Method for motor-assisted propulsion of electric motorcycle

Abstract

A method for the electric motor assisted propulsion of an electric motorcycle (1) comprises: receiving driving dynamics data (21) indicating a current driving dynamics state of the electric motorcycle (1); identifying whether the electric motorcycle (1) is pushed by analyzing the evaluation driving dynamics data (21); when it is detected that the electric motorcycle (1) is pushed, a pushing mode (Z1, Z2) is activated, which enables a control unit (23) for controlling an electric drive motor (5) of the electric motorcycle (1) to control the drive motor (5) in such a way that the drive motor (5) generates a pushing torque for pushing the electric motorcycle (1) in an electric motor-assisted manner.

Description

Technical Field

[0001] The present invention relates to a computer-implemented method for electric motor-assisted propulsion of an electric motorcycle. The present invention also relates to a drive system for an electric motorcycle and a controller, a computer program and a computer-readable medium for performing the method. Background Art

[0002] In an electric motorcycle driven by an electric drive motor, the drive motor can be driven in different rotational directions so that the electric motorcycle can either travel forward or backward. Therefore, a gearbox specifically for reverse gear can be omitted, which reduces weight and manufacturing costs.

[0003] In modern electric motorcycles, a special drive mode for (slow) backward travel is usually activated manually, for example by the driver manipulating a corresponding setting in an operating menu. This can be more or less complicated depending on the menu navigation. Summary of the invention

[0004] Against this background, a computer-implemented method for electric motor-assisted propulsion of an electric motorcycle, a control unit, a computer program, a computer-readable medium and a drive system for an electric motorcycle are described below according to the independent claims. Advantageous developments and improvements of the solution presented here are defined by the description and by the dependent claims.

[0005] Advantages of the present invention

[0006] Embodiments of the invention enable automatic activation of the push mode, in which the electric motorcycle is pushed with the assistance of the electric motor, without the driver having to operate the control unit for this purpose, for example without having to enter an input via an operating menu on a display screen. This improves the operating comfort compared to embodiments in which the push mode is manually activated.

[0007] A first aspect of the present invention relates to a computer-implemented method for propelling an electric motorcycle with the assistance of an electric motor, wherein the electric motorcycle includes an electric drive motor for driving at least one wheel of the electric motorcycle and a controller for controlling the drive motor. The method includes: receiving driving dynamics data indicating a current driving dynamics state of the electric motorcycle; identifying whether the electric motorcycle is being pushed by a driver by analyzing and evaluating the driving dynamics data; and when it is identified that the electric motorcycle is being pushed by the driver: activating a pushing mode, the pushing mode enabling the controller to control the drive motor through the controller so that the drive motor generates a pushing torque for propelling the electric motorcycle with the assistance of the electric motor.

[0008] "Pushing" can be understood as the process in which the driver pushes the electric motorcycle forward or backward with the help of his muscles when he is sitting on the electric motorcycle or walking next to the electric motorcycle. If the driver is assisted by the electric motor, a certain part, for example a large part, of the force required to push the electric motorcycle is applied by the drive motor. This simplifies the handling of the electric motorcycle.

[0009] The method can be automatically executed by a processor, such as a controller of the electric motorcycle. In other words, the push mode can be automatically activated, that is, only by the driver pushing the electric motorcycle and recognizing the process. This improves the operating comfort compared to the implementation method using manual activation.

[0010] An “electric motorcycle” may also be understood as an electric scooter, an electric bicycle, an electric tricycle, or an electric quadricycle, etc.

[0011] At least one wheel may be a front wheel or a rear wheel of the electric motorcycle.

[0012] The propulsion torque can be positive or negative. In other words, the driver can be assisted when the electric motorcycle is pushed forward or backward by correspondingly controlling the drive motor.

[0013] A second aspect of the present invention relates to a controller, the control device comprising a processor, the processor being configured to execute the method described above and below. The controller may include a hardware module and / or a software module. In addition to the processor, the controller may also include a memory and a data communication interface for wireless and / or wired data communication with peripheral devices.

[0014] A third aspect of the present invention relates to a drive system for an electric motorcycle. The drive system comprises: an electric drive motor for driving at least one wheel of the electric motorcycle; a device for determining the current driving dynamic state of the electric motorcycle; and a controller as described above and below.

[0015] The drive motor can be connected via its connection terminals to a battery, for example a lithium-ion battery.

[0016] The device may include, for example, at least one of the following sensors: a rotation speed sensor for detecting the rotation speed of the drive motor and / or at least one wheel; a torque sensor for detecting the torque acting on the drive shaft of the drive motor; an inertial sensor for detecting the acceleration and / or rotation rate of the electric motorcycle relative to at least one spatial axis, in particular three spatial axes; a current sensor for detecting the current flowing through the drive motor; a voltage sensor for detecting the voltage applied to the connecting terminals of the drive motor; a brake light switch; a brake pressure sensor for detecting the brake pressure in the brake system of the electric motorcycle. The brake system may, for example, be a hydraulic and / or electromechanical brake system. Additionally, the brake system may also include an anti-lock brake system (ABS).

[0017] Further aspects of the invention relate to a computer program and a computer readable medium having the computer program stored thereon.

[0018] The computer program comprises instructions which, when the computer program is executed by a processor, cause the processor to carry out the methods described above and below.

[0019] The computer readable medium may be a volatile or non-volatile data storage device. For example, the computer readable medium may be a hard disk, a USB memory, a RAM, a ROM, an EPROM, a flash memory, or a combination of at least two of these examples. The computer readable medium may also be a data communication network, such as the Internet, or a cloud, that enables program code downloads.

[0020] Features of the method described above and below may also be features of the controller, the computer program and / or the computer-readable medium (and vice versa).

[0021] Without limiting the invention, embodiments of the invention may be viewed as being based on the concepts and insights described below.

[0022] The electric motorcycle may further include a control element operable by the driver for controlling the travel speed of the electric motorcycle.

[0023] In this case, the method according to one embodiment may further include: receiving an input signal generated by operating a control element; when the input signal is received when the propulsion mode is activated, determining a desired propulsion torque from the input signal using an allocation rule, the allocation rule assigning different desired propulsion torques to different values ​​of the input signal for propulsing the electric motorcycle with the assistance of an electric motor; generating a control instruction for manipulating the drive motor so that the drive motor generates a propulsion torque corresponding to the desired propulsion torque.

[0024] This has the effect that, after (automatic) activation of the push mode, the electric motor assistance only takes effect when required, ie when the driver gives a corresponding signal.

[0025] In other words, the driver can control how strongly the electric motor assists when he pushes the electric motorcycle. For example, the further the control element is adjusted, the stronger the electric motor assists. This enables better control of the electric motorcycle when maneuvering.

[0026] For example, the allocation rules can be stored in the memory of the controller in the form of a lookup table or a mathematical function. The control element can be, for example, a rotary handle or a pedal. Accordingly, the value of the input signal, for example a voltage value, can depend on the deflection of the control element. For example, the greater the deflection, the greater the value of the input signal can be. On the other hand, if the control element is not deflected, that is, in an initial position or a static position, the value of the input signal can be zero. Alternatively, the control command can be generated directly, that is, without the need for prior input by the driver, as a reaction to the recognition that the electric motorcycle is being pushed, that is, automatically generated. This can be helpful in certain situations and / or depending on the type of electric motorcycle.

[0027] According to one embodiment, the method may further include when an input signal is received when the propulsion mode is not activated, for example in an activated driving mode for normal driving of the electric motorcycle: determining a desired driving torque from the input signal using another allocation rule, the other allocation rule assigning different desired driving torques to different values ​​of the input signal for normal driving of the electric motorcycle; generating another control instruction for controlling the drive motor so that the drive motor generates a driving torque corresponding to the desired driving torque.

[0028] In other words, when the push mode is activated, a different characteristic curve can be used to interpret the input signal, i.e. to convert the current value of the input signal into the desired motor torque, than when the push mode is not activated, for example when the driving mode is activated. Each characteristic curve can include a linear, exponential or constant segment or a combination of a plurality of such segments. Different characteristic curves can differ from one another in their minimum and / or maximum values ​​and / or the course between the minimum and maximum values.

[0029] In the simplest case, when switching between driving mode (forward travel) and pushing mode, the current characteristic curve can be inverted, for example multiplied by -1. This enables a simple realization of the reverse gear.

[0030] Possibly, different allocation rules can be stored in the memory of the controller in the form of different look-up tables or different mathematical functions. For example, a first allocation rule for a driving mode and a second allocation rule for a pushing mode can be stored. When the pushing mode is activated, the first allocation rule can be deactivated and the second allocation rule can be activated. For different pushing modes, such as forward, backward, uphill or downhill pushing modes (see below), an own allocation rule can be stored for each pushing mode.

[0031] According to one embodiment, it is possible to identify whether the electric motorcycle is pushed backward, i.e. pushed with the rear wheel in front, by analyzing and evaluating the driving dynamics data. If it is identified that the electric motorcycle is pushed backward, the backward push mode can be activated as the push mode. The backward push mode can cause the controller to control the drive motor so that the drive motor generates a propulsion torque to push the electric motorcycle backward with the assistance of the electric motor. In other words, the driver can activate the reverse gear by briefly pushing the electric motorcycle backward. Therefore, the driver does not have to bother to activate the reverse gear through the operation menu.

[0032] According to one embodiment, it is possible to identify whether the electric motorcycle is being pushed forward, i.e., pushed with the front wheel in front, by analyzing and evaluating the driving dynamics data. If it is identified that the electric motorcycle is being pushed forward, the forward push mode can be activated as the push mode. The forward push mode can cause the controller to control the drive motor so that the drive motor generates a propulsion torque for pushing the electric motorcycle forward with the assistance of the electric motor. In other words, the driver can activate a specific forward gear for driving forward slowly, for example at walking speed, by briefly pushing the electric motorcycle forward. For this purpose, there is no need to make a separate input through the operating menu. This improves the operating comfort.

[0033] According to one embodiment, by analyzing and evaluating the driving dynamics data, it is also possible to identify whether the electric motorcycle is on a descending road, an ascending road, or a flat road. In this case, the push mode can also be activated according to whether the electric motorcycle is on a descending road, an ascending road, or a flat road.

[0034] The term "downward road surface" can be understood as a road surface that is inclined downward when viewed from the front direction of the electric motorcycle, such as when the electric motorcycle is driving downhill with the front wheel in front. The term "upward road surface" can be understood as an upward road surface when viewed from the front direction of the electric motorcycle, such as when the electric motorcycle is driving uphill with the front wheel first. This can prevent the push mode from being automatically activated in a potentially unfavorable situation. In addition, this can achieve the activation of different push modes depending on the recognition situation of the electric motorcycle.

[0035] According to one embodiment, if it is recognized that the electric motorcycle is on an upward road surface, the backward push mode can be prevented from being activated. In other words, in this case, only the forward push mode (automatic forward push and / or manual push) can be activated as the push mode. In this way, when the electric motorcycle is pushed uphill with the front wheel in front and briefly goes downhill for some reason, it is possible to prevent the controller from being accidentally switched to the backward push mode.

[0036] According to one embodiment, if it is recognized that the electric motorcycle is on a downhill road, the forward push mode can be prevented from being activated. In other words, in this case, only the backward push mode (automatic backward push and / or manual push) can be activated as the push mode. When going downhill, the electric motor assistance is generally not needed, because the downhill force can be used here.

[0037] According to one embodiment, it is possible to identify whether the electric motorcycle is being pushed uphill by analyzing and evaluating the driving dynamics data. If it is identified that the electric motorcycle is being pushed uphill, the uphill push mode can be activated as the push mode. The uphill push mode can cause the controller to control the drive motor so that the drive motor generates a propulsion torque for the electric motor to assist in pushing the electric motorcycle uphill. For example, a correspondingly larger propulsion torque can be generated in the uphill push mode compared to when the electric motor assists in pushing the electric motorcycle on a flat road.

[0038] In the uphill push mode, the controller may be configured to enable electric motor assisted uphill push in a forward direction and / or a rearward direction.

[0039] It is also conceivable to identify whether the electric motorcycle is being pushed downhill by analyzing and evaluating the driving dynamics data. If it is identified that the electric motorcycle is being pushed downhill, for example, a downhill push mode can be activated as a push mode. The downhill push mode can cause the controller to control the drive motor so that the drive motor generates a propulsion torque, i.e. a braking torque, for pushing the electric motorcycle downhill with the assistance of the electric motor. In an ideal case, the driver does not need to additionally brake the electric motorcycle, which makes maneuvering easier.

[0040] The controller may be configured to enable electric motor assisted downhill pushing in a forward direction and / or a rearward direction in the downhill pushing mode.

[0041] The controller can be manually switched at any time from each of the above-mentioned propulsion modes to the normal driving mode for normal forward travel.

[0042] According to one embodiment, the driving dynamics data can define at least one of the following parameters: the driving speed of the electric motorcycle; the holding torque generated by the drive motor to keep the electric motorcycle at a standstill; the desired thrust torque or driving torque that the drive motor should generate; the inclination angle of the electric motorcycle relative to at least one spatial axis; a braking parameter indicating whether and / or how strongly the brake system of the electric motorcycle is actuated; the radius of at least one wheel; the transmission ratio of the electric motorcycle; and the weight, in particular the unladen weight of the electric motorcycle.

[0043] The mentioned parameters may be positive, negative or zero. For example, when the electric motorcycle is moving forward, the travel speed may be positive, and when the electric motorcycle is moving backward, the travel speed may be negative;

[0044] The holding torque may be positive when the drive motor holds the electric motorcycle at rest on an ascending surface, negative when the drive motor holds the electric motorcycle at rest on a descending surface, and zero (or only slightly negative or positive) when the electric motorcycle is at rest without the aid of the drive motor.

[0045] If the electric motorcycle is to be accelerated in the forward direction, the desired thrust torque or drive torque is positive, and if the electric motorcycle is to be accelerated in the backward direction, the desired thrust torque or drive torque is negative.

[0046] The tilt angle may in particular represent a rotation of the electric motorcycle about its transverse axis. In this case, the tilt angle is, for example, positive if the electric motorcycle is on an upward path, negative if the electric motorcycle is on a downward path, and zero (or only slightly negative or positive) if the electric motorcycle is on a flat path.

[0047] For example, the brake parameter may be defined by a brake pressure value indicating the current brake pressure in the brake system and / or a binary value such as “brake on” or “brake off”.

[0048] Additionally or alternatively, the driving dynamics parameter may also define at least one of the following parameters: wheel rotation direction, wheel rotation speed, actual propulsion torque or drive torque.

[0049] The mentioned parameters can be estimated and / or measured by means of suitable sensor technology (see above).

[0050] As mentioned above, the driver can initiate the backward movement by a light push. When he now operates the control element, the electric motorcycle automatically switches to the backward push mode.

[0051] In order to prevent the electric motorcycle from rolling back briefly when starting on a slope, the automatically activated push-back mode can additionally evaluate the holding torque. If the holding torque shows that the electric motorcycle automatically remains stationary on the ascending road surface, i.e. the hill start assist of the electric motorcycle is activated, activation of the push-back mode can be prevented, for example.

[0052] If the driver wants to push the electric motorcycle backwards when going uphill, for example with the rear wheels in front, it is recommended that the driver manually activate the reverse push mode, depending on the slope of the road and the weight of the electric motorcycle, because the driver may not have enough strength to activate the reverse push mode by simply pushing the electric motorcycle backwards. BRIEF DESCRIPTION OF THE DRAWINGS

[0053] Embodiments of the present invention will be described below with reference to the accompanying drawings. Neither the description nor the drawings should be interpreted as limiting the present invention.

[0054] Figure 1 An electric motorcycle having a driving system according to one embodiment of the present invention is shown;

[0055] Figure 2 A schematic diagram showing transitions between possible states that can be identified and / or activated in a method using a hill start assist according to one embodiment of the present invention;

[0056] Figure 3 A schematic diagram showing transitions between possible states that may be identified and / or activated in a method using an inertial sensor system according to one embodiment of the present invention;

[0057] Figure 4 A schematic diagram shows transitions between possible states that may be detected and / or activated in a method using hill start assist and an inertial sensor system according to one specific embodiment of the present invention.

[0058] The figures are only schematic and not to scale. Identical reference symbols in different figures denote identical or identically acting features. DETAILED DESCRIPTION

[0059] Figure 1 An electric motorcycle 1 is shown which is equipped with a drive system 3. The drive system 3 comprises an electric drive motor 5 which is connected to the rear wheel 7 of the electric motorcycle 1 in order to drive the rear wheel 7, i.e. to accelerate or decelerate. The drive motor 5 can drive the rear wheel 7 in different directions of rotation, so that the electric motorcycle 1 travels either in a forward direction V or in a rearward direction R. However, the drive motor 5 can also be connected to the front wheel 11 of the electric motorcycle 1 or to both wheels 7, 11.

[0060] Furthermore, the drive system 3 comprises a control element 13, here a twist grip mounted on the handlebars of the electric motorcycle 1, for controlling the travel speed of the electric motorcycle 1. The control element 13 is designed to provide an electronic input signal 14, whose value depends on the corresponding deflection of the control element 13.

[0061] The drive system 3 furthermore comprises a sensor system 20 which is designed to detect certain driving dynamics data 21 which indicate the current driving dynamics state of the electric motorcycle 1 and transmit them to a control unit 23 of the drive system 3 .

[0062] For example, the driving dynamics data 21 may include a value or a series of values ​​of at least one of the following driving dynamics parameters: the driving speed v of the electric motorcycle 1; the holding torque T generated by the drive motor 5 to keep the electric motorcycle 1 at rest, for example on a hillside; HHC ; The desired motor torque T that the drive motor 5 should generate des ; Angle of inclination θ showing the rotation of the electric motorcycle 1 about its transverse axis and the inclination of the road surface; Braking parameter Brk showing whether the brake light of the electric motorcycle 1 is on or off; Radius r of the (driven) rear wheel 7; Transmission ratio i of the electric motorcycle 1; Unladen weight m of the electric motorcycle 1 veh ; Gravitational acceleration g (see also Figures 2 to 4 ).

[0063] The controller 23 includes a memory 25 and a processor 27 . The memory stores a computer program. The processor is configured to execute the method for propelling the electric motorcycle 1 with the assistance of an electric motor as described below by executing the computer program.

[0064] Firstly, driving dynamics data 21 are received in control unit 23 .

[0065] Then, the controller 23 analyzes and evaluates the driving dynamics data 21 to identify whether the electric motorcycle 1 is pushed by its driver 28, such as walking or sitting. In this example, the driver 28 sits on the electric motorcycle 1 and initially moves the motorcycle towards the rear direction R with the power of his legs.

[0066] If such a pushing process is recognized, the controller 2 automatically switches to a specific pushing mode, which enables the controller 23 to control the drive motor 5 to generate a pushing torque for pushing the electric motorcycle 1 with the assistance of the electric motor.

[0067] The controller 23 may be configured to select a propulsion mode from a plurality of possible propulsion modes according to the propulsion direction in which the driver 28 currently propels the electric motorcycle 1 .

[0068] The propulsion direction here is the rearward direction R. Accordingly, the controller 23 activates the rearward propulsion mode here, which enables the controller 23 to control the drive motor 5 to generate a propulsion torque for propulsing the electric motorcycle 1 rearward with the assistance of the electric motor.

[0069] Conversely, if the propulsion direction is the forward direction V (opposite to the rearward direction R), the controller 23 can activate the forward propulsion mode. The forward propulsion mode enables the controller 23 to control the drive motor 5 to generate a propulsion torque for the electric motorcycle 1 to be propelled forward with the assistance of the electric motor.

[0070] If the controller 23 receives the input signal 14 when the propulsion mode is activated, it determines the desired propulsion torque from the current value of the input signal 14, such as the voltage value, based on the characteristic curve assigned to the corresponding propulsion mode, with which the electric motorcycle 1 should be driven to assist the driver 28 during propulsion.

[0071] Finally, the controller 23 generates a corresponding control command 30 , which causes the drive motor 5 to generate a motor torque that (approximately) matches the desired propulsion torque.

[0072] In this example, the control command 30 causes the electric motorcycle 1 to move backward slowly, for example at a walking speed of 1 km / h to 10 km / h. Then the driver 28 no longer needs to push the electric motorcycle 1 backward with his own strength, or needs significantly less force for pushing backward, which makes the maneuver very comfortable.

[0073] Depending on whether the push mode is activated or not, different characteristic curves may be used to interpret the input signal 14 .

[0074] If the input signal 14 is received when the normal driving mode is activated, a different characteristic curve can be used than when the push mode is activated. According to this characteristic curve, the current value of the input signal 14 is not converted into the desired propulsion torque, but into the desired drive torque for normal driving of the electric motorcycle 1. In this case, the controller 23 generates another control command 32, which causes the drive motor 5 to generate a motor torque that is (approximately) consistent with the desired drive torque. For example, the maximum value of the characteristic curve can be significantly greater in magnitude than the maximum value in the push mode, that is, the electric motorcycle 1 can reach a significantly higher driving speed in the normal driving mode than in the push mode.

[0075] Additionally, the controller 23 may be configured to select a propulsion mode according to the road inclination, for example by analyzing and evaluating the holding torque T HHC and / or tilt angle θ.

[0076] If the controller 23 recognizes that the driver 28 is pushing the electric motorcycle 1 uphill on an uphill road in the forward direction V, i.e., with the front wheel 11 in front, a specific uphill push mode can be activated, which enables the controller 23 to control the drive motor 5 so that the drive motor 5 generates a propulsion torque for propelling the electric motorcycle 1 uphill with the assistance of the electric motor. The uphill propulsion torque can again depend on the current value of the input signal 14 in its current value.

[0077] from Figures 2 to 4 The flow chart shown shows which propulsion modes can be activated in which situations and under which conditions of the electric motorcycle 1 , which is described below.

[0078] Figure 2 It concerns an embodiment of a drive system 3 with hill start assist and without an inertial sensor system.

[0079] The following states are shown: (normal) forward driving mode (Z0), forward push mode (Z1), backward push mode (Z2), motion recognition flat (Z3), motion recognition up (Z4), motion recognition down (Z5). In addition, the possible transitions between these states are represented by arrows and corresponding transition conditions in formula symbols.

[0080] When the electric motorcycle 1 is stationary and the control element 13 is no longer actuated, the holding torque T is adjusted. HHC The hill start assist can be activated. Adjust the holding torque T HHC , so that the electric motorcycle 1 remains stationary on an upward or downward road. If the electric motorcycle 1 is on a flat road, the torque T HHC is zero.

[0081] If T HHC and v are zero and the brake system is not actuated (B rk =0), ie the brake light switch is not activated, then, for example, the mode "motion detection level" can be activated. If the driver 28 now sets the desired drive torque T when stationary, ie without pushing the electric motorcycle 1 des , the electric motorcycle 1 will automatically switch to the normal driving mode Z0 and T des It will be converted so that the electric motorcycle 1 can travel normally toward the forward direction V.

[0082] If, however, the driver 28 initially pushes the electric motorcycle 1 in the forward direction V and operates the control element 13, this is interpreted as a desired assistance in forward pushing. In response thereto, the controller 23 activates the forward pushing mode Z1.

[0083] If the driver 28 instead pushes the e - motorcycle 1 in the rearward direction R and operates the control element 13, this is interpreted as the desired assistance when pushing backward. In response thereto, the controller 23 activates the backward - push mode Z2 ("reverse gear").

[0084] For example, the pushing process that triggers the activation of the corresponding push mode can be identified based on the induced voltage in the drive motor 5 here and / or the rotational speed of the drive motor 5 and / or the rotational speed of at least one of the wheels 7, 11.

[0085] It should be noted that a simplified and idealized comparison is considered here. In reality, a threshold more robust than "zero" can also be set. For example, - 0.1 km / h < v < 0.1 km / h can be used instead of v == 0.

[0086] If a large holding torque T occurs when changing to a standstill HHC , then an uphill or downhill can be identified. In the case of detecting an uphill, the normal - driving mode Z0 is automatically activated. In the case of identifying a downhill, it can likewise be compliant. However, it is expedient if the driver 28 has the possibility of manually activating the backward - push mode Z2 in the case of identifying a downhill. Manually activating the forward - push mode Z1 in the case of identifying a downhill is conceivable, but generally not necessary, because here the slow forward movement can be more easily controlled by correspondingly operating the braking device (utilizing the downhill down - pressure). Here, T HHC is correspondingly reduced, possibly reduced to zero.

[0087] Alternatively, when an uphill is identified, the forward - push mode Z1 can be automatically activated, preferably with a correspondingly increased push torque. In any case, when an uphill is detected, the operation of the control element 13 should cause the uphill movement of the e - motorcycle 1. This can be achieved by preventing the activation of the backward - push mode Z2, whether manually or automatically, when an uphill is identified.

[0088] Figure 3 It relates to an embodiment of a drive system 3 that does not have hill - start assist and has an inertial sensing mechanism.

[0089] The inertial sensing mechanism can be used to determine the tilt angle θ of the e - motorcycle 1 relative to the horizontal plane. Based on the tilt angle θ, it can be identified whether the e - motorcycle 1 is on an uphill road surface, a downhill road surface, or a flat road surface, or whether it is moving from an inclined, i.e., uphill or downhill, road surface section to a flat road surface section (and vice versa).

[0090] It is expedient to reduce the maximum backward speed when an uphill slope is detected. This can simplify maneuvers. When a downhill slope is detected, a corresponding reduction in the maximum forward speed is not absolutely necessary, since freewheeling can be expected in normal driving operation. If the driver wishes to propel the electric motorcycle 1 without assistance, the reduction of the maximum backward speed and / or forward speed may also be disturbed on a flat surface.

[0091] Figure 4 The present invention relates to an embodiment of a drive system 3 having a hill start assist and an inertial sensor system.

[0092] In addition, it is possible to detect whether the driver 28 is sitting on the electric motorcycle 1 or walking. For this purpose, for example, the drive train ratio i, the wheel radius r, the unladen weight m of the electric motorcycle 1 can be used. veh and gravitational acceleration g. If it is recognized that the driver 28 is sitting on the electric motorcycle 1, for example, the normal driving mode Z0 can be automatically activated. If it is recognized that the driver 28 is maneuvering the electric motorcycle 1 while walking, a suitable propulsion mode can be automatically activated.

[0093] Finally it should be pointed out that the expressions "comprises", "comprising", "including", "having" do not exclude other elements or steps and the indefinite article "a" or "an" etc. do not exclude a plurality. Reference signs in the claims shall not be considered as limitations.

Claims

1. A computer-implemented method for electric motor-assisted propulsion of an electric motorcycle (1), wherein the electric motorcycle (1) comprises an electric drive motor (5) for driving at least one wheel (7, 11) of the electric motorcycle (1) and a controller (23) for operating the drive motor (5), wherein the method include: Receiving driving dynamics data (21) indicating the current driving dynamics state of the electric motorcycle (1); By analyzing and evaluating the driving dynamics data (21), identifying whether the electric motorcycle (1) is being pushed; When it is recognized that the electric motorcycle (1) is being pushed: a pushing mode (Z1, Z2) is activated, wherein the pushing mode enables the controller (23) to control the drive motor (5) so that the drive motor (5) generates a propulsion torque for propelling the electric motorcycle (1) with the assistance of the electric motor.

2. The method according to claim 1, The electric motorcycle (1) further comprises a control element (13) operable by a driver (28), wherein the control element is used to control the travel speed of the electric motorcycle (1); Wherein the method further comprises: receiving an input signal (14), the input signal being generated by operating the control element (13); When the input signal (14) is received while the push mode (Z1, Z2) is activated: determining a desired propulsion torque from the input signal (14) using an assignment rule, the assignment rule assigning different desired propulsion torques to different values ​​of the input signal (14) for propelling the electric motorcycle (1) with the assistance of an electric motor; A control command (30) for controlling the drive motor (5) is generated so that the drive motor (5) generates the propulsion torque corresponding to the desired propulsion torque.

3. The method according to claim 2, further comprising when the input signal (14) is received when the push mode (Z1, Z2) is not activated: Determining a desired drive torque from the input signal (14) using another allocation rule, wherein the other allocation rule allocates different desired drive torques to different values ​​of the input signal (14) for normal driving of the electric motorcycle (1); A further control command (32) is generated for actuating the drive motor (5) so that the drive motor (5) generates a drive torque corresponding to the desired drive torque.

4. The method according to any one of the preceding claims, The driving dynamics data (21) are analyzed and evaluated to identify whether the electric motorcycle (1) is pushed backward, and if it is identified that the electric motorcycle (1) is pushed backward, a backward pushing mode (Z2) is activated as the pushing mode (Z1, Z2), wherein the backward pushing mode (Z2) enables the controller (23) to control the drive motor (5) so that the drive motor (5) generates the propulsion torque for pushing the electric motorcycle (1) backward with the assistance of the electric motor.

5. The method according to any one of the preceding claims, The driving dynamics data (21) are analyzed and evaluated to identify whether the electric motorcycle (1) is pushed forward, and if it is identified that the electric motorcycle (1) is pushed forward, a forward pushing mode (Z1) is activated as the pushing mode (Z1, Z2), wherein the forward pushing mode (Z1) enables the controller (23) to control the drive motor (5) so that the drive motor (5) generates the propulsion torque for propelling the electric motorcycle (1) forward with the assistance of the electric motor.

6. The method according to any one of the preceding claims, The driving dynamics data (21) is analyzed and evaluated to further identify whether the electric motorcycle (1) is on a downward road, an upward road, or a flat road; The pushing mode (Z1, Z2) is also activated according to whether the electric motorcycle (1) is on a descending road, an ascending road, or a flat road.

7. The method according to claim 6 as dependent on claim 4, When it is recognized that the electric motorcycle (1) is on an upward road surface, the backward pushing mode (Z2) is prevented from being activated.

8. The method according to claim 6 as dependent on claim 5, When it is recognized that the electric motorcycle (1) is on a downward road, the forward pushing mode (Z1) is prevented from being activated.

9. The method according to any one of the preceding claims, The driving dynamics data (21) are analyzed and evaluated to identify whether the electric motorcycle (1) is pushed uphill, and if it is identified that the electric motorcycle (1) is pushed uphill, an uphill pushing mode is activated as the pushing mode (Z1, Z2), wherein the uphill pushing mode enables the controller (23) to control the drive motor (5) so that the drive motor (5) generates the pushing torque for pushing the electric motorcycle (1) uphill with the assistance of the electric motor.

10. The method according to any one of the preceding claims, The driving dynamics data (21) defines at least one of the following parameters: the running speed of the electric motorcycle (1); A holding torque generated by the drive motor (5) for keeping the electric motorcycle (1) stationary; The desired propulsion torque or driving torque that the drive motor (5) should generate; An inclination angle of the electric motorcycle (1) relative to at least one spatial axis; a braking parameter indicating whether and / or how strongly a braking system of the electric motorcycle (1) is actuated; the radius of at least one wheel (7, 11); The transmission ratio of the electric motorcycle (1); The weight of the electric motorcycle (1).

11. A controller (23) comprising a processor (27) configured to perform the method according to any one of the preceding claims.

12. A drive system (3) for an electric motorcycle (1), wherein the drive system (3) include: An electrical drive motor (5) for driving at least one wheel (7, 11) of the electric motorcycle (1); A device (20) for determining the current driving dynamic state of the electric motorcycle (1); A controller (23) according to claim 11.

13. A computer program comprising instructions which, when the computer program is executed by a processor (27), cause the processor (27) to perform the method according to any one of claims 1 to 10.

14. A computer readable medium having stored thereon a computer program according to claim 13.

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