Bicycle and procedures for operating a bicycle

Abstract

The invention relates to a bicycle (50) comprising a handlebar (1) which is connected to a steerable wheel (51) via a handlebar fork (2), wherein the handlebar (1), the handlebar fork (2) and the wheel (51) are jointly pivotable about a steering axis (3), Means for determining an actual steering angle of the steerable wheel (51) and generating corresponding data, a steering damper (4) with an actuator (5), wherein the steering damper (4) is at least indirectly connected to the handlebar (1) and / or the handlebar fork (2) and generates a resistance moment as a function of a steering speed when the wheel (51) pivots about the steering axis (3), wherein the actuator (5) can be controlled to adjust a damping characteristic of the steering damper (4) during operation of the bicycle (50), and A data processing unit (7) is connected by signal transmission to the means for determining the actual steering angle of the steerable wheel (51) and to the actuator (5), and is configured to evaluate data on the actual steering angle of the steerable wheel (51), to determine a threshold value for a steering angle of the steerable wheel (51), and, during operation of the bicycle (50), to control the actuator (5) to adjust the steering damper (4) to a maximum damping value when a value of the actual steering angle exceeds the determined threshold value. The invention further relates to a method for operating such a bicycle (50).

Description

[0001] The invention relates to a bicycle with at least two wheels. Furthermore, the invention relates to a method for operating a bicycle.

[0002] Bicycles that are propelled solely by the rider's muscle power are common. Bicycles that can be powered by an electric motor in addition to the rider's effort are also known. These are called electric bicycles, pedelecs, or e-bikes. The electric motor typically assists the rider's effort according to the rider's input and torque. The electric motor can be a mid-drive motor located near the crank arm or a wheel drive directly attached to the drive wheel. Therefore, the term "bicycle" encompasses not only classic, muscle-powered bicycles without a motor, but also bicycles with motors. In particular, the term "bicycle" also includes cargo bikes with multiple wheels, especially those with three or four wheels.A bicycle is a vehicle that can be used by at least one user, in particular a cyclist.

[0003] For example, German patent DE 10 2016 225 489 A1 describes a bicycle. The bicycle has a frame, handlebars, and a saddle. The handlebars are connected to the frame by means of an adjustable stem. The steering angle of the stem can be fixed. To adjust the steering damper of the stem, an adjustable steering damper, such as a magnetorheological steering bearing, can be provided, allowing the stem to be made easy to turn, difficult to turn, and / or fixed. Alternatively, the steering angle of the stem can be mechanically fixed instantly by a bolt, which is actuated by a spring mechanism or an actuator to reduce the risk of injury to the user in a dangerous riding situation.

[0004] The object of the present invention is to propose a bicycle which increases the safety of the cyclist while riding. This object is achieved with a bicycle according to claim 1, a bicycle according to claim 3, by a method according to claim 8, and by a method according to claim 9. Embodiments are the subject of the dependent claims.

[0005] According to a first aspect of the invention, a bicycle comprises a handlebar connected to a steerable wheel via a handlebar fork, wherein the handlebar, the handlebar fork and the wheel are jointly pivotable about a steering axis, means for determining an actual steering angle of the steerable wheel and generating corresponding data, a steering damper with an actuator, wherein the steering damper is at least indirectly connected to the handlebar and / or the handlebar fork and generates a resistance torque as a function of a steering speed when the wheel is pivoted about the steering axis, wherein the actuator can be controlled to adjust a damping characteristic of the steering damper during operation of the bicycle, and a data processing unit which is connected to the means for determining the actual steering angle of the steerable wheel and to the actuator via signal transmission and is configured to evaluate data on the actual steering angle of the steerable wheel.to determine a threshold value for a steering angle of the steerable wheel and, during operation of the bicycle, to control the actuator to set a maximum damping of the steering damper when an amount of the actual steering angle exceeds the determined threshold value.

[0006] A steering damper according to the present invention is a semi-active steering damper. The steering damper generates damping in the physical sense, i.e., a force opposing a velocity or a torque opposing a rotational speed. Spring mechanisms that generate a force or torque opposing a deflection from a neutral position and are essentially independent of the steering speed are not steering dampers according to the present invention.

[0007] By means of the steering damper and its situationally adjustable damping characteristics, a mechanical end stop of the steering, i.e., a realizable range of movement of the steerable wheel between two end stops, can be simulated for the user while driving. The position of the simulated end stop can be adjusted while driving, for example, to prevent excessive steering angle at high speeds and thus reduce the risk of falling due to driver error or uneven road surfaces.

[0008] An indirect connection means that two components are either directly connected to each other, or that further elements are arranged between two components, so that an indirect connection between the two components takes place via further elements.

[0009] A user of the bicycle can manually pivot the handlebars and the wheel together around the steering axis using the handlebars to steer the bicycle. For example, several steerable wheels can also be arranged on the handlebars. Preferably, the bicycle comprises a drivetrain and at least two wheels, with at least one of the two wheels being steerable. For example, the bicycle includes the usual components of a muscle-powered bicycle. Optionally, the bicycle includes an electric motor designed as a drive unit, which is integrated into the bicycle's drivetrain to reduce the user's effort during propulsion or to increase their range, depending on the capacity of an associated energy storage device.

[0010] The steering damper is connected to the handlebars and / or fork in such a way that a steering movement, i.e., a pivoting of the wheel around the steering axis, acts against a resistance torque generated in the steering damper, which depends on the steering speed. The resistance torque is lower for low steering speeds than for high steering speeds. In particular, the resistance torque increases with increasing steering speed. The resistance is therefore dependent on the speed at which the handlebars are turned. This improves the steering characteristics, especially the stability of the bicycle's steering behavior, thereby increasing rider safety.

[0011] The steering damper actuator is an adjusting device used to modify the damping characteristics, particularly the maximum damping, of the steering damper, especially depending on the situation. The user does not require any tools to adjust the damping characteristics. The actuator allows adjustment of the damping characteristics while the bicycle is in operation, i.e., while the user is riding. The data processing unit can act as a control unit for the actuator, generating commands based on various parameters to adjust the damping characteristics, particularly the maximum damping. These commands control the actuator and thus adjust the damping characteristics of the steering damper.

[0012] For example, the actuator can switch between at least two damper positions and thus between at least two damping characteristics or two different damping levels. In particular, the actuator can set a multitude of damper positions on the steering damper. For example, the actuator is designed as an electric machine and optionally includes a gearbox that is arranged between the steering damper and the electric machine to provide the drive.

[0013] As a means of determining the steering angle of the steerable wheel, both devices or elements, in particular sensors, can be used that, in addition to the actual steering angle of the steerable wheel, also acquire further measurement data on the bicycle, in particular by sensing, as well as methods or algorithms that determine, in particular calculate, the steering angle of the steerable wheel from operating data of the bicycle or with the aid of additionally provided information. Thus, the invention includes the technical teaching that the determination of the steering angle of the steerable wheel can be directly sensed or indirectly calculated by the data processing unit from further information.

[0014] The means for determining the steering angle of the steerable wheel comprises, for example, at least one sensor element that detects the steering angle magnetically or optically and is arranged on the bicycle. Alternatively or additionally, the means for determining the steering angle of the steerable wheel can be based on a method that processes data from different sensors and thereby determines the steering angle of the steerable wheel, at least indirectly. The determined steering angle of the steerable wheel is used for comparison with the determined threshold value, and, if the magnitude of the actual steering angle exceeds the threshold value, it is used to control the actuator, which is connected to the data processing unit via signal transmission.

[0015] To compare the actual steering angle with the threshold value, the data processing unit accesses, for example, a data storage device containing at least one threshold value, and in particular a plurality of threshold values ​​for a steering angle of the steerable wheel. For example, the data storage device is integrated into the data processing unit. Alternatively or additionally, a data storage device on an external device, which is connected to the data processing unit via signal transmission, can be used.

[0016] Preferably, the threshold for the steering angle of the steerable wheel is constant. Alternatively, the threshold for the steering angle of the steerable wheel depends on the bicycle's speed. Furthermore, preferably, the threshold for the steering angle of the steerable wheel is higher at low speeds than at higher speeds. In this sense, the threshold for the steering angle of the steerable wheel decreases as the bicycle's speed increases. Linking the bicycle's speed to the steering angle of the steerable wheel significantly increases user safety. The bicycle's speed can be directly sensed or indirectly calculated by the data processing unit from other information.

[0017] The data processing unit functions as a control unit or control device and is designed to evaluate data and, based on this data, generate signals for controlling the actuator and adjusting the damping characteristics of the steering damper. In particular, the data processing unit has a signal interface for a signal transmission connection. For example, the signal transmission connection can be wired, wireless, or optical. A signal transmission connection is a communication link in which data, especially measurement data, and / or information are transmitted as a signal from a sender to a receiver. The signals can be, for example, switching, control, data transmission, or command signals. The data processing unit can, for example, be a group of control units or control devices.For example, one of the control units can be part of a drive motor, a gearbox, or another component of the bicycle. The data processing unit can be located on the handlebars, in the gearbox area, in the drive motor area, or at another location on the bicycle, such as the frame. Alternatively, the data processing unit can be located outside the bicycle.

[0018] A signal interface is a connection for exchanging data and signals between various components of the bicycle and other devices outside the bicycle. Each signal interface enables at least two components or units to communicate with each other. The signal interface is integrated into or an integral part of the respective component and serves to receive and transmit signals. For example, the actuator has a signal interface that is connected to a signal interface on the data processing unit. Similarly, an external device located near the bicycle has a signal interface that is connected to a signal interface on the data processing unit.The data processing unit may have additional signal interfaces to communicate with other devices, such as sensors for determining the current steering angle, or other means for acquiring driving-related data, whereby this data can be used to determine the threshold for the steering angle. In particular, the data processing unit receives data and information concerning the bicycle and / or its surroundings at the signal interface from connected sensors, devices, and / or equipment.

[0019] The data processing unit is designed to receive and evaluate data to determine the current steering angle of the steerable wheel and to compare this data to a separately determined or specified threshold value for a steering angle. If the comparison shows that the actual steering angle is below the determined or specified threshold value, the damping is not adjusted by the actuator. However, if the comparison shows that the actual steering angle is above the determined or specified threshold value, the actuator is activated to adjust the damping of the steering damper.

[0020] The actuator is therefore operated according to the data processing unit, whereby data is first processed, in particular evaluated, in the data processing unit before commands are transmitted to the actuator. The data processing unit can be located on the bicycle, on a component of the bicycle, or on an external device in the vicinity of the bicycle. For example, the data processing unit can be integrated into a device together with at least one control element, so that the actuator can be operated, in particular manually or automatically. In particular, the current setting of the actuator can be displayed on a screen on the handlebars of the bicycle or on an external device.

[0021] The data processing unit can contain methods or algorithms that generate control commands from the bicycle's operating data or, with the aid of additional information about the bicycle's environment, according to the data processing unit's specifications. Thus, the invention includes the technical teaching that the actuator for adjusting the maximum damping is automatically controlled by the data processing unit, in particular event-driven.

[0022] According to one embodiment, the steering damper comprises a rheological fluid, wherein the actuator is configured to adjust the viscosity of the rheological fluid. For example, the fluid is an electrorheological or magnetorheological fluid, and the actuator changes the viscosity, and thus the flow properties, of the rheological fluid without physical contact by altering an electric or magnetic field strength. Preferably, the viscosity of the rheological fluid can be changed only locally at specific points, for example, at a constriction between two chambers. Alternatively, it is conceivable that the viscosity of the entire rheological fluid is changed by the actuator. Compared to an actuator with an electromagnetically actuated valve, the rheological fluid offers the advantage that no moving parts are required to adjust the damping characteristics of the steering damper.Furthermore, a high level of control accuracy and dynamics can be achieved in adjusting the damping characteristics of the steering damper.

[0023] According to one embodiment, the steering damper comprises at least two fluidically connected chambers and a fluid, wherein the fluid is displaceable between the chambers and the actuator is configured to adjust the flow rate of the fluid between the chambers. For example, the actuator changes an effective flow cross-section provided for the flow of the fluid between the chambers and thereby increases or decreases the flow resistance of the fluid between the chambers in order to adjust the damping characteristics of the steering damper. Preferably, the actuator is electromagnetically driven and includes an adjustable, for example, a switchable, valve.

[0024] According to a second aspect of the invention, a bicycle comprises a handlebar connected to a steerable wheel via a handlebar fork, wherein the handlebar, the handlebar fork, and the wheel are jointly pivotable about a steering axis, means for determining the actual steering angle of the steerable wheel and generating corresponding data, a servo actuator that is at least indirectly connected to the handlebar and / or the handlebar fork and generates a resistance torque in a direction opposite to the wheel's deflection when the wheel is pivoted about the steering axis, and a data processing unit that is signal-transmitting to the means for determining the actual steering angle of the steerable wheel and to the servo actuator and is configured to evaluate data on the actual steering angle of the steerable wheel, determine a threshold value for a steering angle of the steerable wheel, and, during operation of the bicycle, control the servo actuator such that itIf the actual steering angle exceeds the determined threshold, a torque is generated that counteracts exceeding the threshold.

[0025] The servo actuator is designed to apply a torque in the opposite direction to the steering movement or the rotation of the steerable wheel, simulating a mechanical steering end stop, i.e., a achievable range of motion for the steerable wheel between two end stops. The position of the end stop, or the achievable angular range, can be adjusted while driving, for example, to prevent excessive steering angles at high speeds and thus reduce the risk of falling due to driver error or uneven road surfaces.

[0026] The servo actuator acts as an adjustment device, actively setting torque within predefined end stops. By generating torque at a specific rotational position of the steerable wheel relative to the bicycle frame, exceeding the threshold value, i.e., an excessively large steering angle, can be prevented. Alternatively or additionally, it can counteract a steering angle that has become excessively large due to an increase in speed. The generated torque is a resistance perceptible to the user, which is perceived as an end stop. Thus, a kind of "force feedback" mechanism is provided to simulate a steering stop.The data processing unit can act as a control unit for the servo actuator, generating commands based on various parameters to create a restoring torque. This torque prompts the user to reduce the steering angle, for example, to prevent dangerously large steering angles. The commands from the data processing unit control the servo actuator.

[0027] Furthermore, reference should be made to the above statements regarding the first aspect of the invention, which are applicable analogously to the second aspect of the invention.

[0028] The following statements concerning the bicycle according to the invention are applicable analogously to both the first and second aspects of the invention.

[0029] According to one embodiment, the bicycle further comprises a control element that is connected to the steering damper actuator or the servo actuator via signal transmission. The user can control the steering damper actuator or the servo actuator manually and make selections via this control element. In particular, the control element is located on the bicycle, for example on the handlebars, or on another device, especially on the display of an on-board computer, or on an external device in the vicinity of the bicycle. The device in the vicinity of the bicycle can be a smartphone, smartwatch, or smart ring and can be located in clothing or on the user themselves. Alternatively or additionally, the control element is designed as a touch-sensitive area on a control device.For example, at least one other device on the bicycle, such as a drive motor or a gearbox, can also be controlled via the at least one control element. An input command can be generated by means of the control element, with which, according to the first aspect of the invention, a maximum damping or, according to the second aspect of the invention, a torque that counteracts an exceedance of the threshold value can be set to the maximum extent.

[0030] According to one embodiment, the bicycle further comprises a data storage device for saving and retrieving data from the data processing unit. In particular, the data processing unit has a data storage device for saving and retrieving data. User settings, for example, can be permanently stored in user profiles on the data storage device. Thus, different users can save and retrieve different user settings, so that the optimal damping characteristics of the steering damper can be quickly and conveniently set by the actuator for each user at the start of a ride. For example, the active user can be selected using a control element. Furthermore, predefined threshold values ​​for a steering angle, for example, depending on the bicycle's speed, can be stored on the data storage device.Furthermore, a setting history of the maximum damping with regard to the first aspect of the invention or of the set torques with regard to the second aspect of the invention can be stored on the data storage device and made available for retrieval.

[0031] According to one embodiment, the bicycle further comprises a display device, wherein the display device is configured to output optical, acoustic, and / or haptic signals to a user, as specified by the data processing unit, relating to the determined actual steering angle, a determined threshold value, and / or a comparison result of the determined actual steering angle with the determined threshold value. The data processing unit generates the signals for controlling the display device. For example, the display device is arranged on the handlebars of the bicycle and emits optical, haptic, and / or acoustic signals to indicate to the user a steering angle that poses a safety risk.Alternatively or additionally, the display device includes vibration-generating means, which may be arranged in the drivetrain, particularly on the pedals, handlebars, or saddle of the bicycle, to signal a steering input that poses a safety risk by means of vibrations. For example, the display device is designed as a display and is part of an on-board computer of the bicycle. Alternatively, the display device is designed as a display and is part of an external device, in particular an external computing unit, a smartwatch, a smart ring, or a smartphone.

[0032] A third aspect of the invention provides a method for operating the bicycle according to the first aspect of the invention, i.e., a bicycle comprising a handlebar connected to a steerable wheel via a handlebar fork, wherein the handlebar, the handlebar fork, and the wheel are jointly pivotable about a steering axis, means for determining an actual steering angle of the steerable wheel and generating corresponding data, a steering damper with an actuator, wherein the steering damper is at least indirectly connected to the handlebar and / or the handlebar fork and generates a resistance torque as a function of a steering speed when the wheel is pivoted about the steering axis, wherein the actuator can be controlled to adjust a damping characteristic of the steering damper during operation of the bicycle, and a data processing unit.The signal is transmitted to the means for determining the actual steering angle of the steerable wheel and to the actuator. The data processing unit evaluates the data on the actual steering angle of the steerable wheel, determines a threshold value for a steering angle of the steerable wheel, and, during operation of the bicycle, controls the actuator to set maximum damping of the steering damper if the actual steering angle exceeds the determined threshold value. The threshold value can be a steering angle that should not be exceeded to avoid dangerous situations.

[0033] The actuator adjusts the damping characteristics or sets the maximum damping of the steering damper when the data processing unit detects that the actual steering angle exceeds a predefined threshold. The actuator is preferably actuated automatically by the data processing unit. Thus, the data processing unit initiates the adjustment of the damping characteristics or the setting of the maximum damping of the steering damper.

[0034] Preferably, the data processing unit adjusts the damping characteristics of the steering damper, or sets its maximum damping, depending on determined state variables of the bicycle and / or the bicycle's environment. The user can change the determined threshold value or modify parameters used to determine the threshold value via user input. For further details, please refer to the explanations regarding the first aspect of the invention.

[0035] A fourth aspect of the invention provides a method for operating the bicycle according to the second aspect of the invention, i.e., a bicycle comprising a handlebar connected to a steerable wheel via a handlebar fork, wherein the handlebar, the handlebar fork, and the wheel are jointly pivotable about a steering axis, means for determining the actual steering angle of the steerable wheel and generating corresponding data, a servo actuator connected at least indirectly to the handlebar and / or the handlebar fork and generating a resistance torque in a direction opposite to the rotation of the wheel when the wheel is pivoted about the steering axis, and a data processing unit connected by signal transmission to the means for determining the actual steering angle of the steerable wheel and to the servo actuator, wherein the data processing unit evaluates the data on the actual steering angle of the steerable wheel.a threshold value for a steering angle of the steerable wheel is determined, and during operation of the bicycle, the servo actuator is controlled in such a way that, if the actual steering angle exceeds the determined threshold value, it generates a torque that counteracts exceeding the threshold value.

[0036] Thus, a torque is generated by means of the servo actuator, which counteracts an exceedance of the determined threshold value when the magnitude of the determined actual steering angle exceeds the threshold value. The servo actuator is preferably actuated automatically by the data processing unit. The data processing unit therefore initializes the control of the servo actuator. Preferably, the data processing unit controls the servo actuator depending on determined state variables of the bicycle and / or the bicycle's environment. The user can change the determined threshold value or modify parameters for determining the threshold value via user input. For further details, please refer to the explanations regarding the second aspect of the invention.

[0037] The above definitions and descriptions of technical effects, advantages and advantageous embodiments of the bicycle according to the first aspect of the invention also apply mutatis mutandis to the bicycle according to the second aspect of the invention, the method for operating the bicycle according to the third aspect of the invention and the method for operating the bicycle according to the fourth aspect of the invention, and vice versa.

[0038] In the following, exemplary embodiments of the invention are explained in more detail with reference to the drawings, wherein identical or similar elements are provided with the same reference numeral. Here, Fig. 1 a highly simplified schematic representation of a bicycle according to the invention in a first embodiment, Fig. 2 a highly simplified schematic representation of a bicycle according to the invention in a second embodiment, and Fig. 3 a block diagram to illustrate a method according to the invention for operating the bicycle according to Fig. 1 or Fig. 2.

[0039] In Fig. Figure 1 shows a highly simplified representation of a bicycle 50 according to the invention. The bicycle 50 has a frame 54 on which a steerable wheel 51, designed as a front wheel, a wheel 52, designed as a drive wheel or rear wheel, a handlebar 1 pivotably mounted on the frame 54 with handlebar grips attached to it, on which the user can support and hold on while riding, and a saddle 56 are arranged. The handlebar 1 is connected to the steerable wheel 51 via a handlebar fork 2, wherein the handlebar 1, the handlebar fork 2, and the wheel 51 are jointly pivotable about a steering axis 3. The wheel 51 is rotatably mounted on the handlebar fork 2.

[0040] Furthermore, the bicycle 50 has a drive device designed to propel the bicycle 50, at least with the muscle power of a user (not shown here). For this purpose, the user sits, for example, on the saddle 56 while riding and applies drive power to the drive train of the bicycle 50 via pedals 57, which are connected to a crank shaft 58 of the drive device via crank arms. The drive device also includes an electric motor 55, which is arranged as a mid-drive motor in the area of ​​the crank shaft 58 and can itself also introduce drive power into the drive train of the bicycle 50 to assist the user while riding. Thus, the bicycle 50 is designed as an e-bike. Alternatively, the drive motor 55 can be omitted, in which case the bicycle 50 would be a conventional bicycle 50 without drive assistance.In this case, the drive power is transmitted to the drive wheel via a traction drive 53 with two gear rings and a chain.

[0041] The bicycle 50 further comprises means for determining the actual steering angle of the steerable wheel 51 and generating corresponding data. In this case, the means for determining the steering angle of the steerable wheel 51 is part of a sensor system 11, which, in addition to the steering angle of the steerable wheel 51, also records or can record other measurement data on the bicycle 50. In particular, the sensor system 11 also includes means for recording the speed of the bicycle 50. For example, the steering angle of the steerable wheel 51 can be determined directly by sensing or indirectly by calculating it from other information.

[0042] Furthermore, the bicycle 50 includes a steering damper 4 with an integrated actuator 5. The steering damper 4 is connected to the handlebar fork 2 and generates a resistance torque when the wheel 51 pivots about the steering axis 3, depending on the steering speed. The greater the steering speed, the greater the resistance torque of the steering damper 4. The damping characteristics of the steering damper 4 can be adjusted via the actuator 5 to suit the respective riding conditions and, if necessary, to a user.

[0043] The steering damper 4 comprises two fluidically connected chambers and a fluid that is displaceable between the chambers. The actuator 5 is configured to adjust the flow rate of the fluid between the chambers. For example, the fluid is a rheological fluid, and the actuator 5 is configured to adjust the viscosity of the rheological fluid to change the flow rate of the fluid between the chambers. Alternatively, the actuator 5 can be electromagnetically driven and include a valve with a mechanically variable cross-section.

[0044] The bicycle 50 also includes a data processing unit 7, which is connected by signal transmission to the means for determining the actual steering angle of the steerable wheel 51 and to the actuator 5. The data processing unit 7 is configured to evaluate data on the actual steering angle of the steerable wheel 51 from the means for determining the actual steering angle of the steerable wheel 51 or from the sensor 11, which corresponds to a process step 100 of a method according to the invention for operating the bicycle 50. Fig. 3 corresponds to, as well as to determine a threshold value for a steering angle of the steerable wheel 51, which corresponds to a subsequent process step 200 according to Fig. 3 corresponds to. The threshold value for the steering angle of the steerable wheel 51 can be constant. Alternatively, the threshold value for the steering angle of the steerable wheel 51 can depend on the bicycle's speed. Preferably, the threshold value for the steering angle of the steerable wheel 51 decreases with increasing bicycle speed. In other words, the threshold value is determined as a function of the speed. Subsequently, in a process step 300, the actual steering angle is compared with the threshold value, and if an amount of the actual steering angle exceeds the determined threshold value, the actuator 5 is controlled in a process step 400 during operation of the bicycle 50 to set a maximum damping of the steering damper 4.In other words, with regard to a driving situation of the bicycle 50, in particular with regard to the driving speed of the bicycle 50, an adjustment of the damping characteristics of the steering damper 4 takes place.

[0045] When actuator 5 is activated, a control signal is transmitted to the actuator 5 to change the fluid flow rate between the chambers. Adjusting the damping characteristic is very user-friendly, as no tools are required and the adjustment can be made directly and automatically, even while driving, without distracting the user.

[0046] A control element 6 is also arranged on the handlebar 1 and connected to the actuator 5 of the steering damper 4 via signal transmission. The control element 6 enhances riding safety, as the user can adapt the handling characteristics of the bicycle 50 to the riding situation. For example, the user can change a predefined or determined threshold value. Alternatively or additionally, the user can change parameters for determining the threshold value using the control element 6. Furthermore, the user can manually set a threshold value using the control element 6. Specifically, the control element 6 is designed as a mechanical knob, button, or touchscreen.

[0047] The bicycle 50 also includes a data storage device 8 for storing and retrieving data from the data processing unit 7. A threshold value can be stored on the data storage device 8 and made available for retrieval. Previously determined threshold values ​​can also be stored on the data storage device 8, for example, to enable training or optimization of the system with regard to the user. The data storage device 8 is integrated into the data processing unit 7.

[0048] The bicycle 50 also includes a display device 10, which is configured to output optical, acoustic, and / or haptic signals to a user, in accordance with the data processing unit 7, relating to the determined actual steering angle, a determined threshold value, and / or a comparison result of the determined actual steering angle with the determined threshold value. The display device 10 may include a display and / or loudspeaker and / or vibration units to output a signal to the user corresponding to the type of output, in particular a warning signal. It is conceivable that the display device 10 is designed with the control element 6 as a common and separately operable unit.

[0049] Regarding the second embodiment according to Fig. 2 will, to avoid repetition, only refer to differences from the first embodiment according to Fig. 1 received.

[0050] After Fig. In Figure 2, the bicycle 50 has a servo actuator 9 instead of the steering damper 4. The servo actuator 9 is connected to the steering fork 2 and, when the steerable wheel 51 pivots about the steering axis 3, generates a resistance torque in the opposite direction to the rotation of the wheel 51. The servo actuator 9 is an electric machine that, when actuated, generates a resistance torque at the steering fork 2 that is perceptible to the user and simulates a steering stop for both directions of rotation of the wheel 51. The higher the speed, the smaller the achievable rotation range of the wheel 51, and vice versa.

[0051] The data processing unit 7 is connected by signal transmission to the means for determining the actual steering angle of the steerable wheel 51 and to the servo actuator 9. The data processing unit 7 is configured to evaluate data on the actual steering angle of the steerable wheel 51 from the means for determining the actual steering angle of the steerable wheel 51 or from the sensor 11, which corresponds to a process step 100 of a method according to the invention for operating the bicycle 50. Fig. 3 corresponds analogously, as well as determining a threshold value for a steering angle of the steerable wheel 51, which corresponds to a subsequent process step 200 according to Fig. 3 corresponds analogously. The threshold value defines the achievable swivel range of the steerable wheel 51 or the handlebar 1.

[0052] The threshold value for the steering angle of the steerable wheel 51 can be constant. Alternatively, the threshold value for the steering angle of the steerable wheel 51 can depend on the bicycle's speed. Preferably, the threshold value for the steering angle of the steerable wheel 51 decreases with increasing bicycle speed. In other words, the threshold value is determined as a function of the bicycle speed. Subsequently, in a process step 300, the actual steering angle is compared with the threshold value, and if an amount of the actual steering angle exceeds the determined threshold value, the bicycle 50 is adjusted in a process step 400. Fig. 3 analogously the servo actuator 9 is controlled to generate a torque, thus counteracting an exceedance of the threshold value in the further operation of the bicycle 50.

[0053] Regarding the control element 6 and the data storage device 8, reference is made to the above descriptions of the first embodiment, which are applicable analogously to the servo actuator 9. In the present case, however, the display device 10 is designed as an external device, for example in the form of a smartwatch, a smart ring, or a smartphone, which is connected to the data processing unit 7 via an app. It is also conceivable to integrate the data storage device 8 into the display device 10. Reference sign 1 handlebar 2 handlebar fork 3 Steering axle 4 steering dampers 5 Actuator 6 Control element 7 Data processing unit 8 Data storage 9 servo actuator 10 Display device 11 Sensors 50 bicycle 51 steerable wheel 52 wheel 53 Traction drive 54 frames 55 Drive machine 56 saddle 57 pedals 58 Crankshaft 100 First procedural step 200 Second procedural step 300 Third procedural step 400 Fourth process step QUOTES INCLUDED IN THE DESCRIPTION

[0000] This list of documents cited by the applicant was automatically generated and is included solely for the reader's convenience. The list is not part of the German patent or utility model application. The DPMA accepts no liability for any errors or omissions. Cited patent literature

[0000] DE 10 2016 225 489 A1

[0003]

Claims

[1] bicycle (50) • a handlebar (1) connected via a handlebar fork (2) to a steerable wheel (51), wherein the handlebar (1), the handlebar fork (2) and the wheel (51) are jointly pivotable about a steering axis (3), • Means for determining an actual steering angle of the steerable wheel (51) and generating corresponding data, • a steering damper (4) with an actuator (5), wherein the steering damper (4) is at least indirectly connected to the handlebar (1) and / or the handlebar fork (2) and generates a resistance moment as a function of a steering speed when the wheel (51) pivots about the steering axis (3), wherein the actuator (5) can be controlled to adjust a damping characteristic of the steering damper (4) during operation of the bicycle (50), and • a data processing unit (7) which is connected by signal transmission to the means for determining the actual steering angle of the steerable wheel (51) and to the actuator (5) and is designed to evaluate data on the actual steering angle of the steerable wheel (51), to determine a threshold value for a steering angle of the steerable wheel (51) and, in the operation of the bicycle (50), to control the actuator (5) to set a maximum damping of the steering damper (4) when an amount of the actual steering angle exceeds the determined threshold value. [2] Bicycle (50) according to claim 1, wherein the steering damper (4) comprises a rheological fluid, wherein the actuator (5) is configured to adjust a viscosity of the rheological fluid. [3] bicycle (50) • a handlebar (1) connected via a handlebar fork (2) to a steerable wheel (51), wherein the handlebar (1), the handlebar fork (2) and the wheel (51) are jointly pivotable about a steering axis (3), • Means for determining an actual steering angle of the steerable wheel (51) and generating corresponding data, • a servo actuator (9) which is at least indirectly connected to the handlebar (1) and / or the handlebar fork (2) and which, when the wheel (51) is pivoted about the steering axis (3), generates a resistance torque in a direction opposite to the rotational movement of the wheel (51), and • a data processing unit (7) which is connected by signal transmission to the means for determining the actual steering angle of the steerable wheel (51) and to the servo actuator (9) and is designed to evaluate data on the actual steering angle of the steerable wheel (51), to determine a threshold value for a steering angle of the steerable wheel (51) and, in operation of the bicycle (50), to control the servo actuator (9) in such a way that, if an amount of the actual steering angle exceeds the determined threshold value, it generates a torque which counteracts an exceedance of the threshold value. [4] Bicycle (50) according to one of the preceding claims, further comprising a control element (6) which is connected to the actuator (5) of the steering damper (4) or the servo actuator (9) in a signal-transmitting manner. [5] Bicycle (50) according to one of the preceding claims, further comprising a data storage device (8) for storing and retrieving data from the data processing unit (7). [6] Bicycle (50) according to one of the preceding claims, further comprising a display device (10), wherein the display device (10) is configured to output optical, acoustic and / or haptic signals relating to the determined actual steering angle, a determined threshold value and / or a comparison result of the comparison of the determined actual steering angle with the determined threshold value to a user in accordance with the data processing unit (7). [7] Method for operating a bicycle (50) according to one of claims 1, 2 or 4 to 6, wherein the data processing unit (7) evaluates the data on the actual steering angle of the steerable wheel (51), determines a threshold value for a steering angle of the steerable wheel (51) and, during operation of the bicycle (50), controls the actuator (5) to adjust a maximum damping of the steering damper (4) when an amount of the actual steering angle exceeds the determined threshold value. [8] Method for operating a bicycle (50) according to one of claims 3 to 6, wherein the data processing unit (7) evaluates the data on the actual steering angle of the steerable wheel (51), determines a threshold value for a steering angle of the steerable wheel (51) and, during operation of the bicycle (50), controls the servo actuator (9) such that, if an amount of the actual steering angle exceeds the determined threshold value, it generates a torque which counteracts an exceedance of the threshold value. [9] Method according to claim 7 or claim 8, wherein the threshold for the steering angle of the steerable wheel (51) is constant. [10] Method according to claim 7 or claim 8, wherein the threshold for the steering angle of the steerable wheel (51) depends on the speed of the bicycle. [11] Method according to claim 10, wherein the threshold value for the steering angle of the steerable wheel (51) decreases with increasing speed of the bicycle.

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