information about the detection of the release of the input for activating the push-assisted operating mode as a function of the recognized push; or • displaying (230) information about the release of the sensor-based recognition (220) of the push for activating the push-assisted operating mode as a function of the detected input of the user.

2. Method according to claim 1, wherein the following steps are carried out before the detection of the input of the user: • detecting a speed of the two-wheeler (100); and • recognizing (220) the push as a function of the detected speed.

3. Method according to claim 1 or 2, wherein the following steps are carried out before the detection of the input of the user: • detecting an acceleration of the two-wheeler (100) in the direction of a longitudinal axis (190) of the two-wheeler (100) and / or in the direction of a transverse axis of the two-wheeler (100); and • recognizing (220) the push as a function of the detected acceleration of the two-wheeler (100). The following steps are carried out: • determining (211) a statistical parameter as a function of the detected acceleration in the direction of the longitudinal axis (190) of the two-wheeler (100) and / or in the direction of the transverse axis (191) of the two-wheeler (100); and • recognizing (220) the push additionally as a function of the determined statistical parameter and a threshold value. The following steps are carried out: • recognizing (210) a change in direction of the detected acceleration in the direction of the transverse axis (191) within a predefined time period; and • recognizing (220) the push additionally as a function of the recognized change in direction of the detected acceleration in the direction of the transverse axis (191). The following steps are carried out: • detecting a rotation of a rotor of the electric motor (111); and • recognizing (220) the push as a function of the detected rotation of the rotor. The following steps are carried out: • detecting a camera image of at least a portion of the surroundings of the two-wheeler (100); and • recognizing (220) the push as a function of the detected camera image. The following steps are carried out: • detecting a force of the user on a handlebar of the two-wheeler in the direction of the longitudinal axis of the two-wheeler; and • recognizing (220) the push as a function of the detected force of the user. The following steps are carried out: • detecting a pedaling parameter of the user; and • recognizing (220) the push as a function of the detected pedaling parameter of the user. The display (230) of the information takes place by adjusting a light of a button for inputting the input of the user for activating the push-assisted operating mode. The statistical parameter is a standard deviation. The push is recognized when the determined statistical parameter exceeds a threshold value. The pedaling parameter is a cadence and / or a rider torque.

4. The method of claim 3, wherein, The push is not recognized in the case of a detected pedaling parameter. ​ ​ 5. The method of claim 3 or 4, wherein, ​ ​ ​ 6. The method of any one of claims 1 to 5, wherein, ​ ​ ​ 7. The method of any one of claims 1 to 6, wherein, ​ ​ ​ 8. The method of any one of claims 1 to 7, wherein, ​ ​ ​ ​ 9. The method of any one of claims 1 to 8, wherein, ​ ​ ​ 10. The method of any one of claims 1 to 9, wherein, ​ 11. The method of claim 4, wherein, ​ 12. The method of claim 4, wherein, ​ 13. The method of claim 9, wherein, ​ 14. The method of claim 9, wherein, ​ 15. A controller (180), wherein the controller (180) is configured such that it implements the method according to any one of claims 1 to 14.

16. A two-wheeler (100) having a controller (180) according to claim 15.

17. The two-wheeler (100) according to claim 16, wherein the two-wheeler is an electric bicycle.

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