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 control unit (201), a detection unit (202), and a gear-changing system (203) for providing a variable transmission ratio, the method (100) having the steps of: - detecting (110) a deceleration of the pedal-driven vehicle (200), in particular by means of the detection unit (202), - determining (120) a starting gear from the gears that can be provided by the gear-changing system (203), in particular by means of the control unit (201), - providing (130) a gear-change instruction, comprising a target gear specification, in particular by means of the control unit (201), the target gear specification corresponding to the starting gear, and - carrying out (140) a gear-changing process according to the gear-change instruction, in particular by means of the gear-changing system (203).

Description

[0001] R. 415724

[0002] - 1 -

[0003] Description

[0004] title

[0005] Method for operating a pedal-powered vehicle and pedal-powered vehicle

[0006] State of the art

[0007] Pedal-powered vehicles, especially bicycles, e-bikes, or pedelecs, are typically equipped with gears. Gears allow the rider to adjust the gear ratio in the vehicle's drivetrain to suit the current riding situation. This makes propulsion more comfortable for the rider when going uphill, downhill, or on level ground.

[0008] When the driver decelerates the pedal-powered vehicle to a standstill, they typically interrupt pedal movement. However, a gear previously used at a higher speed can be uncomfortable for the driver when accelerating again from a standstill or low speeds, as the gear ratio is too high and the driver has to apply a correspondingly high amount of torque.

[0009] Against this background, it is desirable to provide the driver with the most suitable gear or gear ratio for comfortable acceleration of the pedal-driven vehicle from a standstill or low speeds after a deceleration. R. 415724

[0010] - 2 -

[0011] Disclosure of the invention

[0012] 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.

[0013] The invention presented here serves in particular to provide an improved operation of a, in particular automatic or semi-automated, gearshift of a pedal-driven vehicle with regard to improved user comfort and / or increased safety of the pedal-driven vehicle.

[0014] According to a first aspect, the present invention relates to a method for operating a pedal-driven vehicle, comprising a control unit, a detection unit and a gearshift for providing a variable transmission ratio, the method comprising:

[0015] Detection of deceleration of the pedal-driven vehicle, in particular by the detection unit,

[0016] Determining a starting gear from the gears available through the gearshift, in particular by the control unit, providing a shift instruction comprising a target gear specification, in particular by the control unit, wherein the target gear specification corresponds to the starting gear and R. 415724

[0017] - 3 -

[0018] Performing a switching operation according to the switching instructions, in particular by means of the gearshift.

[0019] 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.

[0020] In other words, a method for operating a pedal-driven vehicle is proposed, wherein the pedal-driven vehicle comprises at least one control unit, at least one detection unit, and at least one gearshift for providing a variable transmission ratio.

[0021] According to the invention, it is provided that, in particular by the detection unit, a deceleration of the pedal-driven vehicle is detected.

[0022] In particular, the deceleration can refer to deceleration to a standstill. Alternatively, it can refer to deceleration to a speed that reaches or falls below a predetermined speed limit. This speed limit could be, for example, a maximum of 5 km / h or a maximum of 3 km / h. This ensures that the vehicle does not engage start gear for every instance of deceleration, but only when the pedal-driven vehicle comes to a complete stop or slows to a very low speed.

[0023] Furthermore, it is provided that a starting gear is determined from the gears provided by the transmission, in particular by the control unit. Each gear of the transmission represents a specific gear ratio, especially in the drivetrain of a pedal-driven vehicle. R. 415724

[0024] - 4 -

[0025] Based on the starting gear, a shift instruction is provided, particularly by the control unit, and this shift instruction includes at least a target gear specification. A target gear specification is understood here as an indication of which gear should be engaged during a shifting process. The target gear specification is characteristic of the gear or gear ratio that corresponds to the starting gear, so that when the shift instruction is implemented, particularly by the gearshift mechanism, a gear corresponding to the selected starting gear is engaged.

[0026] A target gear can be specified by explicitly stating a particular gear. Alternatively, if the current gear is known, a target gear can simply be indicated by specifying whether and how often to shift up (increasing the gear ratio provided by the transmission) or down (decreasing the gear ratio provided by the transmission) during the shifting process (shift direction instruction).

[0027] Furthermore, it is provided that, in particular by the gearshift, a shifting operation is carried out in accordance with the shifting instruction. For this purpose, the shifting instruction can be transmitted from the control unit to the gearshift and implemented accordingly by the gearshift. In other words, it can be provided that the control unit controls the gearshift in such a way that the gearshift performs a shifting operation in accordance with the shifting instruction.

[0028] Within the scope of the present invention, it was recognized that specifying a fixed gear for starting from a standstill or low speeds can be disadvantageous. The use of different transmission groups with varying gear ratios and numbers of gears, individual driver preferences, and dynamically changing driving situations can significantly influence the selection of the most optimal starting gear. The present invention offers the advantage in this respect that the starting gear is not fixed, but rather determined dynamically depending on various influencing factors and is thus adaptable to the vehicle type, individual driver preferences, and / or current driving situations. R. 415724

[0029] - 5 -

[0030] It may be advantageous with respect to the present invention if determining the starting gear includes the following:

[0031] Determining the starting gear by multiplying the total number of gears available through the transmission by a predetermined proportion factor.

[0032] In other words, the starting gear can be determined by multiplying the total number of gears available from the transmission by a predetermined proportion factor. The proportion factor is preferably greater than 0 and / or less than 1. In particular, the proportion factor can be between 0.2 and 0.8, preferably between 0.4 and 0.6, and most preferably 0.5.

[0033] If, for example, the transmission offers 10 gears and the ratio is 0.5, then fifth gear would be selected as the starting gear. If the result of the multiplication is not a whole number, it can be rounded. For this, the commonly used rounding rules can be applied: if the first decimal place is 0, 1, 2, 3, or 4, round down; if the first decimal place is 5, 6, 7, 8, or 9, round up.

[0034] The total number of gears available via the transmission can preferably be provided to the control unit by the transmission itself or queried by the control unit during gear shifting. Additionally or alternatively, the proportion factor can preferably be stored in a data memory of the pedal-driven vehicle, in particular the control unit.

[0035] Using a proportion factor offers the advantage that a suitable starting gear can be selected even across different gear groups, i.e., for different models of pedal-powered vehicles. For example, in a 12-speed transmission, 6th gear might be a sensible choice for a starting gear. However, in a 21-speed transmission, 6th gear would likely be too low a gear ratio for a starting gear, especially when driving on level ground. Using a proportion factor of R. 415724

[0036] - 6 -

[0037] However, with 21 gears, 0.5 would mean that the 11th gear (after rounding) would be a sensible starting gear.

[0038] With regard to the present invention, it may further be provided that determining the starting gear includes the following:

[0039] Determining the starting gear depending on a vehicle type specification, where the vehicle type specification is characteristic of a vehicle type of pedal-driven vehicle.

[0040] The vehicle type can preferably be specified by the factory and / or stored on a data storage device of the pedal-driven vehicle, in particular a data storage device of the control unit.

[0041] A vehicle type can be, in particular, one of the following:

[0042] Racing bike, gravel bike, mountain bike, cyclo-cross bike, triathlon bike, city bike, cargo bike, trekking bike / cross bike.

[0043] The type of vehicle allows conclusions to be drawn about the rider's riding style. For example, a more sporty and ambitious riding style is to be expected with road bikes, gravel bikes, mountain bikes, cyclocross bikes, or triathlon bikes than with city or trekking bikes. Therefore, a higher gear (i.e., a higher gear ratio) can be determined as the starting gear for a vehicle type such as a road bike, gravel bike, mountain bike, cyclocross bike, or triathlon bike than for a vehicle type such as a city bike, cargo bike, or trekking bike. Accordingly, a more precise determination of the starting gear can be made based on the type of pedal-powered vehicle. R. 415724

[0044] - 7 -

[0045] It can be provided that a specific gear is directly determined as the starting gear based on the vehicle type. Alternatively, a proportion factor can be determined based on the starting gear, from which the starting gear is determined by multiplying by the total number of gears available via the transmission, as described. This allows the advantages of the proportion factor to be combined with the advantages of determining the starting gear based on the vehicle type.

[0046] In relation to the present invention, it may further advantageously be provided that the pedal-driven vehicle also comprises a drive for providing a drive torque for propelling the pedal-driven vehicle, and wherein determining the starting gear comprises the following:

[0047] Determining the starting gear depending on a maximum torque that can be provided by the drive and / or a current support mode of the drive.

[0048] The maximum torque is to be understood here as the maximum drive torque that can be provided by the drive system. The drive system can preferably be designed as an electric drive and / or configured to assist the driver of a pedal-driven vehicle during propulsion of the pedal-driven vehicle.

[0049] The maximum torque can preferably be provided by the drive or queried by the control unit at the drive.

[0050] In particular, it may be provided that a higher gear, i.e., a higher gear ratio, is selected as the starting gear as the maximum torque increases. If the drive system can provide higher drive torque, the driver can receive greater assistance, thus enabling the driver to overcome a higher torque threshold when starting off without compromising driving comfort. R. 415724

[0051] - 8 -

[0052] Depending on the current support mode of the drive, the maximum torque may be reduced and fall below the absolute or global maximum of the torque that can be provided by the drive. Furthermore, a support mode is to be understood here as a degree of support that can or may be provided by the drive in relation to the absolute maximum available drive torque (global maximum).

[0053] A support mode can be selected, or be selectable, by the rider of a pedal-powered vehicle. For example, one support mode might specify that no assistance is provided by the drive system, another might specify that assistance is provided only up to half of the maximum available drive torque, and yet another might specify that full assistance is provided up to the maximum available drive torque. Therefore, the maximum torque used to determine a starting gear can be specific to each current support mode.

[0054] Furthermore, with regard to the present invention, it may be provided that determining the starting gear includes the following:

[0055] Determining the starting gear depending on a predetermined target cadence.

[0056] Cadence should be understood as the frequency at which a rider rotates or moves the crank mechanism of a pedal-powered vehicle to generate torque and propel the vehicle forward (pedaling). A target cadence is a cadence or cadence range at which pedaling is particularly comfortable for the rider and which the rider therefore wants to maintain in the vast majority of riding situations.

[0057] The target cadence can preferably be preset at the factory and / or stored on a data storage device of the pedal-driven vehicle, in particular a data storage device of the control unit. Additionally or alternatively, the target cadence can be R. 415724

[0058] - 9 - frequency can be selected by the driver of the pedal-driven vehicle. For this purpose, for example, the coupling of the pedal-driven vehicle, in particular the control unit, with a mobile device, preferably via a suitable application, is conceivable.

[0059] A high target cadence suggests that the rider prefers pedaling with relatively little effort. Therefore, it may be advantageous to select a lower gear or gear ratio as the starting gear as the target cadence increases.

[0060] Additionally or alternatively, with regard to the present invention, it may further be provided that an inclination of the pedal-driven vehicle is detected, in particular by the detection unit, wherein determining the starting gear comprises the following:

[0061] Determining the starting gear depending on the inclination of the pedal-driven vehicle.

[0062] The inclination of the pedal-driven vehicle can be determined in such a way that it can be deduced from the inclination whether the pedal-driven vehicle is moving in a plane or uphill or downhill.

[0063] By detecting the incline, it can be clearly determined whether the pedal-driven vehicle is on an incline and its orientation, i.e., whether the vehicle is moving uphill or downhill. For example, if a driver wants to start from a standstill uphill, the required force increases. A starting gear suitable for starting on level ground can significantly reduce driving comfort in this situation or even endanger the driver if the torque to be overcome is too high and sufficient acceleration of the pedal-driven vehicle for a safe transition to driving is not possible.

[0064] Preferably, it may be provided that, with increasing incline and an uphill orientation or movement of the pedal-driven vehicle, a lower gear or a lower gear ratio is determined as the starting gear (R. 415724).

[0065] - 10 - and / or with increasing inclination and orientation or movement of the pedal-driven vehicle downhill, a higher gear or a higher gear ratio than the starting gear is determined.

[0066] It is also conceivable, with regard to the present invention, that determining the starting gear includes at least the following:

[0067] Determining the starting gear based on user input.

[0068] A user setting can, for example, specify a particular gear or ratio, whereby, when a ratio is specified, the starting gear is determined as described above. This allows the starting gear to be optimally adapted to the respective user's needs.

[0069] Within the scope of the invention, it may be provided that the starting gear is selected depending on one or more input parameters, in particular a vehicle type specification and / or a maximum torque of a drive and / or a support mode and / or a target cadence and / or an inclination of the pedal-driven vehicle and / or a user specification.

[0070] To determine the starting gear, a starting gear model can preferably be used, wherein the starting gear model provides a functional relationship between, on the one hand, at least one input parameter and, on the other hand, a starting gear or a proportion factor as an output variable. The starting gear model can preferably be stored on a data memory of the pedal-driven vehicle, in particular the control unit. By using a proportion factor as an output variable, the advantages of using a proportion factor can be combined with the advantages of considering the respective input parameters mentioned above.

[0071] According to a second aspect, the present invention relates to a pedal-driven vehicle, a control unit, a detection unit, and a gearshift for providing a variable gear ratio. The pedal-driven vehicle is preferably configured according to an inventive R. 415724

[0072] - 11 - to be operated according to the method in question, in particular according to a method according to the first aspect of the invention. Preferably, the pedal-driven vehicle can be designed as a bicycle, preferably an electric bicycle or pedelec. With regard to a pedal-driven vehicle, the same advantages arise as those described with regard 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.

[0073] The pedal-powered vehicle may preferably include at least one drive unit for providing drive torque to propel the vehicle. At least one drive unit may preferably be an electric motor and / or be positioned in a mid-motor arrangement on the pedal-powered vehicle.

[0074] In particular, the transmission 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 drive wheel of the pedal-driven vehicle per revolution of the crank mechanism of the pedal-driven vehicle. A high gear ratio, or a high gear, thus characterizes a comparatively high number of revolutions of the drive wheel for each revolution of the crank mechanism. Conversely, a low gear ratio, or a low gear, characterizes a comparatively low number of revolutions of the drive wheel for each revolution of the crank mechanism. In particular, the driver of the pedal-driven vehicle can apply torque to propel the vehicle via the crank mechanism, specifically through pedals.

[0075] 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 automate gear changes based on one or more driving parameters, especially depending on the rider's pedaling frequency. R. 415724

[0076] - 12 - and / or speed of the pedal-driven vehicle, to initiate or carry out.

[0077] The gearshift system may preferably have at least one user interface, in particular a gearshift lever, through which a driver can manually initiate gear changes.

[0078] The invention may include at least one detection unit. In particular, at least one detection unit may comprise at least one sensor element.

[0079] Preferably, the detection unit can comprise at least one tilt sensor for detecting the tilt of the pedal-driven vehicle and / or at least one acceleration sensor for detecting the acceleration or deceleration of the pedal-driven vehicle. At least one tilt sensor and / or acceleration sensor can preferably be configured as an inertial measurement unit (IMU).

[0080] Additionally or alternatively, the detection unit can include at least one speed sensor for detecting the speed of the pedal-driven vehicle. At least one speed sensor can, for example, be configured to measure the speed of the pedal-driven vehicle, e.g., via the rotational speed of a wheel of the pedal-driven vehicle and the outer circumference of the wheel.

[0081] 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 unit comprises data processing means. The data processing means may include at least one processor and / or main memory and / or non-volatile data storage.

[0082] At least one control unit can be, at least temporarily, placed in communication and / or signal connection with a gearshift and / or detection unit and / or a drive. This allows data and / or control signals to be exchanged between the units. R. 415724

[0083] - 13 -

[0084] At least one control unit and at least one acquisition unit can be designed as a single, combined unit.

[0085] 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.

[0086] 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.

[0087] 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.

[0088] Further advantages, features, and details of the invention will become apparent from the following description, in which exemplary embodiments of the invention are described in detail with reference to the drawings. The features mentioned in the claims and the description can each be essential to the invention individually or in any combination. R. 415724

[0089] - 14 -

[0090] Each schematically illustrates:

[0091] Figure 1 shows a view of a process, and

[0092] Figure 2 shows a view of a pedal-powered vehicle.

[0093] Fig. 1 shows a schematic view of a method 100 for operating a pedal-driven vehicle 200, comprising a control unit 201, a detection unit 202 and a gearshift 203 for providing a variable transmission ratio, the method 100 comprising:

[0094] Detecting 110 of a deceleration of the pedal-driven vehicle 200, in particular by the detection unit 202,

[0095] Determine 120 a starting gear from the gears available through the gearshift 203, in particular through the control unit 201, provide 130 a shift instruction comprising a target gear specification, in particular through the control unit 201, wherein the target gear specification corresponds to the starting gear and

[0096] Performing 140 a switching operation in accordance with the switching instruction, in particular by means of the gearshift 203.

[0097] Fig. 2 further shows a schematic view of a pedal-driven vehicle 200, comprising a control unit 201, a detection unit 202, and a gearshift 203 for providing a variable gear ratio. Preferably, the pedal-driven vehicle 200 is configured to be operated according to a method 100 shown in Fig. 1.

[0098] Furthermore, the pedal-driven vehicle 200 includes a drive 204. The control unit 201 and the detection unit 202 are designed as a single unit.

[0099] 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

R. 415724 - 15 - Claims 1. Method (100) for operating a pedal-driven vehicle (200), comprising a control unit (201), a detection unit (202) and a gearshift (203) for providing a variable gear ratio, the method (100) comprising: Detection (110) of a deceleration of the pedal-driven vehicle (200), in particular by the detection unit (202), Determining (120) a starting gear from the gears available through the gearshift (203), in particular through the control unit (201), Providing (130) a shift instruction comprising a target gear specification, in particular by the control unit (201), wherein the target gear specification corresponds to the starting gear and Performing (140) a switching operation in accordance with the switching instruction, in particular by means of the gearshift (203).

2. Method (100) according to claim 1, characterized in that determining (120) the starting gear comprises the following: Determining the starting gear by multiplying a total number of gears available through the gearshift (203) by a predetermined proportion factor.

3. Method (100) according to one of the preceding claims, characterized in that determining (120) the starting gear comprises the following: Determining the starting gear depending on a vehicle type specification, where the vehicle type specification is characteristic of a vehicle type of pedal-driven vehicle. R. 415724 - 16 - 4. Method (100) according to one of the preceding claims, characterized in that the pedal-driven vehicle (200) further comprises a drive (204) for providing a drive torque for propelling the pedal-driven vehicle (200) and wherein determining (120) the starting gear comprises the following: Determining the starting gear depending on a maximum torque that can be provided by the drive (204) and / or a current support mode of the drive (204).

5. Method (100) according to one of the preceding claims, characterized in that determining (120) the starting gear comprises: determining the starting gear as a function of a predetermined target cadence.

6. Method (100) according to one of the preceding claims, characterized in that a tilt of the pedal-driven vehicle (200) is further detected, in particular by the detection unit (202), wherein determining (120) the starting gear comprises the following: Determining the starting gear depending on the inclination of the pedal-driven vehicle (200).

7. Method (100) according to one of the preceding claims, characterized in that determining (120) the starting gear comprises at least the following: determining the starting gear depending on a user input.

8. Pedal-driven vehicle (200) comprising a control unit (201), a detection unit (202) and a gearshift (203) for providing a variable transmission ratio, wherein the pedal-driven vehicle (200) is configured to be operated according to a method (100) according to one of the preceding claims. R. 415724 - 17 - 9. Computer program product comprising instructions 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 7.

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

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

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