Method and control device for controlling a vehicle operable at least intermittently by muscle power

Abstract

The invention specifies a method and an associated control device for controlling a vehicle (1) operable at least intermittently by muscle power, wherein the vehicle (1) has a drive device (5) operable by an electric machine and a crank device (4) operable by muscle power in order to transmit the drive power of the electric machine and the muscle power introduced into the crank device (4) to a driven wheel (3) of the vehicle (1), wherein at least the drive device (5) is controlled based on operating parameters of the vehicle (1). The method comprises the following steps: detecting operating parameters which relate to the current operating mode of the vehicle (1), during operation; controlling the drive device (5) on the basis of the detected operating parameters taking into consideration a user profile associated with a predetermined user of the vehicle (1).

Description

[0001] Method and control device for controlling a vehicle which is at least temporarily

[0002] Muscle-powered vehicle

[0003] The present invention relates to a method for controlling a vehicle that can be operated at least temporarily by muscle power, as well as an associated control device. In particular, the present invention relates to a method for controlling a vehicle that has a drive device operable by an electric machine and a crank device operable by muscle power for transmitting the drive force of the electric machine and the muscle power introduced into the crank device to a drive wheel of the vehicle.

[0004] Vehicles with a drive system operated by an electric motor and a crank mechanism operated by human power are known. Such vehicles, also known as pedelecs or e-bikes, are controlled according to predefined criteria, according to the state of the art.

[0005] A prior art method and drive system for adjusting the drive assistance of a bicycle are disclosed in document DE 10 2021 204 510 A1. In this prior art, bicycle torque is detected to adjust the control of the drive system.

[0006] It is the object of the present invention to provide a method for controlling a vehicle that can be operated at least temporarily by muscle power, with which, in addition to operating parameters relating to the current operation of the vehicle, user profiles assigned to a predetermined user of the vehicle are taken into account for controlling the vehicle.

[0007] The object is achieved according to the invention with a method having the features of claim 1. Advantageous developments of the invention are defined in the dependent claims. A method for controlling a vehicle that can be operated at least temporarily by muscle power is specified, which has a drive device operable by an electric machine and a crank device operable by muscle power in order to transmit the drive force of the electric machine and the muscle power introduced into the crank device to a drive wheel of the vehicle, wherein at least the drive device is controlled based on operating parameters of the vehicle. The method comprises the following steps:

[0008] - Recording operating parameters relating to the current operation of the vehicle during operation;

[0009] - Controlling the drive device on the basis of the recorded operating parameters, taking into account a user profile assigned to a predetermined user of the vehicle.

[0010] In a further embodiment, the operating parameters may comprise at least one of the following parameters:

[0011] - a torque introduced into the crank mechanism;

[0012] - a gradient of a torque introduced into the crank device;

[0013] - a speed of the crank mechanism;

[0014] - a gradient of a rotational speed of the crank device;

[0015] - a slope of a road surface on which the vehicle is travelling.

[0016] Using the parameters mentioned above, a basic setting for the vehicle's control procedure can be made. This setting can be made independently of the user or user profile.

[0017] In a further embodiment, the user profile assigned to a predetermined user of the vehicle can have at least one of the following specific profiles:

[0018] - a speed profile relating to the speed of the crank mechanism due to the operation of the crank mechanism by the user;

[0019] - a torque profile relating to the torque applied by the user to the crank mechanism;

[0020] - a brake application profile relating to the brake applications performed by the user;

[0021] - an operating profile of the user when the road surface travelled by the vehicle is inclined;

[0022] - a relationship between two or more of the specific profiles mentioned.

[0023] The specific profiles can include a connection or a relationship between the operating parameters determined during operation of the vehicle and user behavior during operation of the vehicle. In particular, the speed profile with respect to the speed of the crank device due to the operation of the crank device by the user can include a minimum speed, a maximum speed, an average speed, or a preferred speed. Similarly, the torque profile with respect to the torque introduced into the crank device by the user can include a minimum torque, a maximum torque, an average torque, or a preferred torque of the user.The brake application profile relating to the brake applications performed by the user can include the frequency of the brake applications, the duration of each brake application, and the minimum, average, or maximum extent of the brake applications. An operating profile of the user on an incline of the roadway traveled by the vehicle can generally include information relating to the user's behavior when driving on an uphill or downhill gradient. In particular, depending on the incline or downhill gradient of the roadway traveled by the vehicle, the change in the rotational speed of the crank mechanism, the change in the torque introduced into the crank mechanism, and the brake application profile when driving on an uphill or downhill gradient can be taken into account.A relationship between two or more of the aforementioned specific profiles may, for example, include a link between the torque profile relating to the torque applied by the user to the crank mechanism and the speed profile relating to the speed of the crank mechanism. In this case, the specific profile may include information relating to the preferred torque at a predetermined speed range. Conversely, the specific profile may include information relating to the preferred speed of the crank mechanism at a given torque.In a further embodiment, a gear with a variable gear ratio selectable by the user can be provided between the crank device and the drive wheel, wherein the user profile assigned to a predetermined user of the vehicle has, as a specific profile, a gear ratio profile relating to the gear ratio selected by the user. In addition or alternatively to the aforementioned specific profiles, a user profile relating to the gear ratio selected by the user is enabled, taking the operating parameters into account. In particular, this specific profile determines, with regard to the gear ratio selected by the user, in which operating situations, for example when driving uphill or downhill, the user selects a minimum, maximum, or preferred gear ratio.

[0024] In a further embodiment, the user profile assigned to a predetermined user of the vehicle can have a relationship between the specific profiles. With this concept, in which the relationship between the specific profiles is established with respect to various parameters that can be influenced by the user, a comprehensive profile can be created for the predetermined user, which can be used to control the vehicle when used by the predetermined users.

[0025] In a further embodiment, the user profile assigned to a predetermined user of the vehicle can be determined based on previous operation of the vehicle by the user. By determining the behavior of a predetermined user during a predetermined period of time, the user profile can be generated with a high degree of accuracy such that the basic behavior of the predetermined user can be used to control the vehicle.

[0026] In a further embodiment, the user profile assigned to a predetermined user of the vehicle can be stored in a memory for retrieval, whereby the application of the user profile assigned to the user for controlling the drive device can be specified by an input. In this case, various users can be considered, each of whom is assigned an independent, assigned user profile. In the event that a predetermined user wishes to use the vehicle and a user profile exists for this predetermined user, the predetermined user can select their user profile so that it is used to control the drive device.In an additional development, one of several user profiles can be automatically recognized based on the actual use by a predetermined user and offered to the user for use or, alternatively, automatically applied to control the drive device.

[0027] In a further embodiment, the user profile assigned to a predetermined user of the vehicle can be adjustable with respect to at least one or more specific profiles. For example, a predetermined user can overwrite the torque profile automatically determined by the method and specify deviating specifications. The option of overwriting the specific profits automatically specified by the method is possible for each of the specific profits.

[0028] In a further embodiment, the control of the drive device on the basis of the recorded operating parameters, taking into account the user profile assigned to a predetermined user of the vehicle, can influence at least one of the following control parameters:

[0029] - a support factor due to the operation of the electric machine;

[0030] - a torque characteristic of the operation of the electrical machine;

[0031] - a switching behavior of a transmission provided between the crank device and the drive wheel with at least partially automatically switchable variable transmission ratio.

[0032] With this concept, the method can be used to provide targeted control of the driver, so that the settings on the vehicle during operation largely correspond to the operating conditions preferred by the predetermined user. The assistance factor through the operation of the electric machine relates to the proportion of the drive force that is generated by the electric machine of the drive device during vehicle operation. The torque characteristic of the operation of the electric machine relates to the dynamic behavior of the drive device, in particular the torque gradients applied during dynamic operation of the vehicle. The shifting behavior of the transmission provided between the crank device and the drive wheel relates to the relationship between the operating state of the vehicle and the intervention of the control system in the gear ratio between the crank device and the drive wheel.

[0033] According to one aspect, a control device for controlling a drive device for a vehicle that can be operated at least temporarily by muscle power is provided, which control device has an input interface for receiving signals relating to the operation of the vehicle, an output interface for receiving signals that are provided at least for controlling the drive device, a user interface for inputting and outputting information relating to the control of the drive device, and a storage device for retrievably storing information from the user interface, wherein the control device is configured to carry out the method with one or more of the features specified above.

[0034] The vehicle to which the control method is applicable can be configured as a pedelec or e-bike. Alternatively, the vehicle to which the method is applicable can be a multi-track vehicle, for example, a cargo bike or another vehicle that has a drive device operable by an electric motor and a crank device operable by muscle power to transmit the drive force of the electric motor and the muscle power introduced into the crank device to at least one drive wheel of the vehicle.

[0035] Figure 1 shows an embodiment of a vehicle designed as a pedelec to which the method is applicable;

[0036] Figure 2 is a schematic flow diagram that serves to explain the method according to one embodiment. Embodiments of the method are described below with reference to the drawings. First, the structure of a vehicle 1 designed as a pedelec, to which the method is applicable, is described with reference to Figure 1. The vehicle 1 shown in Figure 1 has a front wheel 2 and a rear wheel 3. The front wheel 2 and the rear wheel 3 are mounted in the usual way on a frame of the vehicle 1. In addition to a steering device, a seat and a braking system, which are not described further below, the vehicle 1 has a crank device 4 that can be operated by the user of the vehicle 1.By rotating the crank device 4, a driving force is transmitted via a transmission means in the form of a chain or a belt to the rear wheel 3, which is thus designed as the drive wheel of the vehicle 1. Furthermore, the vehicle 1 has a drive device 5, which in the present embodiment is provided in the region of the crank device 4. The drive device 5 has an electric machine that is operated by electrical energy that can be supplied from a storage device for electrical energy (not shown) in the form of a rechargeable battery. The drive device 5 is connected to the rear wheel 3 for power transmission, so that the driving force generated by the electric machine can be transmitted to the rear wheel 3.

[0037] The vehicle 1 further comprises a control device 6, which is provided for controlling the drive device 5. To detect a rotational speed of the crank device 4, a rotational speed sensor (not shown) is provided, which emits a signal suitable for determining the rotational speed of the crank device 4. The signal from the rotational speed sensor is fed to the control device 6. Furthermore, the vehicle 1 comprises a torque sensor as a torque detection device, which is provided for detecting the torque introduced into the crank device 4. The torque sensor emits a signal suitable for determining the torque introduced in the crank direction 4, and the signal is fed to the control device 6.In addition, the vehicle 1 in the embodiment shown in Figure 1 has a user interface 7 in the form of a display device, with which information about the vehicle 1 can be provided to the user of the vehicle 1 and via which the user can make inputs. The vehicle 1 also has a detection device for detecting a brake actuation of the braking device, which feeds a corresponding signal to the control device 6. Furthermore, the vehicle 1 has a transmission with which a gear ratio between the crank device 4 and the drive wheel 3 can be variably adjusted. For this purpose, an operating device in the form of a gearshift lever is provided on the vehicle 1, with which the user of the vehicle 1 can select a gear ratio. Furthermore, it is provided that the gear ratio can be automatically adjusted by the control device 6 according to the setting.

[0038] An embodiment of the method for controlling the vehicle is explained below with reference to Figure 2. The method shown in Figure 2 is carried out by the control device 6. For this purpose, the control device has a memory device for storing data, a processor for executing programs, and input and output interfaces for receiving and transmitting signals.

[0039] The method shown in Figure 2 is executed continuously and begins at a step S1 for detecting operating parameters relating to the current operation of the vehicle. In this context, based on the detection devices and sensors provided on the vehicle 1, the torque introduced into the crank device 4, a gradient of the torque introduced into the crank device 4 determined therefrom, the rotational speed of the crank device 4, the gradient of the rotational speed of the crank device 4 determined therefrom, and the inclination of the roadway traveled by the vehicle 1 are determined.

[0040] In a subsequent step S2, the drive device is controlled on the basis of the recorded operating parameters, taking into account the user profile assigned to a predetermined user of the vehicle 1, as explained below.

[0041] The operating parameters recorded in step S1 are fundamentally suitable for controlling the vehicle 1. However, based on the operating parameters, the user's behavior is only partially or not at all taken into account. In step S2, the control of the drive device 5 is thus carried out on the basis of the recorded operating parameters, although the user profile assigned to the predetermined user is taken into account. In particular, when controlling the drive device 5 in step S2, a user profile N assigned to the predetermined user is read in. For this purpose, one of several users is selected via the user interface 7, or alternatively, a user profile is specified.

[0042] The selected user profile includes a speed profile relating to the speed of the crank mechanism 4 based on the operation of the crank mechanism 4 by the user, particularly taking into account the user's behavior when traveling on an incline, in particular an uphill or downhill gradient, of the roadway traveled by the vehicle 1, and the relationship between the user's preferred speed and the associated torque. In addition, the user profile provides a relationship between one or more specific profiles and the specific profile relating to the gear ratio selected by the user of the transmission provided between the crank mechanism 4 and the drive wheel 3. Thus, based on the selected user profile N, the drive mechanism is controlled in step S2 based on operating parameters while simultaneously taking into account the associated user profile N.

[0043] In one embodiment, the transmission between the crank mechanism 4 and the drive wheel 3 can be operated in an automatic mode and a manual mode. In this case, the user can set the transmission in manual mode based on their preferences, with the transmission usage characteristics being provided for creating the user profile. In the event that the transmission is operated in automatic mode, control can be performed based on the specific profile regarding the gear ratio preferred by the user.

[0044] In one embodiment, the user can open and edit the user profile assigned to them via the user interface 7. In this embodiment, it is possible to adapt individual specific profiles accordingly. For example, the user can adjust the preferred speed of the crank mechanism 4 according to their specifications, particularly for training purposes. It is also possible to adapt the shifting behavior of the transmission between the crank mechanism 4 and the drive wheel 3 accordingly.

[0045] In one embodiment, a user for whom an assigned user profile exists can put the vehicle 1 into operation, and, provided that the user profile is sufficiently meaningful, the user can be automatically identified by the control device 6. The user can thus be notified on the user interface 7 that a user has been recognized and can then be prompted to confirm the application of the corresponding user profile.

[0046] Furthermore, it is possible to adjust the assistance factor accordingly by operating the electric motor of the drive device 5. Thus, it is possible to increase the assistance factor for a predetermined user via the user interface 7 if the user's performance is temporarily reduced. Conversely, it is possible to lower the assistance factor for training purposes.

[0047] With the method described above, a comprehensive user profile can be created, with which different users of the same vehicle 1 are provided with the previously trained driving behavior of the vehicle 1. Thus, the method can make the driving behavior of the vehicle 1 more comfortable overall, while still allowing the vehicle 1 to be used by different users.

[0048] In one embodiment, the data relating to the user profile can be made available via the user interface 7. The data can then be used, for example, for another vehicle 1 with a similar technical configuration, so that the user benefits are transferable between different vehicles.

[0049] In the above embodiments, the method was described in application to a vehicle configured as a pedelec. However, the method is applicable to other types of vehicles, for example, multi-track vehicles, as long as the vehicle has a drive mechanism operable by an electric motor and a crank mechanism operable by muscle power. It should be noted that the above-described transmission between the crank mechanism and the drive wheel with a variable gear ratio is not essential to the basic concept of the invention and is also applicable to a vehicle with a fixed gear ratio.

[0050] Reference dates

[0051] 1 vehicle

[0052] 2 front wheel

[0053] 3 Rear wheel (drive wheel)

[0054] 4 crank mechanism

[0055] 5 Drive device

[0056] 6 Control device

[0057] 7 User interface

[0058] 51 Recording operating parameters

[0059] 52 Controlling the drive system

[0060] N User profile

Claims

Patent claims 1. Method for controlling a vehicle (1) which can be operated at least temporarily by muscle power and which has a drive device (5) which can be operated by an electric machine and a crank device (4) which can be operated by muscle power in order to transmit the drive force of the electric machine and the muscle power introduced into the crank device (4) to a drive wheel (3) of the vehicle (1), wherein at least the drive device (5) is controlled on the basis of operating parameters of the vehicle (1 ) is controlled by the following steps: (51 ) detecting operating parameters relating to the current operation of the vehicle (1 ) during operation; (52) Controlling the drive device (5) on the basis of the detected operating parameters, taking into account a user profile (N) assigned to a predetermined user of the vehicle (1).

2. Method according to claim 1, characterized in that the operating parameters comprise at least one of the following parameters: - a torque introduced into the crank device (4); - a gradient of a torque introduced into the crank device (4); - a rotational speed of the crank device (4); - a gradient of a rotational speed of the crank device (4); - a slope of a road surface travelled by the vehicle (1).

3. Method according to claim 1 or 2, characterized in that the user profile (N) assigned to a predetermined user of the vehicle (1) has at least one of the following specific profiles: - a speed profile relating to the speed of the crank device (4) due to the operation of the crank device (4) by the user; - a torque profile relating to the torque introduced by the user into the crank device (4); - a brake application profile relating to the brake applications performed by the user; - an operating profile of the user when the road surface travelled by the vehicle (1) is inclined; - a relationship between two or more of the specific profiles mentioned.

4. Method according to one of the preceding claims, characterized in that a gear with a variable gear ratio selectable by the user is provided between the crank device (4) and the drive wheel (3), wherein the user profile (N) assigned to a predetermined user of the vehicle has, as a specific profile, a gear ratio profile with respect to the gear ratio selected by the user.

5. Method according to claim 4, characterized in that the user profile (N) assigned to a predetermined user of the vehicle (1) has a relationship between the specific profiles.

6. Method according to one of the preceding claims, characterized in that the user profile (N) assigned to a predetermined user of the vehicle (1) is determined on the basis of a previous operation of the vehicle (1) by the user.

7. Method according to one of the preceding claims, characterized in that the user profile (N) assigned to a predetermined user of the vehicle (1) is stored in a memory in a retrievable manner, wherein the application of the user profile (N) assigned to the user for controlling the drive device (5) can be specified by an input.

8. Method according to one of the preceding claims, characterized in that the user profile (N) assigned to a predetermined user of the vehicle (1) is adjustable at least with respect to one or more specific profiles, 9. Method according to one of the preceding claims, characterized in that the control (S2) of the drive device (5) is carried out on the basis of the detected operating parameters, taking into account the ordered user profile (N) influences at least one of the following control parameters: - a support factor due to the operation of the electric machine; - a torque characteristic of the operation of the electrical machine; - a switching behavior of a transmission provided between the crank device (4) and the drive wheel (3) with an at least partially automatically switchable variable transmission ratio.

10. Control device (6) for controlling a drive device (5) for a vehicle (1) that can be operated at least temporarily by muscle power, with an input interface for receiving signals that relate to operation of the vehicle (1), an output interface for receiving signals that are provided at least for controlling the drive device (5), a user interface (7) for inputting and outputting information that relate to controlling the drive device (5), and a storage device for retrievably storing information from the user interface (7), wherein the control device (6) is set up to carry out the method according to one of the preceding claims.

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