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

Abstract

This concerns how to drive a pedal-driven vehicle. [Solution] A method for driving a pedal-driven vehicle, wherein the pedal-driven vehicle 200 comprises at least one drive unit 201 that provides driving torque to propel the pedal-driven vehicle, a gear shift mechanism 202 that provides a variable gear ratio, a control unit 203, and at least one gripping unit 204. The method comprises the steps of: grasping the driving torque provided by the drive unit and the driving speed of the drive unit, in particular by the gripping unit; and adapting at least one operating parameter of the gear shift mechanism according to the driving torque and / or driving speed and / or driving power provided by the drive unit.

Description

Technical Field

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

Background Art

[0002] Pedal-driven vehicles, particularly electric bicycles, may include an additional electric drive unit which is provided to assist the driver when pedaling and thereby facilitate propulsion of the vehicle for the driver. The maximum drive power that can be provided by the drive unit is then obtained as the product of the maximum drive torque that can be provided by the drive unit and the maximum drive rotational speed.

[0003] The drive rotational speed is then usually proportional to the driver pedaling frequency at which the driver of the pedal-driven vehicle rows in the crank mechanism. Thus, for a given driver pedaling frequency, the drive unit can provide the maximum drive torque that reduces the driver's burden as well as possible.

[0004] However, when the drive rotational speed corresponding to this driver pedaling frequency is below the maximum drive rotational speed, the drive unit does not reach its maximum drive power (maximum power), even when providing the maximum torque. The driver of the pedal-driven vehicle thereby receives only limited assistance from the drive unit in the sense that the assisting ability of the drive unit is not fully utilized.

Summary of the Invention

Problems to be Solved by the Invention

[0005] The present 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. 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 according to the present invention also apply in relation to the pedal-driven vehicle according to the present invention, and / or the computer program product according to the present invention, and / or the computer-readable medium according to the present invention, and / or the data carrier signal according to 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.

[0006] The present invention described herein is used to provide improved driving of a pedal-driven vehicle, particularly with respect to improved user comfort of a pedal-driven vehicle, and especially with respect to improved assistance to the driver by the drive unit of a pedal-driven vehicle. [Means for solving the problem]

[0007] According to a first aspect, the present invention relates to a method for driving a pedal-driven vehicle, Pedal-driven vehicles are A drive unit that provides driving torque to propel a pedal-driven vehicle, A gear shift mechanism that provides a variable gear ratio, Control unit and At least one grasping unit, It has, This method, The steps include: determining the drive torque provided by the drive unit and the drive rotation speed of the drive unit, particularly using a sensing unit; The drive power provided by the drive unit is determined from the drive torque and drive speed of the drive unit, particularly by the control unit, to determine the desired step. A step of adapting at least one operating parameter of the gear shift mechanism according to the drive torque and / or drive speed and / or drive power provided by the drive unit, to include, This concerns how to drive a pedal-driven vehicle.

[0008] 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.

[0009] In other words, we propose a method for driving a pedal-driven vehicle. The pedal-driven vehicle has a drive unit that provides driving torque to propel the pedal-driven vehicle. The drive unit may preferably be configured to assist the driver of the pedal-driven vehicle when propelling it. The pedal-driven vehicle further has a gear shift mechanism that provides a variable gear ratio, particularly within the powertrain of the pedal-driven vehicle, at least one control unit, and at least one gripping unit.

[0010] According to the present invention, the drive torque provided by the drive unit of a pedal-driven vehicle is to be grasped, particularly by a grasping unit. The grasp of the drive torque can preferably be performed by at least one torque sensor, particularly on the drive shaft of the drive unit. The rotational speed of the drive unit when the drive torque is provided is also to be grasped, particularly by the grasping unit. The rotational speed can preferably be performed by at least one rotational speed sensor, particularly on the drive shaft of the drive unit.

[0011] Preferably, the drive unit is in an interactive relationship with the crank mechanism that receives the driver torque of a pedal-driven vehicle, and as a result, the drive rotational speed may be proportional to the driver pedaling frequency in the crank mechanism. This interactive relationship can be realized directly or, for example, via a transmission mechanism, particularly a transmission mechanism having a predetermined gear ratio.

[0012] Preferably, the drive power provided by the drive unit may be determined according to the drive speed and drive torque. In this case, the drive power is obtained from the product of the drive torque and the drive speed.

[0013] According to the present invention, at least one operating parameter of the gear shift mechanism is adapted according to the drive torque and / or drive speed and / or drive power provided by the drive unit.

[0014] The driving parameters of a gear shift mechanism may be, for example, the gear positions provided by the gear shift mechanism, and more particularly, the gear ratios provided by the gear shift mechanism. Additionally or alternatively, the driving parameters may also be parameters that set the shift behavior of the gear shift mechanism, especially an automatic gear shift mechanism, accordingly, such as the target pedaling frequency. Additionally or alternatively, the driving parameters may also be shift recommendations provided to the driver within the scope of driver notifications. Shift recommendations or driver notifications that prompt a gear change, especially a manual one, should be understood as recommendations to the driver that are specific to whether the driver should upshift (increase the gear ratio), downshift (decrease the gear ratio), and / or maintain the current gear position.

[0015] The step of adapting driving parameters may preferably include changing or maintaining at least one driving parameter. In particular, the step of adapting at least one driving parameter may include changing the gear ratio or gear position provided by the gear shift mechanism, and / or performing a gear change, in particular by outputting or canceling a driver notification (shift recommendation) to be performed manually, and / or adapting the shift behavior of the gear shift mechanism, in particular an automatic or partially automated gear shift mechanism, in particular the target pedaling frequency.

[0016] The method according to the present invention offers the advantage that the operation of the gear shift mechanism is appropriately adapted in accordance with the driving torque and driving power provided by the drive unit. In this way, the driving speed or driver cadence can be increased, in particular, in a given driving condition where the driving torque is maximum, thereby maximizing or approaching the maximum power provided by the drive unit, and thus aiming to reduce the burden on the driver as much as possible.

[0017] With regard to the present invention, preferably, the step of adapting at least one operating parameter of the gear shift mechanism is: When the drive torque reaches or exceeds the upper torque limit and / or the drive speed reaches or falls below the lower rotational speed limit and / or the drive power reaches or falls below the lower power limit, the control unit and / or the gear shift mechanism and / or the output unit perform a gear change that reduces the gear ratio provided by the gear shift mechanism, in particular by outputting a driver notification or shift recommendation to be performed manually, and / or perform a gear change that reduces the gear ratio provided by the gear shift mechanism, in particular by performing it automatically. It may be made to include this.

[0018] In other words, with respect to the present invention, when the driving torque is greater than or equal to the upper torque limit and / or the driving speed is, in particular at the same time, less than or equal to the lower rotational speed limit and / or the driving power is, in particular at the same time, less than or equal to the lower power limit, the gear shift mechanism may perform a gear change (downshift) that reduces the gear ratio provided by the gear shift mechanism, and in particular a notification to the driver to perform the downshift manually (driver notification).

[0019] Preferably, a driver notification may be output when the driving torque is greater than or equal to the upper torque limit, and in particular when the driving rotational speed is less than or equal to the lower rotational speed limit, or when the driving power is less than or equal to the lower power limit.

[0020] The step of performing a gear change that increases or decreases the gear ratio provided by the gear shift mechanism, in particular by manually performing it, and / or outputting a driver notification to adjust the target pedaling frequency, may preferably be performed by at least one output unit. In particular, the driver notification may be formed as a visual driver notification (e.g., a downward or upward arrow symbolically indicating an upshift or downshift). Additionally or alternatively, the driver notification may be formed as an auditory driver notification. The driver notification is used to make the driver aware that an appropriate gear change or adjustment of the target pedaling frequency may be meaningful, and thus prompt the driver to take appropriate action.

[0021] Additionally or alternatively, the step of outputting a driver notification may include transmission of the notification to at least one mobile device, in particular a mobile phone. For this purpose, the at least one control unit may have at least one communication interface, in particular a mobile communication interface or a Bluetooth interface. Thereby, providing an output unit in a pedal-driven vehicle may be omitted. This is because, for example, many drivers also use their mobile phones as a bicycle computer. The driver notification is correspondingly displayed by the mobile device and thus can be made accessible to the driver.

[0022] Additionally or alternatively, when the drive torque is above an upper torque limit value and / or the drive speed is, in particular simultaneously, below a lower speed limit value and / or the drive power is, in particular simultaneously, below a lower power limit value, a gear change may be effected, in particular automatically and / or by the gearshift mechanism or the control unit, to reduce the gear ratio provided by the gearshift mechanism. To effect the gear change, the gearshift mechanism can preferably be drive-controlled by the control unit and the gearshift mechanism can effect the gear change (for example by moving a delay lever of the gearshift mechanism). In that regard, the effecting of the gear change, in particular an automatic gear change, can preferably be effected by the control unit and the gearshift mechanism.

[0023] Preferably, a gear change may be effected when the drive torque is above an upper torque limit value and, in particular simultaneously, the drive speed is below a lower speed limit value or the drive power is below a lower power limit value. Based on the direct relationship between drive torque, drive speed and drive power, the considerations of drive speed or drive power in relation to drive torque are equivalent.

[0024] Reaching or exceeding the upper torque limit value indicates that the driving torque provided by the drive unit is maximum or near maximum. The power that can be provided by the drive unit is thereby limited by the driving rotational speed, which, on the other hand, is related to the pedaling frequency of the driver. By changing gears to a gear stage with a reduced gear ratio, the driver's pedaling frequency is accelerated in a given driving scenario. As a result, the rotational speed in the crank mechanism of the pedal-driven vehicle increases, and similarly the driving rotational speed increases. Previously, that is, when the driving power was limited based on too low rotational speeds, the driving power can now be further increased towards the maximum power that can be provided by the drive unit. The lower rotational speed limit value can, in that regard, be selected such that for a given maximum driving torque, the maximum driving power cannot be provided by the drive unit. The lower power limit value can preferably be below the maximum power that can be provided by the drive unit. The increase in the driving rotational speed performed by downshifting thus leads to the possibility of increasing the driving power provided by the drive unit.

[0025] The upper torque limit value can preferably correspond to the maximum torque that can be provided by the drive unit. The maximum torque of the drive unit can be, for example, 50 Nm or 85 Nm. Also, the upper torque limit value can, for example, correspond to at least 90% or at least 95% or at least 98% of the maximum torque that can be provided by the drive unit. Such a torque that is only near the maximum torque also suggests a high utilization rate of the assistance that can be provided by the drive unit, and as a result, is advantageous for maximizing the power that can be provided by the drive unit. In particular, the upper torque limit value can be larger than the lower torque limit value.

[0026] The lower power limit may preferably correspond to the maximum power that the drive unit can provide. Alternatively, the lower power limit may correspond to, for example, at least or exactly 90%, at least or exactly 95%, or at least or exactly 98% of the maximum torque or upper power limit that the drive unit can provide. For example, 98% of the drive power can be considered a sufficient utilization rate, and as a result, further gear changes will be avoided in this case. This results in improved driving comfort for the driver and less wear on the gear shift mechanism. In particular, the lower power limit may be smaller than the upper power limit.

[0027] Within the scope of the present invention, the following steps may be taken: outputting a driver notification to perform a gear change that reduces the gear ratio provided by the gear shift mechanism, particularly manually, only when the drive torque reaches or falls below an upper torque limit for a predetermined duration, and / or the drive power reaches or falls below a lower power limit for a predetermined duration, particularly a first predetermined duration, and / or the drive speed reaches or falls below a lower rotational speed limit; and / or performing a gear change that reduces the gear ratio provided by the gear shift mechanism, particularly automatically. This method allows short-term fluctuations in drive torque or drive power to be ignored, and unnecessary gear changes can be avoided. Thus, particularly comfortable and low-wear operation of pedal-driven vehicles is achieved. The predetermined duration can be set by the user, particularly via a mobile device, which is preferably able to communicate with the control unit.

[0028] In particular, this method The optional step of determining and / or determining the driver's pedaling frequency, particularly in accordance with the drive speed, Steps to understand the driver's torque, The process involves optionally determining the driver power in accordance with the driver's pedaling frequency and driver's torque, It includes, The system may also perform the steps of issuing a driver notification to perform a gear change that reduces the gear ratio provided by the gear shift mechanism, and / or performing a gear change that reduces the gear ratio provided by the gear shift mechanism, only when the driver torque reaches or exceeds an upper driver torque limit and / or the driver power reaches or exceeds an upper driver power limit.

[0029] This ensures that the shift process is triggered or a shift recommendation is issued only when the driver is actually requesting assistance from the drivetrain. In particular, in situations where relatively little driver power is input anyway, the shift process or corresponding recommendation may thus be omitted, because there is no heightened need for assistance from the driver.

[0030] Furthermore, within the scope of the present invention, the system may perform the steps of outputting a driver notification to perform a gear change that reduces the gear ratio provided by the gear shift mechanism, particularly manually, only when the drive speed reaches or falls below a lower rotational speed limit, and / or performing a gear change that reduces the gear ratio provided by the gear shift mechanism, particularly automatically. The lower rotational speed limit may, in particular, be proportional to a lower pedaling frequency limit. In other words, in this case, a gear change is recommended or performed only when the driver's pedaling frequency is in the pedaling frequency band preferred by the driver, preferably outside the pedaling frequency band defined around the target pedaling frequency (target pedaling frequency band). Thus, the shift characteristics pre-set by the driver or the factory can be prioritized over maximizing drive power, or maximizing drive power is performed only within the range of the shift characteristics pre-set by the driver or the factory. The shift behavior that the driver is familiar with or desires is thus respected, and a user experience that deviates from the driver's expectations is avoided.

[0031] The target pedaling frequency should be understood as the pedaling frequency at which a driver of a pedal-driven vehicle can or may pedal, particularly in a given gear of the gear shift mechanism, without the gear shift mechanism, especially an automatic or partially automated gear shift mechanism, performing the gear change. The target pedaling frequency may, for example, be a pedaling frequency that feels comfortable to the driver in many riding conditions. Conversely, if the pedaling frequency exceeds the target pedaling frequency 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, particularly automatically, to bring the pedaling frequency down to the target pedaling frequency. Conversely, if the pedaling frequency falls below the target pedaling frequency by a certain interval of pedaling frequency, 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, especially automatically, to raise the pedaling frequency to the target pedaling frequency.

[0032] In this respect, the target pedaling frequency constitutes an operating parameter of the gear shift mechanism, and if it is changed, it will have a significant impact on shift operation, especially automatic shift operation. The pedaling frequency can be determined, for example, through a rotational speed sensor in a pedal-driven vehicle, particularly a rotational speed sensor located in the crank mechanism.

[0033] The upper pedaling frequency limit should be understood here as the pedaling frequency at which, when reached or exceeded, a gear change that increases the gear ratio provided by the gear shift mechanism is triggered or performed, particularly automatically. The upper pedaling frequency limit may preferably be greater than the target pedaling frequency and the lower pedaling frequency limit.

[0034] The lower pedaling frequency limit should be understood here as the pedaling frequency at which, if reached or below, a gear change that reduces the gear ratio provided by the gear shift mechanism is triggered or performed, particularly automatically. The lower pedaling frequency limit may preferably be smaller than the target pedaling frequency and the upper pedaling frequency limit.

[0035] 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, specifically a target pedaling frequency band unique to a given gear. Within this target pedaling frequency band, the driver can pedal without the shift process being triggered, especially automatically. Conversely, when the driver's pedaling frequency leaves this frequency band, a corresponding upward or downward shift process is triggered. The shift process is thus triggered in accordance with the pedaling frequency limits positioned on either side of the target pedaling frequency, in a sense of hysteresis.

[0036] Preferably, with respect to the present invention, If a driver notification, especially a previously issued driver notification, is implemented, and the shift recommendation characterized by that driver notification may cause the drive moment to exceed the upper torque limit under the assumption that the drive power is constant, then the step of canceling it is to cancel it. It may be made to include this.

[0037] This helps prevent the driver from performing a shift process that would result in the power currently supplied by the drive unit not being maintained, or that would reduce the power available to the drive unit. In particular, the drive speed presented after the shift recommendation can be determined based on the gear ratio of the new gear to be engaged.

[0038] With respect to the present invention, the step of adapting at least one operating parameter of the gear shift mechanism is: When the drive torque reaches or falls below the lower torque limit and the drive power reaches or exceeds the upper power limit, the control unit and / or the gear shift mechanism and / or the output unit perform a gear change that increases the gear ratio provided by the gear shift mechanism, in particular by outputting a driver notification to perform the change manually, and / or perform a gear change that increases the gear ratio provided by the gear shift mechanism, in particular by performing the change automatically. It is possible to include it.

[0039] In other words, with respect to the present invention, when the driving torque is below the lower torque limit and the driving power is, in particular, above the upper power limit, the gear shift mechanism may perform a gear change (downshift) that increases the gear ratio provided by the gear shift mechanism, and in particular, output a notification to the driver to perform the change manually (driver notification).

[0040] Additionally or alternatively, when the drive torque is below the lower torque limit and the drive power is, in particular, above the upper power limit, a gear change that increases the gear ratio provided by the gear shift mechanism may be performed, particularly automatically and / or by the gear shift mechanism or a control unit. To perform a gear change, the gear shift mechanism can preferably be appropriately driven and controlled by a control unit, and the gear shift mechanism can perform the gear change (for example, by moving the derailleur of the gear shift mechanism). In this regard, the performance of a gear change, particularly an automatic gear change, can preferably be performed by a control unit and a gear shift mechanism.

[0041] When the driving power is high, reaching or falling below the lower torque limit indicates a cancellation of the driving torque based on high rotational speed, given that the maximum power of the drive unit is already provided. Shifting to a gear with an increased gear ratio reduces the driver's pedaling frequency in a given driving situation. This lowers the rotational speed of the crank mechanism in a pedal-driven vehicle, and proportionally, the driving rotational speed decreases. Accordingly, the driving torque can be increased again when the driving rotational speed or the driver's pedaling frequency decreases, thereby providing more comfortable assistance to the driver.

[0042] The lower torque limit may preferably correspond to the maximum torque that the drive unit can provide, or it may be equal to the upper torque limit. Alternatively, the lower torque limit may correspond to, for example, at least or exactly 90%, at least or exactly 95%, or at least or exactly 98% of the upper torque limit.

[0043] The upper power limit may preferably correspond to the maximum power that the drive unit can provide, or it may be equal to the lower power limit.

[0044] In particular, this method The optional step of determining and / or determining the driver's pedaling frequency, particularly in accordance with the drive speed, Steps to understand the driver's torque, The process involves optionally determining the driver power in accordance with the driver's pedaling frequency and driver's torque, It includes, The system may also perform the steps of outputting a driver notification to perform a gear change that increases the gear ratio provided by the gear shift mechanism, and / or performing a gear change that increases the gear ratio provided by the gear shift mechanism, only when the driver torque reaches or falls below a lower driver torque limit and / or when the driver power reaches or exceeds a lower driver power limit.

[0045] Furthermore, the system may perform a gear change that increases the gear ratio provided by the gear shift mechanism, particularly when it is manually performed, and / or a gear change that increases the gear ratio provided by the gear shift mechanism, particularly when it is automatically performed, only when the drive torque reaches or falls below the lower torque limit for a predetermined duration, especially a second predetermined duration, and / or the drive power reaches or exceeds the upper power limit for a predetermined duration, and / or the drive speed reaches or exceeds the upper speed limit.

[0046] Furthermore, within the scope of the present invention, the system may perform the following steps: output a driver notification to perform a gear change that increases the gear ratio provided by the gear shift mechanism, particularly manually, only when the drive speed reaches or exceeds an upper rotational speed limit; and / or perform a gear change that increases the gear ratio provided by the gear shift mechanism, particularly automatically. The upper rotational speed limit may, in particular, be proportional to an upper pedaling frequency limit. In other words, in this case, a gear change is recommended or performed only when the driver's pedaling frequency is outside the pedaling frequency band preferred by the driver. Thus, the shift characteristics pre-set by the driver or factory can be prioritized over maximizing drive power, or maximizing drive power is performed only within the range of the shift characteristics pre-set by the driver or factory. The shift behavior familiar or desired by the driver is thus respected, and a user experience that deviates from the driver's expectations is avoided.

[0047] Within the scope of the present invention, after a predetermined duration following the step of outputting a driver notification, a gear change that decreases or increases the gear ratio provided by the gear shift mechanism may be performed, particularly automatically, or by the gear shift mechanism and / or control unit, unless user handling is performed to prevent this gear change within this predetermined duration. In other words, the driver of a pedal-driven vehicle may be given the opportunity to prevent a gear change, particularly an automatic gear change, after the preceding driver notification. If no prevention is performed, the gear change is performed for the purpose of increasing driving power or providing improved assistance to the driver. Preferred user handling may be, for example, the operation of the user interface of a pedal-driven vehicle, particularly the gear shift mechanism, particularly the shift lever, or other operating elements, such as buttons or similar.

[0048] With regard to the present invention, the method further states that The steps include: determining and / or obtaining the driver's pedaling frequency, particularly according to the drive rotation speed, particularly by a sensing unit; When the drive torque reaches or exceeds the upper torque limit, and the drive power reaches or falls below the lower power limit, and the driver pedaling frequency corresponds to and / or falls within the target pedaling frequency band, the control unit and / or output unit, in particular, output a driver notification to adjust, in particular increase, the target pedaling frequency, or the step of adjusting, in particular increase, the target pedaling frequency. It may be made to include this.

[0049] Determining the driver pedaling frequency can be done by determining the rotational speed of the crank mechanism of a pedal-driven vehicle, particularly by using at least one rotational speed sensor. Additionally or alternatively, the driver pedaling frequency may be determined in relation to the drive rotational speed. Typically, a proportional relationship exists between the drive rotational speed and the driver pedaling frequency, defined by the gear ratio of the transmission mechanism acting between the crank mechanism and the drive unit. Thus, by multiplying the drive rotational speed by the reciprocal of the gear ratio, the rotational speed of the crank mechanism, and thus the driver pedaling frequency, can be directly determined. Determining the driver torque can be done in the crank mechanism of a pedal-driven vehicle, particularly by using a torque sensor. Driver power can preferably be determined as the product of the driver pedaling frequency and the driver torque.

[0050] When high drive torque, especially maximum drive torque, is offered, the power available from the drive unit can be increased substantially only through increased rotational speed. This, however, may be incompatible with the driver's preferred target pedaling frequency, or a target pedaling frequency band defined around this target pedaling frequency, preferably defined by upper and lower pedaling frequency limits. In this case, a notification can be output to the driver indicating that the auxiliary power of the drive unit is not optimally available within the driver's specific preset range for the target pedaling frequency, so as to make the driver aware of this problem without ignoring the driver-defined operating behavior of the gear shift mechanism.

[0051] With regard to the present invention, the method further states that The steps include: determining and / or obtaining the driver's pedaling frequency, particularly according to the drive rotation speed, particularly by a sensing unit; When the drive torque reaches or falls below the lower torque limit, and the drive power reaches or exceeds the upper power limit, and the driver pedaling frequency corresponds to and / or falls within the target pedaling frequency band, the control unit and / or output unit, in particular, output a driver notification to adjust, in particular to reduce, the target pedaling frequency, or the step of adjusting, in particular to reduce, the target pedaling frequency. It may be made to include this.

[0052] When a reduced drive torque is presented at maximum or near-maximum drive power, this indicates a reduction in drive torque based on high rotational speeds, given a predetermined maximum power of the drive unit. In this case, a notification to the driver indicating that the drive torque of the drive unit is not optimally available, within the range of the driver's specific preset for the target pedaling frequency, can be output with appropriate adjustments.

[0053] Within the scope of the present invention, after a predetermined period of time has elapsed following the step of outputting a driver notification, the target pedaling frequency may be adjusted unless user handling is performed to prevent this adjustment within the predetermined period of time. In other words, the driver of a pedal-driven vehicle may be given the opportunity to prevent the step of adjusting the target pedaling frequency, particularly the step of automatically adjusting it, after the preceding driver notification. If no such prevention is performed, the target pedaling frequency is adjusted. Preferred user handling may be, for example, the operation of the user interface of a pedal-driven vehicle, particularly the gear shift mechanism, in particular the shift lever, or other operating elements, such as buttons or similar.

[0054] The step of adapting the target pedaling frequency preferably involves corresponding adaptations to upper or lower pedaling frequency limits, resulting in the entire target pedaling frequency band being shifted correspondingly upward or downward.

[0055] According to a second aspect, the present invention relates to a pedal-driven vehicle, A drive unit that provides driving torque to propel a pedal-driven vehicle, A gear shift mechanism that provides a variable gear ratio, Control unit and At least one grasping unit, Equipped with, This 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.

[0056] At least one drive unit may preferably be formed as an electric motor and / or be located in a pedal-driven vehicle in a mid-ship motor configuration. Additionally or alternatively, a pedal-driven vehicle may have multiple drive units, particularly of the same or identical type.

[0057] 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.

[0058] 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.

[0059] The gear shift mechanism can be configured here as a chain shift mechanism or a hub-internal 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 shifting process of the gear shift mechanism does not need to be manually triggered by the vehicle driver, but may be automated and 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, and / or the driver torque or power that propels the vehicle, input by the driver of a pedal-driven vehicle.

[0060] 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.

[0061] Within the scope of the present invention, at least one gripping unit may have at least one sensor. In particular, the gripping unit may have at least one torque sensor for sensing the drive torque provided by the drive unit. Additionally or alternatively, the gripping unit may have at least one rotational speed sensor for sensing the drive rotational speed of the drive unit and / or the rotational speed of the crank mechanism of a pedal-driven vehicle or the driver pedaling frequency.

[0062] At least one control unit may be communicated and / or signaled at least temporarily with a gear shift mechanism and / or a gripping unit and / or an output unit and / or at least one drive unit. Thus, data and / or open-loop or closed-loop control signals may be exchanged between the respective units.

[0063] At least one control unit and at least one grasping unit may be formed as a single common unit.

[0064] 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.

[0065] A pedal-driven vehicle, in particular a gear shift mechanism, may be provided with at least one output unit that outputs at least one driver notification, in particular a driver notification that prompts a gear change and / or adjusts a target pedaling frequency. The at least one output unit may preferably have a display that shows a visual driver notification.

[0066] Additionally or alternatively, at least one control unit and / or output unit may have at least one communication interface, in particular a Bluetooth interface or a mobile communication interface, for communicating with at least one mobile device. In this way, driver notifications can be transmitted to the mobile device, or parameter presets, such as a target pedaling frequency, can be transmitted from the mobile device to the control unit.

[0067] Additionally or alternatively, the output unit may have at least one output element that outputs an auditory notification. The at least one output element may preferably be formed as a speaker.

[0068] Additionally or alternatively, the output unit may have at least one actuator that outputs or generates haptic feedback. The actuator may be formed, for example, as a vibration motor. 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 found to be particularly advantageous with respect to the transmission of haptic feedback.

[0069] Additionally or alternatively, the output unit may be configured to drive the drive unit of a pedal-driven vehicle to output tactile feedback. 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 feedback for the driver can be generated without the use of further actuators.

[0070] In a third aspect, the present invention relates to a computer program product which includes instructions causing a pedal-driven vehicle according to the present invention, in particular a pedal-driven vehicle according to a second aspect of the present invention, to perform a method according to the present invention, in particular 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.

[0071] 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 the present invention, particularly 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.

[0072] According to a fifth aspect, the present invention relates to a data carrier signal for transmitting a computer program product according to the present invention, in particular 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.

[0073] 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.

[0074] Please note that the drawings are approximate. [Brief explanation of the drawing]

[0075] [Figure 1] This diagram shows the method. [Figure 2] This is a diagram showing a pedal-driven vehicle. [Modes for carrying out the invention]

[0076] Figure 1 shows a method 100 for driving a pedal-driven vehicle 200, The pedal-driven vehicle 200 is A pedal-driven vehicle 200 is propelled by at least one drive unit 201 that provides driving torque, A gear shift mechanism 202 that provides a variable gear ratio, Control unit 203 and At least one grasping unit 204, It has, This method 100 is, Step 110 involves grasping the drive torque provided by the drive unit 201 and the drive rotation speed of the drive unit, particularly by the grasping unit 204. In step 120, the drive power provided by the drive unit 201 is determined from the drive torque and drive speed of the drive unit 201, particularly by the control unit 203. Step 130 involves adapting at least one operating parameter of the gear shift mechanism 202 according to the drive torque and / or drive speed and / or drive power provided by the drive unit (201), to include, This shows how to drive a pedal-driven vehicle 200.

[0077] Figure 2 further shows a pedal-driven vehicle 200, A pedal-driven vehicle 200 is propelled by at least one drive unit 201 that provides driving torque, A gear shift mechanism 202 that provides a variable gear ratio, Control unit 203 and At least one grasping unit 204, Equipped with, The diagram shows a pedal-driven vehicle 200. The control unit 203 and the gripping unit 204 are formed as a single common unit.

[0078] The pedal-driven vehicle 200 is further equipped with an output unit 205 that outputs driver notifications.

[0079] The drive unit 201 interacts with a crank mechanism 206 that receives driver torque from a pedal-driven vehicle 200 via a transmission mechanism (not shown) having a predetermined gear ratio. As a result, the drive rotation speed is proportional to the driver's pedaling frequency or the rotation speed of the crank mechanism 206.

[0080] 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]

[0081] 100 How to drive a pedal-driven vehicle 110 A step to determine the drive torque provided by the drive unit and the drive rotation speed of the drive unit. 120 A step to determine the drive power provided by the drive unit from the drive torque and drive speed of the drive unit. 130 A step of adapting at least one operating parameter of the gear shift mechanism according to the drive torque and / or drive speed and / or drive power provided by the drive unit. 200 Pedal-driven vehicles 201 Drive Unit 202 Gear Shift Mechanism 203 Control Unit 204 Grasping Unit 205 Output Unit 206 Crank mechanism

Claims

1. A method (100) for driving a pedal-driven vehicle (200), The aforementioned pedal-driven vehicle (200) At least one drive unit (201) that provides driving torque to propel the pedal-driven vehicle (200), A gear shift mechanism (202) that provides a variable gear ratio, Control unit (203), At least one grasping unit (204), It has, The above method (100) is, The steps include: (110) grasping the drive torque provided by the drive unit (201) and the drive rotation speed of the drive unit, particularly by the grasping unit (204); Step (130) of adapting at least one operating parameter of the gear shift mechanism (202) according to the drive torque and / or the drive speed and / or the drive power provided by the drive unit (201), to include, A method (100) for driving a pedal-driven vehicle (200).

2. Step (130) of adapting at least one operating parameter of the gear shift mechanism (202) is: Steps include: outputting a driver notification to perform a gear change that reduces the gear ratio provided by the gear shift mechanism (202) when the drive torque reaches or exceeds an upper torque limit, the drive speed reaches or falls below a predetermined rotation speed limit, or the drive power reaches or falls below a lower power limit, and / or performing a gear change that reduces the gear ratio provided by the gear shift mechanism (202); to include, The method according to claim 1 (100), characterized in that...

3. The method according to claim 2 (100), characterized by performing the steps of outputting a driver notification to perform a gear change that reduces the gear ratio provided by the gear shift mechanism (202) only when the drive torque reaches or falls below the upper torque limit value for a predetermined duration, and / or the drive power reaches or falls below the lower power limit value for a predetermined duration, and / or performing a gear change that reduces the gear ratio provided by the gear shift mechanism (202).

4. The method according to claim 2 or 3 (100), characterized in that, only when the drive speed reaches or falls below a lower speed limit, a driver notification is output to cause a gear change to reduce the gear ratio provided by the gear shift mechanism (202), and / or the gear change to reduce the gear ratio provided by the gear shift mechanism (202) is performed.

5. Step (130) of adapting at least one operating parameter of the gear shift mechanism (202) is: When the drive torque reaches or falls below the lower torque limit and the drive power reaches or exceeds the upper power limit, the control unit (203) and / or the gear shift mechanism (202) output a driver notification to perform a gear change that increases the gear ratio provided by the gear shift mechanism (202), and / or perform a gear change that increases the gear ratio provided by the gear shift mechanism (202). to include, The method according to any one of claims 1 to 4, characterized in that (100).

6. The method according to claim 5 (100), characterized by the steps of outputting a driver notification to perform a gear change that increases the gear ratio provided by the gear shift mechanism (202) only when the drive torque reaches or falls below the lower torque limit for a predetermined duration, and / or the drive power reaches or exceeds the upper power limit for a predetermined duration, and / or performing a gear change that increases the gear ratio provided by the gear shift mechanism (202).

7. The method according to claim 5 or 6 (100), characterized in that, only when the drive speed reaches or exceeds an upper speed limit, a driver notification is output to cause a gear change to be performed that increases the gear ratio provided by the gear shift mechanism (202), and / or the step of performing a gear change that increases the gear ratio provided by the gear shift mechanism (202) is performed.

8. moreover, The steps include: understanding and / or determining the driver's pedaling frequency, particularly in accordance with the aforementioned drive rotation speed; When the drive torque reaches or exceeds the upper torque limit, the drive power reaches or falls below the lower power limit, and the driver pedaling frequency corresponds to and / or falls within the target pedaling frequency band, the step of outputting a driver notification to increase the target pedaling frequency, and / or the step of increasing the target pedaling frequency, to include, The method according to any one of claims 1 to 7, characterized in that (100).

9. moreover, The steps include: understanding and / or determining the driver's pedaling frequency, particularly in accordance with the aforementioned drive rotation speed; When the drive torque reaches or falls below the lower torque limit, and the drive power reaches or exceeds the upper power limit, and the driver pedaling frequency corresponds to and / or falls within the target pedaling frequency band, the step of outputting a driver notification to reduce the target pedaling frequency, or the step of reducing the target pedaling frequency, to include, The method according to any one of claims 1 to 8, characterized in that (100).

10. A pedal-driven vehicle (200), At least one drive unit (201) that provides driving torque to propel the pedal-driven vehicle (200), A gear shift mechanism (202) that provides a variable gear ratio, Control unit (203), At least one 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 pedal-driven vehicle (200) according to claim 10, comprising at least one output unit (205) that outputs at least one driver notification.

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

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

14. A data carrier signal for transmitting the computer program product described in claim 12.

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