Method for controlling an electric motor for a push-walking assist operation mode, a control device, and a two-wheeled vehicle

Abstract

A method for controlling an electric motor (111) as a drive motor for a two-wheeled vehicle (100), comprising the steps of: detecting (220) a user pushing the two-wheeled vehicle (100) using a sensor; detecting (240) a user input for activating a pushing-assisted operation mode, the detection (240) being made in particular in response to the detection of the pushing of the two-wheeled vehicle (100); and generating (250) a motor torque for driving the two-wheeled vehicle (100) in the pushing-assisted operation mode in response to the detection of the pushing and the detection of the user input.

Description

[Technical field]

[0001] The present invention relates to a method for controlling an electric motor as a drive motor of a two-wheeled vehicle for a push-assisted operating mode, and furthermore to a control device designed to carry out the method according to the invention, and to a two-wheeled vehicle equipped with this control device. [Background technology]

[0002] Two-wheeled vehicles, in particular electric bicycles, equipped with an electric motor as a drive motor are known. In normal operation, the electric motor is preferably controlled in response to detection of the pedaling force of the cyclist on the pedals of the two-wheeled vehicle or electric bicycle, for example a driver torque is detected for this purpose by a sensor. Furthermore, with respect to pushing a two-wheeled vehicle, a pushing-assisted operating mode is known for power-assisting the cyclist when pushing the two-wheeled vehicle. The pushing-assisted operating mode (also called simply pushing-assisted for short) has become an important function for mostly relatively heavy two-wheeled vehicles, since pushing can be difficult, especially on slopes in the travel route. In the pushing-assisted operating mode, the cyclist is assisted by the motor up to a relatively low speed while walking next to the bicycle and pushing the two-wheeled vehicle. In other words, the cyclist does not apply pedaling force to the pedals during power assistance by the motor torque generated in the pushing-assisted operating mode. By activating the pushing-assisted operating mode in two stages, for example by pressing two buttons, it is typically possible to avoid unintentional activation of the pushing-assisted operating mode. Such unintended activation may be, for example, activation due to erroneous operation on a steep step or activation during repairs. However, since detecting an input twice to activate the pushing-walking assistance operation mode is not very intuitive, some users may not understand how to activate the pushing-walking assistance operation mode.

[0003] DE 102016218374 B3 discloses a control method for generating a torque by an electric motor for driving an electric bicycle when a pushing assistance is activated.

[0004] DE 102016209570B3 discloses a method for controlling a pushing assistance for an electric bicycle.

[0005] DE 102016209560 B3 describes a control method for adjusting an electric motor for a pedestrian-pushing assistance for an electric bicycle, which adjusts the electric motor depending on a detected pitch angle about a transverse axis of the electric bicycle. Summary of the Invention [Problem to be solved by the invention]

[0006] It is an object of the present invention to make it easier for a cyclist or user to activate a push-assisted operating mode. [Means for solving the problem]

[0007] The above problems are solved by the independent claims 1, 12 and 13 according to the present invention.

[0008] The present invention relates to a method for controlling an electric motor as a drive motor of a two-wheeled vehicle, the two-wheeled vehicle being particularly an electric bicycle. The control method comprises a step of detecting the two-wheeled vehicle being pushed by a sensor or a step of detecting the two-wheeled vehicle being pushed by a user by a sensor or a sensor unit, the sensor or sensor unit preferably comprising an acceleration sensor. In other words, advantageously, it is detected when the user is pushing the two-wheeled vehicle. Optionally, furthermore, the pushing direction of the two-wheeled vehicle being pushed by the user is detected. The detection of the pushing is advantageously performed by the sensor, whereby the pushing is automatically detected. In a further step of the method, a user's input for activating the pushing assistance operation mode, in particular by using an input means, for example by using a switch, a button, a touch screen or a push button, is detected. In particular, the input is detected only in the case of continuous input or continuous operation by the input means. Continuous input or operation of the input means is detected or detected, for example, as soon as the input continues for a predetermined time or more, the predetermined time being, for example, 1 to 10 seconds. The detection of the user's input is advantageously performed in response to or during the detection of the pushing. In other words, in this optional form, the detection of the pushing of the two-wheeler enables or allows the detection of the user's input for activating the pushing-walking assistance operation mode. Alternatively, the detection of the pushing is advantageously performed after the detection of the user's input, and the detection of the pushing is advantageously performed in response to the detection of the input. In other words, in this optional form, the detection of the user's input enables or allows the detection of the pushing. Then, a motor torque for driving the two-wheeler is generated in response to the detection of the input for activating the pushing-walking assistance operation mode and in response to the detection of the pushing. In other words, advantageously, during the pushing of the two-wheeler detected by the sensor, the detection of the input by the user for activating the pushing-walking assistance operation mode generates a motor torque for the pushing-walking assistance or activates the pushing-walking assistance. The generated motor torque may advantageously be designed to drive the two-wheeler forwards or backwards in the travel direction depending on the detected pushing direction of the pushing.Furthermore, the motor torque is advantageously generated in response to the detection of the pedestrian, whereby the generation of the motor torque is activated, for example, if a user input has been previously detected. Thereby, for example, additionally or alternatively, the generation of the motor torque is interrupted if the pedestrian is no longer detected or if the pedestrian is actively braked by the rider, and / or optionally the speed of the pedestrian is adjusted in response to the detected pedestrian speed of the detected pedestrian. This method has the advantage that only one detection of the cyclist or user input is required to activate the pedestrian assistance or to generate a motor torque to assist the pedestrian, and the pedestrian assistance cannot be activated by mistake. Advantageously, the deactivation of the pedestrian assistance operation mode can also be easily achieved, for example, the user input is detected only if the input means is continuously activated. Thereby, the control method allows simple and intuitive operation and can largely prevent erroneous activation of the pushing-walking-assisted operation mode by automatic detection of the pushing of the motorcycle by the user or the cyclist as a prerequisite for generating the motor torque or for activating the pushing-walking-assisted operation mode. In other words, the control method advantageously shows a two-stage activation of the pushing-walking-assisted operation mode for generating the motor torque by detecting the pushing as one stage and detecting the user's input as another stage. In particular, the detection of the user's input and the subsequent detection of the pushing is adapted to activate the pushing-walking-assisted operation mode for generating the motor torque, whereby the motor torque for driving the motorcycle or the electric bicycle is generated and in particular continuous detection of the user's input for generating the motor torque is required. Alternatively, the detection of the pushing and the subsequent or simultaneous detection of the user's input is adapted to activate the pushing-walking-assisted operation mode for generating the motor torque, whereby the motor torque for driving the motorcycle or the electric bicycle is generated and in particular continuous detection of the user's input for generating the motor torque is required.Particularly preferably, the detection of the pushing by the sensor unit and by the control device of the drive unit of the two-wheeler and the detection of the user's input by means of the input means or buttons on the control device on the handlebar of the two-wheeler and / or by means of a display device on the handlebar of the two-wheeler are performed, which has the advantage that even in the event of a malfunction of just one of these components of the two-wheeler, no motor torque for the pushing-assisted operating mode is generated, which advantageously increases the safety of the user of the two-wheeler.

[0009] In a preferred embodiment, information regarding the activation of the detection of the input for activating the pushing-walking assistance operation mode is shown to the user upon detection of the pushing-walking or during the pushing-walking. In other words, after detection of the pushing-walking, the user is shown that the pushing-walking assistance operation mode can be activated as soon as or when the user's input is detected, in particular the input must be made continuously. The notification of the information is advantageously made by a display of a display device arranged, for example, on the handlebar of the motorcycle, in particular by a human machine interface (HMI). Alternatively or additionally, the notification of the information is made by a light, for example arranged on the handlebar and / or on the frame of the motorcycle and / or on the button for activating the pushing-walking assistance, in particular the light including a light-emitting diode. Alternatively or additionally, the notification of the information can be made by an acoustic signal and / or by at least one actuator, which is designed to generate a haptic signal or vibration on the handlebar and / or the frame of the motorcycle. This embodiment informs the user of the information and intuitively operates or activates the pushing-walking assistance operation mode.

[0010] In another particularly preferred embodiment, in order to activate the push-walking assistance operating mode, information regarding the activation of the detection of the pushing of the motorcycle is indicated to the user upon detection of the user's input, in particular, the user is informed that the motor torque is generated by the subsequent sensor-assisted detection of the pushing of the motorcycle after the detection of the user's input, or that the sensor-assisted detection of the pushing of the motorcycle activates the push-walking assistance operating mode. In other words, after the detection of the input, the user is informed that the push-walking assistance operating mode is activated as soon as or when the pushing of the motorcycle is detected, and the detection of the input must be made in particular continuously. The notification of the information is advantageously made by a display of a display device arranged, for example, on the handlebar of the motorcycle, in particular by a human machine interface (HMI). Alternatively or additionally, the notification of the information is made by a light, for example arranged on the handlebar and / or on the frame of the motorcycle and / or on a button for activating the push-walking assistance, in particular comprising a light-emitting diode. Alternatively or additionally, the notification can be by acoustic signals and / or by at least one actuator designed to generate haptic signals or vibrations on the handlebars and / or frame of the two-wheeler, which also provides the user with information and makes the operation or activation of the pushing assistance operating mode intuitive.

[0011] In a preferred embodiment of the present invention, the speed of the two-wheeled vehicle is detected in a step prior to the detection of the two-wheeled vehicle. The detection of the two-wheeled vehicle is then performed according to the detected speed, and in particular, the two-wheeled vehicle is detected only if the detected speed is equal to or lower than the maximum speed of, for example, 6 km / h. This embodiment avoids erroneous activation of the two-wheeled vehicle assist operation mode during normal operation of the two-wheeled vehicle for most riding conditions.

[0012] In a preferred embodiment of the invention, the acceleration of the motorcycle is detected in the longitudinal direction of the motorcycle and / or in the transverse direction of the motorcycle. The motorcycle is then detected as a function of the detected motorcycle acceleration. Optionally, the motorcycle is further detected as a function of the detected motorcycle acceleration. This embodiment has the advantage that the motorcycle can be detected even when stationary or at very low accelerations and / or speeds. The detection of the motorcycle as a function of the detected acceleration is preferably performed, in particular, when a threshold value is exceeded after filtering of the signal of the sensor unit representing the acceleration, and / or by a detection technique based on machine learning or an artificial intelligence or a trained neural network. Thereby, the acceleration profile of the motorcycle traveling at low speed, for example on a slope of the travel route, can be distinguished from the acceleration profile when the motorcycle is being walked, so that the motorcycle is automatically and reliably detected as a walk.

[0013] In a particularly preferred embodiment, after the detection of the acceleration, at least one statistical quantity is calculated according to the detected acceleration in the longitudinal axis direction of the motorcycle and / or the transverse axis direction of the motorcycle, or the profile of the detected acceleration. As the statistical quantity, for example, the standard deviation, the average, the variance, or the covariance between the two detected acceleration profiles is calculated. The statistical quantity, for example, the standard deviation, is advantageously calculated over a predetermined time period, for example, 1 to 10 seconds. Then, in this embodiment, the pushing-walking is further detected according to the at least one calculated statistical quantity, for example, the standard deviation, and a threshold value. In particular, the pushing-walking is detected when the calculated standard deviation exceeds the threshold value during the predetermined time period. This embodiment provides the advantage that even a small or slight movement of the bicycle can be detected as the pushing-walking.

[0014] In a further embodiment, the detection of a directional change of the detected acceleration along the lateral axis may be performed within a predetermined time. The detection of the pushing is then performed according to the detected directional change of the detected acceleration along the lateral axis. This embodiment provides the advantage that the user can perform an easy to remember and intuitive movement pattern for the pushing or the desired detection of the pushing.

[0015] In another embodiment, the rotation of the rotor of the electric motor for a backward movement of the two-wheeler along the longitudinal axis of the two-wheeler is detected. Then, detection of the pedestrian is performed depending on the detected rotor rotation. In particular, detection of the pedestrian direction is also performed here depending on the detected rotor rotation. This has the advantage that in a typical drive with a motor freewheel in a forward-directed rotation direction, a movement of the two-wheeler can be detected very quickly and detected or interpreted as pedestrian.

[0016] Furthermore, it may be arranged to capture a camera image or a sequence of camera images of at least a part of the surroundings of the two-wheeler in one step. The camera may advantageously be arranged on a component of the two-wheeler, for example the camera may be arranged on a handlebar of the two-wheeler facing forward with a line of sight in the direction of travel or along the longitudinal axis of the two-wheeler. Then, detection of the pushing and / or the pushing direction is performed according to the captured camera images or the sequence of camera images. For example, the pushing may be detected based on a movement of the two-wheeler that is determined according to the calculated optical flow. The optical flow may be calculated according to the sequence of camera images. This aspect of the invention advantageously allows the pushing of the two-wheeler by the user to be detected relatively reliably and quickly.

[0017] In a further embodiment of the invention, the pressure of the user or cyclist on the handlebars of the two-wheeler in the longitudinal direction of the two-wheeler may be detected. In this embodiment, the pushing and / or pushing direction of the two-wheeler may then be determined depending on the detected user pressure. In this manner, the desired pushing and / or pushing direction of the two-wheeler may be determined very reliably.

[0018] Furthermore, in further steps of the method, a detection of a pedaling variable of the user, in particular a cadence, and / or a detection of the rider torque can be performed. A push-walking detection is then performed depending on the detected pedaling variable of the user, in particular if a pedaling variable is detected, push-walking is not detected. This embodiment reliably avoids an erroneous activation of the push-walking or push-assist operating mode.

[0019] Preferably, the notification of the information that activation of the push-walking assistance operating mode is possible is performed by adapting the illumination of a button for the user's input to activate the push-walking assistance operating mode. Advantageously, the button lights up or flashes in color, in particular green, upon detection of push-walking. In this manner, the detected request for push-walking assistance can be easily indicated to the user or cyclist.

[0020] The invention also relates to a control device, which is configured to implement the method according to the invention, in other words the control device is designed to execute the method according to the invention.

[0021] The present invention further relates to a two-wheeled vehicle equipped with a control device according to the present invention.

[0022] Further advantages are obtained from the following description of exemplary embodiments with reference to the drawings, in which: [Brief description of the drawings]

[0023] [Figure 1] FIG. 1 is a diagram showing an electric bicycle as a two-wheeled vehicle. [Diagram 2]1 is a flow chart of the method as a block diagram. DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS

[0024] In FIG. 1, an electric bicycle is shown diagrammatically as a two-wheeled vehicle 100. Alternatively, the two-wheeled vehicle 100 may be a motorcycle, which is driven by an electric motor 111. The electric bicycle or two-wheeled vehicle 100 in FIG. 1 has a front wheel 101 and a rear wheel 102 as wheels. The two-wheeled vehicle 100 in FIG. 1 includes a drive unit 110 on a pedal shaft 106 or crankshaft, which has an electric motor 111 as a drive motor. The drive unit 110 has a control device 180, which is configured to control the electric motor 111 to generate a motor torque for driving the two-wheeled vehicle 100 or the electric bicycle. In other words, the control device 180 is designed to control the electric motor 111, which generates a motor torque for driving the two-wheeled vehicle 100. The pedal 115 is connected to the pedal shaft 106 or crankshaft by a crank 114 for the generation of a driver torque by the driver. The torque of the rider may be detected as pedaling variable by a torque sensor 105 in the region of the pedal shaft 106. Alternatively, the pedaling frequency or cadence may be detected as pedaling variable of the user by, for example, a rotation speed sensor on the pedal shaft 106 and / or on the pedal 115. The pedal shaft 106 or crankshaft and the electric motor 111 are connected by a transmission to an output pinion 117. The output pinion 117 is connected by a connecting element 116, for example a chain or a belt, to the hub of the rear wheel 102 as a drive wheel for driving the two-wheeled vehicle 100. It may also be arranged that at least one rotation speed sensor 107 is arranged on the electric motor 111 and / or on the transmission of the drive unit 110 and / or on the output pinion 117 and / or on the connecting element 116 and / or on the rear wheel 102 and / or on the front wheel 101. In other words, the rotation speed sensor 107 is designed to detect the rotation speed of the components of the drive train of the two-wheeled vehicle 100 or the speed of the two-wheeled vehicle 100, in particular the rotation or the rotation speed and / or rotation direction of the electric motor 111 of the drive unit 110. The vehicle further comprises at least one speed sensor 114a, 114b and / or 114c.The speed sensors 114a, 114b and / or 114c comprise, for example, a reed sensor 114a, a rotational speed sensor 114c, a satellite-based positioning sensor 114b and / or a radar sensor at the front wheel 101 or the rear wheel 102. The speed sensors 114a, 114b, 114c are designed to detect the speed of the two-wheeled vehicle 100. The speed sensor 114c is preferably arranged at the wheel hub of the rear wheel 102 and / or at the wheel hub of the front wheel 101. Preferably, but not necessarily, the speed sensor 114c is a rotational speed sensor 107. A battery module 120 is arranged on the two-wheeled vehicle 100 to power the drive unit 110, in particular to power the electric motor 111. Furthermore, the drive unit 110 comprises an inertial measurement unit or sensor unit 112 or a sensor. The sensor unit 112 comprises at least one acceleration sensor. Advantageously, the sensor unit 112 comprises an acceleration sensor for detecting an acceleration in the direction of the longitudinal axis 190 of the two-wheeled vehicle 100 and an acceleration sensor for detecting an acceleration in the direction of the transverse axis 191 of the two-wheeled vehicle 100. Furthermore, on the handlebar 103 of the two-wheeled vehicle 100 or the e-bike, an input means or a button 130 or a switch for activating and / or deactivating the pushing assistance operating mode is arranged. The button 130 may comprise a light-transmitting partial area 131 and a lighting means 132, which is arranged in particular behind the light-transmitting partial area 131 and comprises, for example, a green light-emitting diode. The two-wheeled vehicle 100 further comprises a display device 140 with a display 141. The display device 140 is arranged in particular on the handlebar 103 of the two-wheeled vehicle 100. The display 141 is designed to display information to the user or the cyclist. As an alternative or in addition to the display device 140, at least one actuator 142, for example a vibration motor or an electric motor with an unbalanced mass, is arranged on the handlebar 103. The actuator 142 arranged on the handlebar 103 is advantageously designed to generate a haptic signal to the user on at least one handlebar grip 104 of the handlebar 103. Furthermore, provision may be made for a pressure sensor 160 to be arranged on the handlebar 103.The pressure sensor 160 is designed to detect a pressure applied by the user in the longitudinal direction against the handlebar 103. Furthermore, the bike includes an optional camera unit 150, for example arranged on the handlebar 103 or on the frame 108 of the bike 100, advantageously having a camera 151 directed longitudinally forward with a line of sight. The camera 151 is designed to capture at least a part of the surroundings of the bike 100 as a camera image.

[0025] In FIG. 2, a flow chart of the method is shown diagrammatically as a block diagram. In optional step 201, the speed of the motorcycle is detected. In a further optional step 202, the rotation of the rotor of the electric motor of the motorcycle can be detected, in particular if the rotation of the rotor represents a longitudinal backward movement of the motorcycle 100. Alternatively or additionally, in optional step 203, a camera image of at least a part of the surroundings of the motorcycle is taken. Furthermore, it may be optionally arranged to detect the pressure of the user on the handlebar of the motorcycle in the longitudinal direction of the motorcycle 100 in step 204. Furthermore, it is optionally arranged to detect 205 pedaling variables of the user, in particular the cadence and / or the rider torque. In optional step 206, it is arranged to detect the acceleration of the motorcycle in the longitudinal direction of the motorcycle and / or in the lateral direction of the motorcycle. In a subsequent optional step 210, it may be arranged to detect a directional change of the detected acceleration in the lateral direction within a predefined time. Alternatively or additionally, step 211 may optionally be arranged to calculate the standard deviation as a function of the detected acceleration in the direction of the longitudinal axis of the two-wheeler and / or in the direction of the transverse axis of the two-wheeler. In step 220, the sensor or sensor unit 112 detects the user walking while pushing the two-wheeler. This sensor-based detection of walking 220 is performed, for example, as a function of the detected speed. Alternatively or additionally, the sensor-based detection of walking 220 is preferably performed as a function of the detected speed, the detected rotor rotation, the detected camera image, the detected user pressure, and / or the detected pedaling variable of the user, and / or the detected acceleration in the direction of the longitudinal axis and / or the transverse axis. For example, in step 220, walking is detected in the case of a speed below the threshold value of 6 km / h, or in particular walking is not detected if a pedaling variable is detected in addition to a speed below 6 km / h. Preferably, the sensor-based detection of walking 220 is performed as a function of the detected acceleration of the two-wheeler as an alternative or additionally.In particular, in step 220, the device is further adapted to detect the pushing walking in response to a calculated standard deviation of the detected acceleration and a threshold value for the standard deviation, and the pushing walking is detected in particular when the calculated standard deviation exceeds the threshold value. Alternatively or additionally, the device may further be adapted to perform the sensor-assisted pushing walking detection 220 in response to a detected directional change of the detected acceleration in the transverse direction. Particularly preferably, the sensor-assisted pushing walking detection in step 220 is performed in response to a number of detected variables, for example speed and acceleration. Then, in optional step 230, information regarding the activation of an input for activating the pushing walking assistance operation mode is indicated in response to the detected pushing walking. The optional notification 230 is preferably performed by the display device 140 or the display 141, by a haptic signal generated by the actuator 142 and / or by adapting the illumination of a button to detect a user's input for activating the pushing walking assistance operation mode. In step 240, a detection 240 of a user's input for activating the pushing walking assistance operation mode is performed, for example by means of the input means or the button 130. Optionally, the user input is detected only when the input means or button is continuously activated. This detection 240 can advantageously be performed in response to the detection of pushing. In other words, advantageously, the user input is detected or taken into account in step 240 only when the pushing of the two-wheeler has been detected previously in step 220. Alternatively, the detection (240) of the user input for activating the pushing-walking assistance operation mode is first performed in step 240, in particular only when the user input is continuously detected or the input means is continuously activated. In this alternative, then, after the detection of the user input in step 220, the sensor or sensor unit 112 detects the user pushing the two-wheeler in response to the detection of the user input. In other words, in this alternative embodiment, the order is reversed. That is, in this alternative, the user input for activating the pushing-walking assistance operation mode is a condition for the sensor-assisted detection of pushing the two-wheeler.Advantageously, information may be provided to the user after the input is detected, the information including an instruction for the user that the user activates the pushing assistance by pushing the motorcycle, thereby generating a motor torque. In step 250, a motor torque for driving the motorcycle is generated in response to the detection of the user's input and in response to the detection of the pushing. Thus, by means of step 250, the pushing assistance is activated or a motor force or a motor torque is generated to assist the user or the cyclist when pushing the motorcycle. Furthermore, the motor torque may be generated in response to the detection 220 of the pushing of the motorcycle. In particular, step 250 is interrupted as soon as the pushing of the motorcycle is no longer detected. In other words, the method may be performed repeatedly or continuously.

Claims

1. A method for controlling an electric motor (111) as a drive motor of a two-wheeled vehicle (100), comprising the steps of: A step of detecting (220) the two-wheeled vehicle (100) being pushed while walking using a sensor; In order to activate a pushing walking assistance operation mode, in response to the detection of the pushing walking (220), a notification (230) of information regarding the validation of the detection of the user's input (240) is performed; detecting (240) a user input for activating the pushing walking assistance operation mode; generating (250) a motor torque for driving the two-wheeled vehicle (100) in the pushing-walking assistance operation mode in response to the detection (220) of the pushing-walking and the detection (240) of the user's input; A method for providing the above.

2. A method for controlling an electric motor (111) as a drive motor of a two-wheeled vehicle (100), comprising the steps of: Detecting (240) a user input to activate a push-walking assistance operation mode; In order to activate the pushing walking assistance operation mode, in response to the detection of the user's input (240), a notification (230) of information regarding the activation of the pushing walking detection (220) is performed; A step of detecting (220) the two-wheeled vehicle (100) being pushed while walking using a sensor; generating (250) a motor torque for driving the two-wheeled vehicle (100) in the pushing-walking assistance operation mode in response to the detection (220) of the pushing-walking and the detection (240) of the user's input; A method for providing the above.

3. The method according to claim 1 or 2, wherein the step of providing information (230) is performed by adapting the illumination of a button for the user's input to activate the walking assistance operating mode.

4. As a step of detecting (220) the two-wheeled vehicle (100) being pushed while walking using the sensor, - detecting (206) an acceleration of the two-wheeled vehicle (100) in the direction of a longitudinal axis (190) of the two-wheeled vehicle (100) and / or in the direction of a transverse axis of the two-wheeled vehicle (100); A step of detecting (220) the two-wheeled vehicle (100) being pushed while walking in accordance with the detected acceleration of the two-wheeled vehicle (100); The method according to any one of claims 1 to 3, wherein the following is carried out:

5. As a step of detecting (220) the two-wheeled vehicle (100) being pushed while walking using the sensor, - calculating (211) statistics as a function of the detected acceleration in the direction of the longitudinal axis (190) of the two-wheeled vehicle (100) and / or in the direction of the transverse axis (191) of the two-wheeled vehicle (100); Further, a step of detecting the pushing walking (220) according to the calculated statistics and a threshold value, in which the pushing walking is detected when the calculated statistics exceeds the threshold value; The method of claim 4 , wherein:

6. The method of claim 5 , wherein the statistic is a standard deviation.

7. As a step of detecting (220) the two-wheeled vehicle (100) being pushed while walking using the sensor, Detecting (201) the speed of the motorcycle (100); A step of detecting the pushing walking (220) according to the detected speed; The method according to any one of claims 4 to 6, wherein the following is carried out:

8. As a step of detecting (220) the two-wheeled vehicle (100) being pushed while walking using the sensor, Sensing (210) a directional change of the detected acceleration in the direction of the horizontal axis (191) within a predetermined time; and detecting (220) the pushing movement in response to the detected change in direction of the detected acceleration in the direction of the horizontal axis (191). The method according to any one of claims 4 to 6, wherein the following is carried out:

9. As a step of detecting (220) the two-wheeled vehicle (100) being pushed while walking using the sensor, Detecting (204) a pressure by the user on a handlebar of the motorcycle in the direction of the longitudinal axis of the motorcycle; Detecting (220) the pushing motion in response to the detected pressure by the user; The method according to any one of claims 4 to 6, wherein the following is carried out:

10. As a step of detecting (220) the two-wheeled vehicle (100) being pushed while walking using the sensor, detecting (202) the rotation of the rotor of said electric motor (111); detecting (220) the pushing and walking in response to the detected rotation of the rotor; The method according to any one of claims 1 to 6, wherein:

11. As a step of detecting (220) the two-wheeled vehicle (100) being pushed while walking using the sensor, capturing (203) a camera image of at least a portion of the surroundings of the motorcycle (100); A step of detecting the pushing walking (220) based on the captured camera image; The method according to any one of claims 1 to 6, wherein:

12. As a step of detecting (220) the two-wheeled vehicle (100) being pushed while walking using the sensor, detecting (205) a pedaling variable of the user; detecting (220) the pushing walking in response to the detected pedaling variable of the user, wherein pushing walking is not detected when the pedaling variable is detected; The method according to any one of claims 1 to 6, wherein:

13. The method of claim 12 , wherein the user pedaling variable is cadence or rider torque.

14. A control device (180) configured to carry out the method according to any one of the preceding claims.

15. A two-wheeled vehicle (100) comprising a control device (180) according to claim 14.

16. An electric bicycle comprising a control device (180) according to claim 14.

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