Method for operating a pedal-driven vehicle

Abstract

Title: Method for Operating a Pedal-Driven Vehicle The present invention relates to a method (100) for operating (130) a pedal-driven vehicle (200), a pedal-driven vehicle (200), a computer program product, a computer-readable data carrier, and a data carrier signal. Figure for the abstract: Fig. 1

Description

Title of the invention: Method for operating a pedal-driven vehicle

[0001] The invention relates to a method for operating a pedal-driven vehicle, a pedal-driven vehicle, a computer program product, a computer-readable data carrier, and a data-carrying signal. Prior art

[0002] Pedal-driven vehicles, in particular (electric) bicycles (“E.bikes”), which have a control unit and / or (automatic) gear shifting are known. The gear shifting can be arranged for changing between different speeds.

[0003] The prior art has disadvantages. It may happen that a gear change takes place too often and / or in operating situations where a gear change is not desired and / or it may have an adverse impact on, for example, comfort (of the ride) (for example by a slippage of the pedal during pedaling), safety and / or wear (for example, in the drivetrain). Description of the invention

[0004] The invention relates to a method, a pedal-driven vehicle, a computer program product, a computer-readable data carrier, and a data-carrying signal. Features and details described in relation to the method according to the invention also apply, of course, in relation to the pedal-driven vehicle according to the invention and / or in relation to the computer program product according to the invention and / or in relation to the computer-readable data carrier according to the invention and / or in relation to the data-carrying signal according to the invention, and vice versa, so that, with regard to the description, one can always refer reciprocally to the various facets of the invention.In particular, the advantages described in the first, second, third, fourth and / or fifth facets are also valid respectively for the first, second, third, fourth and / or fifth facets.

[0005] According to a first aspect, a method is provided for operating a pedal-driven vehicle, in particular a bicycle, comprising at least one control unit and a gear changer, the method comprising: - detection of an operating situation of the pedal-driven vehicle, - determination, by the control unit, of a request to block the gear change depending on the operating situation, and - activation, by the control unit, of the speed change according to the blocking request.

[0006] The method can (at least in part) be implemented by computer. It may include a start-up, in particular, a control and / or adjustment in which preferably a control unit (see below) is used, which specifically controls the gear change (automatic and / or electric) and / or the speed (for example, by adjustment signals). The actions and features described in the method can be performed in the sequence shown and, in particular, can be performed repeatedly. Preferably, the method can be performed during and / or while the vehicle is being operated by pedals and / or a corresponding control unit and / or a corresponding gear change.

[0007] The method can preferably be used to operate a pedal-driven vehicle and / or a gear changer according to the second facet, in particular for controlling and / or adjusting it. In this respect, a control unit arranged for operation, control, and / or adjustment can be used in a particularly preferred manner. The control unit can perform the corresponding characteristic actions and / or provide a command (for example, via adjustment signals) to carry out the actions. For example, actuators (e.g., for the gear changer), which are connected to the control unit via a data link, can be controlled by the control unit (within the framework of operation). Automatic gear shifting can thus be achieved, for example.

[0008] The detection of an operating situation can be carried out by the control unit, for example based on sensors (see below) and / or operating parameters (see below). In the simplest case, a torque sensor on the crank can determine, for example, a torque (too high or too high) from the cyclist, which may include and / or indicate an operating situation, in particular a blocking situation (see below).

[0009] During the determination, the control unit can be configured to detect operating situations that have and / or imply a blocking demand. This will be considered, within the scope of the present invention, as a positive blocking demand. An operating situation may include, for example, a wheelie on a rear wheel, which has a blocking demand and / or during which a gear change, for example, via the gear shifter, may not be desirable (for example when it could decrease traffic safety, for example by catching the pedal).

[0010] The operation via the control unit may include, in particular, the operation of an automatic and / or electric gear shift, brakes, an anti-lock braking system, and / or another driver assistance system. Preferably, in certain operating situations, a gear shift lock can be triggered and / or a gear shift can be stopped (temporarily). This can optimize safety, comfort, and / or wear.

[0011] Within the scope of the invention, it may be advantageous that, at the detection stage, the operating situation includes: - a blocking situation, in which a blocking of the gear change is specifically planned, in which, upon determination, the blocking request has a positive blocking request, or - a situation of unlocking, in which in particular a gear shift for the gear change is made possible, in which, at the determination, the blocking demand has a negative blocking demand.

[0012] An unlocking situation may include other operating situations and / or normal and / or usual operating situations (see blocking situations below). Operating situations, blocking situations, and / or unlocking situations may be pre-set and / or stored in the control unit's memory. These situations may also be stored, in particular, using parameters and / or threshold values ​​(see below), specifically by defining and / or providing them in advance (by the driver). In an unlocking situation, a gear change may be made possible, permitted, and / or anticipated.

[0013] Within the framework of the invention, one can consider a deadlock situation that might include: - a bottom-end bearing of the driver of the pedal-driven vehicle, in which, in particular, the driver is connected to the bicycle (only) by the hands (by the handlebars), and / or by the feet (by the pedals) or is not connected by a saddle to the bicycle and / or is in action connection with them, which can be identified, for example, by a (pressure) sensor in the saddle and / or the saddle support, - rolling on a rear wheel (e.g., wheelie) of the pedal-driven vehicle, while the front wheel does not touch the ground beneath the pedal-driven vehicle, for example, by controlled pedaling and / or a shift in the center of gravity (of the driver and / or the pedal-driven vehicle), - a bearing on one front wheel (e.g., stoppie) of the pedal-driven vehicle, while the rear wheel does not touch the ground beneath the driven vehicle by pedals, for example by modulated braking on the front wheel and / or by shifting the center of gravity (of the driver and / or the vehicle driven by pedals), - a bearing with a driver torque that is greater than or equal to a torque threshold value, and / or - a bearing with a driver power, which is greater than or equal to a driver power threshold value, in which the driver power can be determined by the control unit, for example, in the form of the product of the driver torque by the pedaling frequency.

[0014] In blocking situations, particularly those mentioned above, an (automatic) change by shifting gears may not be desirable. Therefore, identification of the corresponding blocking situations is used for safety, comfort, and / or to reduce wear.

[0015] It may also be foreseen that there are (simultaneously) two blocking situations, for example, a large driver torque and a large driver power.

[0016] It may be envisaged within the scope of the invention that the detection of an operating situation includes: - a measurement of an operating parameter, including: - a torque, in particular a driver torque, which is measured specifically on a pedal shaft and / or by a torque sensor of the pedal-driven vehicle, - a number of revolutions, in particular, a pedaling frequency of the driver, which is measured in particular on a pedal shaft and / or by a vehicle revolution sensor driven by pedals, - an angle of inclination, in particular, a pitch angle and / or a yaw angle which is measured, in particular, by an acceleration sensor and / or by a rotation angle sensor, and / or - a position, in particular its curve over time, of at least one pedal of the pedal-driven vehicle, which is measured in particular on a pedal shaft, a pedal and / or by a position sensor of the pedal-driven vehicle (200).

[0017] It may also be provided that a sensor data measurement be carried out by an ABS sensor and / or by a brake pressure sensor.

[0018] The measured values ​​and, respectively, the operating parameters determined during the measurement can be transmitted to the control unit, for example, via a respective data link. The control unit can detect operating situations based on the measured values. In particular, a blocking or unlocking situation can be identified in this way.

[0019] One can also consider determining a blocking request based on the operating parameter, in which - We detect a blocking situation and / or a positive blocking request if the operating parameter reaches or exceeds a first threshold value, and - we detect an unblocking situation and / or a negative blocking request if the operating parameter does not reach or exceed a first threshold value.

[0020] It may be provided that the operating parameter is filtered (in advance) by a filter, for example before a determination and / or comparison to the first threshold value. In this respect, filtering may include smoothing and / or the formation of an average value (over a predefined time interval).

[0021] The first threshold value can (respectively) be stored in the control unit.

[0022] The first threshold value can be specified, defined and / or stored specifically and / or separately according to a respective operating parameter (see above).

[0023] The first threshold value can be configured, for example, for different operating parameters as follows. If the operating parameter is: - a torque, in particular a driver torque, the first threshold value may have a driver torque threshold, for example, of 35 Nm, and / or - a number of revolutions, in particular, a driver's pedaling frequency; the first threshold value could be, for example, 0.5 revolutions per second and / or - an angle of inclination, in particular a pitch angle and / or a yaw angle; the first threshold value could have a first pitch angle threshold of 20° and / or a first yaw angle threshold of 20°, and / or - a position, in particular its curve over time, of at least one pedal of the pedal-driven vehicle, the first threshold value may also include a first threshold range which includes for example only an angular range of +1-20° around the lower and / or upper dead center of the pedals, in which a blocking situation is detected when at least one pedal is outside the angular range (since in particular then the torque, due to the greater leverage effect, can give great wear).

[0024] It may be envisaged to provide one or more operating parameters having a corresponding first threshold value.

[0025] It is also possible to consider that during operation, the control unit stops a gear change, in particular, automatic, in particular, if a positive blocking request is detected.

[0026] It may be planned to maintain the (current) speed. It may be planned not to perform a gear change. It is thus possible to stop gear changes in Unfavorable locking situations and / or when a locking mechanism is requested can be implemented. This allows for the optimization of safety, ride comfort, and / or wear. Furthermore, it can increase driver confidence in the pedal-driven vehicle. For example, a gear change can be stopped if the force applied and / or the lever action is unfavorable (e.g., due to high driver torque), in which case wear can preferably be reduced.

[0027] It is possibly possible within the framework of the invention, at the start-up, in particular if a positive blocking request is observed, that the control unit makes possible and / or initiates, after a blocking period, a gear change, in particular, automatic, for example as a function of a pedaling frequency of the driver and / or a speed of the vehicle (200) driven by pedals.

[0028] Accordingly, the operation may include controlling and / or adjusting the gear change. A gear change can be initiated and / or executed, for example, by sending an adjustment signal to the gear shift, in particular to a gear shift actuator. This can be done based on the pedaling frequency and / or the speed (of the pedal-driven vehicle). Appropriate gear change thresholds can be stored in the control unit for this purpose.

[0029] The blocking duration can be, for example, 10 seconds.

[0030] The blocking time can be advantageous for increasing ride comfort. Thus, for example, a gear change during acceleration at full speed may not be desired initially and / or during a period of stalling. It can therefore be advantageous to allow, after a stalling period (for example, 10 seconds), even while accelerating at full speed, a gear change, for instance, because a constant speed / pedaling rate has been established and / or an acceleration operation (at the beginning) can be terminated.

[0031] It may be provided in this regard that the blocking duration can be set in advance, defined in advance, and / or stored in memory, in particular, in the control unit. It may also be provided that it is possible (by the driver) to make a modification and / or readjustment, for example, via an input device of the control unit.

[0032] It may also be provided within the framework of the invention that, during operation, a new detection and / or a new determination is carried out, in which the control unit makes possible and / or initiates a gear change, in particular, automatic, for example as a function of a pedaling frequency of the driver and / or a speed of the vehicle driven by pedals, if a new unlocking situation is observed.

[0033] It can therefore be provided that after the expiry of the blocking period, the process is carried out again, in particular, to ascertain whether (again) there is a (new / other) blocking situation.

[0034] The new detection can be shaped in a manner analogous to the detection (above).

[0035] The new determination can be formed in a manner analogous to the determination (above).

[0036] With reference to the present invention, one can consider fixing a new unlocking situation if a second threshold value is reached or if one falls below a second threshold value, in particular, by an operating parameter (second and / or distinct) in a manner (analogous and / or comparable to the operating parameter described above), comprising: - a torque, in particular, a driver torque which is measured in particular on a pedal shaft and / or by a torque sensor of the pedal-driven vehicle, - a number of revolutions, in particular, a driver pedaling frequency, which is measured in particular on a pedal shaft and / or by a revolution sensor of the pedal-driven vehicle, - an angle of inclination, in particular, a pitch angle and / or a yaw angle which is measured, in particular, by an acceleration sensor and / or by a rotation angle sensor, and / or - a position, in particular its curve over time, of at least one pedal of the pedal-driven vehicle, which is measured in particular on a pedal shaft, a pedal and / or by a position sensor of the pedal-driven vehicle.

[0037] It may also be provided for to carry out a measurement of sensor data by an ABS sensor and / or a brake pressure sensor.

[0038] The measured values, or respectively the operating parameters determined during the measurement, can be transmitted to the control unit, for example, via a respective data link. Based on the measured values, the control unit can detect the operating situation. In particular, it can identify a blocked or unblocked state.

[0039] The second threshold value can (respectively) be smaller than a first (corresponding) threshold value.

[0040] The second threshold value can, for example, for different (second) operating parameters, be shaped as follows: If the (second) operating parameter is - a torque, in particular a driver torque, the second threshold value may have a driver torque threshold, for example, of 15 Nm, and / or - a number of revolutions, in particular, the driver's pedaling frequency; the second threshold value could be, for example, 0.4 revolutions per second, and / or - an angle of inclination, in particular, a pitch angle and / or a yaw angle; the second threshold value could have a second pitch angle threshold of 10° and / or a second yaw angle threshold of 10°, and / or - a position, in particular its curve over time, of at least one pedal of the vehicle driven by pedals, the second threshold may have a second threshold range which includes for example only an angular range of + / - 20° around the lower and / or upper dead center of the pedals, in which a unlocking situation is detected if at least one pedal is in the angular range (since in particular then the torque due to the lesser leverage effect can lead "only" to minimal wear).

[0041] In this regard, it may be envisaged to provide one or more (second) operating parameters having a corresponding second threshold value.

[0042] According to a second facet, a pedal-driven vehicle according to the invention is provided, comprising at least one control unit and / or a gear change (chain-driven), in which the pedal-driven vehicle is constituted to implement a method, according to the first facet.

[0043] The pedal-driven vehicle and / or the gear shift can be controlled by a control unit (of the pedal-driven vehicle). The control unit may have memory and / or a computer unit, in particular, a computer and / or data processing means. The control unit may be connected via data communication to the gear shift, and the latter may be activated (controlled and / or adjusted), in particular by control signals. The control unit may also be provided as an input device through which data can be entered. For example, the driver can thus set and / or modify the first threshold value, the torque threshold value, the driver power threshold value, and / or the second threshold value.

[0044] Thus, with regard to a pedal-driven vehicle according to the invention, according to the second facet, we obtain the same advantages as those which have already been described by referring to the method according to the invention, according to the first facet.

[0045] According to a third facet, a program product according to the invention is provided comprising instructions which cause a pedal-driven vehicle, according to the second facet, to execute a process according to the first facet.

[0046] Thus, with regard to a computer program product according to the invention in the third facet, we obtain the same advantages as have already been described with regard to a method, according to the invention, in the first facet and / or a pedal-driven vehicle, according to the invention, in the second facet.

[0047] According to a fourth facet, a computer-operable data carrier is provided, according to the invention, on which a computer program product is stored according to the third facet.

[0048] Thus, with regard to a data support usable by computer according to the invention, according to the fourth facet, we obtain the same advantages as have already been described in relation to a method according to the invention, according to the first facet and / or a pedal-driven vehicle, according to the invention, according to the second facet and / or a computer program product, according to the invention, according to the third facet.

[0049] According to a fifth facet, a data carrier signal according to the invention is provided, which transmits a computer program product according to the fourth facet.

[0050] By referring to a data-carrying signal, according to the invention, according to the fifth facet, we obtain the same advantages as those which have already been described by referring to a method, according to the invention, according to the first facet and / or a pedal-driven vehicle, according to the invention, according to the second facet and / or a computer program product, according to the invention, according to the third facet and / or a computer-operable data carrier, according to the invention, according to the fourth facet.

[0051] Other advantages, features, and details of the invention will become apparent from the following description, in which several embodiments of the invention are described with reference to the drawings. The features mentioned in the description are essential to the invention, individually or in any combination. The drawings show, by way of example, the following schematically:

[0052] In [Fig. 1] a method and

[0053] At [Fig.2] a vehicle driven by pedals.

[0054] In the figures, the same reference points are used for the same technical characteristics, even for different embodiment examples.

[0055] Figure 1 represents a method 100 for operating a pedal-driven vehicle 200, in particular a bicycle, comprising at least one control ECU and a gear shift 201, the method 100 comprising: - detection 110 of an operating situation B of the pedal-driven vehicle 200, - determination 120, by the control ECU, of a request to lock the gear shift 201 according to the operating situation B, and - 130 put into operation by the ECU control unit, of the 201 speed change according to the demand blocking of the block.

[0056] Within the framework of the invention, it may be advantageous that, at detection 110, operating situation B, includes: - a situation B_blockage, of blocking, in which a blocking of the gear change 201 is specifically planned, in which, at determination 120, the demand for blocking has a positive demand for blocking_pos, or - a situation B_unlocking of unlocking, in which in particular a gear change for gear change 201 is made possible, in which, at determination 120, the demand blocking of blocking has a negative demand blocking_neg of blocking.

[0057] Within the framework of the invention, one can consider that a B_blockage situation of a blockage includes: - full-speed pedaling by a driver of vehicle 200 powered by pedals, - a bearing on a rear wheel of the pedal-driven vehicle 200, while the front wheel does not touch the ground beneath the pedal-driven vehicle 200, - a bearing on a front wheel of the pedal-driven vehicle 200, while the rear wheel does not touch the ground beneath the pedal-driven vehicle 200, - a bearing with a driver torque that is greater than or equal to a torque threshold value and / or - a bearing with a conductor power, which is greater than or equal to a conductor power threshold value.

[0058] It is also possible to consider determining a blocking request based on the operating parameter Par, in which, in particular: - a blocking situation B_blocking and / or a positive blocking request_pos are detected if the operating parameter Par reaches or exceeds a first threshold value SW 1, and - We detect a B_unlocking situation and / or a negative blocking request if the Par operating parameter does not reach or exceed a first SW 1 threshold value.

[0059] It can also be considered that, during operation 130, the ECU control unit stops a gear change, in particular, automatic, of the gear change 201, in particular, if a positive blocking_pos request is detected.

[0060] It is possibly possible within the framework of the invention, at the start-up 130, in particular, if a positive blocking_pos request is observed, that the ECU control unit makes possible and / or launches, after a blocking period, a gear change, in particular, automatic, for example as a function of a driver's pedaling frequency and / or a vehicle speed 200 driven by pedals.

[0061] It may also be provided within the framework of the invention that, at the start-up 130, a new detection and / or a new determination is carried out, in which the ECU control unit makes possible and / or initiates a gear change, in particular, automatic, for example as a function of a pedaling frequency of the driver and / or a speed of the vehicle 200 driven by pedals, if a new unlocking situation is observed.

[0062] With reference to the present invention, one can consider that a new situation B_unlocking is observed if a second threshold value is reached or exceeded, in particular an operating parameter Par, comprising: - a torque, in particular, a driver torque which is measured in particular on a pedal shaft and / or by a torque sensor of the pedal-driven vehicle 200, - a number of revolutions, in particular, a driver pedaling frequency, which is measured in particular on a pedal shaft and / or by a revolution sensor of the pedal-driven vehicle 200, - an angle of inclination, in particular, a pitch angle and / or a yaw angle which is measured, in particular, by an acceleration sensor and / or by a rotation angle sensor, and / or - a position, in particular its curve over time, of at least one pedal of the pedal-driven vehicle 200, which is measured in particular on a pedal shaft, a pedal and / or by a position sensor of the pedal-driven vehicle 200.

[0063] Figure 2 illustrates, by way of example, a pedal-driven vehicle 200, comprising at least one control ECU and a gear shift 201, in which the pedal-driven vehicle 200 is configured to operate according to a method 100 (see Figure 1) and / or according to the first facet. The control ECU can be connected via data communication to the gear shift 201 by means of a data link (shown in dashed lines). The control ECU can thus control and / or regulate the pedal-driven vehicle 200 and / or the gear shift 201 within the framework of operation 130.

Claims

Demands

1. A method (100) for operating (130) a pedal-driven vehicle (200), in particular a bicycle, comprising at least one control unit (ECU) and a gear shift (201), the method (100) comprising: - detection (110) of an operating situation (B) of the pedal-driven vehicle (200), - determination (120), by the control unit (ECU), of a request (block) to block the gear shift (201) according to the operating situation (B), and - activation (130) by the control unit (ECU), of the gear shift (201) according to the request (block) to block.

2. The method (100) according to claim 1, characterized in that at detection (110), the operating situation (B) comprises: - a blocking situation (B_blocking), in which in particular a blocking of the speed change (201) is provided, in which, at determination (120), the blocking demand (blocking) has a positive blocking demand (blocking_pos), or - a unlocking situation (B_unblocking), in which in particular a gear change (201) is made possible, in which, at determination (120), the blocking demand (blocking) has a negative blocking demand (blocking_neg).

3. The method according to claim 2, characterized in that a blocking situation (B_blockage) comprises: - full-speed pedaling by a driver of the pedal-driven vehicle (200), - rolling on a rear wheel of the pedal-driven vehicle (200), while the front wheel is not touching the ground beneath the pedal-driven vehicle (200), - rolling on a front wheel of the pedal-driven vehicle (200), while the rear wheel is not touching the ground beneath the pedal-driven vehicle (200), - a bearing with a driver torque, which is greater than or equal to a torque threshold value and / or, - a bearing with a driver power, which is greater than or equal to a driver power threshold value.

4. The method (100) according to any one of the preceding claims, characterized in that the detection (110) of an operating situation (B) comprises: - a measurement of an operating parameter (Par), comprising: - a torque, in particular a driver torque, which is measured in particular on a pedal shaft and / or by a torque sensor of the pedal-driven vehicle (200), - a number of revolutions, in particular a driver pedaling frequency, which is measured in particular on a pedal shaft and / or by a number of revolutions sensor of the pedal-driven vehicle (200), - a tilt angle, in particular a pitch angle and / or a yaw angle, which is measured in particular by an acceleration sensor and / or by a rotation angle sensor, and / or - a position, in particular its curve over time, of at least one pedal of the pedal-driven vehicle (200), which is measured in particular on a pedal shaft,a pedal and / or by a vehicle position sensor (200) driven by pedals.

5. The method (100) according to claim 4, characterized in that the determination (120) of a blocking demand (block) is carried out as a function of the operating parameter (Par), in which - a blocking situation (B_block) and / or a positive blocking demand (block_pos) are detected if the operating parameter (Par) reaches or exceeds a first threshold value (SW1), and - a blocking situation (B_unblock) and / or a negative blocking demand (block_neg) are detected if the operating parameter (Par) does not reach or exceed a first threshold value (SW1).

6. The method according to any one of the preceding claims, characterized in that during operation (130), the control unit (ECU) stops a gear change, in particular, automatic, of the gear change (201), in particular, if a positive blocking request (blockage_pos) is detected.

7. The method (100) according to any one of the preceding claims, characterized in that at the start-up (130), in particular, if a positive blocking demand (blockage_pos) is observed, the control unit (ECU) makes possible and / or initiates, after a blocking period, a gear change, in particular, automatic, for example as a function of a driver's pedaling frequency and / or a speed of the vehicle (200) driven by pedals.

8. The method (100) according to any one of the preceding claims, characterized in that the activation (130) of a new detection and / or determination is carried out, in which the control unit (ECU) makes possible and / or initiates a gear change, in particular, automatic, for example as a function of a driver's pedaling frequency and / or a vehicle speed (200) driven by pedals, if a new unlocking situation is observed.

9. The method (100) according to claim 8, characterized in that a new unlocking state (B_unlocking) is observed if a second threshold value, in particular an operating parameter (Par), is reached or exceeded, comprising: - a torque, in particular a driver torque, measured in particular on a pedal shaft and / or by a torque sensor of the pedal-driven vehicle (200), - a number of revolutions, in particular a driver pedaling frequency, measured in particular on a pedal shaft and / or by a number of revolutions sensor of the pedal-driven vehicle (200), - a tilt angle, in particular a pitch angle and / or a yaw angle, measured in particular by an acceleration sensor and / or by a rotation angle sensor, and / or - a position, in particular its curve over time, of at least one pedal of the pedal-driven vehicle (200), measured in particularly on a pedal shaft, a pedal and / or by a vehicle position sensor (200) driven by pedals.

10. A pedal-driven vehicle (200) comprising at least one control unit (ECU) and a gear shift (201), wherein the pedal-driven vehicle (200) is constituted for being put into operation, according to a method (100) according to any one of the preceding claims,

11. Computer program product comprising instructions that cause a pedal-driven vehicle (200) according to the preceding claim to perform a method (100) according to any one of claims 1 to 9.

12. A computer-operable data carrier on which a computer program product according to the preceding claim 11 is stored in memory.

13. Data signal carrier that transmits a computer program product according to claim 11.

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