Method, apparatus, and bicycle for providing push-walking assistance with a motor-assisted bicycle.

Abstract

【Solution】 The present invention relates to a method (10) for providing motorized assistance on a bicycle; it includes that the walking assist is activated (22) in response to the presence of a request for providing walking assist, where the walking assist is activated only when the inclination angle of the bicycle is below a set threshold, and as long as there is a request for providing walking assist, after the activation of the walking assist, the walking assist is provided (12) by a motor (3) of the bicycle (1), and at this time, the provision of the walking assist by the motor is also performed when the inclination angle of the bicycle is increasing beyond the set threshold.

Description

Technical Field

[0001] The present invention relates to a method for providing a push assist in a motor-assisted bicycle.

Background Art

[0002] In electric bicycles, so-called e-bikes, it is known that a push assist is provided. It is provided especially at speeds up to 6 km / h and leads to a motor-assisted support for the driver even when the driver is not pedaling. However, for safety reasons, this function is immediately stopped when it is recognized that the bicycle is in an upside-down position. This applies, for example, when the bicycle is turned over at the factory for tire replacement.

[0003] Often electric bicycles are used where there is no paved road. In that case, it may also happen that obstacles have to be overcome, which requires lifting the front wheel and pulling the handlebars towards oneself.

Summary of the Invention

[0004] The method of the present invention for providing a push assist in a motor-assisted bicycle includes that the push assist is activated in response to the presence of a request for providing the push assist, where the push assist is activated only when the inclination angle of the bicycle is below a set threshold value, and that as long as there is a request for providing the push assist, after activation of the push assist, a push assist is provided by the motor of the bicycle, where the provision of the push assist by the motor is also carried out when the inclination angle of the bicycle is increasing beyond the set threshold value.

[0005] <000002> Furthermore, the present invention for providing a push-walking assist with a motor-assisted bicycle includes the activation of the push-walking assist in response to the presence of a request for the provision of a push-walking assist, and the provision of the push-walking assist by the bicycle's motor after the activation of the push-walking assist, regardless of the bicycle's tilt angle, as long as a request for the provision of a push-walking assist exists.

[0006] The present invention for providing push-walking assistance with a motor-assisted bicycle includes a control unit which is set up to activate push-walking assistance in response to the presence of a request for push-walking assistance, in which case the push-walking assistance is activated only when the bicycle's tilt angle is below a set threshold, and, as long as a request for push-walking assistance exists, is set up to provide push-walking assistance by the bicycle's motor after the activation of push-walking assistance, in which case the motor-assisted push-walking assistance is also provided even when the bicycle's tilt angle increases beyond a set threshold.

[0007] Furthermore, the apparatus of the present invention for providing push-walking assistance with a motor-assisted bicycle includes a control unit which is set up to activate the push-walking assistance in response to the presence of a request for push-walking assistance, and is set up to provide push-walking assistance by the bicycle's motor after activation of the push-walking assistance, regardless of the bicycle's tilt angle, as long as a request for push-walking assistance exists.

[0008] The method of the present invention makes it possible to provide push-walking assistance even when the tilt angle of the bicycle increases beyond a threshold, which is particularly applicable when the bicycle is tilted upside down. In this way, the cyclist can firmly grip the handlebars of the bicycle and, with the push-walking assistance provided by the activated system, drive the bicycle by the rear wheel to lift the front wheel of the bicycle until the bicycle is almost completely upside down. At this time, the rear wheel overtakes the front wheel until the rear wheel of the bicycle is in its furthest forward position below the front wheel. In this way, the bicycle can be moved by the cyclist like a unicycle, with the bicycle resting only on the rear wheel and held by the cyclist with the handlebars.

[0009] When moving the bicycle towards the wall by its rear wheel, the user can press the rear wheel of the bicycle against the wall, causing the rear section to first move upward along the wall. At this time, the side of the bicycle facing away from the wall is held by the rider. Once the upper edge of the wall is reached, the rider can place the bicycle on the surface separated by the wall, and the rider can also climb the wall without the bicycle.

[0010] Thus, the present invention provides a climbing assist for bicycles.

[0011] In this context, push-walk assist is a bicycle function that allows the bicycle to move forward using the bicycle's motor even when the rider is not applying force to the pedals. In other words, push-walk assist is suitable for assisting the rider when pushing the bicycle. Preferably, this is done when requested by the cyclist, that is, when a request for push-walk assist is made. A request for push-walk assist can be made in various ways, for example, by the rider pressing a button or generally by operating a control device. When a request for push-walk assist is made by the rider, the push-walk assist is activated and thereafter is provided continuously until there is no further request for push-walk assist.

[0012] However, the push-walk assist is initially activated only when the bicycle's tilt angle is below a set threshold. This means that the push-walk assist will only be activated if the bicycle is not tilted to the point of being upside down. The set threshold defines the tilt angle at which the bicycle is considered upside down. In this case, the tilt angle is specifically the angle between the horizontal line and the long axis of the bicycle.

[0013] Once the push-walking assist is activated, it will continue to be provided as long as there is a request for the push-walking assist from the rider. The push-walking assist will also continue to be provided when the bicycle's tilt angle increases beyond a set threshold. Preferably, the check of the tilt angle relative to the set threshold is performed only once when the push-walking assist is activated, and not again when the push-walking assist is activated in the future. Preferably, this results in the push-walking assist being provided only if the bicycle is upside down but has been tilted to that position by the already activated push-walking assist. This makes it possible, for example, in a factory setting, that the push-walking assist will not be activated unintentionally. In such a situation, the bicycle is typically already upside down when the push-walking assist is about to be accidentally activated, and therefore the bicycle's tilt angle will exceed the set threshold. At the same time, when the push-walking assist is activated intentionally, it is possible for the push-walking assist to continue to be provided even if the bicycle is tilted beyond the set threshold. In this way, motor-assisted rear wheel support can be ensured even when the bicycle is tilted, and the rear wheel of the bicycle can be moved to lift it by pressing it against a wall.

[0014] The method according to the present invention also provides a push-walking assist that functions regardless of the bicycle's tilt angle, separate from the above. This is achieved by activating the push-walking assist in response to the presence of a request for push-walking assist, and by providing push-walking assist by the bicycle's motor after activation, regardless of the bicycle's tilt angle, as long as a request for push-walking assist exists. Such embodiments enable a wide range of applications for push-walking assist and assist the rider in various situations.

[0015] The method for providing push-walking assistance also includes providing push-walking assistance when the bicycle's inclination angle is greater than the ground's inclination angle. In this case, the motor-driven push-walking assistance is also provided when the bicycle's inclination angle is greater than the ground's inclination angle.

[0016] Accordingly, the method for providing push-walking assistance also includes a push-walking assistance that particularly assists users when the bicycle is tilted at a large angle, such that only the rear wheel is on the ground and the rider is holding it with the handlebars. In this case, the motor-driven push-walking assistance is also provided when the bicycle is tilted at a large angle, such that only the rear wheel is on the ground and the rider is holding it with the handlebars. In response to the cessation of the need for push-walking assistance, it is preferable that the provision of push-walking assistance by the bicycle's motor be discontinued. In this way, the cyclist can appropriately discontinue the push-walking assistance under unintended circumstances or when it is no longer needed.

[0017] It is preferable that the push-walking assist be reactivated after its initial activation. This reactivation is performed in response to a renewed request for the push-walking assist, and the push-walking assist is also reactivated if the bicycle's tilt angle exceeds a set threshold. For example, under certain circumstances, when the rear wheel of the bicycle is lifted along a wall, the rider may need to change their grip to hold the bicycle. Such a change in grip may prevent the rider from continuously requesting the push-walking assist, for example, by having to release their hand from the button provided for that purpose. Therefore, it is preferable that the push-walking assist be reactivated, that is, reactivated after it has already been activated once, regardless of the resulting tilt angle. In this case, the push-walking assist is reactivated regardless of the resulting tilt angle, especially if the push-walking assist was previously activated and a time shorter than a predefined time range has elapsed since the push-walking assist was activated or deactivated. As an alternative or addition, the reactivation of the push-walk assist will occur regardless of the current inclination angle, if the bicycle had an inclination angle exceeding a set threshold at the time of the previous activation of the push-walk assist.

[0018] Furthermore, it is preferable that this method includes detecting the time interval since the point at which there is no longer a request for push-walking assistance, and, in response to the re-establishment of a request for push-walking assistance, activating the push-walking assistance again after it has been discontinued. In this case, the re-activation of the push-walking assistance is performed if the time interval until the re-establishment of a request for push-walking assistance is shorter than or equal to a predefined time width, and also if the bicycle's tilt angle exceeds a set threshold. If the time interval until the re-establishment of a request for push-walking assistance is longer than a predefined time width, the re-activation of the push-walking assistance is performed only if the bicycle's tilt angle falls below a set threshold. This means that as soon as the request for push-walking assistance is discontinued by the driver, the detection of the time interval is started, for example, by a timer. If the detected time interval is relatively short, i.e., shorter than or equal to a predefined time width, the check to see whether the bicycle's tilt angle exceeds a set threshold is not performed again before the re-activation of the push-walking assistance. If the time interval is relatively long, i.e., longer than or equal to a predefined time interval, the system checks whether the bicycle's tilt angle is below a set threshold before reactivating the push-walk assist. If it is below this threshold, the push-walk assist is activated. In other words, if the rider's request for push-walk assist is interrupted for a short period, the push-walk assist can be reactivated even if the bicycle is upside down. However, if the request for push-walk assist is interrupted for a longer period, it is assumed that the bicycle's condition is unknown, for example, whether the climbing process is still underway. Therefore, the system checks again whether the bicycle's tilt angle is below the set threshold.

[0019] Furthermore, in response to the cessation of the demand for push-walking assistance, it is preferable that the prevention or braking of the bicycle's backward movement is performed by providing torque from the motor. The prevention or braking of the bicycle's backward movement is provided, in particular, by a so-called hill-hold function. When the demand for push-walking assistance is discontinued, it is preferable that the push-walking assistance is not replaced by the freewheel of the rear wheel, and that it is still ensured that the bicycle does not unexpectedly move towards the rider who is pushing it, not only when the bicycle is being pushed on flat ground or a slight incline, but also when the bicycle is undergoing a climbing process. This is achieved by preventing or braking the bicycle's backward movement. In particular, the bicycle's motor provides torque that acts in opposition to the bicycle's downward movement down the slope.

[0020] The need for push-walking assistance arises when a predefined user behavior is performed, and is particularly preferable when the user operates a key. However, various user behaviors are possible, and in some cases, push-walking assistance may be preferred by, for example, placing a hand on a sensor.

[0021] Furthermore, the inclination angle is preferably the angle between the horizontal line and the major axis of the bicycle, in which case the threshold is greater than or equal to 45 degrees. It is even more preferable that the threshold is greater than or equal to 45 degrees. In either case, it is preferable that the threshold is selected such that when the inclination angle of the bicycle exceeds the threshold, normal riding of the bicycle becomes impossible. The inclination angle is preferably the angle that increases as the front wheel of the bicycle is lifted, starting from 0 degrees.

[0022] It is preferable that the rear wheel of the bicycle is driven forward continuously under motor-driven push-walking assistance. Consequently, when the rear wheel of the bicycle is used as a climbing assist by pressing it against a surface, the rear wheel of the bicycle is continuously lifted along the surface.

[0023] The method according to the invention is preferably implemented by the device according to the invention.

[0024] Even more preferably, there is a bicycle including the device according to the invention. Such a bicycle has all the advantages of the device according to the invention. At this time, after dividing the rear wheel of the bicycle into a 360-degree circumferential angle centered on the rear axle of the bicycle, when the contact point between the traveling surface and the rear wheel is 0 degrees and the rearmost point of the rear wheel is 90 degrees, it is preferable that the structural members of the bicycle are not arranged outside the circumference of the rear wheel in the angular range of the circumferential angle from 0 degrees to 135 degrees. This is particularly realized by the bicycle not having a mudguard and / or a carrier, or by appropriately restricting these structural members with respect to their respective sizes. In this way, the bicycle can be tilted by the driver around the rear axle, and at this time, as long as the bicycle is moving along a horizontal surface or an ascending surface, it is realized that no collision occurs between the structural members of the bicycle and the traveling surface. In this way, for example, it is possible to prevent the mudguard of the bicycle from hitting the ground when the bicycle is tilted, and accordingly, the function range of the climbing assist is restricted.

[0025] Next, embodiments of the invention will be described in detail with reference to the accompanying drawings. The drawings show the following.

Brief Description of the Drawings

[0026] [Figure 1] It is a schematic diagram showing a bicycle having the device of the invention for providing motor-assisted assistance. [Figure 2] It is a schematic diagram showing the use of the device of the invention for providing motor-assisted assistance as a climbing assist. [Figure 3] It is a flowchart of the method of the invention for providing motor-assisted assistance with a bicycle.

Modes for Carrying Out the Invention

[0027] Figure 1 shows an electric bicycle 1 with a device installed to provide motor-assisted assistance to the bicycle 1. This device includes a control unit 2, which enables the method according to the present invention to be implemented.

[0028] Bicycle 1 is equipped with a motor 3, which drives the rear wheel 7 of bicycle 1. Furthermore, bicycle 1 is equipped with a key 4, which allows the rider of bicycle 1 to request the provision of push-walking assistance, and as long as the key 4 is operated by the rider, the request for push-walking assistance exists.

[0029] The present invention provides climbing assistance for bicycle 1. For example, even when bicycle 1 is tilted to a degree that exceeds a set threshold, push-walking assistance can be provided. That is, bicycle 1 can be tilted far beyond the rear axle 6 without the push-walking assistance being deactivated. This enables the handling of bicycle 1 as shown in Figure 2.

[0030] For example, when the driver 30 reaches a flat surface located higher up beyond the wall 31, the wall 31 is too high to normally climb over with the bicycle 1. The bicycle 1 is held by the handlebars of the driver 30 and the key 4 is pressed. The push-walk assist provides continuous forward drive of the rear wheel 7, allowing the bicycle 1 to be tilted through the handlebars so that the rear wheel 7 becomes the wheel for forward movement of the bicycle 1. This is shown in Figure 2. When the rear wheel 7 comes into contact with the wall 31, preferably the rear wheel 7 is pressed against the wall 31 by the user 30, and the rear wheel 7 begins to climb along the wall 31. This process can continue until the rear wheel of the bicycle 1 reaches the flat surface located higher up and climbs onto it. The front wheel of the bicycle 1 can also be placed on the flat surface located higher up by the driver 30 using the handlebars. The driver 30 can then climb onto the flat surface without the bicycle 1 and thus overcome the wall 31. Subsequently, the bicycle 1 can continue normal riding. It should be noted that the situation shown in Figure 2 should be considered as an example only.

[0031] To enable climbing assistance, the method of the present invention, as shown in Figure 3 in a preferred flowchart, is applied. The method of the present invention not only takes safety-related parameters into consideration, but also enables the comfortable use of the push-walking assist as a climbing assist.

[0032] When the driver dismounts from bicycle 1, and the driver 30's normal riding on bicycle 1 ends, this is given in the case of the first transition condition 21, and the control unit 2 moves to a first operating state 11 in which the push-walk assist is not active but can be activated by input from the user 30, and strictly speaking, at this time there is a request for the provision of the push-walk assist.

[0033] In the second operating state 12, the push-walk assist is active, and the bicycle 1The motor 3 provides the power. In order to reach the second operating state 12, the second transition condition 22 must be met.

[0034] The second transition condition 22 is given when the driver 30 operates the key 4 and a request is made for the provision of push-walking assistance. At the same time, the tilt sensor checks the value of the tilt angle α of the bicycle 1. The tilt angle α is the angle between the horizontal line and the long axis of the bicycle 1. The second operating state 12 is entered, and the push-walking assistance is activated, only if the measured tilt angle α of the bicycle 1 is below a set threshold. This threshold is given as, for example, 45° or 90°. If the detected tilt angle is above the set threshold, the system remains in the first operating state 11, in which the push-walking assistance is not active, because the second transition condition 22 is not met. This is because, under such a tilt angle of the bicycle 1, it is possible that the bicycle is upside down for repair work. If the measured tilt angle α of the bicycle 1 is below the set threshold, it can be inferred that the bicycle 1 is in a normal operating state. In this case, the push-walking assist is activated in response to a request for push-walking assistance.

[0035] In the second operating state 12, the push-walk assist is activated, enabling the motor 3 to continuously drive the rear wheel 7 of the bicycle 1 forward. The push-walk assist is provided by the motor 3 as long as the key 4 is operated by the driver 30, that is, as long as there is a request for the push-walk assist to be provided. The tilt angle of the bicycle 1 is not checked again to see whether it is above or below a set threshold. This means that in the second operating state 12, the push-walk assist is provided even if the tilt angle of the bicycle 1 increases beyond a set threshold.

[0036] In the third operating state 13, the motor 3 is controlled so that the backward movement of the bicycle 1 is prevented or at least reduced, i.e., braked, by the torque provided by the motor 3. Such control of the motor 3 to prevent or brake backward movement is also known as hill holding.

[0037] The third operating state 13 is achieved when the third transition condition 23 is met, based on the premise of the second operating state 12. This applies when the driver 30 releases the key 4, and consequently there is no longer a request for push-walking assistance. This is preferable because the latest tilt angle of the bicycle 1 is not checked in the second operating state 12. The bicycle 1 is prevented from moving uncontrollably towards the driver 30 by preventing or braking backward movement. For example, if the situation shown in Figure 2 occurs and the key 4 is accidentally released, the rear wheel 7 will move towards the driver 30. This is prevented by braking or preventing backward movement by the motor 3. Optionally, the backward movement may be completely blocked at the time, and then gradually allowed by a reduction in torque by the motor 3, thereby keeping the bicycle 1 under control.

[0038] However, the prevention or braking of the backward movement by the motor 3 in the third operating state 13 is provided only for a limited time, particularly to prevent overheating of the motor 3. When the prevention or braking of the backward movement in the third operating state 13 automatically terminates, this corresponds to the fulfillment of the fifth transition condition 25, and the control unit 2 moves to the fourth operating state 14. The fifth transition condition 25 is met, for example, when the third operating state 13 has been active for a predefined time interval.

[0039] In the fourth operating state 14, not only is no pushing assistance provided, but braking or preventing the backward movement of the bicycle 1 by appropriate control of the motor 3 is also not hindered.

[0040] Under both the third operating state 13 and the fourth operating state 14, a situation may arise where the driver 30 needs to provide further assistance by pushing the bicycle, for example, because the bicycle 1 has not completely climbed the wall 31 that needs to be overcome. In such a case, the driver 30 operates the key 4 again, thereby satisfying the sixth transition condition 26 or the fourth transition condition 24. When the sixth transition condition 26 or the fourth transition condition 24 is satisfied, the control unit 2 switches back to the second operating state 12, assuming the third operating state 13 or the fourth operating state 14. This then provides the push-walking assistance from the motor 3 again. This is done without checking the inclination angle of the bicycle 1 again. This means that in the second operating state 12, the push-walking assistance is provided again regardless of whether the inclination angle of the bicycle 1 is below or above a set threshold.

[0041] Control unit 2 enters the fourth operating state. 14 When this is the case, if the seventh transition condition 27 is met, the control unit switches back to the first operating state 11.

[0042] The seventh transition condition 27 is met when a predefined time interval has elapsed since the user 30 released the key 4 according to the third transition condition 23. A time interval is measured starting from the moment the user 30 released the key 4, that is, from the moment the third transition condition 23 is met. If this time interval is shorter than the predefined time interval, for example, shorter than 10 seconds, the control unit 2 remains in the third or fourth operating state 13, 14 that occurred at that time. If the measured time interval is longer than the predefined time interval, the seventh transition condition 27 is met, and the control unit 2 switches from the fourth operating state 14 to the first operating state 11.

[0043] If the time interval detected after the user 30 releases key 4 is longer than a predefined time width, it can be assumed that the control unit 2 has already transitioned from the third operating state 13 to the fourth operating state 14.

[0044] The seventh transition condition 27 causes the control system 2 to return from the fourth operating state 14 to the first operating state 11. This means that after the key 4 is released by the user 30, when the key 4 is operated again, it is checked again whether the tilt angle of the bicycle 1 is below a set threshold, and only in such cases is the push-walking assist provided. Accordingly, especially if the driver 30 has released the key 4 for a long time, the push-walking assist will not be activated unless it is guaranteed that the tilt angle of the bicycle is below a set threshold. For example, a situation may occur where the bicycle 1 is on a flat area on the other side of the wall 31 that is to be climbed over. For example, when the driver 30 is going to the bicycle 1 and is also climbing the wall 31, it is desirable to avoid the driver unintentionally activating the push-walking assist.

[0045] For the best use of the climbing assist according to the present invention, and consequently the method 10 according to the present invention, it is preferable that the bicycle 1 is designed to be able to be positioned as described in Figure 2. Typically, it is preferable that the bicycle 1 does not have fenders or a rack, as these can often come into contact with the road surface when the bicycle 1 is tilted above a set threshold. In principle, fenders and racks are also possible and are positioned accordingly. However, it is particularly preferable that the area behind the rear wheel 7 of the bicycle 1 is not constrained by design. For example, the rear wheel 7 of the bicycle 1 can be considered to have an inscribed angle of 360° centered on the rear axle 6 of the bicycle 1. The inscribed angle here is merely for illustrative purposes and is not a design element. In this case, the inscribed angle is defined to have 0 degrees at the point of contact 5 between the road surface and the rear wheel 7 when the bicycle 1 is standing horizontally. At the rearmost point of the rear wheel 7, i.e., the rearmost point of the rear wheel 7 along the long axis of the bicycle 1, the inscribed angle has a value of 90°. Figure 1 shows the inscribed angles, which progress counterclockwise around the rear axle 6 of the bicycle 1, viewed from the left side of the bicycle 1. It is particularly preferable that no structural members of the bicycle 1 are located outside the circumference of the rear wheel 7 within the angular range β of the inscribed angles between 0 and 135 degrees. A bicycle stand, for example, may be located inside the circumference of the rear wheel 7.

[0046] Thus, with the method of the present invention, whether the e-bike is "not upside down" is checked only when the push-walk assist is activated. As long as the driver continues to perform the "intentional and sustained action" required by EN15194, such as pressing the key on key 4, the recognition of "upside down" for deactivating the push-walk assist is not applied.

[0047] This allows the rider to move behind bicycle 1 and tilt the handlebars and front wheel towards the driver 30 (with the driving rear wheel being the furthest forward, similar to a wheelbarrow). This makes it easier to overcome stairs, for example, because the front wheel is suspended in the air, slightly increasing the pressure on the rear wheel, which leads to better traction.

[0048] By slightly pressing the rotating rear wheel 7 against the rock or wall 31, it is possible to climb even rock faces >1.5m high with minimal effort thanks to the push-walk assist, leave the bike on top, and then climb up yourself. This is also called "climb assist." Without it, you would have to carry the heavy e-bike on your own.

[0049] Furthermore, when key 4 is released, the "upside down" information can be used to activate the existing "hill hold" function, which controls the motor speed to zero with torque that gradually decreases depending on the circumstances. This further enhances safety when key 4 is unintentionally released by the driver.

[0050] In other words, bicycle 1 simply remains stationary, and then gradually moves towards the driver by the allowable torque which decreases to control the rotation speed down to zero rpm. When hill hold is active, or after the applicable time, if the driver 30 presses key 4 again, the upside-down information continues to be ignored for that time (for example, 10 seconds), and the push-walking assist immediately resumes.

[0051] The procedure for this method, as an example, can be summarized as follows.

[0052] - Driver 30 activates the push-walking assist while in a "non-upside-down" position. - The driver 30 lifts the front wheel and, for example, stands behind bicycle 1 and tilts the handlebars toward himself. -Then bicycle 1 will be "upside down", but nevertheless it will not turn off as long as driver 30 continues to press key 4. - Releasing key 4 (which will be "upside down" in all cases, depending on the gradient) activates Hill Hold. - Pressing key 4 again within the applicable time frame or while holding a hill will result in the "upside down" information being ignored.

[0053] In addition to the disclosures in the text above, the disclosures in Figures 1 to 3 are explicitly referenced. [Explanation of symbols]

[0054] 1 Bicycle 2 Control Unit 3 motors 4. Operating components, keys 5 contact points 7 Rear wheel 10 ways 12 Provided, second operating state 13 Prevention or braking of backward movement, third operating state 14. Detection, fourth operating state 22 Activation, Second Transition Condition 23. Cancellation, Third Transition Condition 24 Reactivation, the fourth transition condition 26 Reactivation, the sixth transition condition

Claims

1. In a method (10) for providing a push-walking assist with a motor-assisted bicycle, The push-walk assist is activated (22) in response to the existence of a request for the provision of push-walk assist, in which case the push-walk assist is activated only when the tilt angle of the bicycle is below a set threshold, A method comprising providing (12) a push-walking assist by the motor (3) of the bicycle (1) after the activation of the push-walking assist, insofar as there is a request for the provision of a push-walking assist, wherein the provision of the push-walking assist by the motor is also performed when the tilt angle of the bicycle increases beyond a set threshold.

2. In response to the fact that there is no longer a demand for the provision of push-walking assistance, the provision of push-walking assistance by the motor (3) of the bicycle (1) will be discontinued (23). The method according to claim 1, further comprising:

3. The method according to claim 2, wherein the push-walking assist is activated again (24) after the discontinuation (23) of providing the push-walking assist, and the reactivation is performed in response to the existence of a renewed request for the provision of the push-walking assist, and the push-walking assist is also activated again if the tilt angle of the bicycle exceeds a set threshold at this time.

4. A time interval is detected (14) after the point in time when there are no longer any requests for assistance in walking while pushing the vehicle, In response to the renewed demand for the provision of push-walking assistance, the push-walking assistance will be activated again after the provision of push-walking assistance has been discontinued (26), and at this time, The reactivation of the push-walking assist (26) is also performed if the time interval until a request for the provision of the push-walking assist is made is shorter than or equal to a predefined time width, and if the tilt angle of the bicycle exceeds a set threshold, The method according to claim 2, wherein the reactivation of the push-walking assist is performed only if the tilt angle of the bicycle is below a set threshold, when the time interval until a request for the provision of the push-walking assist is made is longer than a predefined time width.

5. In response to the cessation of demand for push-walking assistance, the backward movement of the bicycle (1) is prevented or braked (13) by torque provided by the motor (3). The method according to claim 1, further comprising:

6. The method according to claim 1, wherein the request for the provision of the aforementioned walking assist exists when a predefined user action is performed, and in particular when the operating member (4), in particular a key, is operated by the user.

7. The method according to claim 1, wherein the inclination angle is the angle between the horizontal line and the major axis of the bicycle, and the threshold is preferably greater than or equal to 45 degrees.

8. The method according to claim 1, wherein continuous forward driving of the rear wheel of the bicycle (1) is induced under the actuated push-walking assist provided by the motor (3).

9. The method according to claim 1, wherein the motor (3) provides assistance for pushing the bicycle while walking, even when the inclination angle of the bicycle (1) is greater than the inclination angle of the ground.

10. The method according to claim 1, wherein the motor (3) provides pushing assistance even when the bicycle (1) is tilted at such a large angle that it is resting on the ground only on its rear wheel (7) and is held in place by the driver with the handlebars.

11. A device for providing push-walking assistance with a motor-assisted bicycle (1) includes a control unit (2), the control unit comprising: It is set up to activate the push-walk assist in response to the existence of a request for push-walk assist, and in this case the push-walk assist is activated only when the tilt angle of the bicycle is below a set threshold. A device that, insofar as there is a request for the provision of push-walking assistance, is set up to provide push-walking assistance by the motor (3) of the bicycle after the activation of the push-walking assistance, and in this case the provision of push-walking assistance by the motor (3) is also performed when the tilt angle of the bicycle (1) increases beyond a set threshold.

12. A bicycle (1) comprising the device described in claim 11, wherein the rear wheel (7) of the bicycle (1) is divided into a 360-degree inscribed angle centered on the rear axle of the bicycle (1), and when the contact point (5) between the road surface and the rear wheel is 0 degrees and the rearmost point of the rear wheel (7) is 90 degrees, the structural members of the bicycle are configured such that they are not positioned outside the circumference of the rear wheel (7) in the angular range (β) of the inscribed angle from 0 degrees to 135 degrees.

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