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 at least one detection unit (201), at least one control unit (202) and a gear shift (203), said method (100) comprising: detecting (110) an inclination signal by detecting an inclination of the pedal-driven vehicle (200), in particular using the detection unit (201); determining (120) a temporal rate of change of the inclination of the pedal-driven vehicle on the basis of the inclination signal, in particular using the control unit; and adapting (130) at least one operating parameter of the gear shift (203) according to the rate of change of the inclination, in particular using the control unit (202) and / or the gear shift (203).

Description

[0001] R.415687

[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] It is generally known that gear systems can be operated as automatic or semi-automatic transmissions to automatically trigger or execute gear changes depending on a specific driving situation. A gear change is typically triggered by the pedaling cadence of the rider of a pedal-powered vehicle and / or the speed of the vehicle.

[0009] For example, if a rider's cadence decreases while climbing and deviates significantly from a given target cadence, a lower gear or a lower gear ratio in the drivetrain can be provided by the gear system to increase the cadence towards the target cadence and make the vehicle's propulsion more comfortable for the rider. Conversely, if a cadence or speed decreases while climbing downhill, a higher gear or R.415687

[0010] - 2 - a higher gear ratio in the drivetrain is provided by the gearshift.

[0011] In this regard, a disadvantage has emerged: changes in cadence and / or speed can occur with a delay compared to the actual commencement of the pedal-driven vehicle's ascent or descent. A gear shift triggered automatically due to this delayed change is often perceived as late by the rider of the pedal-driven vehicle, thus impairing the user comfort.

[0012] Disclosure of the invention

[0013] 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.

[0014] The invention presented here serves in particular to provide an improved operation of a, in particular automatic, gearshift of a pedal-driven vehicle with regard to improved user comfort of the pedal-driven vehicle.

[0015] According to a first aspect, the present invention relates to a method for operating a pedal-driven vehicle, in particular an electric bicycle or R.415687

[0016] - 3 -

[0017] Pedelecs, comprising at least one detection unit, at least one control unit and one gear shift, the method comprising:

[0018] Detection of a tilt signal by means of a detection unit, in particular a time-discrete or time-continuous detection unit, of the tilt of the pedal-driven vehicle, in particular by means of the detection unit,

[0019] Determining the rate of change of the inclination of the pedal-driven vehicle over time as a function of the inclination signal, in particular by the control unit and

[0020] Adjusting at least one operating parameter of the gearshift depending on the rate of change of the inclination, in particular by the control unit and / or the gearshift.

[0021] 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.

[0022] In other words, a method for operating a pedal-driven vehicle is proposed. The pedal-driven vehicle comprises at least one sensing unit, at least one control unit, and at least one gearshift.

[0023] According to the invention, a time-resolved inclination signal is acquired by detecting the inclination of the pedal-driven vehicle, particularly by the detection unit, in particular by detecting it in a time-discrete or time-continuous manner. The frequency at which the inclination is detected can be, for example, at least 2 Hz, in particular at least 5 Hz, preferably at least 10 Hz.

[0024] It may be provided that the inclination of the pedal-driven vehicle relative to a reference orientation of the vehicle is detected. The reference can be, for example, a horizontal plane. In other words, it may be provided that, when the vehicle is used as intended, R.415687

[0025] - 4 - is positioned on a horizontal plane, which corresponds to a reference alignment of the vehicle or an inclination of 0° or 0% (gradient).

[0026] In particular, it can be provided that a positive inclination of the pedal-driven vehicle characterizes uphill travel. Preferably, a positive rate of change thus characterizes an increase in inclination and therefore the commencement of uphill travel or the transition to a steeper uphill gradient. Additionally or alternatively, it can be provided that a negative inclination of the pedal-driven vehicle characterizes downhill travel. Preferably, a negative rate of change thus characterizes a decrease in inclination and therefore the commencement of downhill travel or the transition to a steeper downhill gradient.

[0027] The inclination can be determined as an angle of inclination in degrees [°] or, for example, dimensionless or as a gradient in percent [%].

[0028] Furthermore, it is planned that a rate of change of the inclination over time will be determined based on the inclination signal, particularly by the control unit. The rate of change of the inclination should be understood as the change in inclination per unit of time, i.e., the derivative of the inclination signal with respect to time. The rate of change of the inclination, especially the current rate, can be determined by differentiating the inclination signal. For example, difference quotients can be calculated from the inclination signal for this purpose.

[0029] By determining the rate of change of the incline, it is possible to easily and efficiently ascertain whether a driving state of the pedal-driven vehicle is changing, for example, whether it is transitioning from driving on level ground to driving uphill or downhill, or whether a driving state remains constant. Conversely, it is also possible to determine whether the vehicle is transitioning from driving uphill or downhill to driving on level ground.

[0030] According to the invention, it is further provided that, based on the rate of change of the inclination, at least one operating parameter of the gearshift is adjusted, in particular by the control unit and / or the gearshift itself. R.415687

[0031] - 5 -

[0032] An operating parameter of the transmission can be, for example, a gear provided by the transmission, in particular a gear ratio provided by the transmission. An operating parameter can also be, additionally or alternatively, a parameter that determines the shifting behavior of the transmission, especially an automatic one. This will be discussed in detail below.

[0033] Within the scope of the present invention, it has been recognized that changes in the driving state of a pedal-driven vehicle can be directly detected by sensing and evaluating the inclination. Based on the inclination signal or the rate of change of the inclination, it is possible to immediately recognize whether the vehicle is entering an uphill or downhill journey, or transitioning from an uphill or downhill journey back to a level journey. Based on this, adjustments for the operation of the gearshift, in particular immediate gear changes or the adjustment of various operating parameters, can be made early on in order to quickly and virtually without delay provide a suitable gear ratio for the driver. This can increase the user comfort for the driver of the pedal-driven vehicle.

[0034] 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.

[0035] With regard to the present invention, it may be advantageously provided that the adjustment of at least one operating parameter of the gearshift comprises the following:

[0036] Performing a gear change to reduce a gear ratio provided by the gearshift when the rate of change of inclination reaches or exceeds an upper rate of change limit and / or R.415687

[0037] - 6 -

[0038] Performing a gear change to increase a gear ratio provided by the gearshift when the rate of change of the inclination reaches or falls below a lower rate of change limit.

[0039] In other words, it can be stipulated that if the rate of change of the incline reaches or exceeds an upper limit, a gear shift is triggered or performed. For example, when the vehicle transitions from a level surface to an uphill section or from a downhill section to a level surface, the rate of change of the incline increases and may reach or exceed the upper limit. If this occurs, a gear change is performed, reducing the gear ratio in the drivetrain of the pedal-driven vehicle. This makes it easier for the rider to propel the pedal-driven vehicle uphill and allows for a higher pedaling cadence.

[0040] Additionally or alternatively, it can be provided that a gear change is triggered or performed when the rate of change of the incline reaches or falls below a lower limit. When the vehicle transitions from a level surface to a downhill section or from an uphill section to a level surface, the rate of change of the incline decreases and may reach or fall below the lower limit. If this occurs, a gear change is performed, increasing the gear ratio in the drivetrain of the pedal-driven vehicle. This prevents a sharp increase in the rider's pedaling cadence and thus maintains comfortable propulsion of the vehicle.

[0041] To determine whether the rate of change reaches, exceeds, or falls below a rate of change threshold, the rate of change can be compared with the respective rate of change threshold, particularly by the control unit. This comparison can, for example, determine the difference between the rate of change threshold and the rate of change, especially to ascertain the existing margin. R.415687

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[0043] In particular, the upper rate-of-change limit can be greater than the lower rate-of-change limit, or the upper rate-of-change limit can have a positive sign and the lower rate-of-change limit a negative sign. Additionally or alternatively, and especially preferably, the upper and lower rate-of-change limits can be identical in magnitude. Different magnitudes for the upper and lower rate-of-change limits are also conceivable.

[0044] In particular, the upper rate of change limit can be at least or exactly 0.5 [° / s], preferably at least or exactly 1 [° / s]. Additionally or alternatively, the lower rate of change limit can be at least or exactly -0.5 [° / s], preferably at least or exactly -1 [° / s].

[0045] In particular, the invention may provide that the upper rate of change limit and / or the lower rate of change limit is 0 [° / s] or 0 [1 / s], respectively. In other words, it may be provided that an increase or decrease in the rate of change triggers an immediate gear change.

[0046] Preferably, to perform a gear change, the control unit can actuate the gearshift mechanism in such a way that the gearshift mechanism executes the gear change as desired. In other words, it is preferably provided that the control unit transmits a control signal to the gearshift mechanism, thereby initiating the gear change. The gearshift mechanism can then execute the gear change depending on the control signal. The control signal can, for example, include a shift direction (upshifting or downshifting) and / or a gear difference compared to the current gear and / or a target gear.

[0047] It may be advantageously provided with regard to the present invention that a further detection of a rider's pedaling frequency of the pedal-driven vehicle is carried out, in particular by the detection unit, wherein the adjustment of at least one operating parameter of the gearshift comprises: R.415687

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[0049] Performing a gear change to reduce a gear ratio provided by the gear system when the cadence falls below the target cadence by a predetermined cadence difference and / or

[0050] Initiating a gear change to increase a gear ratio provided by the gear system when the cadence exceeds the target cadence by a predetermined cadence difference.

[0051] Within the scope of the invention, it was recognized that when riding uphill, a rider often prefers comparatively high cadence, whereas when riding on level ground or downhill, comparatively low cadence is preferred. This can be taken into account early on by adjusting the target cadence depending on the incline.

[0052] In other words, it can be provided that if the rate of change of the incline reaches or exceeds an upper limit, the target cadence is increased. For example, when the vehicle transitions from a level surface to an uphill section or from a downhill section to a level surface, the rate of change of the incline increases and may reach or exceed the upper limit. If this occurs, the target cadence is increased. This allows for earlier gear changes, particularly by automatic transmissions, and thus improves the user comfort of the pedal-powered vehicle.

[0053] Additionally or alternatively, it may be provided that if the rate of change of the incline reaches or falls below a lower limit value, the target cadence is reduced. Thus, when the vehicle transitions from a level surface to a downhill slope or from an uphill slope to a level surface, the rate of change of the incline decreases and may reach or fall below the lower limit value. If this occurs, the target cadence is reduced. This allows a gear change, particularly by an automatic transmission, to be initiated earlier, resulting in improved user comfort for the pedal-driven vehicle. R.415687

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[0055] A target cadence is understood as the cadence that a rider of a pedal-powered vehicle, particularly in a given gear, achieves or can achieve without a gear change by the transmission, especially an automatic or semi-automatic one. The target cadence might, for example, be a cadence that a rider finds comfortable in many riding situations. If, however, the target cadence is exceeded by a certain amount, i.e., an upper cadence limit is reached or exceeded, a gear change to a higher gear, i.e., a gear with a higher gear ratio, can occur, especially automatically, to reduce the cadence to the target cadence.Conversely, a gear change to a lower gear, i.e. a gear with a lower gear ratio, can occur automatically, in particular, if the cadence falls below the target cadence by a certain cadence difference, i.e., reaches or falls below a lower cadence threshold in order to increase the cadence to the target cadence.

[0056] Therefore, the target cadence represents an operating parameter of the gear system, the change of which significantly influences the shifting operation, especially automatic shifting. The cadence can be detected, for example, via a speed sensor, particularly on a crank mechanism, of the pedal-driven vehicle.

[0057] In particular, it may be provided that the pedaling frequency of a driver of the pedal-driven vehicle is also detected, especially by the detection unit, which includes adjusting at least one operating parameter of the gearshift:

[0058] Performing a gear change to reduce a gear ratio provided by the gear system, in particular by the control unit and / or gear system, when the cadence falls below the target cadence by a predetermined cadence difference and / or

[0059] Initiating a gear change to increase a gear ratio provided by the gearshift, in particular by the control unit and / or gearshift, when the cadence exceeds R.415687

[0060] - 10 -

[0061] The target cadence is exceeded by a predetermined cadence difference.

[0062] To determine whether the cadence reaches, exceeds, or falls below a cadence limit, the cadence can be compared to the respective limit, particularly by the control unit. This comparison can, for example, determine the difference between the cadence limit and the actual cadence, especially to ascertain the existing cadence range. This cadence range can be identical or different with respect to the upper and lower cadence limits.

[0063] It may also be provided that adjusting at least one operating parameter of the gearshift includes the following:

[0064] Increasing a target speed when the rate of change of the inclination reaches or exceeds an upper rate of change limit and / or

[0065] Reducing a target speed when the rate of change of the inclination reaches or falls below a lower rate of change limit.

[0066] A target speed is to be understood as the speed of the pedal-driven vehicle that is maintained or can be maintained by a driver of the pedal-driven vehicle, particularly in a given gear of the transmission, without a gear change by the transmission, especially an automatic or semi-automatic one. If, however, the target speed is exceeded by a certain speed difference, i.e., an upper speed limit is reached or exceeded, a gear change to a higher gear, i.e., a gear with a higher gear ratio, can occur. This allows the cadence to be reduced at the respective speed. Conversely, a gear change to a lower gear, i.e., a gear with a lower gear ratio, can occur if the speed falls below the target speed by a certain speed difference (R.415687).

[0067] - 11 - i.e., a lower speed limit is reached or falls below in order to increase the cadence to the target cadence.

[0068] By adjusting the target speed, shifting operations can be triggered early in the event of changes in the incline rate, which also enables comfortable propulsion of the pedal-driven vehicle by a driver when the driving situation changes.

[0069] Therefore, the target speed represents an operating parameter of the transmission, the change of which significantly influences the shifting operation, especially in automatic mode. The speed can be detected, for example, via a speed sensor, particularly on a drive wheel of the pedal-driven vehicle. The speed sensor can be designed as a rotational speed sensor. Specifically, the speed can be determined as the circumferential speed of the drive wheel.

[0070] Furthermore, it may be provided that the speed of the pedal-driven vehicle is detected, in particular by the detection unit, which includes adjusting at least one operating parameter of the gearshift:

[0071] Performing a gear change to reduce a gear ratio provided by the transmission, in particular by the control unit and / or transmission, when the speed falls below the target speed by a predetermined speed difference and / or

[0072] Performing a gear change to increase a gear ratio provided by the transmission, in particular by the control unit and / or transmission, when the speed exceeds the target speed by a predetermined speed difference.

[0073] With regard to the present invention, it has further proven advantageous if an adjustment, in particular raising or lowering, of the target cadence and / or the target speed is carried out for a limited time. In other words, it can be provided that after the expiry of a predetermined period in R.415687

[0074] - 12 -

[0075] Following the adjustment of the target cadence or speed, the system resets to its initial value. This offers the advantage that the shifting behavior is only temporarily altered when the incline changes, and that the system then reverts to the rider's usual operation.

[0076] With regard to the present invention, it may be provided that the adjustment of at least one operating parameter of the gearshift comprises the following:

[0077] Raising an upper cadence limit and / or upper speed limit if the rate of change of the gradient reaches or exceeds an upper rate of change limit and / or lowering a lower cadence limit and / or lower speed limit if the rate of change of the gradient reaches or falls below a lower rate of change limit.

[0078] An upper cadence limit is to be understood as a cadence at which, upon reaching or exceeding, a gear change is triggered or carried out, in particular automatically, to increase a gear ratio provided by the gear system. An upper speed limit is to be understood as a speed at which, upon reaching or exceeding, a gear change is triggered or carried out, in particular automatically, to increase a gear ratio provided by the gear system. An upper cadence limit may preferably be higher than a target cadence and a lower cadence limit. An upper speed limit may preferably be higher than a target speed and a lower speed limit.

[0079] A lower cadence limit is to be understood here as a cadence at which, or below which, a gear change is triggered or carried out to reduce a gear ratio provided by the gear system, in particular automatically. A lower speed limit is to be understood as a speed at which, or below which, a gear change is triggered to reduce a gear ratio provided by R.415687.

[0080] - 13 - the gear shifting provided by the gear ratio is triggered or carried out, in particular automatically. A lower cadence limit can preferably be lower than a target cadence and an upper cadence limit. A lower speed limit can preferably be lower than a target speed and an upper speed limit.

[0081] In particular, the lower cadence limit, in conjunction with the upper cadence limit and a target cadence lying between the upper and lower limits, forms a cadence band, especially one specific to a given gear. Within this cadence band, a rider can pedal without triggering a gear shift, particularly an automatic one. However, if the rider's cadence leaves this cadence band, a corresponding upshift or downshift is triggered. The gear shifts are thus triggered hysterically, depending on cadence limits positioned on either side of the target cadence.

[0082] Preferably, the lower speed limit, in conjunction with the upper speed limit and a target speed lying between the upper and lower cadence limits, forms a speed range, particularly specific to a given gear. Within this speed range, a rider can pedal without triggering a gear shift, especially automatically. If the pedal-driven vehicle accelerates or decelerates and leaves the speed range, a corresponding upshift or downshift is triggered. The gear shifts are thus triggered hysterically, depending on speed limits positioned on either side of the target speed.

[0083] Raising or lowering a cadence or speed limit can be achieved by simply subtracting or adding the corresponding cadence or speed value. Alternatively, a hysteresis factor can be adjusted to modify the edges of the cadence or speed range described above. R.415687

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[0085] It may additionally or alternatively be provided that the pedaling frequency of a driver of the pedal-driven vehicle and / or the speed of the pedal-driven vehicle is also detected, in particular by the detection unit, wherein the adjustment of at least one operating parameter of the gearshift includes the following:

[0086] Performing a gear change to reduce a gear ratio provided by the gear system when the cadence reaches or falls below the upper cadence limit and / or the speed reaches or falls below the upper speed limit and / or

[0087] Performing a gear change to increase a gear ratio provided by the gear system when the cadence reaches or exceeds the lower cadence limit and / or the speed reaches or exceeds the lower speed limit.

[0088] With regard to the present invention, it has further proven advantageous if an adjustment, in particular an increase or decrease, of at least one cadence limit and / or speed limit is temporary. In other words, it can be provided that after a predetermined period of time following the increase or decrease, the respective limit is reset to its initial value. This achieves the advantage that the shifting behavior is only temporarily altered when the incline changes and then reverts to the operation familiar to the rider.

[0089] Preferably, with regard to the present invention, the method may further comprise the following:

[0090] Determining a filtered tilt signal by filtering, in particular low-pass filters, the tilt signal, especially by the control unit and

[0091] Determining the rate of change of the inclination of the pedal-driven vehicle over time as a function of the filtered inclination signal, in particular by the control unit. R.415687

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[0093] Low-pass filtering of the inclination signal allows outliers in the signal to be filtered out. This reduces the influence of incorrectly detected inclination differences and / or short-term changes in inclination. Unnecessary gear shifting or adjustments to operating parameters of the transmission can thus be effectively avoided.

[0094] According to a second aspect, the present invention relates to a pedal-driven vehicle comprising at least one sensing unit, at least one control unit, and a gearshift. 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.

[0095] 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 vehicle's crank mechanism. 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.

[0096] The gear system can be designed as a derailleur system or a hub gear system. Additionally or alternatively, the following may be provided: R.415687

[0097] - 16 - that the gearshift is designed as an automatic or at least semi-automated gearshift. In particular, it may be provided that gearshift operations do not have to be manually initiated by a driver of the vehicle, but are carried out automatically on the basis of one or more driving parameters. A driving parameter may be, for example, a speed of the pedal-driven vehicle, a pedaling frequency of a driver of the pedal-driven vehicle, a driver torque applied by a driver of the pedal-driven vehicle to propel the vehicle, or a power applied by a driver of the pedal-driven vehicle to propel the vehicle.

[0098] Within the scope of the invention, it may be provided that at least one detection unit comprises at least one sensor element. In particular, the detection unit may comprise at least one tilt sensor for detecting the tilt of the pedal-driven vehicle. The tilt sensor may, for example, be configured as an inertial sensor, pressure sensor, LiDAR sensor, radar sensor, yaw rate sensor, and / or accelerometer. Several of these sensors may also be used in combination to determine the tilt.

[0099] Additionally or alternatively, the detection unit can include at least one cadence sensor for detecting the cadence of a rider of the pedal-driven vehicle. At least one cadence sensor can be configured as a speed sensor. In particular, the speed sensor can be configured to determine the rotational speed of a crank mechanism of the pedal-driven vehicle in order to ascertain the rider's cadence.

[0100] 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 be configured as a rotational speed sensor. In particular, the rotational speed sensor can be configured to detect the rotational speed of at least one wheel of the pedal-driven vehicle. For a given wheel diameter, the speed of the pedal-driven vehicle can be determined from the rotational speed as the circumferential speed of the wheel. R.415687

[0101] - 17 -

[0102] Within the scope of the invention, it may be provided that at least one gearshift and / or control unit and / or detection unit comprises means for data processing. The means for data processing may include at least one processor and / or working memory and / or non-volatile data storage.

[0103] At least one control unit can be, at least temporarily, brought into communication and / or signal connection with a gearshift and / or detection unit. This allows data and / or control signals to be exchanged between the units.

[0104] At least one control unit and at least one acquisition unit can be designed as a single, combined unit.

[0105] 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 invention, in particular a pedal-driven vehicle according to claim 12, to execute a method according to the invention, in particular a method according to the first aspect of the 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.

[0106] 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 invention, in particular a computer program product according to claim 13, 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. R.415687

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[0108] According to a fifth aspect, the present invention relates to a data carrier signal which transmits a computer program product according to the invention, in particular a computer program product according to claim 13. 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.

[0109] 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.

[0110] Each schematically illustrates:

[0111] Figure 1 shows a view of a process and

[0112] Figure 2 shows a side view of a pedal-powered vehicle.

[0113] Fig. 1 shows a schematic view of a method 100 for operating a pedal-driven vehicle 200, comprising at least one detection unit 201, at least one control unit 202 and a gearshift 203, the method 100 comprising:

[0114] Detection 110 of an inclination signal by detecting an inclination of the pedal-driven vehicle 200, in particular by the detection unit 201 ,

[0115] Determine 120 a rate of change over time of the inclination of the pedal-driven vehicle as a function of the inclination signal, in particular by the control unit 202 and

[0116] Adjusting 130 at least one operating parameter of the gearshift 203 as a function of the rate of change of the inclination, in particular by the control unit 202 and / or the gearshift 203. R.415687

[0117] - 19 -

[0118] Furthermore, Fig. 2 shows a schematic view of a pedal-driven vehicle 200, which in this case is designed as a bicycle. The vehicle 200 comprises at least one detection unit 201, at least one control unit 202, and a gearshift 203. The control unit 202 and the detection unit 201 are designed in this case as a single unit.

[0119] The gearshift 203 is designed as a derailleur gearshift. In particular, the pedal-driven vehicle 200 is designed to be operated according to a method 100 shown in Fig. 1. The preceding explanation of the embodiments describes the present invention exclusively by way of examples. Of course, 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.415687 - 20 - Claims 1. Method (100) for operating a pedal-driven vehicle (200), comprising at least one detection unit (201), at least one control unit (202) and a gearshift (203), the method (100) comprising: Detection (110) of an inclination signal by detecting an inclination of the pedal-driven vehicle (200), in particular by the detection unit (201), Determining (120) a rate of change over time of the inclination of the pedal-driven vehicle as a function of the inclination signal, in particular by the control unit (202) and Adjusting (130) at least one operating parameter of the gearshift (203) depending on the rate of change of the inclination, in particular by the control unit (202) and / or the gearshift (203).

2. Method (100) according to claim 1, characterized in that the adjustment (130) of at least one operating parameter of the gearshift (203) comprises the following: Performing a gear change to reduce a gear ratio provided by the gearshift when the rate of change of the inclination reaches or exceeds an upper rate of change limit and Performing a gear change to increase a gear ratio provided by the gearshift when the rate of change of the inclination reaches or falls below a lower rate of change limit.

3. Method (100) according to one of the preceding claims, characterized in that R.415687 - 21 - that the adjustment (130) of at least one operating parameter of the gearshift (203) includes the following: Raising a target cadence when the rate of change of the incline reaches or exceeds an upper rate of change limit and / or Lowering a target cadence when the rate of change of the incline reaches or falls below a lower rate of change limit.

4. Method (100) according to claim 3, characterized in that furthermore, a pedaling frequency of a driver of the pedal-driven vehicle is detected, in particular by the detection unit (201), wherein this includes adjusting (130) at least one operating parameter of the gearshift (203): Performing a gear change to reduce a gear ratio provided by the gear system when the cadence falls below the target cadence by a predetermined cadence difference and / or Initiating a gear change to increase a gear ratio provided by the gear system when the cadence exceeds the target cadence by a predetermined cadence difference.

5. Method (100) according to one of the preceding claims, characterized in that the adjustment (130) of at least one operating parameter of the gearshift (203) comprises the following: Increasing a target speed when the rate of change of the inclination reaches or exceeds an upper rate of change limit and / or Reducing a target speed when the rate of change of the inclination reaches or falls below a lower rate of change limit. R.415687 - 22 - 6. Method (100) according to claim 5, characterized in that furthermore, a speed of the pedal-driven vehicle (200) is detected, in particular by the detection unit (201), wherein this includes adjusting (130) at least one operating parameter of the gearshift (203): Performing a gear change to reduce a gear ratio provided by the gearbox when the speed falls below the target speed by a predetermined speed difference and / or Performing a gear change to increase a gear ratio provided by the gearbox when the speed exceeds the target speed by a predetermined speed difference.

7. Method (100) according to one of claims 3 to 6, characterized in that the raising and / or lowering of the target cadence and / or the target speed is limited in time.

8. Method (100) according to one of the preceding claims, characterized in that the adjustment (130) of at least one operating parameter of the gearshift (203) comprises the following: Raising an upper cadence limit and / or upper speed limit if the rate of change of the incline reaches or exceeds an upper rate of change limit and / or Lowering a lower cadence limit and / or lower speed limit when the rate of change of the incline reaches or falls below a lower rate of change limit.

9. Method (100) according to claim 8, characterized in that R.415687 - 23 - furthermore, the detection of a pedaling frequency of a rider of the pedal-driven vehicle (200) and / or a speed of the pedal-driven vehicle (200), in particular by the detection unit (201), wherein the adjustment (130) of at least one operating parameter of the gearshift (203) comprises the following: Performing a gear change to reduce a gear ratio provided by the gear system when the cadence reaches or falls below the upper cadence limit and / or the speed reaches or falls below the upper speed limit and / or Performing a gear change to increase a gear ratio provided by the gear system when the cadence reaches or exceeds the lower cadence limit and / or the speed reaches or exceeds the lower speed limit.

10. Method (100) according to one of claims 8 or 9, characterized in that the raising and / or lowering of at least one cadence limit and / or the speed limit is limited in time.

11. Method (100) according to one of the preceding claims, characterized in that further comprising: Determining a filtered inclination signal by low-pass filtering the inclination signal, in particular by the control unit (202) and determining (120) the rate of change of the inclination of the pedal-driven vehicle as a function of the filtered inclination signal, in particular by the control unit (202).

12. Pedal-driven vehicle (200) comprising at least one detection unit (201), at least one control unit (202) and a gearshift (203), wherein the pedal-driven vehicle (200) is designed to R.415687 - 24 - is to be operated according to a method (100) according to one of the preceding claims.

13. Computer program product comprising commands that cause a pedal-driven vehicle (200) according to the preceding claim to be a The method (100) is carried out according to any one of claims 1 to 11.

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

15. Data carrier signal transmitted by a computer program product according to claim 13.

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