Methods for driving pedal-driven vehicles, pedal-driven vehicles, computer program products, media and data carrier signals

Abstract

This invention relates to a method for driving a pedal-driven vehicle, a pedal-driven vehicle, a computer program product, a computer-readable medium, and a data carrier signal. [Solution] The present invention relates to a method (100) for driving a pedal-driven vehicle, the pedal-driven vehicle comprising a gear shift mechanism that provides a variable gear ratio, a control unit, and a grasping unit, the method (100) comprising the steps of grasping at least one driving parameter (110), providing a shift recommendation when at least one driving parameter is outside a predetermined range of values ​​(120), detecting a driver-generated shift permission, and performing the shift recommendation in response to the shift permission.

Description

Technical Field

[0001] The present invention relates to a method for driving a pedal-driven vehicle and a pedal-driven vehicle.

Background Art

[0002] Pedal-driven vehicles, especially bicycles or electric bicycles or pedelecs, generally have a gearshift mechanism. The gearshift mechanism makes it possible to adapt the gear ratio in the vehicle's powertrain according to the current driving situation. Thereby, the propulsion of the pedal-driven vehicle by the driver can be configured to be more comfortable when driving uphill, downhill or on flat ground.

[0003] Basically, it is known that the gearshift mechanism can be operated as an automatic or partially automated gearshift mechanism, whereby the shift process can be automated, triggered or carried out according to the specific driving situation. Thus, in the automatic operation of the gearshift mechanism, the shift process can be triggered according to one or more driving parameters of the pedal-driven vehicle, such as the driver's pedaling frequency and / or the speed of the pedal-driven vehicle.

[0004] Regarding the automatic operation of the gearshift mechanism, it has been found that the shift process triggered automatically generally matches the driver's request with respect to the basic gear selection. However, especially in dynamic driving situations, the shift point selected for gear changing often does not match the optimal point from the driver's perspective. It has been found that the power transmission in the powertrain, especially in dynamic driving situations (such as trails in off-road), can be hindered by the automatically selected shift point at an inconvenient time for the driver. This may result in the impairment of the driver's safety. Furthermore, the shift process is likely to be carried out under a relatively high load, and as a result, relatively high wear of the gearshift mechanism occurs.

Summary of the Invention

[0005] This invention relates to a method for driving a pedal-driven vehicle, a pedal-driven vehicle, a computer program product, a computer-readable medium, and a data carrier signal.

[0006] Further features and details of the present invention can be found in the dependent claims, specification and drawings. It is obvious that features and details described in relation to the method of the present invention also apply in relation to the pedal-driven vehicle of the present invention, and / or the computer program product of the present invention, and / or the computer-readable medium of the present invention, and / or the data carrier signal of the present invention, and vice versa, and as a result they are always, or may be, referenced to each other with respect to disclosures of individual embodiments of the invention.

[0007] The present invention described herein is used, in particular with respect to improved user comfort and / or enhanced safety of pedal-driven vehicles, to provide improved driving of a gear shift mechanism, especially an automatic or partially automated gear shift mechanism, for a pedal-driven vehicle. [Means for solving the problem]

[0008] According to a first aspect, the present invention relates to a method for driving a pedal-driven vehicle, Pedal-driven vehicles are A gear shift mechanism that provides a variable gear ratio, Control unit and Grasping unit and It has, This method, The steps include: determining at least one driving parameter, particularly using a sensing unit; The steps include providing a shift recommendation, particularly by the control unit, when at least one driving parameter is outside a predetermined value range, A step of detecting driver-generated shift permission, particularly by a control unit and / or sensing unit, Steps include: Implementing a shift recommendation in response to a shift permission, particularly by the control unit and / or gear shift mechanism; to include, This concerns how to drive a pedal-driven vehicle.

[0009] Preferably, the method steps listed may be performed in the order shown. Additionally or alternatively, at least the individual method steps may be performed iteratively, particularly in a loop, and / or at least partially simultaneously. Additionally or alternatively, the method may be shaped as a method to be implemented on a computer.

[0010] In other words, we propose a method for driving a pedal-driven vehicle. The pedal-driven vehicle has a gear shift mechanism that provides a variable gear ratio, particularly within the powertrain of the pedal-driven vehicle. Furthermore, the pedal-driven vehicle has a control unit and a gripping unit.

[0011] A control unit may preferably be provided to control the progress of the method according to the first aspect of the present invention. A sensing unit is preferably configured to sense at least one driving parameter, in particular the driver pedaling frequency and / or driver torque.

[0012] According to the present invention, the grasping unit in particular grasps at least one driving parameter. The driving parameter may preferably be the speed of a pedal-driven vehicle, driver torque, driver pedaling frequency, and / or driver power. Using the driver pedaling frequency as a driving parameter has been found to be particularly advantageous within the scope of the present invention. Driver power can preferably be determined as the product of the driver pedaling frequency and the driver torque.

[0013] Furthermore, the control unit, in particular, provides a shift recommendation when at least one driving parameter is outside a predetermined range. This range could be, for example, a predetermined pedaling frequency band for driver pedaling frequency, a predetermined speed range for speed, a predetermined torque range for driver torque, and / or a predetermined power range for driver power. The shift recommendation may, in particular, not include any indication of the shift direction or target gear, but simply recommend that a certain shift process would or might be advantageous for the driver. Alternatively, the target gear and / or shift direction may be predictively determined and provided along with the shift recommendation within the flow of providing the shift recommendation. The predetermined range should therefore be understood as the range within which the driver can move in a pedal-driven vehicle without being provided with a shift recommendation.

[0014] According to the present invention, driver-generated shift permission is further detected, particularly by a control unit and / or a sensing unit. Shift permission should be understood as an interaction of the driver with a pedal-driven vehicle, specifically in which the driver expresses agreement to a shift recommendation and signals his intention to carry out the shift process. Shift permission can be implemented through various types of driver interactions, which will be described in more detail below. In particular, shift permission can be implemented as a driver voice command, a specific driver pedaling pattern generated by the driver in the crank mechanism, and / or user handling in a user interface, such as a button, switch, touch display, or similar.

[0015] Furthermore, shift recommendations are implemented in response to shift permissions, particularly by the control unit and / or the gear shift mechanism. This means that a shift process corresponding to a shift recommendation is introduced or implemented (optionally, with additional consideration of shift permissions, particularly when the shift permission is specific to one shift direction). Preferably, the gear shift mechanism can be appropriately driven and controlled by the control unit to implement the shift command. In this case, information for implementing the shift process, such as a target gear position, or preferably the shift direction, is transmitted to the gear shift mechanism, and the corresponding gear change can be implemented by the gear shift mechanism.

[0016] In the method according to the present invention, the driver is responsible for controlling the timing of the automated shift process and its execution by the gear shift mechanism. Thus, for the shift process planned based on the shift characteristics of the gear shift mechanism to actually be executed, driver-generated shift permission is required as an additional criterion, resulting in semi-automatic or semi-automatic operation of the gear shift mechanism. Shift processes that the driver may perceive as problematic based on the timing of their execution can be avoided, thereby achieving improved driver safety and lower wear on the gear shift mechanism.

[0017] In particular, the method, or the mode of operation represented by the method, of the gear shift mechanism can be configured as a mode that can be activated or deactivated by the user or driver of a pedal-driven vehicle of the gear shift mechanism, especially an automatic gear shift mechanism. In this respect, the method can particularly include the activation of a semi-automatic mode of the gear shift mechanism. Thus, this mode can be activated by the driver, for example, on technically demanding roads, such as trails or similar, and deactivated within static driving conditions, such as long-distance driving on flat ground. Activation or deactivation can be performed via a user interface provided in the pedal-driven vehicle or via a mobile device. For this purpose, the mobile device can or may be connected to the pedal-driven vehicle, especially the gear shift mechanism and / or control unit, via at least one communication interface, for example, via a mobile communication interface or a Bluetooth interface. In particular, activating this mode may result in a functional modification of at least one user interface of a gear shift mechanism that manually triggers gear changes. Thus, for example, manual triggering of the shift process may no longer be possible through this user interface, and only the generation of shift permission may be possible by the user or driver of a pedal-driven vehicle.

[0018] Particularly preferably, within the scope of the present invention, the step of determining at least one driving parameter may include, or involve, determining, the driver pedaling frequency, particularly in the crank mechanism of a pedal-driven vehicle, preferably by a determining unit. The driver pedaling frequency should be understood here as the number of cycles in which the driver moves the crank mechanism. Thus, the driver pedaling frequency corresponds particularly to the rotational speed of the crank mechanism.

[0019] In particular, in this context, the step of providing a shift recommendation may be performed when the driver pedaling frequency is outside a target pedaling frequency band, particularly outside a first target pedaling frequency band.

[0020] Thereby, preferably, a method of driving a pedal-driven vehicle, The pedal-driven vehicle, A gearshift mechanism that provides a variable gear ratio, A crank mechanism that inputs driver torque to propel the pedal-driven vehicle, A control unit, A grasping unit, Having, The method is, The step of grasping the driver pedaling frequency at the crank mechanism, particularly by the grasping unit, The step of providing a shift recommendation, particularly by the control unit, when the driver pedaling frequency is outside a predetermined value range, The step of detecting a driver-generated shift permission, particularly by the control unit and / or the grasping unit, The step of fulfilling the shift recommendation in response to the shift permission, particularly by the control unit and / or the gearshift mechanism, Including, A method of driving a pedal-driven vehicle can be provided.

[0021] The shift characteristics of a gear shift mechanism may be predetermined based on at least one driving parameter, particularly the speed and / or driver pedaling frequency of a pedal-driven vehicle. The shift characteristics of the gear shift mechanism may, in particular, be represented by at least one target pedaling frequency or target pedaling frequency band. Thus, when the upper limit (upper pedaling frequency limit) of the target pedaling frequency band is reached or exceeded, a shift process that increases the gear ratio (upshift) can be triggered or recommended, and when the lower limit (lower pedaling frequency limit) of the target pedaling frequency band is reached or fallen below, a shift process that decreases the gear ratio (upshift) can be triggered or recommended. The target pedaling frequency or target pedaling frequency band may vary depending on the gear, driving conditions, or other influencing variables. In other words, the target pedaling frequency or target pedaling frequency band may be gear-specific and / or driving-condition-specific.

[0022] The target pedaling frequency should be understood as the pedaling frequency at which a driver of a pedal-driven vehicle pedals, or may pedal, particularly in a given gear of the gear shift mechanism and / or in a given driving condition, without automatic gear changes being performed by the gear shift mechanism, or without any shift recommendations being provided or outputted. The target pedaling frequency may, for example, be a pedaling frequency that feels comfortable to the driver, particularly in a specific gear and / or in a specific driving condition. Conversely, if the target pedaling frequency is exceeded by a certain pedaling frequency interval, that is, if the upper pedaling frequency limit is reached or exceeded, a gear change to a higher gear, i.e., a gear with a higher gear ratio, may be performed, or at least recommended, particularly automatically, in order to lower the pedaling frequency to the target pedaling frequency, or with the aim of lowering it to that level. Conversely, if the pedaling frequency falls below the target pedaling frequency by a certain pedaling frequency interval, that is, if it reaches or falls below the lower pedaling frequency limit, a gear change to a lower gear, i.e., a gear with a lower gear ratio, may be performed, or at least recommended, in order to raise the pedaling frequency to the target pedaling frequency, or with the aim of raising it.

[0023] The upper pedaling frequency limit should be understood here as the pedaling frequency at which, if reached or exceeded, a shift recommendation, particularly an automatic shift recommendation that increases the gear ratio provided by the gear shift mechanism, is provided or a corresponding gear change is performed. The upper pedaling frequency limit may preferably be greater than the target pedaling frequency and the lower pedaling frequency limit.

[0024] The lower pedaling frequency limit should be understood here as the pedaling frequency at which, if reached or below, a shift recommendation, particularly one that reduces the gear ratio provided by the gear shift mechanism, is provided or a corresponding gear change is performed, especially automatically. The lower pedaling frequency limit may preferably be smaller than the target pedaling frequency and the upper pedaling frequency limit.

[0025] In particular, the lower pedaling frequency limit, in relation to the upper pedaling frequency limit and the target pedaling frequency between the upper and lower pedaling frequency limits, especially the intermediate target pedaling frequency, forms a target pedaling frequency band, in particular a target pedaling frequency band specific to a given gear and / or given riding conditions. Within this target pedaling frequency band, the rider can pedal without the shift process being triggered, or without a shift recommendation being provided, especially automatically. Conversely, when the rider's pedaling frequency leaves this frequency band, a corresponding upward or downward shift process is triggered, or at least a shift recommendation is provided. In particular, the shift process is thus triggered or recommended in hysterical terms, depending on the pedaling frequency limits positioned on either side of the target pedaling frequency.

[0026] The first target pedaling frequency band is preferably limited or formed by a first upper pedaling frequency limit and a first lower pedaling frequency limit. In particular, the first upper pedaling frequency limit and the first lower pedaling frequency limit are on either side of the target pedaling frequency. The target pedaling frequency can preferably be positioned midway between the first upper pedaling frequency limit and the first lower pedaling frequency limit.

[0027] Within the scope of the present invention, preferably, the step of performing a shift recommendation is performed without permission to shift when the driver's pedaling frequency is outside the second target pedaling frequency band, in which case the first target pedaling frequency band may be within the second target pedaling frequency band. In other words, when the driver's pedaling frequency is outside the second target pedaling frequency band, the shift recommendation may be performed without permission from the driver (shift permission), i.e., a gear change may be performed. This effectively avoids pedaling frequency ranges that are particularly inconvenient for the driver. These inconvenient pedaling frequency ranges may be particularly low pedaling frequencies and particularly high pedaling frequencies, in particular, where loss of control by the driver is facilitated or the driver's reaction ability regarding the operation of a pedal-driven vehicle is limited.

[0028] The second target pedaling frequency band is preferably limited or formed by a second upper pedaling frequency limit and a second lower pedaling frequency limit. In particular, the second upper pedaling frequency limit and the second lower pedaling frequency limit are on either side of the target pedaling frequency. The target pedaling frequency may preferably be positioned midway between the second upper pedaling frequency limit and the second lower pedaling frequency limit. In particular, the first target pedaling frequency band may be smaller than and / or included in the second target pedaling frequency band, or at least one end of the second target pedaling frequency band may extend beyond one end of the first target pedaling frequency band.

[0029] Furthermore, the step of detecting driver-generated shift permission is: In the crank mechanism, the driver pedaling pattern specific to shift authorization is detected, particularly by a sensing unit, and / or To detect user handling specific to shift authorization in at least one user interface of a pedal-driven vehicle, It may be made to include at least one of the following.

[0030] In other words, the step of detecting a driver-generated shift permission may include, or be limited to, detecting a driver pedaling pattern specific to the shift permission. The driver pedaling pattern may include, for example, a specific temporal progression of driver torque and / or crank mechanism rotation angle and / or driver pedaling frequency, particularly within a predetermined period or time window. Particularly for this purpose, preferably, the temporal progression of driver torque may be grasped in the crank mechanism, particularly by at least one torque sensor, and / or the temporal progression of rotation angle in the crank mechanism, particularly by at least one rotation angle sensor, and / or the temporal progression of driver pedaling frequency in the crank mechanism, particularly by at least one rotation speed sensor.

[0031] The variables listed, or the temporal progression and / or changes of each of these variables, can be evaluated by the sensing unit to detect the driver's pedaling pattern. Supplementarily or alternatively, the evaluation may be performed, for example, by the control unit. For this purpose, each variable can preferably be transmitted from the sensing unit to the control unit.

[0032] In particular, a specific driver pedaling pattern may be formed such that the driver torque rises above a first torque limit, and then falls below a second torque limit, especially within a given period. The first and / or second torque limits may be predetermined absolutely, or they may be predetermined relative to the time average of the driver torque, in particular, the moving time average. The moving time average should be understood as the time-averaged driver torque within a certain (moving) time window connected at the present time.

[0033] Such torque transitions clearly differ from the usual, substantially sinusoidal transitions of driver torque. In this respect, it is possible to detect a shift permission with high reliability. In particular, such a driver pedaling pattern has been found to be advantageous for signaling a gear change to a lower gear from the driver's side. In particular, such a driver pedaling pattern can thus be specific to one shift direction, in which case the shift direction in particular corresponds to a gear change to a lower gear (lower gear ratio). In this regard in particular, an additional criterion may be considered: the driver pedaling frequency does not reach or fall below a predetermined pedaling frequency limit, especially within a given period. The pedaling pattern can be characterized by the continuous motion of the crank mechanism performed by the driver.

[0034] Additionally or alternatively, for example, a specific driver pedaling pattern may be formed as pedaling pauses, particularly pedaling pauses limited to a predetermined period. A pedaling pause means that the driver pedaling frequency drops to zero or substantially zero, particularly for a limited time, that is, the crank mechanism comes to a standstill or substantially comes to a standstill, and then rises again, that is, the motion of the crank mechanism continues. The expression "substantially" means that, even if the driver is not actively pedaling, motion in the crank mechanism due to ambient conditions, based on the motion of a pedal-driven vehicle, cannot be excluded.

[0035] With regard to the present invention, it has been found to be advantageous if the pedaling pause formed as a shift permit is limited to a relatively short period, that is, if the pedaling frequency has already increased or is increasing again during or as this period progresses. This period may be particularly 2 seconds, preferably 1 second, or less than 1 second. Pedaling pauses taken by the driver, for example, for rest, are empirically extended over a relatively long period and thus can be reliably distinguished from pedaling pauses corresponding to shift permits. In particular, such a driver pedaling pattern has been found to be advantageous for signaling a gear change to a higher gear from the driver's side. In particular, such a driver pedaling pattern can thus be specific to one shift direction, in which case the shift direction in particular corresponds to a gear change to a higher gear (higher gear ratio).

[0036] The driver pedaling pattern, or the detection of the driver pedaling pattern, may include detecting the driver pedaling pattern, particularly the pedaling pause, at a predetermined rotation angle of the crank mechanism, or within a predetermined range of rotation angles. In other words, the driver pedaling pattern may be detected only when it is detected at a specific pedal position or a specific range of motion of the pedal around the circumference of the crank mechanism. The rotation angle in this context may preferably be determined with respect to at least one pedal or at least one crank arm of the crank mechanism. Thus, for example, the pedaling pause may occur at a horizontal or substantially horizontal pedal position or crank arm position. This allows such a driver pedaling pattern to be recognized with even greater reliability.

[0037] Pedaling pauses specific to shift permission can be detected, in particular, by the driver's pedaling frequency falling to a first pedaling frequency limit, particularly zero or substantially zero, within a predetermined period, and then rising to or above a second pedaling frequency limit. The predetermined period may, in particular, be 2 seconds or less, preferably 1 second or less. The first and / or second pedaling frequency limits may be predetermined absolutely, or they may be predetermined relative to the time average of the pedaling frequency, particularly the time moving average. In particular, the first pedaling frequency limit may be zero or substantially zero, or it may be smaller than the second pedaling frequency limit.

[0038] Additionally or alternatively, detection of driver-side shift permission may include detecting user handling specific to shift permission in at least one user interface of a pedal-driven vehicle. This has proven to be a particularly simple and reliable method for reliably detecting driver-side shift permission. The at least one user interface may be formed in particular as a touch-sensitive and / or pressure-sensitive operating element, in particular as a button, switch, sensor or similar. Alternatively, the at least one user interface may be formed as, for example, a touch-sensitive display. As a user interface, for example, an existing user interface of a gear shift mechanism that manually triggers gear changes, in particular as a shift lever or similar, may be used.

[0039] In particular, the control unit may be connected via communication or signaling in such a way that it has at least one user interface, and that a corresponding signal is transmitted from the user interface to the control unit through user handling in the user interface, thereby enabling the control unit to detect shift permission.

[0040] At least one user interface may preferably be located on the steering wheel of a pedal-driven vehicle. In particular, the user interface may be located on the steering wheel so that it is accessible to the driver of the pedal-driven vehicle, especially by the fingers, when the steering wheel is used in the prescribed manner.

[0041] With regard to the present invention, the step of providing shift recommendations is: A step in which the shift direction is determined, in particular by the control unit, according to the driver's pedaling frequency and a first target pedaling frequency band, and in this step the shift recommendation is specific to the determined shift direction. It may be made to include this.

[0042] In other words, within the process of providing shift recommendations, the shift direction for the recommended gear change may be determined and provided along with the shift recommendation, or as part of the shift recommendation. The shift direction may be particularly specific to whether a gear change to a higher gear (upshift) or a gear change to a lower gear should be performed.

[0043] In particular, the shift direction can be determined according to the driver's pedaling frequency and the first target pedaling frequency band. In this case, it may be particularly helpful to determine which end of the first target pedaling frequency band the driver's pedaling frequency is closest to. If the driver's pedaling frequency is closer to the lower end (first lower pedaling frequency limit) of the first target pedaling frequency band than to the upper end (first upper pedaling frequency limit), the shift recommendation may be specific to shifting to a lower gear in order to increase the driver's pedaling frequency again. Conversely, if the driver's pedaling frequency is closer to the upper end (first upper pedaling frequency limit) of the first target pedaling frequency band than to the lower end (first lower pedaling frequency limit), the shift recommendation may be specific to shifting to a higher gear in order to decrease the driver's pedaling frequency again.

[0044] Additionally or alternatively, the shift direction may be determined in accordance with at least one driving parameter, in particular the inclination and / or speed and / or acceleration of a pedal-driven vehicle, driver torque or driver power, or a change in at least one of these variables. Inclination can be captured in particular as the pitch angle of a pedal-driven vehicle, and as a result, it is possible to determine whether the pedal-driven vehicle is traveling on flat ground or in mountainous terrain. Thus, it can be estimated that the driver desires to shift to a lower gear when, for example, entering an uphill gradient. Furthermore, it can be assumed that the driver desires to shift to a higher gear when, for example, continuously accelerating and / or increasing speed. A rising or continuously large driver torque, or a rising or continuously large driver power, also suggests that the driver desires to shift to a higher gear. Driver power is preferably obtained as the product of driver torque and driver pedaling frequency.

[0045] Furthermore, with respect to the present invention, driver-generated shift permission may be specific to the shift direction. In other words, the driver can pre-define the shift direction along with his shift permission. Thus, the driver can be given further control over the shift behavior. For example, in the case of shift permission in the form of a pedaling pattern, various pedaling patterns may be configurable, where one pedaling pattern characterizes a certain upshift and another pedaling pattern characterizes a certain downshift. Additionally or alternatively, various user handlings may be configurable for shift permission in at least one user interface, where a first user handling characterizes a certain upshift and a second user handling characterizes a certain downshift. Additionally or alternatively, at least two or two user interfaces may be provided, where a user handling in one of the user interfaces characterizes a certain upshift and a user handling in the other user interface characterizes a certain downshift.

[0046] Additionally or alternatively, this method further: A driver notification is output in response to a step that provides a shift recommendation, particularly by an output unit. It may be made to include this.

[0047] Driver notifications may be formed as auditory, visual, or tactile notifications, or any combination thereof. For this purpose, the output unit may have, for example, a display element, in particular a display, for outputting visual driver notifications, and / or a speaker for outputting auditory driver notifications, and / or at least one vibration actuator for outputting tactile driver notifications. By outputting driver notifications, the shift recommendation actively communicates with the driver, and the driver may be made aware of the need to issue a shift permission. At least one display of the output unit may be formed as, for example, a touch display, and thus simultaneously function as a user interface, in particular a user interface for shift permission.

[0048] Additionally or alternatively, within the scope of the present invention, the method further: A step in which a shift recommendation is rejected, particularly by the control unit, when the driver's pedaling frequency is within a first target pedaling frequency band, particularly for a predetermined period of time. It may be made to include this.

[0049] In other words, a shift recommendation may be rejected when the driver's pedaling frequency returns to the first target pedaling frequency band, particularly within a predetermined period. In particular, user handling that may be equivalent to a driver-generated shift permission, which may occur in some cases, does not trigger the shift process in this case, because there is no shift recommendation for its execution. The same applies to a driver-generated shift permission for which no shift recommendation was provided beforehand. This ensures that the shift process is performed only when it is considered meaningful based on the predetermined shift characteristics of the gear shift mechanism.

[0050] According to a second aspect, the present invention relates to a pedal-driven vehicle, A gear shift mechanism that provides a variable gear ratio, Control unit and Grasping unit and The present invention relates to a pedal-driven vehicle. The pedal-driven vehicle is preferably configured to be driven by a method according to the present invention, particularly by a method according to a first aspect of the present invention. Preferably, the pedal-driven vehicle can be configured as a bicycle, preferably an electric bicycle or a pederec. With respect to the pedal-driven vehicle, the same advantages described with respect to the method according to the present invention arise. The pedal-driven vehicle may preferably have two wheels, particularly one front wheel and one rear wheel.

[0051] Preferably, a pedal-driven vehicle may be equipped with a crank mechanism that inputs driver torque to propel the pedal-driven vehicle. In particular, the driver torque and / or driver pedaling frequency may be determined in the crank mechanism, especially by a torque sensor or a rotational speed sensor.

[0052] A pedal-driven vehicle may preferably include at least one drive unit that provides driving torque to propel the pedal-driven vehicle. The at least one drive unit may preferably be formed as an electric motor and / or be positioned in the pedal-driven vehicle in a mid-ship motor configuration. Additionally or alternatively, a pedal-driven vehicle may include multiple drive units, particularly of the same type or identical drive units. The drive units may, in particular, be configured to assist the driver when propelling the pedal-driven vehicle.

[0053] In particular, the gear shift mechanism may be configured to provide a variable gear ratio, especially within the powertrain of a pedal-driven vehicle. The gear ratio may be specific in particular to the number of rotations of the drive wheels of a pedal-driven vehicle per revolution of the vehicle's crank mechanism. A high gear ratio or high gear position characterizes, in this respect, a relatively high number of rotations of the drive wheels per revolution of the crank mechanism. A low gear ratio or low gear position, conversely, characterizes a relatively low number of rotations of the drive wheels per revolution of the crank mechanism.

[0054] Pedal-driven vehicles may preferably be equipped with a crank mechanism. In particular, the crank mechanism may allow or may be able to input driver torque or driver power to propel the vehicle, especially via the pedals of the crank mechanism.

[0055] The gear shift mechanism can be configured here as a chain-driven shift mechanism or a hub-integrated shift mechanism. Additionally or alternatively, the gear shift mechanism may be configured as an automatic or at least partially automated gear shift mechanism. In particular, the shift process of the gear shift mechanism does not need to be manually triggered by the vehicle driver, and the initiation and / or execution of the shift process may be automated and performed or can be performed based on one or more driving parameters. Driving parameters may be, for example, the speed of a pedal-driven vehicle, the pedaling frequency of the driver of a pedal-driven vehicle (driver pedaling frequency), and / or the driver torque or driver power that propels the vehicle, input by the driver of a pedal-driven vehicle.

[0056] An automatic or at least partially automated gear shift mechanism may have at least one user interface, in particular at least one shift lever, for manually triggering the shift process.

[0057] Within the scope of the present invention, at least one grasping unit may have at least one sensor.

[0058] Preferably, the gripping unit may have at least one tilt sensor for sensing the tilt of a pedal-driven vehicle. The at least one tilt sensor may preferably be formed as an inertial measurement unit (IMU).

[0059] Additionally or alternatively, the grasping unit may have at least one speed sensor for grasping the speed of a pedal-driven vehicle. The at least one speed sensor may be configured to measure the speed of the pedal-driven vehicle, for example, via the rotational speed of the wheels of the pedal-driven vehicle and the circumference of the wheels. For this purpose, the speed sensor may be configured, for example, as a rotational speed sensor, in which case the speed can be determined via a given circumference of the wheel.

[0060] Additionally or alternatively, the grasping unit may have at least one rotational speed sensor for determining the driver pedaling frequency, particularly in the crank mechanism of a pedal-driven vehicle. Additionally or alternatively, the grasping unit may have at least one torque sensor for determining the driver torque, particularly in the crank mechanism of a pedal-driven vehicle. Furthermore, driver power may be determined as the product of the driver pedaling frequency and the driver torque. Additionally or alternatively, the grasping unit may have at least one rotational angle sensor for determining the rotational angle of the crank mechanism. The rotational angle may be determined in particular with respect to at least one crank arm, or at least one pedal, particularly a pedal positioned on a crank arm. Thus, the circumferential position of the crank arm or pedal can be identified and evaluated.

[0061] A pedal-driven vehicle, particularly one with a gear shift mechanism, may preferably have at least one user interface. The user interface may preferably enable user handling specific to driver-generated shift permissions. The user interface may be formed in particular as touch and / or pressure-sensitive operating elements, especially buttons, switches, sensors, or similar. Furthermore, at least one user interface may be formed, for example, as a touch display.

[0062] Pedal-driven vehicles may preferably include at least one output unit that outputs driver notifications. The output unit may be configured to output visual and / or auditory and / or tactile driver notifications.

[0063] In particular, the output unit may have at least one display element for displaying visual driver notifications. The display element may preferably be formed as a display. Additionally or alternatively, the output unit may have at least one output element for outputting auditory driver notifications. The at least one output element may preferably be formed as a speaker. Additionally or alternatively, the output unit may have at least one actuator for outputting or generating tactile driver notifications. The actuator may be formed as, for example, a vibration motor. The at least one actuator may be located on, for example, a handgrip or handle of a pedal-driven vehicle, or may be incorporated into the handgrip or handle. Such positioning has been shown to be particularly advantageous with respect to the transmission of tactile notifications.

[0064] Additionally or alternatively, the output unit may be configured to drive the drive unit of a pedal-driven vehicle to output tactile driver notifications. Thus, for example, the drive unit can modify or control the drive torque provided in the crank mechanism of the pedal-driven vehicle, thereby allowing the driver to perceive this change in the crank mechanism. In particular, the torque can be alternated between two values, or repeatedly increased and decreased. In this way, tactile notifications for the driver can be generated without the use of further actuators.

[0065] At least one control unit may preferably be communicated and / or signaled at least temporarily to the gear shift mechanism of a pedal-driven vehicle, particularly to at least one user interface and / or grasping unit and / or output unit. Thus, data and / or open-loop or closed-loop control signals may be exchanged between the units.

[0066] At least one control unit and at least one grasping unit may be formed as a single common unit.

[0067] Within the scope of the present invention, at least one gear shift mechanism and / or control unit and / or gripping unit and / or output unit may have means for data processing. The means for data processing may have at least one processor and / or working memory and / or non-volatile data storage device.

[0068] According to a third aspect, the present invention relates to a computer program product which includes a command causing a pedal-driven vehicle according to a second aspect of the present invention to perform a method according to a first aspect of the present invention. With respect to the computer program product according to the present invention, the same advantages as those already described with respect to the method and / or pedal-driven vehicle according to the present invention arise.

[0069] According to a fourth aspect, the present invention relates to a computer-readable medium, particularly a storage medium, on which a computer program product according to a third aspect of the present invention is stored. With respect to the computer-readable medium according to the present invention, the same advantages as those already described with respect to the method and / or the pedal-driven vehicle and / or the computer program product according to the present invention arise.

[0070] According to a fifth aspect, the present invention relates to a data carrier signal for transmitting a computer program product according to a third aspect of the present invention. With respect to the data carrier signal according to the present invention, the same advantages as those already described with respect to the method and / or the pedal-driven vehicle and / or the computer program product and / or the computer-readable medium according to the present invention arise.

[0071] Further advantages, features, and details of the present invention can be found in the following description. Embodiments of the present invention will be described in detail below with reference to the drawings. Note that the features mentioned in the claims and specification may be essential to the invention, either individually or in any combination.

[0072] Please note that the drawings are approximate. [Brief explanation of the drawing]

[0073] [Figure 1] This diagram shows the method. [Figure 2] This is a diagram showing a pedal-driven vehicle. [Figure 3] This figure shows the change in driver torque over time. [Figure 4] This figure shows the change in driver pedaling frequency over time. [Modes for carrying out the invention]

[0074] Figure 1 shows a method 100 for driving a pedal-driven vehicle 200, The pedal-driven vehicle 200 is A gear shift mechanism 201 that provides a variable gear ratio, Control unit 203 and Grasping unit 204 and, It has, This method 100 is, Step 110 involves determining at least one driving parameter, particularly by a sensing unit (204), Step 120 provides a shift recommendation, particularly by the control unit 203, when at least one driving parameter is outside a predetermined value range. Step 130 involves detecting a driver-generated shift permission, particularly by the control unit 203, Step 140, in response to a shift permission, is performed by the control unit 203 and / or the gear shift mechanism 201, to include, This diagram shows a method 100 for driving a pedal-driven vehicle 200.

[0075] Figure 2 further shows a pedal-driven vehicle 200, A gear shift mechanism 201 that provides a variable gear ratio, Control unit 203 and Grasping unit 204 and, Equipped with, The diagram shows a pedal-driven vehicle 200. Preferably, the pedal-driven vehicle 200 is configured to be driven by method 100 according to a first aspect of the present invention.

[0076] Furthermore, the pedal-driven vehicle 200 is equipped with a crank mechanism 202 that inputs driver torque FM to propel the pedal-driven vehicle 200.

[0077] Figure 3 shows a schematic progression of driver torque FM over time T. The progression of driver torque FM incorporates a driver pedaling pattern specific to shift permission. This driver pedaling pattern is characterized by an increase above a first torque limit and a subsequent decrease below a second torque limit within a predetermined period t1. These torque limits are shown by dashed lines in Figure 3. From Figure 3, it is clear that this pedaling pattern is distinct from the normal and substantially sinusoidal progression of driver torque.

[0078] Figure 4 shows a schematic progression of the driver pedaling frequency F over time T. The progression of the driver pedaling frequency F includes a driver pedaling pattern specific to shift permission. This driver pedaling pattern is characterized by pedaling pauses. These pedaling pauses are characterized by the driver pedaling frequency F decreasing to a first pedaling frequency limit close to zero within a predetermined period t2, and then rising to above a second pedaling frequency limit. These pedaling frequency limits are shown by dashed lines in Figure 4. From Figure 4, it can be clearly seen that this pedaling pattern is distinct from the normal and substantially constant progression of the driver pedaling frequency.

[0079] The above description of the embodiments is merely illustrative and illustrates the present invention. It is obvious that the individual features of the embodiments can be freely combined with each other without departing the scope of the present invention, insofar as it is technically meaningful. [Explanation of Symbols]

[0080] 100 How to drive a pedal-driven vehicle 110 Steps to determine at least one driving parameter Step 120 provides a shift recommendation when at least one driving parameter is outside a predetermined value range. 130 Step to detect driver-generated shift permission 140 Steps to implement shift recommendations in response to shift permission 200 Pedal-driven vehicles 201 Gear Shift Mechanism 202 Crank mechanism 203 Control Unit 204 Grasping Unit F Driver pedaling frequency FM driver torque T time t1 period t2 period ZB1 First Target Pedaling Frequency Band ZB2 Second Target Pedaling Frequency Band

Claims

1. A method (100) for driving a pedal-driven vehicle (200), The aforementioned pedal-driven vehicle (200) A gear shift mechanism (201) that provides a variable gear ratio, Control unit (203), Grasping unit (204), It has, The above method (100) is, The steps include: (110) determining at least one driving parameter, particularly by the sensing unit (204); Step (120) provides a shift recommendation, particularly by the control unit (203), when at least one driving parameter is outside a predetermined value range. Step (130) of detecting a driver-generated shift permission, particularly by the control unit (203) and / or the sensing unit (204), Step (140) of performing the aforementioned shift recommendation in response to the shift permission, particularly by the control unit (203) and / or the gear shift mechanism (201), to include, A method (100) for driving a pedal-driven vehicle (200).

2. The method according to claim 1 (100), characterized in that the step of determining at least one driving parameter (110) includes determining the driver pedaling frequency (F) in the crank mechanism (202) of the pedal-driven vehicle (200), and the step of providing a shift recommendation (120) is performed when the driver pedaling frequency (F) is outside a first target pedaling frequency band (ZB1).

3. The method according to claim 2 (100), characterized in that the step (140) of implementing the shift recommendation is performed without the shift permission when the driver pedaling frequency (F) is outside the second target pedaling frequency band (ZB2), and in particular the first target pedaling frequency band (ZB1) is within the second target pedaling frequency band (ZB2).

4. The step (130) of detecting the shift permission generated by the driver is, In the crank mechanism (202), the driver pedaling pattern specific to the shift permission is detected, particularly by the sensing unit (204), and / or To detect user handling specific to the shift authorization in at least one user interface (205) of the pedal-driven vehicle (200), Includes at least one of the following: The method according to any one of claims 1 to 3, characterized in that (100).

5. The method according to claim 4 (100), characterized in that the detection of the driver pedaling pattern specific to the shift permission includes detecting the driver pedaling pattern at a predetermined rotation angle of the crank mechanism (202) or within a predetermined range of rotation angles.

6. The step (120) of providing the aforementioned shift recommendation is: A step in which the shift direction is determined by the control unit (203) in accordance with the driver's pedaling frequency and the first target pedaling frequency band (ZB1), wherein the shift recommendation is specific to the determined shift direction. to include, The method according to any one of claims 1 to 5, characterized in that (100).

7. The method according to any one of claims 1 to 5 (100), characterized in that the driver-generated shift permission is specific to the shift direction.

8. moreover, A driver notification is output, particularly by an output unit (206), in response to the step (120) of providing the shift recommendation. to include, The method according to any one of claims 1 to 7, characterized in that (100).

9. moreover, The step of rejecting the aforementioned shift recommendation, particularly by the control unit (203), when the driver's pedaling frequency (F) is within the first target pedaling frequency band (ZB1), especially during a predetermined period. to include, The method according to any one of claims 1 to 8, characterized in that (100).

10. A pedal-driven vehicle (200), A gear shift mechanism (201) that provides a variable gear ratio, Control unit (203), Grasping unit (204), Equipped with, The pedal-driven vehicle (200) is configured to be driven by the method (100) described in any one of claims 1 to 9. A pedal-driven vehicle (200).

11. A computer program product comprising instructions causing a pedal-driven vehicle (200) according to claim 10 to perform the method (100) according to any one of claims 1 to 9.

12. A computer-readable medium on which the computer program product described in claim 11 is stored.

13. A data carrier signal for transmitting the computer program product described in claim 11.

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