Vehicle and procedures for controlling a vehicle

Abstract

The invention relates to a vehicle (100) and a method for controlling a vehicle (100) with a steering damper (4) comprising the following method steps: • Detecting the direction of travel of the vehicle (100), • Acquiring and evaluating signal data on the nature of a subsurface in the direction of travel of the vehicle (100), • Increasing the resistance torque of the steering damper (4) when at least one threshold value for the condition of the ground in the direction of travel of the vehicle (100) is reached, • Resetting the resistance torque of the steering damper (4) after crossing.

Description

[0001] The invention relates to a vehicle, in particular a micromobility vehicle, and a method for controlling the vehicle. The term "micromobility vehicle" refers to small, lightweight vehicles typically used for short distances and speeds below 50 km / h, particularly up to 25 km / h. For example, a micromobility vehicle is powered by a user and / or an electric motor. Examples of micromobility vehicles include bicycles, in particular electric bicycles, pedelecs or e-bikes, and electric scooters.

[0002] The term "bicycle" therefore encompasses not only a classic, purely muscle-powered bicycle without a motor, but also a bicycle with a motor. In particular, the term "bicycle" also includes cargo bikes with multiple wheels, especially those with three or four wheels. With e-bikes, the rider's power output is typically assisted by the electric motor according to the rider's input and the torque applied by the rider. Thus, the drive motor generates auxiliary power to support the rider. The electric motor can be a mid-drive motor located near the crank arm or a wheel drive directly on the respective drive wheel.

[0003] An electric scooter is a motorized two-wheeler that the user can use for locomotion while standing or sitting. Specifically, in an electric scooter, the drive motor is not intended as an auxiliary power source to assist the user, but rather as the primary power source for generating propulsion.

[0004] 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 on the stem, 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 abruptly by a bolt, which is actuated by a spring mechanism or an actuator to reduce the risk of injury to a user in a dangerous riding situation.

[0005] The object of the present invention is to create a comfortable and safe vehicle. This object is achieved by the independent claims. Embodiments are the subject of the dependent claims.

[0006] A first aspect of the invention relates to a vehicle with at least one steerable wheel comprising a handlebar connected to the steerable wheel via a steering fork, wherein the handlebar, the steering fork and the steerable wheel are jointly pivotable about a steering axis, a steering damper with an actuator, wherein the steering damper is at least indirectly connected to the handlebar and / or the steering fork and generates a resistance torque as a function of a steering speed when the wheel is pivoted about the steering axis, means for detecting the condition of the ground in the direction of travel of the vehicle and generating corresponding signal data, a data processing unit which is connected to the means for detecting the condition of the ground and the actuator in a signal-transmitting manner and is configured toThe system evaluates signal data regarding the condition of the ground in the vehicle's direction of travel and increases the resistance torque of the steering damper by controlling the actuator when at least one threshold value for the ground condition in the vehicle's direction of travel is reached. This is intended to reduce or prevent the ground condition from causing the steerable wheel to turn when the vehicle drives over it. A turning of the steerable wheel represents a dangerous situation, reduces user comfort and safety, and can lead to the user falling. If the vehicle does not have a drive motor with an energy storage device, an electrical energy storage device is provided at least for the operation of the actuator, the ground condition detection equipment, and the data processing unit.

[0007] The nature of the ground refers in particular to its topography and, for example, its associated firmness. For instance, the ground may be a paved road, especially one made of asphalt or cobblestones. It may also be an unpaved gravel track or a muddy path. Other examples include a dirt road or a meadow. The ground may be covered with snow or ice. It may be level. However, it may be uneven and contain obstacles such as depressions or ridges that could cause the steerable wheel to spin out of control upon collision. Finally, the ground may have a curb.The road surface in the vehicle's direction of travel also includes an area immediately adjacent to the direction of travel, which is traversable depending on the current speed and steering angle. This enables anticipatory driving. The condition of the road surface can be determined from the sum of depressions and elevations that pose a high probability of collision. In particular, a measure of the surface roughness can be determined. For example, an anomaly in an otherwise level, especially smooth, surface can be defined as a deviation from the mean value of the surface condition.

[0008] For example, classes can be defined for the roughness of the surface in conjunction with a specific size of the steerable wheel. If obstacles or a rough surface are detected in the direction of travel, i.e., on the trajectory, the actuator is controlled accordingly, and the resistance torque of the steering damper is increased. The smaller the steerable wheel, the more susceptible it is to unintentionally turning in a collision. The rougher the surface, the higher the resistance torque of the steering damper can be set.

[0009] A steering damper is a device that 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 considered steering dampers.

[0010] 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.

[0011] A user of the vehicle can steer the vehicle by pivoting the handlebars and the wheel together around the steering axis using the handlebars. For example, multiple steerable wheels can be mounted on the handlebars. The steering damper is connected to the handlebars and / or the handlebars in such a way that a steering movement, i.e., a pivoting of the wheel around the steering axis, acts against the 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. This improves the steering characteristics, especially the stability of the vehicle's steering behavior, thereby increasing safety and comfort for the user.

[0012] Preferably, the vehicle comprises a drivetrain and at least two wheels, wherein at least one of the two wheels is steerable. For example, the vehicle is designed as a bicycle and includes the usual components of a human-powered bicycle. Optionally, the bicycle includes a drive motor designed as an electric machine, 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. For example, the vehicle is designed as an electric scooter with two wheels and a drive motor. In the case of a bicycle, the drive motor is designed to generate auxiliary drive power, and in the case of an electric scooter, the drive motor is designed to generate propulsion power.

[0013] The actuator is an adjusting device used to modify the damping characteristics of the steering damper. Therefore, the user does not need any tools to adjust the damping characteristics. The actuator allows for adjustment of the damping characteristics while the vehicle is in operation, i.e., while the user is driving. To adjust the damping characteristics, the actuator is controlled by the data processing unit via a control command. These control commands from the data processing unit thus serve to control the actuator and adjust the damping characteristics of the steering damper.

[0014] The means for detecting the surface properties can be designed as a device or element, for example, as a sensor device or sensor. For instance, the surface properties in the direction of travel can be determined by optical sensors and / or a camera and / or environmental sensors such as radar and lidar sensors. Furthermore, the surface properties can be detected using methods or algorithms derived from the bicycle's operating data or with the aid of additional information provided by external devices that are connected to the data processing unit via signal transmission. For example, a smartphone can be used to detect the surface properties in the direction of travel. Navigation map data can also be used to detect the surface properties in the direction of travel.For example, navigation map data can be stored on a data storage device of the data processing unit, a server, or in a cloud. This allows the nature of the terrain to be directly sensed or indirectly determined by the data processing unit from other information.

[0015] The data processing unit functions as a control unit and is designed to detect, at least indirectly, the condition of the surface surrounding the bicycle. During the ride, the data processing unit processes signal data provided by sensors that detect the surface conditions around the bicycle. From this signal data, the surface conditions in the direction of travel are evaluated and classified. Specifically, a value for the surface conditions in the direction of travel is determined. This value can indicate a measure of the roughness or a probability of a collision with an obstacle; the higher the value, the greater the probability that the steerable wheel will turn when the bicycle passes over the obstacle.When the value reaches at least a threshold for the condition of the road surface in the vehicle's direction of travel, the actuator receives a command and increases the resistance torque of the steering damper. This improves not only comfort but also safety for the user. The resistance torque of the steering damper is automatically adjusted by the data processing unit to the condition of the road surface in the vehicle's direction of travel. For example, when certain obstacles in the vehicle's direction of travel are detected, particularly a curb, a maximum resistance torque of the steering damper can be set via the actuator.

[0016] In particular, the data processing unit and the signal-transmitting means and devices connected to it have signal interfaces for a signal-transmitting connection. A signal interface is a connection for exchanging data and signals between different components of the vehicle. The respective signal interface enables at least two components to communicate with each other. The respective signal interface is integrated into or an integral part of the respective component and serves to receive and transmit signals. For example, the signal-transmitting connection can be wired, wireless, or optical. A signal-transmitting connection is a communicating connection 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.For example, the data processing unit can be a group of control units or control devices. For example, one of the control devices can be part of a vehicle component. The data processing unit can be located on the vehicle, particularly on the handlebars, in the area of ​​the drive motor, or at another location on the vehicle, preferably on a frame. For example, the means for detecting the condition of the ground has a signal interface that is connected to a signal interface on the data processing unit. For example, the actuator of the steering damper has a signal interface that is connected to a signal interface on the data processing unit.

[0017] According to one embodiment, the vehicle further comprises means for detecting the vehicle's speed, wherein the means is connected to the data processing unit via signal transmission. The means for detecting the vehicle's speed can be configured as a device or element, for example, as a sensor device or sensor. For example, the means for detecting the vehicle's speed comprises a magnet attached to the wheel and a sensor mounted on the frame or the handlebar fork, wherein the speed can be calculated based on the number of signals per unit of time and the wheel circumference. For example, the means for detecting the vehicle's speed comprises a GPS module, wherein a speed can be determined from the position measurements taken at regular time intervals.Furthermore, the vehicle's speed can be determined using methods or algorithms based on the vehicle's operating data or with the help of additionally provided information. Thus, the vehicle's speed can be directly sensed or indirectly determined by the data processing unit from further information.

[0018] According to one embodiment, the vehicle further comprises at least one camera that is connected to the data processing unit for signal transmission. In particular, the at least one camera is part of the means for detecting the nature of the surface. For example, the at least one camera is arranged on the handlebars or on the frame of the vehicle.

[0019] According to one embodiment, the vehicle further comprises a sensor device that is connected to the data processing unit for signal transmission. In particular, the sensor device is part of the means for detecting the nature of the ground. For example, the sensor device includes environmental sensors such as radar and lidar sensors.

[0020] According to one embodiment, the vehicle further comprises at least one acceleration sensor and / or one air pressure sensor, which is connected to the data processing unit for signal transmission. Preferably, the at least one acceleration sensor and / or the air pressure sensor is arranged on the steerable wheel and is provided for the plausibility of the signal data from the means for detecting the condition of the ground. Furthermore, this can also improve environmental perception, in particular enabling the identification and classification of collisions. For example, the condition of the currently driven-over surface or a collision of the steerable wheel can be determined by acceleration sensors that detect vertical acceleration. For example, the condition of the currently driven-over surface or a collision of the steerable wheel can be determined by an air pressure sensor that detects the air pressure in the steerable wheel.A sudden increase in air pressure triggers a collision of the steerable wheel, for example with a bump. A sudden drop in air pressure triggers a free flight of the steerable wheel, for example due to a depression.

[0021] According to one embodiment, the vehicle includes an inertial measurement unit (IMU) that uses a combination of different sensors to sensing the vehicle's motion parameters. For example, the IMU includes accelerometers for sensing linear accelerations of the vehicle along the three spatial axes, gyroscopes for sensing angular velocities about the three spatial axes, and optionally magnetometers for sensing the Earth's magnetic field.

[0022] According to one embodiment, the vehicle further comprises user input means, wherein the means are connected to the data processing unit via signal transmission. The user input means are provided for user input and thus constitute a communication interface between the user and the data processing unit. For example, the user input means comprises at least one control element that is connected to the data processing unit via signal transmission. The user can influence the functions of the data processing unit, in particular the calculation of the actuation command for the resistance torque of the steering damper, via the control element. For example, threshold values ​​can be set or changed via the control element. The system can also be activated and deactivated via the control element.For example, the user can specify that a certain resistance torque is applied to the steering damper when a curb or similar obstacle is detected. The control element is located on the vehicle, for example on the handlebars, or on another device, particularly on a display of an on-board computer, or on an external device in the vicinity of the vehicle. The device in the vicinity of the vehicle can be a smartphone. Alternatively or additionally, the control element is designed as a touch-sensitive area on a control unit. For example, at least one other device on the vehicle, such as a drive motor or a transmission, can also be controlled via the control element. The data processing unit is configured to receive, evaluate, and further process values ​​from the control element.

[0023] According to one embodiment, the vehicle further comprises means for acquiring the vehicle's position on a navigation map and a data storage device for saving and retrieving data on the terrain. This enables predictive driving. The vehicle's position is its current location. In particular, the navigation map is electronic and designed for the digital display of the vehicle's position, for recording the route traveled, and for navigation to a destination. For example, the vehicle's position can be acquired using satellite support, especially a GPS system. The means for acquiring the vehicle's position on a navigation map can be designed as a device or element, for example, as a sensor device or sensor. For example, the vehicle's position can be determined by a GPS module.The GPS module is an electronic component that receives signals from GPS satellites to determine the vehicle's precise position. The GPS module is primarily used for route tracking on a navigation map. It can receive and interpret signals from a network of satellites to achieve highly accurate location determination and / or route mapping. A typical GPS module consists of a receiver specifically designed to receive GPS signals, as well as a series of sensors and chips that process the received signals and derive position data. The GPS module is an electronic device or software application that receives and processes GPS signals to provide information about the vehicle's location. For example, map data stored on a server or in the cloud can be used to display the vehicle's position on a navigation map.This allows for the identification of danger zones in particular.

[0024] The data storage unit serves, at a minimum, to save and retrieve data on the condition of the ground. In particular, the data storage unit is part of the data processing unit. User settings, such as user profiles, can be permanently stored on the data storage unit. This allows different users to save and retrieve different user settings. For example, the active user can be selected using a control element. Furthermore, predefined settings for influencing the resistance torque of the steering damper can be stored on the data storage unit. For example, threshold values ​​for the condition of the ground can be configured and saved. This further improves safety and comfort for the user.

[0025] According to one embodiment, the vehicle further comprises means for indicating the increase in the resistance torque of the steering damper, wherein the means is connected to the data processing unit via signal transmission. For example, the means for indicating the increase in the resistance torque of the steering damper comprises a display device configured to output optical, acoustic, and / or haptic signals according to the data processing unit. For example, the display device has output means arranged on the handlebars, on a saddle, on a frame, and / or in the vehicle's drivetrain. In particular, the display device has sound means, light means, and / or vibration-generating means as output means. For example, the display device is configured as a display and is part of the vehicle's on-board computer.For example, the display device is part of an external device, in particular a smartphone, and includes a display; sound-generating means and / or vibration-generating means that are controlled according to the data processing unit. This further improves safety and user comfort.

[0026] A second aspect of the invention relates to a method for controlling a vehicle, in particular a vehicle according to the first aspect, wherein first a direction of travel of the vehicle is detected, wherein signal data on the nature of a surface in the direction of travel of the vehicle are then detected and evaluated, wherein the resistance torque of the steering damper is increased when at least a threshold value for the nature of the surface in the direction of travel of the vehicle is reached, wherein after passing over the surface provided for adjustment, the resistance torque of the steering damper is reset.

[0027] In other words, the data processing unit evaluates the signal data regarding the condition of the road surface in the vehicle's direction of travel, assessing the likelihood of a collision with a protrusion or depression that could cause the steerable wheel to turn. This assessment considers factors such as the size of the steerable wheel, the dimensions (especially the height or depth) of the obstacle, the probability of a collision, and the vehicle's speed. Based on this evaluation, a control command is generated for the steering damper actuator, thereby determining the damper's response to the collision. Specifically, this involves setting a damping coefficient and defining the necessary parameters for controlling the actuator.The steering damper actuator is then activated and its parameters adjusted, triggering, for example, a change in damping characteristics via a damper fluid. The actuator is adjusted no later than when the collision is detected, preferably shortly before. After passing over the collision, the actuator returns to its initial position.

[0028] According to one embodiment, the resistance torque of the steering damper increases with increasing unevenness of the road surface in the direction of travel. Thus, a higher resistance torque is set at the steering damper on stony roads than on paved roads. In particular, several threshold values ​​can be provided that increase the resistance torque at the steering damper in stages. Additionally or alternatively, a threshold value can be provided above which the resistance torque at the steering damper is continuously increased. Additionally or alternatively, a threshold value can be provided above which a maximum resistance torque is generated at the steering damper, for example, when a curb, pothole, or bump reaches a threshold value for a specific dimension, in particular a height, depth, or gradient.

[0029] According to one embodiment, the resistance torque of the steering damper is increased immediately before the steerable wheel enters a depression or collides with a protrusion. A depression is detected as such, for example, when a threshold for a critical depth is exceeded. A protrusion is detected as such, for example, when a threshold for a critical height is exceeded.

[0030] Exemplary embodiments of the invention are explained in more detail below 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 vehicle designed as a bicycle and Fig. 2 A highly simplified schematic representation of a vehicle designed as an electric scooter.

[0031] In Fig. Figure 1 is a vehicle 100 designed as a bicycle, in particular a micromobility vehicle, shown in a highly simplified form. The bicycle has a frame 104 on which a steerable wheel 101, designed as a front wheel, a wheel 102, designed as a drive wheel or rear wheel, a handlebar 1 pivotably mounted on the frame 104 with handlebar grips attached to it, on which the user can support and hold during riding, and a saddle 106 are arranged. The handlebar 1 is connected to the steerable wheel 101 via a handlebar fork 2, wherein the handlebar 1, the handlebar fork 2 and the wheel 101 are jointly pivotable about a steering axis 3. The wheel 101 is rotatably mounted on the handlebar fork 2.

[0032] Furthermore, the bicycle has a drive system designed to propel the bicycle, at least with the muscle power of a user (not shown here). For this purpose, the user sits, for example, on the saddle 106 while riding and applies drive power to the bicycle's drive system via pedals 107, which are connected to a pedal crank shaft of the drive system via crank arms. The drive system also includes an electric motor 105, which is arranged as a mid-drive motor in the area of ​​the pedal crank shaft 108 and can, in turn, introduce auxiliary drive power into the bicycle's drive system to assist the user while riding. To generate the auxiliary drive power, the drive motor 105 draws electrical energy from an energy storage device (not shown), which may be located on the frame 104.The auxiliary drive power depends on the user's pedaling force and is divided into various adjustable levels, allowing the user to select the desired level of assistance. The pedaling force can be detected by means of designated devices, in particular sensors on the pedal crank axle 108. If the user exerts more force on the pedals 107, the motor increases its assistance proportionally to the force. Thus, the bicycle is configured as an e-bike. Alternatively, the drive motor 105 can be omitted, in which case the bicycle would be configured as a conventional bicycle without any drive assistance. In this case, the drive power is transmitted to the drive wheel via a traction drive 103 with two sprockets and a chain.

[0033] Furthermore, the bicycle comprises a steering damper 4 with an integrated actuator 5, means for detecting the condition of the ground in the direction of travel of the bicycle, and a data processing unit 6, which is connected to the means for detecting the ground condition and the actuator 5 via signal transmission. The data processing unit 6 is configured to evaluate the signal data regarding the condition of the ground in the direction of travel of the vehicle 100 and to increase the resistance torque of the steering damper 4 by controlling the actuator 5 when at least a threshold value for the condition of the ground in the direction of travel of the vehicle 100 is reached. This reduces the tendency of the steerable wheel 101 to turn when traveling over the ground, in particular due to a collision with obstacles such as curbs, potholes, or other protrusions and depressions in the ground.The steering damper 4 is connected to the steering fork 2 and generates a resistance torque when the wheel 101 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.

[0034] As a means of detecting the nature of the ground, a sensor device 7 with several sensors is arranged on the frame 104. In particular, the sensor device 7 comprises an air pressure sensor 9 for detecting the air pressure in the steerable wheel 101, a radar sensor 13 for detecting the surface of the ground in the direction of travel, and an inertial measurement device for detecting motion parameters and the speed of the bicycle. For example, the inertial measurement device includes accelerometers 8 for sensing linear accelerations of the bicycle along the three spatial axes and gyroscopes for sensing the angular velocities about the three spatial axes. For example, the nature of the currently traveled-over ground can be determined by the accelerometers 8, which detect acceleration in the vertical direction.In particular, a collision with an obstacle can be detected by the acceleration sensors 8, which detect vertical acceleration, and by the air pressure sensor 9. During operation, the sensor device 7 generates corresponding signal data for the data processing unit 6. The data processing unit 6 is connected to the sensor device 7 and the actuator 5 via signal transmission and is configured to determine, from signal data on the nature of the ground provided by the sensor device 7, an actuating command to increase the resistance torque of the steering damper 4 and to use this command to operate the actuator 5.

[0035] For example, the bicycle's direction of travel is first detected. Simultaneously, signal data regarding the surface characteristics in the bicycle's direction of travel are acquired and evaluated. The resistance torque of the steering damper 4 is increased when at least a threshold value for the surface characteristics in the direction of travel is reached. In particular, the resistance torque of the steering damper 4 is increased with increasing unevenness of the surface. Furthermore, the resistance torque of the steering damper 4 is increased shortly before the steerable wheel 101 enters a depression or collides with a raised area. This can be detected by the acceleration sensors 8 or the air pressure sensor 9 in the steerable wheel 101. Afterward, i.e., after passing over the obstacle, the resistance torque of the steering damper 4 is reset.

[0036] Furthermore, a display device 11 for indicating the increase in the resistance torque of the steering damper 4 and a control element 12 for user input selection are arranged on the handlebar 103, the display device 11 and the control element 12 being connected to the data processing unit 6 via signal transmission. The user can make user inputs using the control element 12, in particular making selections, configuring threshold values, and adjusting strategies for changing the resistance torque of the steering damper 4. The data processing unit 6 includes a data memory 10 for storing and retrieving data, in particular threshold values ​​and operating strategies, the data memory 10 being connected to the data processing unit 6 via signal transmission. User settings for operating strategies can be stored on the data memory 10.An operating strategy may, for example, provide that the resistance torque of the steering damper 4 is set to a maximum when the dimension of a curb or other depression or elevation in the surface of the ground reaches a threshold value.

[0037] In Fig. Figure 2 is a vehicle 100 designed as an electric scooter, in particular a micromobility vehicle, shown in a highly simplified form. The electric scooter has a frame 104 on which a steerable wheel 101, designed as a front wheel, a wheel 102, designed as a drive wheel or rear wheel, and a handlebar 1 pivotably mounted on the frame 104 with handlebar grips attached to it, on which the user can support and hold during riding are arranged. The handlebar 1 is connected to the steerable wheel 101 via a handlebar fork 2, wherein the handlebar 1, the handlebar fork 2, and the wheel 101 are jointly pivotable about a steering axis 3. The wheel 101 is rotatably mounted on the handlebar fork 2. Furthermore, the electric scooter includes an electric machine designed as a drive motor 105, which supplies drive power to the wheel 102.To generate the drive power, the drive motor 105 takes electrical energy from an energy storage device not shown in detail, which may be located on the frame 104, and the user can control the drive power by twisting the handlebar grip.

[0038] Furthermore, the electric scooter comprises a steering damper 4 with an integrated actuator 5, means for detecting the condition of the ground in the direction of travel of the electric scooter, and a data processing unit 6, which is connected to the means for detecting the ground condition and the actuator 5 via signal transmission. The data processing unit 6 is configured to evaluate the signal data regarding the condition of the ground in the direction of travel of the vehicle 100 and to increase the resistance torque of the steering damper 4 by controlling the actuator 5 when at least a threshold value for the condition of the ground in the direction of travel of the vehicle 100 is reached. This reduces the tendency of the steerable wheel 101 to turn when traveling over the ground, in particular due to a collision with obstacles such as curbs, potholes, or other protrusions and depressions in the ground.Since the electric scooter is superior to the bicycle according to . Fig. Since the steerable wheel 101 has significantly smaller wheels, it is more prone to turning away in the event of a collision with an obstacle. Threshold values ​​for the surface condition and control commands for the resistance torque of the steering damper 4 are adapted to the size of the steerable wheel 101 of the electric scooter.

[0039] In addition to the sensor device 7, which in the exemplary embodiment according to Fig. As explained in section 1, the electric scooter includes means for recording the vehicle's position on a navigation map. The data storage unit 6, which is referenced, is designed to store and retrieve data on the terrain. The electric scooter's position on the navigation map is recorded by a GPS module 13, which is additionally integrated into the sensor device 7. The navigation map is displayed on the display device 11. The data processing unit 6 stores not only the route traveled on the data storage unit 10, but also the terrain at the respective position of the vehicle 100 and the resulting set resistance torque of the steering damper 4.The user can access this data and configure the operating strategy for determining and applying the resistance torque for each position on the navigation map, thereby further improving the system. This information can be used to adjust the resistance torque when retracing the route shortly before reaching the respective position, thus improving the system's dynamics and user comfort. In particular, this can support anticipatory driving. Furthermore, these event points on the navigation map can be transmitted to a server or cloud system to perform statistical analyses, especially to evaluate and store accident data. Otherwise, the embodiment corresponds to [reference to be added]. Fig. 2 according to the exemplary embodiment Fig. 1 to which reference is made. It should be noted that, for the sake of clarity, not all means and sensors that are described in the exemplary embodiment according to are shown here. Fig. 1 are shown, also in the embodiment according to Fig. 2 are shown. Reference sign 1 handlebar 2 handlebar fork 3 Steering axle 4 steering dampers 5 Actuator 6 Data processing unit 7 Sensor device 8 Accelerometer 9 Air pressure sensor 10 Data storage 11 Display device 12 Control element 13 Radar sensor 100 bicycles 101 wheel 102 wheels 103 Traction drive 104 frames 105 Drive motor 106 saddles 107 pedals 108 Pedal crankshaft 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

[0004]

Claims

[1] Vehicle (100) comprising at least one steerable wheel (101) • a handlebar (1) which is connected to the steerable wheel (101) via a handlebar fork (2), wherein the handlebar (1), the handlebar fork (2) and the steerable wheel (101) are jointly pivotable about a steering axis (3), • 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 (101) pivots about the steering axis (3), • Means for detecting the nature of the ground in the direction of travel of the vehicle (100) and generating corresponding signal data, • a data processing unit (6) which is connected to the means for detecting the condition of the ground and the actuator (5) via signal transmission and is equipped to evaluate the signal data on the condition of the ground in the direction of travel of the vehicle (100) and to increase the resistance torque of the steering damper (4) by controlling the actuator (5) when at least a threshold value for the condition of the ground in the direction of travel of the vehicle (100) is reached. [2] Vehicle (100) according to claim 1, further comprising a drive motor (105) for generating drive power or auxiliary drive power. [3] Vehicle (100) according to one of the preceding claims, further comprising means for detecting the speed of the bicycle (100), wherein the means is connected to the data processing unit (6) via signal transmission. [4] Vehicle (100) according to one of the preceding claims, further comprising a sensor device (7) which is connected to the data processing unit (6) for signal transmission. [5] Vehicle (100) according to one of the preceding claims, further comprising at least one acceleration sensor (8) and / or one air pressure sensor (9) which are connected to the data processing unit (6) for signal transmission. [6] Vehicle (100) according to one of the preceding claims, further comprising means for user input, wherein the means is connected to the data processing unit (6) via signal transmission. [7] Vehicle (100) according to one of the preceding claims, further comprising means for detecting a position of the vehicle (100) on a navigation map and a data storage device (10) for storing and retrieving data on the nature of the subsurface. [8] Method for steering a vehicle (100) with a steering damper (4) comprising the following method steps: • Detecting the direction of travel of the vehicle (100), • Acquiring and evaluating signal data on the nature of a subsurface in the direction of travel of the vehicle (100), • Increasing the resistance torque of the steering damper (4) when at least one threshold value for the condition of the ground in the direction of travel of the vehicle (100) is reached, • Resetting the resistance torque of the steering damper (4) after crossing. [9] Method according to claim 8, wherein the resistance moment of the steering damper (4) is increased with increasing unevenness of the surface. [10] Method according to claim 8 or 9, wherein the resistance moment of the steering damper (4) is increased before the steerable wheel (101) plunges into a depression or before the steerable wheel (101) collides with a protrusion.

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