Method for changing gear ratios in a bicycle gear shift, computer program, controller, drive unit and bicycle

Abstract

A method for changing the gear ratio of an electrically controllable gear shift of a bicycle, in particular an electric bicycle, comprising the steps of: detecting the number of strokes of a cyclist on a pedal axle; detecting the pedal force of the cyclist; detecting a gear change operation state depending on the detected number of strokes and depending on the detected pedal force if the detected number of strokes is less than or equal to a lower number threshold or greater than or equal to an upper number threshold and / or if the detected pedal force (K) is less than or equal to a lower force threshold or greater than or equal to an upper force threshold. In this case, after the step of detecting the gear change operation state, a step of generating a control signal for the gear change depending on the detected gear change operation state is carried out.

Description

[Technical Field]

[0001] The present invention relates to a method for changing the gear ratio of a bicycle, in particular an electric bicycle. The present invention also relates to a computer program comprising instructions which, when executed by a computer, cause the computer to carry out the steps of the method. The present invention further relates to a controller with a processor configured to carry out the steps of the method, and to a drive unit for an electric bicycle comprising a drive motor and the controller. The present invention also relates to a bicycle comprising the controller or the drive unit. [Background technology]

[0002] The patent document JP 2004-102299 discloses that gear changes can be made even when the driver is not pressing the pedals, using an electric drive to move a chain, which results in trouble-free gear changes.

[0003] US Pat. No. 5,649,499 discloses an electronic control of an accessory that allows automatic gear shifting of a muscle-operated vehicle gearshift depending on the physical strength inputted after setting by the individual.

[0004] Patent Document 3 discloses a bicycle control device. The rider controls at least one of the drive unit and the electric switching unit, so that the crank torque and crank rotation speed are within a predetermined range. If the rotation parameter is smaller than the predetermined range, the rider controls the electric switching unit to decrease / reduce the gear ratio, thereby making it easier to bring the rotation parameter within the predetermined range. If the rotation parameter is larger than the predetermined range, the rider can control the electric switching unit to increase / increase the gear ratio. If the muscle driving force is larger than the predetermined range, the rider can increase the auxiliary driving force.

[0005] Currently available automatic bicycle shifting devices operate by identifying the gear ratio and various gears and then shifting the driver's cadence as close as possible to the predetermined target cadence. If there is another gear whose gear ratio would result in a driver cadence closer to the target cadence than the current cadence, the device will shift to that gear. In the case of finely stepped gear shifting, a more suitable gear is often available, which usually results in multiple shifting processes, which can be unpleasant for the driver. In addition, in the case of rapid cadence changes, all gears are shifted sequentially without any gear jumping.

[0006] Furthermore, problems can occur in power-assisted electric bicycles when the drive motor's motor torque has already reached its maximum or when the bicycle is in an operating state where there is a nonlinear relationship between driver torque and motor torque. After automatically shifting to a higher gear ratio, the cyclist's cadence may become slower or more favorable, but the driver torque required to maintain the current speed may be undesirably high. This is because the increased torque from the higher gear must now be fully provided by the driver. This can cause the electric bicycle to undesirably slow down, for example, on steep gradients or at high speeds, despite the shifting process to a higher gear. [Prior art documents] [Patent documents]

[0007] [Patent Document 1] European Patent No. 2983975 [Patent Document 2] German Patent Application Publication No. 102009011882 [Patent Document 3] German Patent Application Publication No. 102014015630 Summary of the Invention [Problem to be solved by the invention]

[0008] SUMMARY OF THE INVENTION The object of the present invention is to improve semi-automatic or automatic gear shifting or gear ratio adjustment on bicycles. [Means for solving the problem]

[0009] The above object is achieved according to the present invention in accordance with the independent claims 1 and 13 to 16.

[0010] The present invention relates to a method for changing the gear ratio of an electrically controllable gearshift on a bicycle. The method includes detecting the number of strokes or cadence of a cyclist at a treadle, where the number of strokes represents, for example, the number of rotations of the treadle and / or the number of rotations of a rotor of a power-assisted drive motor of the bicycle. The number of strokes is detected, in particular, using a rotation speed sensor, in particular, a rotation speed sensor on the treadle, or at least one rotor position sensor in the drive motor. The method also includes detecting the cyclist's pedal force, which advantageously includes detecting a driver torque representative of the pedal force, at the treadle. The cyclist's pedal force is preferably detected using a torque sensor on the bicycle treadle. Alternatively, the pedal force can be detected, for example, using a power sensor on at least one of the pedals. Subsequently, a gear change operation status is detected. The gear change operation status is detected depending on the detected number of strokes and / or depending on the detected pedal force. A gear change operation state is detected when the detected number of pedal strokes is less than or equal to a lower threshold number of pedal strokes or when the detected number of pedal strokes is greater than or equal to an upper threshold number of pedal strokes. Alternatively or additionally, a gear change operation state is detected when the detected pedal force is less than or equal to a lower threshold force of pedal strokes or when the detected pedal force is greater than or equal to an upper threshold force of pedal strokes. In other words, to determine the gear change operation state, it is detected or checked whether the detected number of pedal strokes and / or the detected pedal force are within respective target ranges. These respective target ranges are advantageously defined by lower and upper threshold number of pedal strokes and / or lower and upper threshold force of pedal strokes. In other words again, detection of a gear change operation state advantageously involves comparing the detected number of pedal strokes and / or the detected pedal force of the cyclist with the respectively assigned target ranges, in which case a gear change operation state is detected when the detected number of pedal strokes and / or the detected pedal force are outside or deviate from the respectively assigned target ranges.In an advantageous embodiment, the respective target ranges for the detected pedal strokes and / or the detected pedal force can be combined and visualized, for example in two dimensions (see the embodiment described below in this regard). After detecting the gear change operating state, a shift command for the gear shift is advantageously determined. In other words, in an advantageous embodiment, despite detecting a departure from the respective target range for the detected pedal strokes and / or the detected pedal force, the gear ratio of the gear shift is not immediately changed for the time being. In an advantageous embodiment, further operating conditions of the bicycle are checked in determining the shift command for changing gears, and / or the expiry of the shift time is waited for, and / or the ideal gear ratio is detected. Subsequently, a control signal for the gear shift is generated depending on the detected gear change operating state and, preferably, depending on the determined shift command. In an optional step, the gear ratio of the gear shift is adjusted depending on the generated control signal. This method has the advantage that deviations or outliers of the pedal strokes and / or pedal force from the reference or target range of the automatic gear shift do not immediately result in a control signal for the gear shift or in a change in the transmission ratio. Instead, the adjustment of the transmission ratio is delayed in time and advantageously avoided, especially if it is determined that a gear change is undesirable in the driving situation during the determination of the shift command. This advantageously reduces the unlimited number of gear shifting processes or transmission ratio changes, thereby providing a more comfortable driving experience, especially when the gear shift has a large number of discrete gears or transmission ratios. Furthermore, the driver is advantageously reduced in the number of gear changes to a normally inappropriate gear compared to alternative known shifting methods, which generally results in more comfortable bicycle handling for the cyclist.

[0011] In a particularly advantageous configuration, the determination of the shift command is made depending on the elapsed shift time after the detection of the gear change actuation state. In this configuration, advantageously, the determination of the shift command is made only if the conditions for detecting the gear change actuation state continue to be met. Therefore, advantageously, no control signal for the gear shift is generated when the detected pedal count and / or the detected pedal force deviate from the target range for a short period of time and / or only a minimal amount. This advantageously reduces the unlimited number of gear shift operations or gear ratio changes efficiently and simply. The shift time may be adjusted depending on the detected pedal count and / or the detected pedal force, e.g., the shift time decreases linearly with the distance of the detected pedal count from a lower or upper threshold value.

[0012] In an advantageous configuration, the shift command is determined or detected depending on the detected pedal count and / or the detected pedal force. This allows a shift signal to be generated or the transmission ratio to be adjusted immediately when a low or high pedal count and / or a high pedal force is detected. In an advantageous embodiment, the shift command is determined depending on the change in the detected pedal count over time or on a mathematical derivative thereof and / or the change in the detected pedal force over time or on a mathematical derivative thereof. Additionally or alternatively, in this configuration, a shift signal is generated or the transmission ratio is adjusted when the positive derivative of the change in the pedal count is above a threshold value and / or when the detected pedal force is above a threshold value. However, in this configuration, it is advantageous not to detect a shift command if the change in the number of pedal strokes detected within the shifting time after the detection of the gear change operation state is negative when the upper threshold is exceeded, or if the change in the number of pedal strokes detected within the shifting time after the detection of the gear change operation state is positive when the lower threshold is exceeded.In this configuration, the current riding situation or operating state is taken into account when determining the shift command, resulting in semi-automatic or automatic gear shifting that is attuned to the riding situation and is comfortable for the cyclist.

[0013] In a further embodiment of the invention, the speed of the bicycle is detected, for example, using a speed sensor on the bicycle, for example, using a lead sensor or a rotational speed sensor on one of the bicycle's running wheels. Alternatively or additionally, the acceleration of the bicycle is detected, for example, using an acceleration sensor, and / or the acceleration is determined depending on the detected speed of the bicycle. Alternatively or additionally, the gradient of the bicycle's route or the pitch angle of the bicycle about its transverse axis is detected, for example, using an inertial measurement unit. A shift command is then determined or detected depending on the detected speed, the detected acceleration, and / or the detected gradient of the bicycle, in particular, depending on a change over time in at least one of the detected speed, the detected acceleration, and / or the detected gradient. This advantageously generates a control signal for a gear shift only when, for example, the pedal stroke count exceeds the upper threshold and simultaneously the change in gradient of the route is not positive or does not become positive, so that an undesired shift to a higher gear is not immediately implemented, for example, when the gradient of the route is increasing. Furthermore, this configuration advantageously prevents an adjustment of the gear ratio when the bicycle coasts downhill at an increasing speed or at a constant speed on a gradient route. In other words, this configuration advantageously does not generate a control signal for a gear shift in most riding situations, even if the pedal stroke count is below the lower threshold or above the upper threshold and / or the pedal force is above the upper threshold, because it is determined that a shift to a smaller gear ratio is undesirable in these riding situations.

[0014] Furthermore, preferably, after detecting the gear change operation state, an ideal gear ratio is determined depending on the detected pedaling frequency, and / or the detected pedaling force, and / or the detected bicycle speed, and / or the detected or detected bicycle acceleration, and / or the detected gradient of the travel route. The gear shift has at least one skip gear ratio between the current gear ratio and the ideal gear ratio. This configuration may additionally be configured to detect or detect the current gear ratio. Subsequently, a control signal for the gear shift is additionally generated depending on the detected ideal gear ratio, thereby skipping at least one gear ratio when adjusting the gear ratio of the gear shift. This embodiment is particularly advantageous when a significantly different gear ratio needs to be changed due to a positive or negative gradient of the travel route, and in this case, consecutively changing multiple gear ratios is undesirable. This is because every gear change results in a jump in driver torque, and in the case of an electric bicycle, a jump in motor torque as well. In addition, there is usually a brief, unwanted interruption in the power flow to the rear wheel of the bicycle, for example, when shifting the derailleur chain to another gear ratio.

[0015] Preferably, after detecting the gear change activation state, acoustic, visual and / or tactile information is provided for the cyclist regarding the semi-automatic or predicted automatic shifting. This allows the cyclist to be informed of the method and, if deemed necessary by the riding situation, for example, an upcoming gradient of the riding route or an upcoming downhill, to interrupt the predicted automatic operation by further input. This configuration of the method provides the cyclist with a comfortable riding experience and a balanced method that is controllable or easily adjustable.

[0016] In a further embodiment of the method, the control signal for the gear shift is generated only if, after the determined shift command, the cyclist's detected number of pedal strokes is less than the actuation number threshold and / or if, after the determined shift command, the cyclist's detected pedal force is less than the actuation force threshold. In other words, the control signal for the gear shift is generated additionally depending on the cyclist's confirmation, in which case the cyclist confirms the gear change, in particular by interrupting the pedal force and / or the number of pedal strokes. In other words, in this embodiment, the cyclist confirms the control command by adjusting the number of pedal strokes and / or the pedal force. In particular, the generation of the control signal for the gear shift is only initiated when the cyclist's detected number of pedal strokes is zero or close to zero. Alternatively or additionally, the cyclist's confirmation is detected by an input means, in which case the input means for confirming the shift is preferably arranged near the handlebar grip. In this embodiment, after the determination of the shift command, the cyclist is preferably provided with acoustic, visual and / or haptic shift information for semi-automatic shifting by the HMI, where the shift information represents in particular a request for confirmation to adjust the transmission ratio or confirmation of a gear change. This embodiment for semi-automatic shifting results in a comfortable semi-automatic generation of control signals for gear shifting.

[0017] In a further embodiment, before adjusting the gear ratio, a determination of an expected future driver torque and / or expected pedal count relative to a future gear ratio, e.g., an ideal gear ratio, is made. The expected future driver torque and / or expected pedal count is determined depending on the cyclist's detected current pedal force and / or the detected current pedal count, depending on the current motor output of the electric bicycle's drive motor, and depending on the current gear ratio and the predicted or future gear ratio. The predicted gear ratio may be determined depending on the detected pedal count and / or the detected pedal force, as well as on respective target ranges for the pedal count and / or pedal force, or depending on a frequency threshold and / or a force threshold. Subsequently, in this further embodiment, a shift command is additionally determined depending on the expected driver torque and / or the expected pedal count, and in particular, the shift command is determined only if the expected driver torque is between a lower force threshold and an upper force threshold and / or if the expected pedal count is between a lower frequency threshold and an upper frequency threshold. This configuration advantageously takes into account the current motor torque and future motor torque of the electric bicycle's drive unit, thereby providing a comfortable switching operation in electric bicycle riding situations, for example, when the motor torque of the drive motor is saturated.

[0018] Another particularly advantageous configuration of this method involves determining a predicted future motor torque and / or predicted future motor output of the drive motor of the electric bicycle in the event of a gear ratio change, depending on the detected pedal force and / or the detected pedal count, the current motor torque of the drive motor, and the current and predicted gear ratios. The predicted gear ratio may be determined depending on the detected pedal count and / or the detected pedal force, as well as target ranges for the pedal count and / or pedal force, or a count threshold and / or a force threshold. Subsequently, a shift command is additionally determined depending on the determined future motor torque and / or predicted future motor output. In this configuration, the determination of the shift command and the gear ratio change are particularly suppressed or avoided when it is detected that the predicted future motor output of the drive motor of the electric bicycle has significantly decreased in a future gear ratio when the driver's power output remains the same despite adjustments to the pedal count and pedal force.

[0019] In an alternative configuration, the system determines whether the cyclist is standing up depending on the detected pedaling frequency and / or the detected pedaling force, and / or the detected lateral acceleration and / or the detected lateral tilt of the bicycle. The system then determines a shift command depending on the detection of standing up, and in this case, if standing up is detected, no shift command is determined, especially after the shift time has elapsed. This alternative configuration is advantageous because, since standing up while shifting is usually undesirable, a gear shift or a change in gear ratio is avoided if the system detects that the cyclist is standing up.

[0020] In an advantageous alternative configuration, a cyclist's input for setting the switching mode is detected. In other words, in an advantageous embodiment, the cyclist sets the switching mode or switching operation by input. The cyclist's input is detected, for example, using an input means provided on the bicycle handlebars or the HMI. In this configuration, the lower count threshold and / or the upper count threshold are then adjusted depending on the detected cyclist's input. Alternatively or additionally, the lower force threshold and / or the upper force threshold are adjusted depending on the detected cyclist's input. In other words, in an advantageous embodiment, the respective target ranges for the pedaling frequency and / or pedaling force are adjusted depending on the detected input. Alternatively or additionally, the determination of the shift command may be configured to additionally depend on detected cyclist inputs, in which case the shift time and / or the respective thresholds may be adjusted to the bicycle's speed, bicycle acceleration, cyclist's pedaling force, route gradient, and / or their variations over time. Alternatively or additionally, the ideal gear ratio may be determined additionally depending on detected cyclist inputs. This advantageous configuration allows for the setting of direct or indirect shifting behaviors and / or gear or ratio skipping behaviors that may be desirable for the cyclist in many riding situations. In a particularly advantageous embodiment of this configuration, in the case of an electric bicycle, the cyclist's input for setting the assistance ratio additionally results in an input for setting the shifting mode or behavior, in which case, in particular, one shifting mode is assigned to each assistance ratio. In other words, the input for setting the shifting mode may be linked to the input for setting the assistance ratio. For example, the assist ratios "Eco" and / or "Sport" may be assigned a direct switching action due to a small difference between the lower and upper count thresholds and the assist ratio "Turbo", or an indirect switching action due to a larger difference between the lower and upper count thresholds.

[0021] The invention also relates to a computer program comprising instructions which, when executed by a computer, cause the computer to carry out the steps of the method according to any one of claims 1 to 12. The computer program can be loaded preferably from a cloud or from a server device via a wireless or wired data connection. Such a computer program allows, for example, updates-over-the-air for controlling the gearshift of a bicycle, in particular an electric bicycle, for example in the case of retrofitting or replacing the gearshift of the bicycle.

[0022] The present invention also relates to a controller, wherein the controller includes at least one first signal input for providing a first signal representative of a cyclist's pedaling frequency. The controller also includes a second signal input for providing a second signal representative of the cyclist's pedaling force. The controller also includes a signal output for outputting a control signal for an electrically controllable gear shift of the bicycle. The controller further includes a computing unit, in particular a processor, where the computing unit is configured to perform the steps of the method according to the present invention. In other words, the controller is configured to perform the method according to the present invention. Therefore, using this controller provides the advantages for the cyclist or bicycle as described for the method.

[0023] The present invention further relates to a drive unit for an electric bicycle with a drive motor, wherein the drive unit includes at least one rotation speed sensor. The rotation speed sensor is arranged to detect the number of pedal strokes of a cyclist on the bicycle treadle. The drive unit further includes a pedal force sensor, wherein the pedal force sensor is arranged to detect the pedal force of a cyclist on the bicycle treadle. The drive unit also includes a controller according to the present invention. Optionally, the drive unit may include an electrically controllable gear shift. Alternatively, the drive unit is arranged to control the electrically controllable gear shift of the bicycle using the controller via a control signal generated at the signal output.

[0024] The invention further relates to a bicycle, in particular an electric bicycle, which comprises an electrically controllable gearshift and a controller according to the invention or a drive unit according to the invention.

[0025] Further advantages will become apparent from the following description of the embodiments with reference to the figures. [Brief explanation of the drawings]

[0026] [Figure 1] 1 is a diagram of a bicycle with electrically controllable gear shifting. [Figure 2] FIG. 1 is a diagram of a bicycle controller for controlling gear shifting. [Figure 3a] FIG. 1 shows a block diagram of a method flow. [Figure 3b] FIG. 10 shows an alternative method flow as a block diagram. [Figure 4] 10 is a graph showing target ranges for pedaling force and number of pedaling times. DETAILED DESCRIPTION OF THE INVENTION

[0027] 1 shows a schematic diagram of a bicycle 100 with an electrically controllable gearshift 110. The bicycle 100 has pedals 102 mounted on treads 101 for receiving a cyclist's tread force F. The bicycle 100 has a longitudinal axis 190 and, in operation, moves with a direction of travel that is typically in the direction of the longitudinal axis, where the bicycle is driven by the cyclist's tread force F with a number of strokes K on the pedals or by a driver torque at the treads 101. The treads 101 and rear wheel 103If the transmission ratio between the rear axle 104 of the bicycle 100 or between the treadle 101 and the rear wheel 103 is i=2, then for example the rear wheel 103 of the bicycle 100 will rotate at twice the rotation speed K when in operation compared to the cyclist's pedaling speed K on the treadle 101. The bicycle 100 may further optionally include a display device 130 or HMI and / or input means 140, where the display device 130 and the input means 140 are advantageously arranged on the handlebars 105 of the bicycle 100. The electrically controllable gear shift 110 of the bicycle 100 is a derailleur gear in this embodiment and includes an electrically controllable front derailleur 111 and chainwheel 112 mounted on the treadle 101 and a sprocket cluster 114 or gear cluster mounted on the rear axle 104 of the rear wheel 103, where the chainwheel and sprocket cluster 114 are connected to each other by a chain 115. Alternatively, other types of electrically controllable gear shifters may be provided on bicycle 100, such as an electrically controllable hub gear on rear axle 104 of rear wheel 103, which hub gear includes, for example, a multi-stage planetary gear system. Bicycle derailleur and hub gears often have discrete gear ratios i, where the gear steps or ratios i depend on the type and manufacturer of the gear shifter. For example, a derailleur and shift gear 110 with a 53 / 39 chainwheel combination on treadle 101 or crankshaft and a gear cluster with 11 to 21 teeth on rear axle 104 has a gear ratio of 1.86 to 4.82 discrete steps. Three- or eight-speed hub gears typically have similar gear ratios to the derailleur gears described above. The range of changeable gear ratios of an alternative continuously variable gear shifter 110, for example, arranged on the rear axle 104 of the bicycle 100, is comparable to that of a derailleur gear and a hub gear, typically with a planetary gearing. Therefore, the gear ratio of the gear shifter 110 of the bicycle 100 is usually between approximately 1.5 and 5. Advantageously, both the driver torque FM and the motor torque M are combined before the gear shifter 110, and are transmitted to the rear axle 104 of the rear wheel 103 of the bicycle 100 via the gear shifter 110, which then changes the gear ratio i. The gear shifter 110 may be implemented in an electrically controllable manner in any structural form or type.

[0028] The speed v of the bicycle 100 can generally be determined as the product of the transmission ratio i installed in the gear shift 110, the pedal stroke K, and the wheel circumference U of the drive or rear wheel 103 (see equation (1)). This applies as long as the bicycle 100 is actively driven by the cyclist without motor assistance, i.e., when there is no idling or braking. For example, a speed v of approximately 20 km / h can be achieved by the cyclist pedaling with a pedal stroke K=80 rpm, a wheel circumference U=approximately 2.1 m (28" inch tires), and a transmission ratio i=2.

[0029]

number

[0030] For example, to reduce driver torque F when going uphill on a route, the cyclist shifts to a lower gear ratio i in gear shift 110, simultaneously increasing pedal stroke count K. Because braking is typically not performed during a shift, the bicycle's speed v is approximately equal (v1 = v2) at or before the gear ratio shift and during the shift. Upon the shift, pedal stroke count K changes discontinuously or abruptly depending on gear ratio i, approximately according to equation (2).

[0031]

number

[0032] The pedaling power P of a cyclist can be written as the product of the pedaling frequency K of the cyclist and the pedaling torque or driver torque FM (see equation (3)).

[0033]

number

[0034] It can be assumed that the cyclist's driver power P or pedal power is approximately constant when adjusting or changing the gear ratio from i1 to i2. If the driver power P is constant at the time of the change, it can be assumed that the driver torque FM2 depends on the gear ratios i1 and i2 and the driver torque FM1 according to equation (4). Therefore, the driver torque FM also changes discontinuously or abruptly depending on the gear ratios i1 and i2 according to equation (4) when the gear ratio of the gear shift 110 is changed.

[0035]

number

[0036] These jumps in pedal strokes and driver torque are desirable because they allow gearshift 110 to shift while continually adjusting pedal strokes and driver torque to their respective target values. In other words, operation of bicycle 100 within the target pedal strokes and driver torque ranges is comfortable and pleasant for the cyclist. In other words, operation of bicycle 100 outside the respective target ranges for pedal strokes and / or driver torque or pedal force is uncomfortable for the cyclist, and as a result, the cyclist attempts to change or adjust the gear ratio of gearshift 110 with the current pedal strokes and / or current driver torque outside the respective target ranges.

[0037] Preferably, bicycle 100 is an electric bicycle and includes a drive unit 120 with an electric drive motor 121 for driving bicycle 100. Electric drive motor 121 is advantageously arranged to generate a motor torque M depending on a sensed pedal force F or a sensed driver torque F, where motor torque M is arranged to drive the electric bicycle in the direction of travel in addition to the driver torque F provided at treadle 101. Motor torque M generated by drive motor 121 is typically generated according to equation (5) depending on the sensed pedal force F or sensed driver torque F at treadle 101 and on an assist ratio α that is usually adjustable or selectable by the driver. Assist ratio α can be adjusted, for example, between 100% and 400%.

[0038]

number

[0039] In order to at least reduce the jumps in the motor torque, when performing the gear shift 110 switching process, the control of the drive motor 121 to generate the motor torque M may differ from equation (5), and in particular there may be a non-linear relationship between the motor torque M and the sensed driver torque FM, so that no sudden changes in the motor torque M occur when the driver torque FM changes jump-wise due to the gear ratio adjustment.

[0040] The control of the drive motor 121 is usually further regulated by blocking it before reaching the maximum speed vmax for motor assistance by the drive motor 121, for example a maximum speed vmax=25 km / h is legally set for motor power assistance. Within the range of blocking or within the range of the maximum speed vmax, the generated motor torque M is preferably additionally increased or decreased depending on the detected speed v of the bicycle 100 and the maximum speed vmax.

[0041] Furthermore, during mountain travel, on uphill sections of the bicycle route, the motor torque M may be saturated or the maximum motor torque Mmax may be limited after the detected driver torque FM, since the drive motor 121 cannot or should not provide a motor torque M greater than the maximum motor torque Mmax, or in other words, the control or blocking of the motor torque M of the drive motor 121 is performed depending on the maximum motor torque Mmax.

[0042] In the above-mentioned riding situations, i.e., when shifting gears, if the speed v of the e-bicycle is close to, equal to, or greater than the maximum speed vmax, and / or if the motor torque M is equal to the maximum motor torque Mmax, a counter-intuitive effect on the gear ratio that is most suitable or most comfortable for the cyclist results. If the driver torque required after shifting to a higher gear ratio increases excessively due to the generation and / or blocking of the maximum motor torque Mmax before the shift, the driver torque required on the e-bicycle may be surprisingly large, for example, for the desired maintenance or desired increase of the speed v of the e-bicycle.

[0043] The number of strokes K of the cyclist is advantageously detected by means of a rotational speed sensor 210 on the treadle 101. Alternatively or additionally, in the case of a constant gear ratio between the treadle and the drive motor, the number of strokes K on an electric bicycle can be detected by means of a sensor device for the rotor position, by means of at least one rotor position sensor, or by means of a motor rotational speed sensor. Alternatively or additionally, the number of strokes K can be detected by means of a torque sensor 220 on the treadle, in which case the number of strokes K is determined as a function of the detected driver torque FM.

[0044] The cyclist's pedal force F on the pedal, or the cyclist's driver torque at the treadle, can be detected, for example, using at least one force sensor on one of the bicycle's pedals or a torque sensor 220 on the treadle 101.

[0045] The speed v of the bicycle 100 is advantageously sensed using a speed sensor 230 or reed sensor mounted on the rear wheel 103 of the bicycle 100 .

[0046] 2 shows a schematic representation of a controller 200 of the bicycle 100 for controlling the gearshift 110. The controller 200 comprises a computing unit 201. The computing unit 201, in particular a processor, is configured to carry out the steps of the method according to the invention. The controller 200 further comprises an optional first signal input 202, a second signal input 203, an optional third signal input 204, an optional fourth signal input 205 and an optional fifth signal input 206. The controller 200 further comprises a signal output 250 for outputting a control signal to the electrically controllable gearshift 110 of the bicycle 100. The second signal input 203 is arranged to detect, for example, a second signal of a treadle-mounted torque sensor 220, which is indicative of the pedal force of the cyclist. The optional first signal input 202 is arranged to detect a first signal from a treadle-mounted rotational speed sensor 210, for example, representing the cyclist's pedal strokes. The detection of the cyclist's pedal strokes may be configured to depend on the detected second signal, the detected pedal force, or the detected driver torque. The optional third signal input 204 is arranged to detect a third signal from a speed sensor 230, representing the speed v of the bicycle 100. The optional fourth signal input 205 is arranged to detect a fourth signal from the input means 140, representing the cyclist's input for a switching mode or a switching action. The optional fifth signal input 206 is arranged to detect a fifth signal from an acceleration sensor 240 or inertial measurement unit 241, where the fifth signal represents the bicycle's longitudinal acceleration, lateral acceleration, bicycle pitch angle, and / or bicycle's lateral lean or rotation about the longitudinal axis 190 of the bicycle 100. The signal output unit 250 is arranged to generate a control signal arranged to control the electrically controllable gear shift 110 to change the gear ratio. Optionally, the controller 200 may be arranged to generate a motor control signal for the drive motor 121 of an electric bicycle as the bicycle 100 using the motor control signal output unit 251.Furthermore, the controller 200 may optionally be configured to generate a display signal for the display device 130 of the bicycle 100 using a display means signal output 252. Advantageously, the controller includes a memory 290 in which parameters such as the maximum speed vmax or the maximum motor torque Mmax, as well as a number of other operating parameters and thresholds, are advantageously stored.

[0047] 3a shows a schematic block diagram of the method. The method includes detecting 310 the number of strokes K of the cyclist at the treadle. The method also includes detecting 320 the pedal force F of the cyclist, where F is detected by the torque sensor 220 as the driver torque FM. Optionally, detecting 330 the current speed v of the bicycle may be performed. Alternatively or additionally, the acceleration of the bicycle in the longitudinal direction 190 may be detected in step 331. The acceleration detection 331 may optionally be performed as a detection of the acceleration of the bicycle in the longitudinal direction 190 that is dependent on the detected speed v. Furthermore, in optional step 332, the gradient of the route the bicycle 100 is traveling or the pitch angle of the bicycle 100 about its transverse axis may be detected or determined using an inertial measurement unit 241 provided on the bicycle 100. Furthermore, in optional step 340, a cyclist input for setting a switching mode may be detected. Optional step 341 may be configured to adjust the lower count threshold and / or the upper count threshold depending on the cyclist input detected in step 340. Furthermore, optional step 342 may be configured to adjust the lower force threshold and / or the upper force threshold depending on the cyclist input detected in step 340. Subsequently, step 350 detects a gear change operation status depending on the detected pedal count K and depending on the detected pedal force F. Detection 350 of a gear change operation status is performed immediately if the detected pedal count K is less than or equal to the lower count threshold, or if the detected pedal count K is greater than or equal to the upper count threshold. Alternatively or additionally, detection 350 of a gear change operation status is performed immediately if the detected pedal force F is less than or equal to the lower force threshold, or if the detected pedal force F is greater than or equal to the upper force threshold. After detecting 350 the gear change actuation condition, optional step 360 is to display acoustic, visual and / or tactile information to the cyclist for semi-automatic or automatic predictive shifting.In optional step 365, standing pedaling of the cyclist is recognized or detected depending on the detected pedal strokes and / or the detected pedal force, and / or the detected lateral acceleration of bicycle 100 in the lateral direction of bicycle 100, and / or the detected sideways lean of the bicycle. Standing pedaling is recognized, for example, when the detected pedal strokes or detected rotations at the pedal axle and / or the detected pedal force show discrete peaks, and / or when the detected lateral acceleration is greater than a lateral acceleration threshold, and / or when the detected sideways lean is repeated within a predetermined standing pedaling time and exceeds a standing pedaling lean angle to a different side of the bicycle. In optional step 370, a shift command is determined for a gear shift. Optional shift command determination 370 is advantageously performed depending on the elapsed shift time after the detection of the gear change activation state, i.e., substantially, in particular, with a time delay. In this case, optional shift command determination 370 is preferably not performed if the detected number of strokes and / or the detected pedal force of the cyclist are again within the respective target ranges during the shift time. The shift time may be adjusted depending on the detected number of strokes and / or the detected pedal force, e.g., the shift time decreases linearly as the distance between the detected pedal force and the lower or upper force threshold increases. In other words, in an advantageous embodiment, optional step 370 does not determine a shift command if, during the shift time, the detected number of strokes K is again between the lower and upper thresholds and / or the detected pedal force F is again between the lower and upper force thresholds. Optional step 370 may further be configured to determine a shift command depending on the detected number of strokes and / or the detected pedal force. Advantageously, the determination 370 of the optional switching command is then performed depending on the change in the detected number of pedal strokes over time and / or depending on the change in the detected pedal force over time.Furthermore, optional step 370 may be configured to determine or detect a shift command depending on the detected bicycle speed, the detected or detected acceleration, and / or the detected gradient of the route or the pitch angle of bicycle 100, in which case the shift command is determined depending on at least one change in the detected speed over time, at least one change in the detected or detected acceleration over time, and / or at least one change in the detected gradient over time or at least one change in the pitch angle of bicycle 100. Optional step 370 may, for example, be configured to determine a shift command only if the bicycle speed exceeds a speed threshold for the respective currently installed gear ratio. Optional step 370 may, for example, be configured to determine a shift command only if the bicycle acceleration in the longitudinal direction exceeds a predetermined acceleration tolerance, in which case the acceleration tolerance may be selected depending on or associated with the currently installed gear ratio. In other words, the switching command in this optional embodiment of step 370 is detected only if the acceleration value of bicycle 100 exceeds the acceptable acceleration range. In other words, the switching command in step 370 is optionally determined only if the driver clearly perceives that bicycle 100 is accelerating or decelerating. Furthermore, step 370 may be configured to immediately determine the switching command if the gradient of the route or the pitch angle of the bicycle exceeds a gradient threshold, or to otherwise determine the switching command, for example, depending on the switching time or after the switching time has elapsed. In a further optional embodiment, optional step 370 may additionally determine the switching command depending on a detected cyclist input, preferably by detecting the cyclist's input for the switching operation or switching mode and adjusting the switching time depending thereon. For example, the switching time may be shortened if the detected cyclist input indicates that the cyclist desires a direct switching operation, or the switching time may be lengthened if the detected cyclist input indicates that the cyclist desires an indirect switching operation.Alternatively or additionally, in optional step 370, at least one speed threshold or acceleration tolerance for the bicycle, or a gradient threshold for the route traveled, and / or a threshold for their change over time may be adjusted depending on the detected cyclist input.

[0048] In an optional advantageous further configuration, in step 370, the shift command is additionally determined depending on the expected driver torque and / or the expected pedal stroke count and depending on the current motor torque. Alternatively, determination 370 of the shift command may be configured to be performed depending on the predicted future motor torque or depending on the predicted future motor power. For example, if the predicted future motor torque and / or the predicted future motor power is significantly reduced below the respective accepted values, no adjustment of the gear ratio is performed. Optional determination 367 of the predicted future driver torque and / or the predicted pedal stroke count for the future gear ratio, in particular for the ideal gear ratio, is performed depending on the detected current pedal force and / or the detected current pedal stroke count, depending on the current motor power, and depending on the current gear ratio and the future gear ratio. The current motor torque M or M1 is generated, for example, by controlling the motor according to equation (5) and is therefore known. Based on the detected pedal force F or the detected driver torque FM1 and based on the future and current transmission ratios i2 and i1 of the electrically controllable gearshift 110, for example after detecting a gear change actuation state, an estimate for the resulting driver torque FM2 can be made taking into account the current motor torque M1 in step 350 for shifting up one gear, or an expected driver torque FM2 can be determined (see equation (6)). For example, the current total torque is the sum of the detected current driver torques FM, FM1 and the current motor torque M or M1. If the current transmission ratio i1 and the future transmission ratio i2 are known, the factor i2 / i1 is known. Therefore, if the detected expected driver torque FM2 exceeds, for example, a predetermined torque threshold according to equation (6), advantageously, no shift command is determined in step 370, despite the detection of a gear change actuation state in step 350, in particular despite the fact that the shift time has elapsed. This is because the expected driver torque FM2 is deemed unacceptable to cyclists.In the case of an upshift, if the current motor torque corresponds to the maximum motor torque, it can be assumed that the current motor torque M or M1 remains constant after the shift. In particular, in this saturation case, the expected driver torque FM2 after the upshift or gear ratio adjustment may be uncomfortably large for the driver. Alternatively, if a possible downshift, according to equations (5) and (6), causes the detected expected driver torque FM2, and thus the predicted future motor torque M2 and / or the predicted future motor power PM, to fall below their respective acceptable thresholds, advantageously, despite the detection of a gear change activation state in step 350, and in particular despite the elapsed shift time, no shift command is determined in step 370. This is because the predicted future motor torque M2 and / or the predicted future motor power PM are deemed unacceptable to the cyclist. This case may occur when downshifting, especially at high speeds on flat roads.

[0049]

number

[0050] Preferably, the switching command in optional step 370 is determined only if the expected driver torque FM2 is between the lower and upper force thresholds and / or the expected number of pedal strokes K is between the lower and upper count thresholds.

[0051] Furthermore, the optional determination of the shift command 370 may additionally depend on the recognized standing-up pedaling, in which case the recognition of standing-up pedaling will not determine a shift command, especially after the shift time has elapsed, since adjusting the gear ratio when standing-up pedaling is usually perceived as uncomfortable by the cyclist.

[0052] In the case of optional semi-automatic switching, in an advantageous further configuration, after determining the switching command 370, an optional step 375 provides acoustic, visual and / or tactile switching information for the semi-automatic switching. In other words, in optional step 375, the cyclist is requested to activate the semi-automatic switching, advantageously by changing the number of strokes or by changing the input, for example using the input means 140.

[0053] Furthermore, optional step 380 may be configured to perform an ideal gear ratio determination depending on the detected pedal stroke count, the detected pedal force, the detected bicycle speed, the detected or detected bicycle acceleration, and / or the detected gradient of the route, where the gear shift has at least one gear ratio jump between the current gear ratio and the ideal gear ratio. To determine the ideal gear ratio, for example, equation (6) may be used, where the ideal gear ratio is, for example, the gear ratio for which the detected expected driver torque FM2 is closest to a predetermined torque target. Optionally, the ideal gear ratio determination 380 may be configured to additionally depend on detected cyclist input, where, for example, the torque target is adjusted depending on the detected input.

[0054] In the following step 390, a control signal for the gearshift is generated depending on the detected gear change operating state and, optionally, depending on the determined shift command. The generation of the control signal for the gearshift 390 additionally depends on the detected ideal transmission ratio. In an advantageous configuration, the generation of the control signal for the gearshift 390 can be performed only if, after the shift command determined in step 370, the detected number of pedal strokes by the cyclist is less than the actuation number threshold, in particular zero, and / or if the detected pedal force by the cyclist is less than the actuation force threshold, in particular zero, and / or if a shift input by the cyclist is detected via the input means, thereby achieving a comfortable, optional semi-automatic shift in each case. In optional step 395, the gearshift ratio is adjusted 395 depending on the generated control signal. In other words, the method including step 390, i.e. the generation of a control signal for gear shifting 390, may be terminated if, for example, only the drive unit or only the control unit of the bicycle is of concern.

[0055] An alternative, shortened method flow is illustrated schematically in a block diagram in Figure 3b. The alternative method of Figure 3b includes detecting 310 the number of pedal strokes K by the cyclist at the pedal axle. The method also includes detecting 320 the pedal force F by the cyclist. Optional step 340 involves detecting a cyclist input to set a shift mode. Optional step 341 then adjusts the lower and / or upper pedal force thresholds depending on the detected cyclist input. Optional step 342 then adjusts the lower and / or upper force thresholds depending on the detected cyclist input. Subsequently, in step 350, a gear change activation state is detected if the detected number of pedal strokes K is less than or equal to the lower pedal force threshold or if the detected number of pedal strokes K is greater than or equal to the upper pedal force threshold depending on the detected number of pedal strokes K and the detected pedal force F. Alternatively or additionally, if the detected pedal force F is less than or equal to the lower force threshold, or if the detected pedal force F is greater than or equal to the upper force threshold, a gear change actuation state is detected 350. After the gear change actuation state detection 350, the method of FIG. 3b immediately generates a control signal for the gear change depending on the detected gear change actuation state. Thus, the method of FIG. 3b differs from the state of the art in detecting cyclist input 340 and adjusting the lower and / or upper count thresholds 341 and / or the lower and / or upper force thresholds 342, respectively, depending on the detected input. This offers the advantage of easily adjusting the semi-automatic or automatic gear shifting behavior to a comfortable level for the cyclist, or of easily setting an indirect or direct shifting behavior depending on the riding situation. This is particularly interesting for mountain bike applications.

[0056] figure 41 shows a schematic two-dimensional graph of a target range 450 for shifting the gear ratio. A horizontal axis 402 represents the driver torque FM. A lower force threshold 430 and an upper force threshold 440 are further illustrated on the horizontal axis 402. A vertical axis 401 represents the pedal stroke K. A lower count threshold 410 and an upper count threshold 420 are further illustrated on the vertical axis 401. A target range 450 is defined or exists between the lower force threshold 430 and the upper force threshold 440, and between the lower count threshold 410 and the upper count threshold 420. If the detected pedal stroke K and the detected pedal force F or the detected driver torque FM are within this target range 450, for example, at point P1, a gear change operation state is not detected. As soon as the detected number of strokes K and / or the detected pedal force leave the boundaries of this target range 450, or as soon as the detected number of strokes falls below the lower number threshold 430 or exceeds the upper number threshold and / or as soon as the detected pedal force falls below the lower force threshold or exceeds the upper force threshold, a gear change activation state is detected, for example, at point P2. The lower number threshold and / or the upper number threshold and / or the lower force threshold and / or the upper force threshold are optionally adjusted by the cyclist's input for the shifting mode, thereby making the shifting operation more direct or more indirect. In other words, the target range 450 can be adjusted by detecting the cyclist's input 340 and by method steps 341 and / or 342. A temporarily acceptable operating range 460 for the cyclist is shown by a dashed line around the target range 450 for the number of strokes K and pedal force F or driver torque FM. If the detected pedal count K and / or the detected pedal force F or driver torque FM are within this temporarily acceptable operating range 460, no adjustment of the gear change operating state is required, at least for a short period of time.In this method, if the detected pedal count K and / or the detected pedal force F or driver torque FM are outside the target range, i.e., even if the detected pedal count K and / or the detected pedal force F or driver torque FM are temporarily within the acceptable operating range 460, a gear change actuation state is detected in step 350, for example at point P3. Advantageously, after the detection of the gear change actuation state 350, for example at point P3, a control signal for the gear shift is not generated immediately in step 390, but rather the shift time for determining a shift command for the gear shift 370 is awaited. For example, it may occur that the detected pedal count K and / or the detected pedal force F or driver torque FM briefly leave the boundary of the target range 450 and then re-enter the target range 450 during the shift time. Therefore, the generation of the control signal for the gear shift 390 is advantageously additionally performed depending on the determined shift command or depending on the elapsed shift time. This method advantageously avoids the inconvenience of frequent shifts between different transmission ratios. This is because it is advantageous to delay the gear shift, especially if the detected pedal strokes K and the detected pedal force F or the detected driver torque FM are temporarily within an acceptable operating range. [Explanation of symbols]

[0057] 100 Bicycles 101 Treadmill 110 Gearshift 121 Drive motor 140 Input Methods 200 Controller 201 arithmetic unit 202 first signal input section of controller 203 Second signal input section of controller 210 RPM sensor 220 Pedal force sensor 250 Signal output section of controller 310 Detection of number of steps 320 Pedal force detection 330 Bicycle speed detection 331 Bicycle acceleration detection 332 Detection of gradient of driving route 340 Input Detection 341 Adjusting the Lower and / or Upper Count Thresholds 342 Adjusting the Lower Force Threshold and / or Upper Force Threshold 350 Gear change operation status detection 360 Display of acoustic, visual, and / or tactile information 365 Standing Rowing Certification 367 Determining expected future driver torque and / or expected pedal strokes 368 Determining predicted future motor torque and / or predicted future motor power 370 Determining the shift command for gear shifting 380 Detection of ideal gear ratio 390 Generation of control signals for gear shifting 410 Lower Threshold 420 Upper limit threshold 430 Lower Force Threshold 440 Upper Strength Threshold a Acceleration of the bicycle F. Pedal force FM Driver Torque FM2 Expected Driver Torque i1 Current gear ratio i2 Future gear ratio K Steps K2 Expected number of steps M Motor torque M1 Current motor torque M2 Future motor torque PM Future motor output v Bicycle speed

Claims

1. A method for changing the gear ratio of an electrically controllable gear shift (110) of a bicycle (100), in particular of an electric bicycle, comprising the following steps: A step (310) of detecting the number of strokes (K) of the cyclist on the treadle (101); - detecting (320) the pedal force (F) of the cyclist; i. The detected number of times of depression (K) is a. If the count is less than or equal to the lower threshold (410), or b. If it is greater than or equal to the upper threshold number (420), and / or ii. The detected pedal force (F) a. is less than or equal to the lower force threshold (430), or b. If greater than or equal to the force upper threshold (440), Detecting a gear change operation state (350) depending on the detected pedaling count (K) and depending on the detected pedaling force (F); - after the step (350) of detecting the gear change actuation state, a step (370) of determining a shift command for the gear shift (110); - generating (390) a control signal for said gearshift (110) depending on said detected gearchange operating state and depending on said determined shift command; Including, The step (370) of determining the shift command is performed depending on the elapsed shift time after the step (350) of detecting the gear change operation state, The method does not generate the control signal based on the switching command if the detected number of pedal strokes (K) and / or the detected pedal force (F) are within a target range (450) defined between the lower number threshold (410) and the upper number threshold (420) and between the lower force threshold (430) and the upper force threshold (440), or within a predetermined operating range (460) around the target range (450), and if the switching time has not elapsed.

2. The method of claim 1 , wherein the switching time is adjusted based on the detected number of pedal strokes (K) and / or the detected pedal force (F).

3. The following steps are carried out: - detecting (330) the speed (v) of the bicycle (100), and / or a step (331) of detecting the acceleration (a) of the bicycle (100) or detecting the acceleration depending on the detected speed (v); and / or - detecting (332) the gradient of the route traveled by the bicycle (100); and determining (370) the switching command in dependence on the sensed speed (v), the sensed or detected acceleration (a) and / or the sensed gradient of the bicycle (100); The method of claim 1.

4. A method for changing the gear ratio of an electrically controllable gear shift (110) of a bicycle (100), in particular of an electric bicycle, comprising the following steps: A step (310) of detecting the number of strokes (K) of the cyclist on the treadle (101); - detecting (320) the pedal force (F) of the cyclist; - sensing (330, 331) the speed (v) and / or acceleration (a) of said bicycle (100); - detecting (332) the gradient of the route traveled by the bicycle (100); i. The detected number of times of depression (K) is a. If the count is less than or equal to the lower threshold (410), or b. If it is greater than or equal to the upper threshold number (420), and / or ii. The detected pedal force (F) a. is less than or equal to the lower force threshold (430), or b. If greater than or equal to the force upper threshold (440), Detecting a gear change operation state (350) depending on the detected pedaling count (K) and depending on the detected pedaling force (F); - after the step (350) of detecting the gear change actuation state, a step (370) of determining a shift command for the gear shift (110); - generating (390) a control signal for said gearshift (110) depending on said detected gearchange operating state and depending on said determined shift command; Including, determining (370) the switching command in dependence on the sensed speed (v), the sensed or detected acceleration (a) and / or the sensed gradient of the bicycle (100); If the detected number of pedal strokes (K) exceeds the upper threshold number of pedal strokes (420), the control signal is generated only when the change in gradient over time is not positive.

5. The following steps are carried out: a step (380) of detecting an ideal transmission ratio depending on the detected pedaling frequency (K) and / or the detected pedaling force (F), the gear shift (110) having at least one skip ratio between the current gear ratio and the ideal gear ratio; and the step (390) of generating a control signal for said gear shift (110) is additionally performed in dependence on said detected ideal transmission ratio; The method according to any one of claims 1 to 4.

6. After the step of detecting the gear change operation state (350), the following steps are carried out: - displaying acoustic, visual and / or tactile information for the cyclist regarding the predicted automatic switching (360); To carry out The method according to any one of claims 1 to 4.

7. After the step of determining the switching command (370), - if the detected number of pedal strokes (K) of the cyclist is less than an actuation number threshold, in particular equal to zero, and / or - if the detected pedal force (F) of the cyclist is less than a pedal force threshold, in particular equal to zero, and / or - upon detecting a switching input of the cyclist by the input means (140), a step (390) of generating a control signal for said gear shift for the first time after the step of determining said shift command, and displaying acoustic, visual and / or haptic shifting information to the cyclist, in particular for semi-automatic shifting, The method according to any one of claims 1 to 4.

8. Before the step of generating the control signal (390), the following steps are carried out: - determining (367) an expected driver torque (FM2) and / or expected pedaling frequency (K2) for a future gear ratio (i2) depending on the detected pedal force (F) and / or the detected pedaling frequency (K) of the cyclist, depending on the current motor torque (M), and depending on the current gear ratio (i1) and the future gear ratio (i2); additionally, a step (370) of determining the shift command depending on the expected driver torque and / or the expected number of strokes, in particular determining the shift command only if the expected driver torque (FM2) is between the lower force threshold (430) and the upper force threshold (440) and / or if the expected number of strokes (K) is between the lower number threshold (410) and the upper number threshold (420); To carry out The method according to any one of claims 1 to 4.

9. The following steps are carried out: determining (368) a predicted future motor torque (M2) and / or a predicted future motor output (PM) depending on the detected pedal force (F) and / or the detected pedal count (K), depending on the current motor torque (M, M1), and depending on the current gear ratio (i1) and the predicted future gear ratio (i2); Additionally, determining (370) the switching command depending on the determined future motor torque (M2) or the predicted future motor power (PM); To carry out 9. The method of claim 8.

10. The following steps are carried out: - determining (365) whether the cyclist is standing on the pedals depending on the detected pedaling frequency (K) and / or the detected pedaling force (F) of the cyclist, and / or the detected lateral acceleration of the bicycle (100) in the lateral direction of the bicycle (100) and / or the detected lateral lean of the bicycle (100); Additionally, determining the switching command (370) depending on the identified standing-up rowing, wherein when identifying standing-up rowing, the switching command is determined (370) in particular not after the switching time has elapsed; To carry out The method according to any one of claims 1 to 4.

11. The following steps are carried out: - sensing (340) an input from the cyclist to set a switching mode; - adjusting (341) the lower count threshold (410) and / or the upper count threshold (420) depending on the detected input of the cyclist; and / or - adjusting (342) the lower force threshold (430) and / or the upper force threshold (440) depending on the detected inputs of the cyclist; and / or - additionally determining (370) the shift command depending on the detected inputs of the cyclist, the shift command adjusting the shift time and / or the respective tolerance for the current gear ratio or the respective thresholds depending on the speed of the bicycle, the acceleration of the bicycle, the pedal force of the cyclist, the gradient of the route, and / or their variations over time depending on the detected inputs of the cyclist; and / or additionally detecting an ideal transmission ratio (380) depending on the sensed input of the cyclist; To carry out 5. The method according to claim 3 or 4.

12. A computer program comprising instructions which, when executed by a computer, cause the computer to carry out the steps of the method according to any one of claims 1 to 4.

13. In the controller (200), the controller (200) includes at least the following components: an optional first signal input (202) for providing a first signal representative of the cyclist's stroke frequency; a second signal input (203) for providing a second signal representative of the pedal force of the cyclist; a signal output unit (250) for outputting a control signal for an electrically controllable gearshift (110) of the bicycle (100); a computing unit (201), in particular a processor, configured to carry out the steps of the method according to any one of claims 1 to 4; A controller (200) including:

14. A drive unit for an electric bicycle with a drive motor (121), said drive unit including at least the following components: a rotation speed sensor (210), said rotation speed sensor (210) being arranged to detect the number of strokes (K) of a cyclist on a treadle of a bicycle; a pedal force sensor (220) installed to detect the pedal force (F) of a cyclist on the pedal axle (101) of a bicycle; a controller according to claim 13; Optionally, an electrically controllable gearshift (110); A drive unit including:

15. A bicycle (100), in particular an electric bicycle, including an electrically controllable gearshift (110) and equipped with a controller (200) according to claim 13.

Images