Method for operating a pedal-driven vehicle, and pedal-driven vehicle

Abstract

The invention relates to a method (100) for operating a pedal-driven vehicle (200) comprising a crank drive (201) for introducing a rider torque for propelling the pedal-driven vehicle (200), a control unit (202), a gear shift (203) for providing a variable transmission ratio, and a detection unit (204), the method (100) comprising: - providing (110) shifting information relating to a planned shifting process, comprising a transmission ratio specification, in particular by means of the gear shift (203), - detecting (120) a rotational speed of the crank drive (201), in particular by means of the detection unit (204), - providing (130) a first speed of the pedal-driven vehicle (200) depending on the rotational speed of the crank drive (201) and the transmission ratio specification, in particular by means of the control unit (202), and - adapting (140) the operation of the pedal-driven vehicle (200) depending on the first speed, in particular by means of the control unit (202) and / or the gear shift (203).

Description

[0001] Description

[0002] title

[0003] State of the art

[0004] Pedal-driven vehicles can be equipped with auxiliary drives and / or automated or semi-automated transmissions. In this context, various functions are regularly controlled depending on the speed of the pedal-driven vehicle. Therefore, determining the speed of the pedal-driven vehicle is of particular importance, as a sufficiently accurate and timely knowledge of the speed allows for improved operation of the pedal-driven vehicle.

[0005] In this regard, the disadvantage has emerged that the determination of speed in pedal-driven vehicles is often carried out with comparatively low accuracy or with a time delay.

[0006] Disclosure of the invention

[0007] The present invention relates to a method for operating a pedal-driven vehicle, a pedal-driven vehicle, a computer program product, a computer-readable medium, and a data carrier signal. Further features and details of the invention will become apparent from the dependent claims, the description, and the drawings. Features and details described in connection with the method according to the invention naturally also apply in connection with the pedal-driven vehicle according to the invention and / or in connection with the computer program product according to the invention and / or in connection with the computer-readable medium according to the invention and / or in connection with the data carrier signal according to the invention, and vice versa, so that the disclosure of the individual aspects of the invention always includes, or allows for, reciprocal reference.

[0008] The invention presented here serves in particular to provide an improved operation of a pedal-driven vehicle, especially on the basis of an improved determination of the speed of the pedal-driven vehicle.

[0009] According to a first aspect, the present invention relates to a method for operating a pedal-driven vehicle, comprising a crank mechanism for applying a driver torque to propel the pedal-driven vehicle, a control unit, a gearshift for providing a variable transmission ratio, and a detection unit, the method comprising:

[0010] Providing switching information for a planned switching operation, including a translation specification, in particular through the gearshift,

[0011] Detecting the rotational speed of the crank mechanism, in particular by the detection unit,

[0012] Calculating and / or providing a first speed of the pedal-driven vehicle depending on the speed of the crankshaft and the gear ratio, in particular by the control unit, and adjusting the operation of the pedal-driven vehicle depending on the first and / or second speed, in particular by the control unit and / or the gearshift.

[0013] It is preferably intended that the aforementioned process steps are executed in the specified order. Additionally or alternatively, it is conceivable that at least individual process steps are executed repeatedly, particularly in a loop, and / or, at least partially, simultaneously. Additionally or alternatively, the process can be implemented as a computer-implemented method.

[0014] In particular, the detection of the rotational speed of the crank mechanism or a drive wheel, the calculation or provision of the first and / or second speed, the detection of the rate of change of the inclination of the pedal-driven vehicle, and / or the correction of the first and / or second speed can be performed repeatedly, especially continuously or quasi-continuously. This allows the pedal-driven vehicle to be operated based on the most up-to-date data possible.

[0015] In other words, a method for operating a pedal-driven vehicle is proposed, wherein the pedal-driven vehicle comprises a crank mechanism for applying a driver torque to propel the pedal-driven vehicle, at least one control unit, at least one gearshift, and at least one sensing unit.

[0016] According to the invention, it is provided that, in particular by the gearshift, switching information for a planned switching operation is provided, especially to the control unit, wherein the switching information includes at least a translation specification.

[0017] A gear ratio specification, as used here, is understood to mean an indication of the gear ratio to which the system will switch during the planned shifting process, or an indication from which this gear ratio can be derived. In particular, a gear ratio can be provided directly as a gear ratio specification. Alternatively, the shift information may contain different details from which the gear ratio can be determined, especially by the control unit. For example, the gear ratio specification may include the number of teeth on a drive-side sprocket, particularly on the crankshaft side, as well as the number of teeth on a driven-side sprocket, particularly a sprocket in a cassette of the gear system. The gear ratio can be directly determined or calculated from the number of teeth. Additionally or alternatively, a target gear ratio can also be provided as a gear ratio specification.Suitable gear ratios for the respective target gears can be stored, particularly in the control unit or a data storage device of the control unit. This allows a gear ratio to be determined based on a specified target gear.

[0018] In particular, the procedure may therefore also include:

[0019] Determining a translation ratio depending on the translation specification, especially by the control unit.

[0020] Furthermore, the gear ratio information can also include a target gear indicator, i.e., an indication of which gear will be engaged during the planned gear change. This target gear indicator can be represented by a discrete value or by an indication of which gear is currently engaged and in which direction the shift is taking place. In this case, it is preferable to store a gear ratio for each gear, particularly in the control unit or a data storage device of the control unit. This allows the respective gear ratio to be determined based on the knowledge of which gear is being shifted into. Additionally or alternatively, a gear ratio can be stored for each gear, particularly in the gearshift mechanism or a data storage device of the gearshift mechanism. In this case, a gear ratio can preferably be provided directly as the gear ratio information.

[0021] Furthermore, the present invention provides that the rotational speed of the crank drive is detected, particularly by the sensing unit. This can be achieved, in particular, by a speed sensor on the crank drive. The rotational speed of the crank drive corresponds to the rider's pedaling frequency, provided the rider is pedaling. However, the crank drive can also rotate, depending on the situation, even when the rider is not pedaling, such as when the rider is assisted by a drive system while pushing the pedal-driven vehicle. The invention further provides that a first speed of the pedal-driven vehicle is calculated or provided, particularly by the control unit, depending on the gear ratio and the rotational speed of the crank drive. The first speed can also preferably be determined based on a predetermined outer radius or...The outer diameter of a wheel driven via the crank mechanism is determined, whereby in particular the transmission ratio is characteristic for a transmission between the crank mechanism and the wheel driven via the crank mechanism.

[0022] To determine the initial speed, the rotational speed of a wheel driven by the crankshaft of the pedal-driven vehicle, in particular a rear wheel or drive wheel, can preferably be determined from the rotational speed of the crankshaft and the gear ratio. This speed is directly derived from the product of the rotational speed of the crankshaft and the gear ratio. If the gear system is a derailleur system, the rotational speed determined via the gear ratio corresponds to the rotational speed of a cassette of sprockets arranged on the wheel driven by the crankshaft.

[0023] Using the rotational speed of the wheel driven by the crank mechanism, the first speed can preferably be determined using a predetermined outer diameter of the wheel driven by the crank mechanism of the pedal-driven vehicle. This is illustrated by the following relationships, where i is the gear ratio [-] , N is the rotational speed of the crank mechanism [1 / s], NR is the rotational speed of the wheel driven by the crank mechanism [1 / s], DA is the outer diameter of the wheel driven by the crank mechanism [m], and Vi is the first speed [m / s].

[0024] NR = N K ■ i V ± = n ■ D A ■ N R

[0025] According to the invention, it is further provided that the operation of the pedal-driven vehicle is adapted depending on the first speed, in particular by the gearshift and / or the control unit. In other words, it is provided that the first speed is used to control various functions of the pedal-driven vehicle. This can, for example, include speed-dependent initiation or execution of gear changes, in particular by the control unit and / or the gearshift. Additionally or alternatively, this can, for example, include adjusting the drive speed of a drive of the pedal-driven vehicle to assist the driver in the form of a push assist function.

[0026] In pedal-powered vehicles, speed is typically measured via a speed sensor on one of the vehicle's wheels. Preferably, a sensor element is fixed to the vehicle's frame, and a pulse generator, such as a magnet, is mounted on the wheel and rotates with it. Accordingly, a complete wheel rotation is detected when the pulse generator passes the sensor element. Within the scope of the present invention, it was recognized that this method of determining speed is disadvantageous or insufficient for various functions, as the speed is only measured once per wheel rotation and therefore with a comparatively coarse resolution, and is also provided with a corresponding time delay. This can limit the user comfort of the pedal-powered vehicle, as, for example,Gear changes, especially in automatic or semi-automated transmissions, may be initiated and / or executed based on insufficiently accurate or delayed speed data.

[0027] The invention offers the advantage that the rotational speed of the crank mechanism can be measured almost continuously without significant effort, thereby providing a correspondingly high-resolution speed signal using the gear ratio. Furthermore, the proposed method ensures that the calculation of the speed of the pedal-driven vehicle is always based on the current gear ratio. This enables improved operation of the pedal-driven vehicle, for example, with regard to the automatic initiation or execution of gear changes and / or improved driver assistance, particularly in providing push assistance.It may be provided with regard to the present invention that the switching information includes a completion time indication, wherein the completion time indication is characteristic of a completion time of the planned switching operation, wherein the method further comprises:.

[0028] Delaying the provision of the first speed depending on the rotational speed of the crankshaft and the gear ratio until the completion time is reached, in particular by the control unit.

[0029] In this context, a completion time indication is to be understood as an indication of a point in time at which the planned switching operation will be completed (completion time). In particular, the completion time indication can directly provide a discrete point in time and / or a period of time required for carrying out the switching operation. For example, the switching information may include a switching time indication, in particular a switching point in time, as well as a period of time required for carrying out the switching operation (switching duration), from which the completion time can be directly determined. In other words, the completion time indication may be represented by a completion time and / or a switching time indication and required switching duration included in the switching information.

[0030] Alternatively, the switching information may contain different information as the closing time, from which the closing time can be determined, in particular by the control unit and / or using a model or functional relationship.

[0031] In particular, it may be provided that the switching information includes at least one of the following:

[0032] A current gear indicator, a target gear indicator, a shift direction indicator, a gear difference indicator, a shift time indicator, a completion time, and / or a required shift duration. A shift direction indicator is understood here as an indication of whether to shift up (i.e., into a higher gear) to increase the gear ratio, or down (i.e., into a lower gear) to reduce the gear ratio. A gear difference indicator is understood here as an indication of how many gears are to be shifted up or down during the planned shifting process, starting from the current gear.

[0033] Furthermore, the shift information can include a current gear indicator (i.e., which gear is currently engaged) and / or a target gear indicator (i.e., which gear is to be engaged during the planned shift). The shift direction or gear difference can be derived from the current and target gear indicators. Therefore, some of the aforementioned information may be redundant. Additionally or alternatively, the shift information can include a shift time indicator (i.e., an indication of when the planned shift is to be executed). The shift time indicator can be represented, in particular, by a discrete point in time (switching point).

[0034] To determine the completion time, it can be provided that, for each possible switching operation, a required switching duration for carrying out the switching operation is stored in the transmission and / or the control unit, in particular in a data memory of the transmission and / or the control unit, especially as a switching duration model. A switching duration model is to be understood as a functional relationship between the required switching duration as an output parameter and at least one input parameter.

[0035] The required switching duration can be determined depending on at least one of the following specifications or input parameters, in particular using a switching duration model, whereby at least one of these specifications can be included in the switching information:

[0036] An actual gear ratio, a target gear ratio, a shift direction, a gear difference ratio.

[0037] The above information and input parameters allow switching processes to be clearly characterized, and a corresponding switching duration can be assigned to each switching process, in particular via a switching duration model.

[0038] By delaying the provision of the initial speed, depending on the crankshaft rotational speed and the gear ratio, until the completion point, it is ensured that the speed determined based on the gear ratio is not used too early to adjust the operation of the pedal-driven vehicle. The use of erroneous speed values ​​is avoided, as the initial speed based on the gear ratio is only provided once the planned shifting process is reliably completed. Until the completion point is reached, a speed can instead be determined and provided based on the previous gear ratio and the crankshaft rotational speed.

[0039] With regard to the present invention, it may advantageously be provided that the switching information further comprises a switching time indication and a completion time indication, wherein the switching time indication is characteristic of a switching time of the planned switching operation and wherein the completion time indication is characteristic of a completion time of the planned switching operation, further comprising:

[0040] Determining the rotational speed of the crank mechanism at the switching point as a maximum speed, in particular by the detection unit; limiting the rotational speed of the crank mechanism (201) used to calculate and provide (130) the first speed to the maximum speed until the completion point is reached, in particular by the control unit. A switching point shall be understood here as a point in time at which the planned switching operation is carried out.

[0041] In other words, it can be provided that, during the period between the switching point and the completion point of the planned shifting process, a specific, and in particular, detected, crankshaft rotational speed is limited to the maximum speed detected at the switching point. If a rotational speed above the maximum speed is detected, the value is set accordingly to the maximum speed. During a shifting process, especially with a derailleur system, the chain can briefly lose traction with the sprockets, which can lead to a temporary but significant acceleration of the chain. Correspondingly, this also results in an acceleration of the crankshaft rotational speed, which can distort the determined initial speed. Such fluctuations in crankshaft rotational speed are neglected in the proposed method for determining the initial speed.In particular, the rotational speed used to determine the first speed at the crankshaft can only be limited upwards, so that rotational speed values ​​below the maximum speed can still be used.

[0042] Additionally or alternatively, with regard to the present invention, it may be provided that the method further comprises the following:

[0043] Detecting the rotational speed of a wheel, especially the drive wheel, of a pedal-powered vehicle and

[0044] Calculating and providing a second speed of a pedal-driven vehicle depending on the rotational speed of the wheel, wherein the second speed is used instead of the first speed to adjust the operation of the pedal-driven vehicle when the rotational speed of the crank mechanism is zero or substantially zero.

[0045] In other words, it may be provided that, in addition to the first speed, a second speed is calculated or provided. The first and second speeds can preferably represent the same speed of the pedal-driven vehicle, but be determined on different bases. The second speed can, in particular, be determined using the rotational speed of the wheel and a predetermined outer radius or diameter according to the following relationship, where V2 is the second speed, NR is the rotational speed of the wheel, and DA is the outer diameter of the wheel:

[0046] 1 = n ■ D A ■ N R

[0047] With regard to the second speed, it is preferred that the rotational speed of the wheel is directly detected and, in particular, is not determined using auxiliary parameters such as a gear ratio or similar.

[0048] The rotational speed of the wheel can be detected in particular using a speed sensor, wherein preferably a sensor element of the speed sensor is rigidly arranged on a frame of the pedal-driven vehicle and a pulse generator is arranged on the wheel so that it rotates with the wheel.

[0049] Since the second speed is determined directly from the wheel speed and not from the crankshaft speed, the described procedure allows a speed of the pedal-driven vehicle to be determined even when the crankshaft is stationary. This can occur, for example, when the driver stops pedaling or pushes the vehicle. In the case of a stationary crankshaft, the first speed would be zero. However, the additional calculation and provision of the second speed allows the operation of the pedal-driven vehicle to be adjusted according to the speed, even if the second speed is calculated and / or provided with a lower resolution or delay.

[0050] With regard to the present invention, it may further be provided that the method also comprises: detecting a rate of change over time of an inclination of the pedal-driven vehicle, in particular by the detection unit, and correcting the first and / or second speed depending on the rate of change over time of the inclination.

[0051] The tilt of a pedal-driven vehicle can preferably be detected by measuring a pitch angle. The pitch angle is distinct from a roll angle, which changes when the driver leans into a curve, for example.

[0052] Changes in the incline of the pedal-driven vehicle regularly lead to errors in speed determination. When entering an uphill ramp, the cadence or rotational speed of the crank mechanism increases abruptly in the short term, which can distort the first speed described within the scope of the present invention. The frame of the pedal-driven vehicle also rotates around a wheel axle relative to a wheel. This rotation also moves a sensor element mounted on the frame relative to a pulse generator mounted on the wheel, which can distort the second speed described within the scope of the present invention. By correcting the first and second speeds based on changes in incline, a more accurate speed reading for the pedal-driven vehicle can be provided.

[0053] The correction of the first and / or second speed can be determined, in particular, by adding a correction value AV [m / s] to the first or second speed, respectively. Specifically, the corrected speed VKOIT [m / s] is obtained according to the following rules, where V1 / 2 is the first or second speed [m / s], dA / dt is the rate of change of the inclination of the pedal-driven vehicle [rad / s], and DA is the outside diameter of a wheel of the pedal-driven vehicle:

[0054] V Correction = V l / 2 + AV It may further be provided with regard to the present invention that the adaptation of the operation of the pedal-driven vehicle comprises at least one of the following:

[0055] Initiating and / or executing a switching operation depending on the first and / or second speed,

[0056] Controlling a drive system of a pedal-driven vehicle in such a way that a drive torque and / or a rotational speed determined depending on the first and / or second speed is provided by the drive system, at least temporarily.

[0057] The drive can be controlled, in particular, as part of supporting a user or driver of the pedal-driven vehicle while pushing the pedal-driven vehicle (push assist).

[0058] According to a second aspect, the present invention relates to a pedal-driven vehicle comprising a crank mechanism for generating rider torque to propel the vehicle, a control unit, a gearshift for providing a variable gear ratio, and a sensing unit. The pedal-driven vehicle is preferably configured to be operated according to a method according to the invention, in particular according to a method according to the first aspect of the invention. Preferably, the pedal-driven vehicle can be configured as a bicycle, preferably an electric bicycle or pedelec. With respect to a pedal-driven vehicle, the same advantages arise as those described with respect to a method according to the invention. The pedal-driven vehicle can preferably comprise two wheels, in particular a front wheel and a rear wheel.

[0059] Preferably, the pedal-driven vehicle can include at least one drive unit for providing drive torque to propel the vehicle. At least one drive unit can preferably be an electric motor and / or arranged in a mid-motor configuration on the pedal-driven vehicle. At least one drive unit can be designed to assist the rider when propelling the pedal-driven vehicle, particularly while driving and / or pushing the vehicle. Alternatively, the pedal-driven vehicle can also be designed as a non-motorized bicycle, i.e., a bicycle that can only be propelled by a rider via a crank mechanism and has no drive unit to assist the rider.

[0060] In particular, the gearshift may be designed to provide a variable gear ratio, especially in the drivetrain of a pedal-driven vehicle. The gear ratio may be characteristic of the number of revolutions of a wheel, especially a drive wheel or a wheel driven via the crank mechanism, of the pedal-driven vehicle per revolution of the crank mechanism. A high gear ratio, or a high gear, thus characterizes a comparatively high number of wheel revolutions per revolution of the crank mechanism. Conversely, a low gear ratio, or a low gear, characterizes a comparatively low number of wheel revolutions per revolution of the crank mechanism.In particular, the driver of a pedal-driven vehicle can apply a driving torque to propel the vehicle, especially via pedals of the crank mechanism.

[0061] The gear system can be designed as a derailleur system or a hub gear system. Additionally or alternatively, the gear system can be designed as an automatic or at least semi-automatic gear system. Particularly preferably, the gear system can be designed to automatically initiate or execute gear changes based on one or more driving parameters. A driving parameter can be, for example, the speed of the pedal-driven vehicle, the pedaling cadence of the rider of the pedal-driven vehicle, the rider's torque applied to propel the vehicle, or the rider's power applied to propel the vehicle. Furthermore, the gear system can preferably have at least one user interface, in particular a shift lever, through which a rider can manually initiate gear changes.

[0062] The invention may include at least one detection unit. In particular, at least one detection unit may include at least one sensor element or be in signal communication with it.

[0063] Preferably, the detection unit can include at least one speed sensor for detecting a speed at the crank drive and / or for detecting the speed at at least one wheel of the pedal-driven vehicle.

[0064] At least one speed sensor can be configured to provide multiple speed values ​​per revolution of the crank mechanism. Additionally or alternatively, the speed sensor can be integrated into the drive system of the pedal-powered vehicle and configured to detect the drive speed. In this case, the crank mechanism speed can be determined, in particular, via a fixed gear ratio between the drive and the crank mechanism.

[0065] At least one speed sensor can be designed to provide a speed value for each revolution of the wheel.

[0066] Additionally or alternatively, the detection unit can include at least one tilt sensor for detecting the tilt of the pedal-driven vehicle, particularly relative to the horizontal. The rate of change of the tilt can be determined by differentiating the tilt over time as the change in tilt per unit of time. At least one tilt sensor can be designed as an inertial sensor or an inertial measurement unit (IMU).

[0067] Within the scope of the invention, it may be provided that at least one gearshift and / or control unit and / or detection unit and / or at least one drive comprises data processing means. The data processing means may include at least one processor and / or working memory and / or non-volatile data storage. At least one control unit may be brought into communication and / or signal connection with a gearshift and / or detection unit and / or at least one drive, at least temporarily. In this way, data and / or control signals can be exchanged between the respective units.

[0068] At least one control unit and at least one acquisition unit can be designed as a single, combined unit.

[0069] According to a third aspect, the present invention relates to a computer program product comprising instructions that cause a pedal-driven vehicle according to the second aspect of the present invention to perform a method according to the first aspect of the present invention. With respect to a computer program product according to the invention, the same advantages arise as those already described with respect to a method and / or a pedal-driven vehicle according to the invention.

[0070] According to a fourth aspect, the present invention relates to a computer-readable medium, in particular a storage medium, wherein a computer program product according to the third aspect of the present invention is stored on the computer-readable medium. With respect to a computer-readable medium according to the invention, the same advantages arise as those already described with respect to a method and / or a pedal-driven vehicle and / or a computer program product according to the invention.

[0071] According to a fifth aspect, the present invention relates to a data carrier signal which transmits a computer program product according to the third aspect of the present invention. With regard to a data carrier signal according to the invention, the same advantages arise as those already described with regard to a method according to the invention and / or a pedal-driven vehicle according to the invention and / or a computer program product according to the invention and / or a computer-readable medium according to the invention.

[0072] Further advantages, features and details of the invention will become apparent from the following description, which refers to the drawings.

[0073] Exemplary embodiments of the invention are described in detail. The features mentioned in the claims and the description can each be essential to the invention individually or in any combination.

[0074] Each schematically illustrates:

[0075] Figure 1 shows a view of a process and

[0076] Figure 2 shows a view of a pedal-powered vehicle.

[0077] Fig. 1 shows a schematic view of a method 100 for operating a pedal-driven vehicle 200, comprising a crank drive 201 for applying a driver torque to propel the pedal-driven vehicle 200, a control unit 202, a gearshift 203 for providing a variable transmission ratio, and a detection unit 204, the method 100 comprising:

[0078] Providing 110 switching information for a planned switching operation, comprising a translation specification, in particular by the gearshift 203,

[0079] Detect 120 a rotational speed of the crank drive 201 , in particular by the detection unit 204,

[0080] Providing 130 a first speed of the pedal-driven vehicle 200 depending on the speed of the crankshaft 201 and the gear ratio, in particular by the control unit 202, and adapting 140 the operation of the pedal-driven vehicle 200 depending on the first speed, in particular by the control unit 202 and / or the gearshift 203.

[0081] Fig. 2 further shows a schematic view of a pedal-driven vehicle 200 comprising a crank mechanism 201 for applying a driver torque to propel the pedal-driven vehicle 200, a control unit 202, a gearshift 203 for providing a variable gear ratio, and a detection unit 204. In particular, the pedal-driven vehicle 200 is designed to be operated according to a method 100 shown in Fig. 1.

[0082] Furthermore, the pedal-driven vehicle 200 includes a drive 205 for providing drive torque to propel the pedal-driven vehicle 200. The drive 200 is designed to assist a driver of the pedal-driven vehicle 200 in propelling the vehicle. In this case, the control unit 202 and the detection unit 204 are designed as a single unit.

[0083] The preceding explanation of the embodiments describes the present invention solely by way of examples. Naturally, individual features of the embodiments can be freely combined with one another, provided this is technically feasible, without departing from the scope of the present invention.

Claims

Claims 1. Method (100) for operating a pedal-driven vehicle (200), comprising a crank mechanism (201) for applying a driver torque to propel the pedal-driven vehicle (200), a control unit (202), a gearshift (203) for providing a variable transmission ratio, and a detection unit (204), the method (100) comprising: Providing (110) switching information for a planned switching operation, comprising a translation specification, in particular by means of the gearshift (203), Detection (120) of the rotational speed of the crank mechanism (201), in particular by the detection unit (204), Providing (130) a first speed of the pedal-driven vehicle (200) depending on the rotational speed of the crankshaft (201) and the gear ratio, in particular by the control unit (202), and Adapting (140) the operation of the pedal-driven vehicle (200) depending on the first speed, in particular by the control unit (202) and / or the gearshift (203).

2. Method (100) according to claim 1, characterized in that the switching information includes a completion time indication, wherein the completion time indication is characteristic of a completion time of the planned switching operation, wherein the method (100) further comprises: Delaying the provision of the first speed depending on the rotational speed of the crank drive (201) and the gear ratio until the completion time is reached, in particular by the control unit (202).

3. Method (100) according to one of the preceding claims, characterized in that the switching information further comprises a switching time indication and a completion time indication, wherein the switching time indication is characteristic of a switching time at which the planned switching operation is carried out and wherein the completion time indication is characteristic of a completion time of the planned switching operation, further comprising: Detecting the rotational speed of the crank mechanism (201) at the switching point as a maximum rotational speed, in particular by the detection unit (204), Limiting the rotational speed of the crank mechanism (201) used to calculate and provide (130) the first velocity to the maximum rotational speed until the completion time is reached, in particular by the control unit (202).

4. Method (100) according to one of the preceding claims, characterized in that it further comprises the following: Detecting the rotational speed of a wheel of the pedal-driven vehicle (200) and Calculating and providing a second speed of pedal-driven vehicle (200) depending on the rotational speed of the wheel, wherein the second speed is used instead of the first speed to adjust (140) the operation of the pedal-driven vehicle (200) when the rotational speed of the crank mechanism (201) is zero or substantially zero.

5. Method (100) according to one of the preceding claims, characterized in that it further comprises the following: Detecting the rate of change over time of the inclination of the pedal-driven vehicle (200), in particular by the detection unit (204), and Correcting the first and / or second velocity depending on the rate of change of the inclination over time.

6. Method (100) according to one of the preceding claims, characterized in that the adjustment (140) of the operation of the pedal-driven vehicle (200) comprises at least one of the following: Initiating and / or executing a switching operation depending on the first and / or second speed, Controlling a drive (205) of the pedal-driven vehicle (200) such that a drive torque determined depending on the first and / or second speed is provided by the drive, at least temporarily.

7. Pedal-driven vehicle (200) comprising a crank drive (201) for applying a driver torque to propel the pedal-driven vehicle (200), a control unit (202), a gearshift (203) for providing a variable gear ratio and a detection unit (204), wherein the pedal-driven vehicle (200) is configured to be operated according to a method (100) according to one of the preceding claims.

8. Computer program product comprising commands that cause a pedal-driven vehicle (200) according to the preceding claim to execute a method (100) according to any one of claims 1 to 6.

9. Computer-readable medium on which a computer program product according to the preceding claim is stored.

10. Data carrier signal which transmits a computer program product according to claim 8.

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