Method for operating a pedal-driven vehicle

Abstract

The present invention relates to a method (100) for operating (140) a pedal-driven vehicle (200), to a pedal-driven vehicle (200), to a computer program product, to a computer-readable data carrier, and to a data carrier signal.

Description

[0001] R.415723

[0002] - 1 -

[0003] Description

[0004] title

[0005] Procedures for operating a

[0006] The invention relates to a method for operating a pedal-driven vehicle, a pedal-driven vehicle, a computer program product, a computer-readable data carrier and a data carrier signal.

[0007] State of the art

[0008] Pedal-driven vehicles, especially (electric) bicycles ("e-bikes"), are known to have a control unit and / or gear system. The gear system can be designed to switch between different gears.

[0009] The current state of the art has its drawbacks. For example, gear changes may occur too frequently, such as in city traffic or on a trail (e.g., in the mountains). Due to the alternating acceleration and / or deceleration, these frequent gear changes (high shifting frequency) can negatively impact the riding experience. Consequently, comfort and / or the rider's confidence in the vehicle can be reduced. This can also reduce safety, especially if the rider (unexpectedly) attempts to apply torque via the pedals during a gear change. This can cause, for example, a chain to jump off its guide and / or break. This can lead to costs, maintenance, and / or wear. Furthermore, it can be disadvantageous if (automated) gear changes are not possible, particularly when the pedal-driven vehicle is traveling at a substantially constant speed and / or (approximately) in a sinusoidal pattern.

[0010] - 2 - is operated according to rider torque. In such a (steady-state) condition, setting a target cadence (desired by the rider), e.g. via a suitable gear selection, would be desirable.

[0011] Disclosure of the invention

[0012] According to the invention, a method with the features of the independent method claim, a pedal-driven vehicle with the features of the independent claim relating to a pedal-driven vehicle, a computer program product with the features of the independent claim relating to a computer program product, a computer-readable data carrier with the features of the independent claim relating to a computer-readable data carrier, and a data carrier signal with the features of the independent claim relating to a data carrier signal are provided. 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 data carrier according to the invention and / or in connection with the data carrier signal according to the invention, and vice versa, so that the disclosure regarding the individual aspects of the invention always refers to each other. In particular, advantages described within the first, second, third, fourth and / or fifth aspect also apply to the first, second, third, fourth and / or fifth aspect.

[0013] According to a first aspect, a method for operating a pedal-driven vehicle, in particular a bicycle or electric bicycle, comprising at least one control unit and a (at least partially automatic and / or automated) gearshift, is provided, comprising the method:

[0014] - Detection of driver torque applied by a driver of a pedal-powered vehicle, R.415723

[0015] - 3 -

[0016] - Calculating, by a control unit, a torque parameter as a function of the driver's torque,

[0017] - Determining, by the control unit, a constant pedaling motion depending on the torque parameter and

[0018] - Operation, by the control unit, of the gear shift depending on the determination of the constant pedaling motion, wherein the control unit adjusts at least one parameter of a gear shift.

[0019] The method can be (at least partially) computer-implemented. Operation can include, in particular, control and / or regulation, preferably using a control unit (see below). The described actions or features of the method can be performed in the sequence shown and, in particular, repeatedly. Preferably, the method can be performed during the operation and / or use of a pedal-driven vehicle and / or a corresponding control unit. Preferably, the method can be used to operate a pedal-driven vehicle according to the second aspect, in particular to control and / or regulate it. A control unit specifically designed for this purpose can be used for operation, in particular for (starting) control and / or regulation. The control unit can perform the corresponding actions or...Perform actions and / or control (e.g., via control signals) to preferably execute the desired actions. For example, actuators that are connected to the control unit via a data link can be controlled by the control unit (during operation). This allows, for example, automatic gear changes in the transmission.

[0020] The detection of driver torque applied by the driver of the pedal-driven vehicle can be achieved, for example, via a sensor, preferably a torque sensor. The sensor can be arranged on a crank and / or a drive shaft of the (pedal-driven) vehicle. The vehicle can have a control unit that implements the method (at least partially). The control unit can be connected to the sensor via a data link, preferably allowing measurement signals from R.415723 to be transmitted.

[0021] - 4 -

[0022] Sensors can transmit data to the control unit. Rider torque can be a torque generated by the rider while pedaling. This rider torque can have a signal, or torque signal, which can be provided by the sensor, for example. Rider torque, especially when there is a constant pedaling motion (over several cycles and / or pedal revolutions), can essentially have a periodic, particularly sinusoidal, curve. This can involve alternating and / or consecutive minima and maxima. For example, a minimum can occur at the top and / or bottom dead center of a pedal. Conversely, a maximum can occur at a (front and / or rear) horizontal pedal position (approximately rotated 90° from the dead centers), especially since this is where maximum force transmission from the rider to the pedals can occur.

[0023] The calculation of a torque parameter by a control unit as a function of the driver's torque can involve determining a quantity derived from the driver's torque (see below). In the simplest case, the torque parameter can essentially correspond to the driver's torque, with (for example) only smoothing performed, e.g., by (moving) averaging. Alternatively or additionally, a time derivative of the driver's torque can be performed to obtain the torque parameter (see below).

[0024] Determining a constant pedaling motion by the control unit can be done depending on the torque parameter and / or the rider's torque. A constant pedaling motion can be detected if the rider pedals essentially uniformly and / or constantly, e.g., for more than 10 (crank and / or pedal revolutions). A constant pedaling motion can also be detected if the rider's torque and / or the torque parameter, e.g., for more than 10 (crank and / or pedal revolutions), is (essentially) sinusoidal (depending on time). The method may be designed to detect such a pattern. R.415723

[0025] - 5 -

[0026] The operation of the pedal-driven vehicle by the control unit, based on the detection of a constant pedaling motion, whereby the control unit adjusts at least one parameter of a gearshift, can in the simplest case involve a gear change. Alternatively or additionally, it can be provided that a shifting frequency and / or shifting rate, in particular a shifting hysteresis, is adjusted. This advantageously allows the rider to benefit from greater comfort, e.g., through automated gear changes, preferably by adjusting their pedaling cadence to a desired and / or comfortable cadence.

[0027] Within the scope of the invention, it can be advantageous that the calculation is carried out depending on a threshold value for the torque parameter, in particular the driver torque.

[0028] It may be stipulated that the threshold value is, for example, (fixed) at

[0029] The threshold is set to 10 or 20 Nm. Alternatively or additionally, the threshold can be determined based on a maximum (measured) driver torque, for example, between 5 and 60%, in particular between 10 and 40%, preferably between 15 and 25% of the maximum driver torque. Alternatively or additionally, the threshold can be determined based on an average driver torque specific to the current journey, e.g., 20% of the current average value.

[0030] The calculation may be performed depending on a threshold value for the torque parameter and / or a (separate) threshold value for the rider's torque. For example, it may be necessary for both threshold values ​​to be (repeatedly) exceeded and / or fallen below in order to determine a constant pedaling motion.

[0031] This can provide increased robustness and / or reliability.

[0032] Within the scope of the invention, it is conceivable that in determining

[0033] - A constant pedaling motion is detected when the torque parameter, in particular (and / or) the rider torque, is set for an R.415723

[0034] - 6 - first period reaches or exceeds the threshold (repeatedly), in particular (repeatedly and / or alternately) exceeds (or reaches) and falls below (or reaches) it, and / or

[0035] - A finding that there is no constant pedaling motion occurs when the torque parameter, in particular (and / or) the rider torque, does not exceed or reach the threshold (repeatedly) for a second period of time, in particular continuously falls below or reaches it.

[0036] The first and / or second time period can be preset. The first time period can be between 0.1 s and 100 s, for example, between 0.5 s and 50 s, in particular between 1 s and 35 s, preferably between 2 s and 20 s, most preferably between 5 s and 15 s, ideally between 8 s and 12 s. Alternatively or additionally, the first time period can be determined and / or specified based on crank revolutions and / or pedal revolutions. In this case, the first time period can be between 1 and 100, for example, between 2 and 50, in particular between 3 and 35, more preferably between 5 and 20, most preferably between 7 and 15, ideally between 9 and 11 (crank) revolutions. This allows for a good compromise between quickly detecting a constant pedaling motion and high robustness in the detection. This can prevent unnecessarily frequent and / or comfort-reducing gear changes.The second period can be between 0.1 s and 100 s, for example, between 0.3 s and 50 s, in particular between 1 s and 25 s, preferably between 2 s and 20 s, most preferably between 3 s and 10 s, ideally between 4 s and 6 s. The second period can also be between 1 and 100, for example, between 2 and 50, in particular between 3 and 30, more preferably between 3 and 10, most preferably between 4 and 8, ideally between 4 and 6 (crank) revolutions. This allows for a good compromise between quickly detecting a constant pedaling motion and high robustness in the detection. This prevents unnecessarily frequent and / or comfort-reducing shifting behavior. Alternatively or additionally, it may be possible to define the first and / or second time period depending on a (current) cadence (e.g. 1 revolution per second as a threshold) and / or speed (e.g.(to choose 20 km / h as the threshold). It may be intended that R.415723.

[0037] - 7 -

[0038] A determination is only carried out above a certain cadence and / or speed. This can increase comfort, especially at low cadences and / or speeds. For example, to determine whether or not a constant pedaling motion is present, it may be necessary (additionally) for the cadence, particularly the current cadence and / or the average over the first / second period, to exceed or fall below a minimum cadence value. Alternatively or additionally, to determine whether or not a constant pedaling motion is present, it may be necessary (additionally) for the speed, particularly the current speed and / or the average over the first / second period, to exceed or fall below a minimum speed value.

[0039] Within the scope of the invention, it may be provided that the calculation includes filtering the driver torque in order to provide, in particular, a filtered torque as a torque parameter.

[0040] The filtering can be performed by the control unit. The determination can be carried out depending on the filtered torque.

[0041] It may be possible to perform the determination based on the driver torque (as described above) and the filtered torque. This can increase robustness and / or reduce the likelihood of (comfort-reducing) false readings.

[0042] It is also conceivable that the filtering includes a low-pass filter of the driver's torque.

[0043] For example, a (desired) cadence or comfortable cadence for the rider might be around 60 revolutions per minute or 1 Hz. The filter can be configured to filter out frequencies above 100 Hz, particularly above 20 Hz, for example, above 10 Hz, preferably above 5 Hz, and most preferably above 3 Hz. This can be advantageous for filtering out (superimposed) frequencies caused, for example, by a (technical) defect, a busy surface, and / or uneven pedaling. This can increase comfort and / or robustness. R.415723

[0044] - 8 -

[0045] It is also conceivable that the filtering (additionally or alternatively) includes averaging the driver torque, particularly over time.

[0046] Accordingly, averaging can involve calculating an average value, particularly over an averaging period. This averaging period can be between 1 ms and 10 s, preferably between 10 ms and 2 s, and most preferably between 100 ms and 1 s, ideally between 200 ms and 500 ms. This can be advantageous for filtering out (superimposed) frequencies caused, for example, by a (technical) defect, a traffic-carried surface, and / or uneven pedaling. This can increase comfort and / or robustness. For example, a moving-average filter can be used.

[0047] It may be possible to perform the averaging additionally and / or depending on a (previously) low-pass filtered driver torque. This can (further) reduce interference.

[0048] Within the scope of the invention, it is optionally possible that during the determination

[0049] - A constant pedaling motion is detected if the filtered torque does not fall below or reach a lower filter threshold (repeatedly) and / or does not exceed or reach an upper filter threshold (repeatedly) for a third period, and / or

[0050] - A finding that there is no constant pedaling motion occurs when the filtered torque does not exceed (or reach) the lower filter threshold (repeatedly) and / or does not fall below (or reach) the upper filter threshold (repeatedly) for a fourth period.

[0051] Accordingly, the determination can be carried out depending on a low-pass filtered and / or averaged filtered torque.

[0052] The lower and / or upper filter threshold can be preset, for example. The upper filter threshold can be set to 25 Nm. (See R.415723.)

[0053] - 9 - For example, the lower filter threshold can be 15 Nm. It may be provided that the lower and / or upper filter threshold is set specifically for a driver and / or determined during a journey (e.g., depending on a maximum driver torque) (e.g., 20% and 40% of the maximum driver torque). Alternatively or additionally, it may be provided that a difference between the lower and upper filter thresholds is adjustable, e.g., this difference could be 5 Nm.

[0054] The third and / or fourth time period can be preset. The third time period can be between 0.1 s and 100 s, for example between 0.5 s and 50 s, in particular between 1 s and 35 s, preferably between

[0055] The third period can range from 2 to 20 seconds, particularly preferably from 5 to 15 seconds, ideally from 8 to 12 seconds. Alternatively or additionally, the third period can be determined and / or specified depending on crank revolutions and / or pedal revolutions. This third period can range from 1 to 100, for example, from 2 to 50, particularly from 3 to 35, preferably from 5 to 20, particularly preferably from 7 to 15, ideally from 9 to 11 (crank) revolutions. This allows for a good compromise between quickly detecting a constant pedaling motion and high robustness in the detection. This prevents unnecessarily frequent and / or comfort-reducing shifting. The fourth period can be between 0.1 s and 100 s, for example between 0.3 s and 50 s, in particular between 1 s and 25 s, preferably between 2 s and 20 s, most preferably between

[0056] The fourth period can be between 3 and 10 seconds, ideally between 4 and 6 seconds. The fourth period can be between 1 and 100, for example, between 2 and 50, particularly between 3 and 30, preferably between 3 and 10, most preferably between 4 and 8, ideally between 4 and 6 (crank) revolutions. This allows for a good compromise between quickly detecting a constant pedaling motion and high robustness in detection. This prevents unnecessarily frequent and / or comfort-reducing shifting. Alternatively or additionally, it can be provided that the third and / or fourth period is selected depending on a (current) cadence (e.g., 1 revolution per second as a threshold) and / or speed (e.g., 20 km / h as a threshold). Thus, it can be provided that R.415723

[0057] - 10 -

[0058] A determination is only carried out above a certain cadence and / or speed. This can increase comfort, especially at low cadences and / or speeds. For example, to determine whether or not a constant pedaling motion is present, it may be necessary (additionally) for the cadence, particularly the current cadence and / or the average over the third / fourth period, to exceed or fall below a minimum cadence value. Alternatively or additionally, to determine whether or not a constant pedaling motion is present, it may be necessary (additionally) for the riding speed, particularly the current cadence and / or the average over the third / fourth period, to exceed or fall below a minimum riding speed value.

[0059] Furthermore, within the scope of the invention, it may be provided that the filtering includes a, in particular temporal, (mathematical) derivation based on the driver torque, in particular and / or the (low-pass filtered and / or averaged) filtered torque, in order to provide in particular a torque gradient as a torque parameter.

[0060] Deriving the torque can improve robustness and / or detection. In particular, regular and / or irregular driver torque can be detected more easily and / or reliably using this method.

[0061] Accordingly, the low-pass filtered and / or averaged driver torque can be further processed by derivation. This can reduce and / or prevent discontinuities. It may also be possible to perform a (temporal) smoothing of the derivation and / or the torque gradient. This can further increase robustness.

[0062] With regard to the present invention, it is conceivable that in determining

[0063] - A constant pedaling motion is detected if the torque gradient does not fall below or reach a lower gradient threshold (repeatedly) for a fifth period, and / or does not exceed or reach an upper gradient threshold (repeatedly), and / or R.415723

[0064] - 11 -

[0065] - A finding that there is no constant pedaling motion occurs if the torque gradient does not (repeatedly) exceed (or reach) the lower gradient threshold and / or does not (repeatedly) fall below (or reach) the upper gradient threshold for a sixth period.

[0066] The lower and / or upper gradient threshold can be preset. For example, the upper gradient threshold could be 25 Nm. For example, the lower gradient threshold could be 15 Nm. It can also be provided that the lower and / or upper filter threshold is set specifically for a driver and / or determined during a journey (e.g., depending on a maximum driver torque) (e.g., 20% and 40% of the maximum driver torque). Alternatively or additionally, it can be provided that a difference between the lower and upper gradient thresholds is adjustable, e.g., 5 Nm.

[0067] The fifth and / or sixth time period can be preset. The fifth time period can be set between 0.1 s and 100 s, for example between 0.5 s and 50 s, particularly between 1 s and 35 s, preferably between

[0068] The fifth period may be between 2 s and 20 s, particularly preferably between 5 s and 15 s, ideally between 8 s and 12 s. Alternatively or additionally, the fifth period may be determined and / or specified as a function of crank revolutions and / or pedal revolutions. The fifth period may be between 1 and 100, for example between 2 and 50, particularly between

[0069] 3 to 35, preferably between 5 to 20, particularly preferably between 7 to 15, ideally between 9 to 11 (crank) revolutions. This allows for a good compromise between quickly detecting a constant pedaling motion and high robustness in detection. This prevents unnecessarily frequent and / or comfort-reducing shifting behavior. The sixth period can be between 0.1 s and 100 s, for example between 0.3 s and 50 s, particularly between 1 s and 25 s, preferably between 2 s and 20 s, particularly preferably between 3 s and 10 s, ideally between 4 s and 6 s. The sixth period can be between- R.415723

[0070] - 12 - see 1 to 100, for example between 2 to 50, in particular between 3 to 30, preferably between 3 to 10, most preferably between 4 to 8, ideally between 4 to 6 (crank) revolutions. This can result in a good compromise between quickly detecting a constant pedaling motion and high robustness in the detection. This can prevent unnecessarily frequent and / or comfort-reducing shifting behavior. Alternatively or additionally, it can be provided that the fifth and / or sixth period is selected depending on a (current) cadence (e.g. 1 revolution per second as the threshold) and / or speed (e.g. 20 km / h as the threshold). Thus, it can be provided that detection is (only) carried out from a certain cadence and / or speed. This can increase comfort, especially at low cadences and / or speeds.For example, to determine whether or not a constant pedaling motion is present, it may be stipulated that (additionally) the cadence, in particular the current cadence and / or the average over the fifth / sixth period, exceeds or falls below a minimum cadence value. Alternatively or additionally, to determine whether or not a constant pedaling motion is present, it may be stipulated that (additionally) the speed, in particular the current speed and / or the average over the fifth / sixth period, exceeds or falls below a minimum speed value.

[0071] It may be possible to combine the detection based on the first and / or second time interval (see above) with the detection based on the third and / or fourth time interval (see above). This can increase robustness and / or prevent false detections.

[0072] It may be possible to combine the detection based on the third and / or fourth time interval (see above) with the detection based on the fifth and / or sixth time interval (see above). This can increase robustness and / or prevent false detections.

[0073] It may be provided that the determination depending on the first and / or second time period (see above) is combined with the determination depending on the third and / or fourth time period (see above), and with the determination depending on the fifth and / or sixth time period R.415723

[0074] - 13 -

[0075] (see above). This can increase robustness and / or prevent false positives.

[0076] The control unit may be configured to register the number of (crank) revolutions via a counter. This allows for a detection, particularly depending on whether the above limit / threshold values ​​are reached, exceeded, or fallen below, for example, when the counter reaches a value of 10.

[0077] Furthermore, it is conceivable that when operating the parameters, at least one switching threshold is exhibited that is specific to the gear shifting.

[0078] The gearshift mechanism can have at least one shift threshold, preferably for each adjacent pair of gears. This allows the timing and / or rider torque at which a gear change can occur to be preset and / or determined. It can be provided that, depending on the detection of a constant pedaling motion, at least one shift threshold is changed and / or adjusted. For example, a shift threshold for shifting to higher and / or lower gears can be changed. This can lead to earlier and / or later (automated) shifting.

[0079] Within the scope of the invention, it can be advantageous that the operation includes an adjustment of a switching frequency, in particular comprising:

[0080] - a reduction in shift frequency when no constant pedaling motion is detected, and / or

[0081] - an increase in the shifting frequency when a constant pedaling motion is detected, preferably by adjusting to a target cadence of the rider.

[0082] A target cadence can be (pre-)defined and / or stored, for example in the control unit. Alternatively or additionally, it can be provided that the target cadence is entered by the rider and / or that this is determined during a test phase, particularly depending on at least R.415723.

[0083] - 14 - is determined by a (or each) passage and / or a slope of the ground.

[0084] Reducing the frequency of gear changes can prevent and / or block (automatic) gear shifts. This can reduce wear and / or costs. This can be advantageous when the pedal-powered vehicle is in city traffic, in stop-and-go conditions, and / or on a trail / off-road. This can increase comfort.

[0085] Increasing the shifting frequency can lead to faster and / or more frequent gear changes and / or a faster adjustment of the (current) cadence to at least one target cadence. This can increase comfort.

[0086] Alternatively or additionally, it may be provided that when a constant pedaling motion is detected (directly and / or immediately), shifting and / or gear changes are performed, preferably to adjust a (current) cadence to a target cadence.

[0087] According to a second aspect, a pedal-driven vehicle according to the invention is provided, comprising at least one control unit and / or a gearshift, wherein the pedal-driven vehicle is designed to be operated according to a method according to the first aspect.

[0088] The pedal-driven vehicle and / or the transmission can be operated by a control unit (of the pedal-driven vehicle). This control unit may include a computer and / or data processing means. The control unit can be connected to the transmission via data communication and, in particular, operate (control and / or regulate) it by means of control signals. The control unit may also include an input device through which data can be entered. For example, the driver can enter and / or set the threshold, lower and / or upper filter threshold, and / or lower and / or upper gradient threshold. R.415723

[0089] - 15 -

[0090] This results in the same advantages with regard to a pedal-driven vehicle according to the second aspect as have already been described with regard to a method according to the first aspect.

[0091] According to a third aspect, a computer program product according to the invention is provided, comprising commands that cause a pedal-driven vehicle according to the second aspect to execute a method according to the first aspect.

[0092] This results in the same advantages with regard to a computer program product according to the third aspect as have already been described with regard to a method according to the first aspect and / or a pedal-driven vehicle according to the second aspect.

[0093] According to a fourth aspect, a computer-readable data carrier according to the invention is provided, on which a computer program product according to the third aspect is stored.

[0094] This results in the same advantages with regard to a computer-readable data carrier according to the fourth aspect as have already been described with regard to a method according to the first aspect and / or a pedal-driven vehicle according to the second aspect and / or a computer program product according to the third aspect.

[0095] According to a fifth aspect, a data carrier signal according to the invention is provided, which transmits a computer program product according to the fourth aspect.

[0096] This results in the same advantages with regard to a data carrier signal according to the fifth aspect as already exist with regard to an R.415723

[0097] - 16 - a method according to the first aspect and / or a pedal-driven vehicle according to the second aspect and / or a computer program product according to the third aspect and / or a computer-readable data carrier according to the fourth aspect have been described.

[0098] Further advantages, features, and details of the invention will become apparent from the following description, in which several embodiments of the invention are described in detail with reference to the drawings. The features mentioned in the claims and in the description can be essential to the invention individually or in any combination. The following are shown schematically as examples:

[0099] Figure 1 shows a process and

[0100] Figure 2 shows a pedal-powered vehicle.

[0101] The figures use identical reference numerals for the same technical features, even for different embodiments.

[0102] Fig. 1 shows by way of example a method 100 for operating 140 a pedal-driven vehicle 200, in particular an electric bicycle, comprising at least one control unit ECU and a gearshift 201, comprising the method 100:

[0103] - Detect 110 of a driver torque M_driver applied by a driver of the pedal-driven vehicle 200,

[0104] - Calculate 120, by a control unit ECU, a torque parameter M_Par as a function of the driver torque M_Fahrer,

[0105] - Determine 130, by the control unit ECU, a constant pedaling motion depending on the torque parameter M_Par and

[0106] - Operation 140, by the control unit ECU, of the pedal-driven vehicle 200 depending on the determination 130 of the constant pedaling motion, wherein the control unit ECU adjusts at least one parameter of a gear shift 201. R.415723

[0107] - 17 -

[0108] Within the scope of the invention, it can be advantageous that the calculation 120 is carried out depending on a threshold value SW for the torque parameter M_Par, in particular the driver torque M_Driver.

[0109] Within the scope of the invention, it is conceivable that in determining 130

[0110] - a detection 131 of a constant pedaling motion occurs when the torque parameter M_Par, in particular the rider torque M_rider, reaches or exceeds the threshold SW for a first period Delta_t1 _start, in particular repeatedly and / or alternately exceeds and falls below it,

[0111] - a finding 132 that there is no constant pedaling motion occurs when the torque parameter M_Par, in particular the rider torque M_rider, does not exceed or reach the threshold SW for a second period Delta_t2_end, in particular continuously falls below or reaches it.

[0112] Within the scope of the invention, it may be provided that the calculation 120 includes a filtering 121 of the driver torque M_driver in order to provide, in particular, a filtered torque M_Filter as a torque parameter M_Par.

[0113] It is also conceivable that filtering 121 includes a low-pass filter 121.1 of the driver torque M_driver.

[0114] It is also conceivable that filtering 121 includes averaging 121.2 of the driver torque M_driver, particularly over time.

[0115] Within the scope of the invention, it is optionally possible that when determining 130

[0116] - A detection of a constant pedaling motion occurs when the filtered torque M_Filter does not fall below or reach a lower filter threshold M_Filter_u for a third period Delta_t3_start, and does not exceed or reach an upper filter threshold M_Filter_o, and

[0117] - a finding 134 that there is no constant pedaling motion occurs when the filtered torque M_Filter, for a fourth period R.415723

[0118] - 18 -

[0119] Delta_t4_end does not exceed the lower filter threshold M_Filter_u and / or does not fall below the upper filter threshold M_Filter_o.

[0120] Furthermore, within the scope of the invention, it may be provided that the filtering 121 comprises a derivation 122, in particular a temporal one, based on the driver torque M_Driver, in particular the filtered torque M_Filter, in order to provide in particular a torque gradient Grad_M as a torque parameter M_Par.

[0121] With regard to the present invention, it is conceivable that in determining 130

[0122] - a detection of a constant pedaling motion occurs when the torque gradient Grad_M for a fifth period Delta_t5_start does not fall below or reach a lower gradient threshold Grad_M_u, and does not exceed or reach an upper gradient threshold Grad_M_o, and

[0123] - a finding 136 that there is no constant pedaling motion occurs when the torque gradient Grad_M, for a sixth period Delta_t6_end, does not exceed the lower gradient threshold Grad_M_u and / or does not fall below the upper gradient threshold Grad_M_o.

[0124] Furthermore, it is conceivable that when operating 140 of the parameters, at least one switching threshold exists that is specific to gear shifting 201.

[0125] Within the scope of the invention, it can be advantageous that the operation 140 includes an adjustment 141 of a switching frequency, in particular comprising:

[0126] - a reduction in the shifting frequency if no constant pedaling motion is detected, and / or

[0127] - an increase in the shift frequency when a constant pedaling motion is detected, preferably by adjusting to a target cadence of the rider. R.415723

[0128] - 19 -

[0129] Fig. 2 shows an example of a pedal-driven vehicle 200, comprising at least one control unit ECU and a gearshift 201, wherein the pedal-driven vehicle 200 is configured to be operated according to a method 100 (see Fig. 1 and / or the first aspect). The control unit ECU can be connected to the gearshift 201 via a data link (shown with dashed lines). This allows the control unit ECU to control and / or regulate the pedal-driven vehicle 200 and / or the gearshift 201 during operation 140.

[0130] Fig. 3 shows an example of a rider torque M_rider over time t. The curve is sinusoidal, at least by way of example, over approximately three periods. A threshold value SW can be provided. A determination 131 of a constant pedaling motion can be carried out, in particular over a first period Delta_t1_start. It can also be determined 132 that there is no constant pedaling motion, in particular over a second period Delta_t2_end.

[0131] Fig. 4 shows an example of a (dashed) rider torque M_Rider over time t. In particular, a filtered torque M_Filter is shown. A lower filter threshold M_Filter_u and / or an upper filter threshold M_Filter_o can be provided. A constant pedaling motion can be detected, in particular over a third period Delta_t3_start. It can also be determined that there is no constant pedaling motion, in particular over a fourth period Delta_t4_end.

[0132] Fig. 5 shows an example of a (dashed) filtered torque M_Filter over time t. In particular, a torque gradient Grad_M is shown. A lower gradient threshold Grad_M_u and / or an upper gradient threshold Grad_M_o can be provided. A determination 135 of a constant pedaling motion can be carried out, in particular over a fifth period Delta_t5_start. It can also be determined 136 that there is no constant pedaling motion, in particular over a sixth period Delta_t6_end.

Claims

R.415723 - 20 - Claims 1. Method (100) for operating (140) a pedal-driven vehicle (200), in particular an electric bicycle, comprising at least one control unit (ECU) and a gearshift (201), comprising the method (100): - Detection (110) of a driver torque (M_ driver) applied by a driver of the pedal-driven vehicle (200), - Calculate (120), by a control unit (ECU), a torque parameter (M_Par) as a function of the driver torque (M_driver), - Determine (130), by the control unit (ECU), a constant pedaling motion as a function of the torque parameter (M_Par), and - Operation (140) of the gear shift (201) by the control unit (ECU) depending on the determination (130) of the constant pedaling motion, wherein the control unit (ECU) adjusts at least one parameter of a gear shift (201).

2. Method (100) according to claim 1 , characterized in that the calculation (120) is carried out depending on a threshold value (SW) for the torque parameter (M_Par), in particular the driver torque (M_ Driver).

3. Method (100) according to claim 2, characterized in that in the determination (130) - a detection (131) of a constant pedaling motion occurs when the torque parameter (M_Par), in particular the rider torque (M_ rider), for a first period (Delta_t1_start) R.415723 - 21 - Threshold (SW) is reached or exceeded, in particular repeatedly and / or alternately exceeded and fallen below, and - a finding (132) that there is no constant pedaling motion occurs when the torque parameter (M_Par), in particular the rider torque (M_ rider), does not exceed or reach the threshold (SW) for a second period (Delta_t2_end), in particular continuously falls below or reaches it.

4. Method (100) according to one of the preceding claims, characterized in that the calculation (120) comprises filtering (121) the driver torque (M_driver) in order to provide, in particular, a filtered torque (M_filter) as a torque parameter (M_Par).

5. Method (100) according to claim 4, characterized in that the filtering (121) comprises a low-pass filtering (121.1) of the driver torque (M_driver).

6. Method (100) according to one of the preceding claims 4 or 5, characterized in that the filtering (121) comprises, in particular, averaging (121.2) of the driver torque (M_driver) over time.

7. Method (100) according to any one of the preceding claims 4 to 6, characterized in that in the determination (130) - a detection (133) of a constant pedaling motion occurs when the filtered torque (M_Filter) for a third period (Delta_t3_start) does not fall below or reach a lower filter threshold (M_Filter_u), and does not exceed or reach an upper filter threshold (M_Filter_o), and - a determination (134) that there is no constant pedaling motion occurs when the filtered torque (M_Filter) does not exceed the lower filter threshold (M_Filter_u) for a fourth period (Delta_t4_end). R.415723 - 22 - exceeds and / or does not fall below the upper filter threshold (M_Filter_o).

8. Method (100) according to any one of the preceding claims 4 to 7, characterized in that the filtering (121) comprises a derivation (122), in particular a temporal one, based on the driver torque (M_ driver), in particular the filtered torque (M_ filter), in order to provide in particular a torque gradient (Grad_M) as a torque parameter (M_Par).

9. Method (100) according to claim 8, characterized in that in the determination (130) - a detection (135) of a constant pedaling motion occurs when the torque gradient (Grad_M) for a fifth period (Delta_t5_start) does not fall below or reach a lower gradient threshold (Grad_M_u), and does not exceed or reach an upper gradient threshold (Grad_M_o), and - a finding (136) that there is no constant pedaling motion occurs when the torque gradient (Grad_M) does not exceed the lower gradient threshold (Grad_M_u) and / or does not fall below the upper gradient threshold (Grad_M_o) for a sixth period (Delta_t6_end).

10. Method (100) according to one of the preceding claims, characterized in that during operation (140) the parameter has at least one switching threshold which is specific for the gear shift (201).

11. Method (100) according to claim 10, characterized in that the operation (140) comprises an adjustment (141) of a switching frequency, in particular comprising: R.415723 - 23 - - a reduction (142) of the shifting frequency when no constant pedaling motion is detected, and / or - an increase (143) of the shifting frequency when a constant pedaling motion is detected, preferably by adjusting to a target cadence of the rider.

12. Pedal-driven vehicle (200) comprising at least one control unit (ECU) and a gearshift (201), wherein the pedal-driven vehicle (200) is configured to be operated according to a method (100) according to any one of the preceding claims 1 to 11.

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

14. Computer-readable data carrier on which a computer program product according to the preceding claim 13 is stored.

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

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