A method for ascertaining a state of operating dynamics of a bicycle. The method includes: providing signals regarding an acceleration in at least one spatial direction and regarding a rate of rotation about at least one spatial direction, with the aid of an inertial measuring device; providing speed signals of an incremental encoder; and ascertaining the state of operating dynamics on the basis of an estimation method, in light of the provided signals; the current riding state being ascertained, and in the case of a dead stop of the bicycle as a current, ascertained riding state, substitute speed signals being provided in place of the speed signals of the incremental encoder, in order to estimate the state of operating dynamics for the estimation method.

A system and method of stabilizing a vehicle are disclosed. In accordance with one aspect, a self-stabilizing vehicle having an articulated frame may generally comprise: a base frame portion coupled to one or more wheels; an operator frame portion to support an operator of the vehicle; a hinge assembly operably coupling the base frame portion and the operator frame portion; and a control unit to drive the hinge assembly causing the operator frame portion to rotate (relative to the base frame portion) about one or more hinge axes as a function of inertial data and speed data, and optionally steering control input signals. In some two-wheeled applications, both wheels are steerable; additionally, both wheels may be driven. Alternative vehicles are disclosed having one wheel and three wheels.

A human-powered vehicle control device for a human-powered vehicle includes an electronic controller configured to control a motor, which applies a propulsion force to a human-powered vehicle, in correspondence with a human driving force input to the human-powered vehicle. The electronic controller is configured to control the motor so as to increase an assist force produced by the motor for when an output of the motor is maximal upon determining a parameter related to at least one of a vehicle speed of the human-powered vehicle, an inclination angle of the human-powered vehicle, and a travel resistance of the human-powered vehicle has increased.

A system for a motorized vehicle having a frame and a wheel rotatably coupled to the frame has a first fender housing mounted to the frame, a second fender housing coupled to the first fender housing so that a volume is defined therebetween and an electronic component disposed in the volume.

A motorcycle (10) comprising a first frame member (110) having a first opening (128) and a plurality of wires. A joint member (140) is coupled to the first frame member and at least a second frame member (122, 62). The joint member has a second opening (142) therethrough. The plurality of wires extend into the first opening through the first frame member and through the second opening of the joint member.

Provided is a shifting device for shifting of a bicycle gear, such as a hub gear, of a bicycle. The shifting device includes a main control unit and preferably a motor control unit. The device includes a shifting control unit for receiving shifting instructions from the main control unit or the motor control unit. The shifting control unit includes a processing unit and a memory, power receiving means, such as including an electrical connector, for receiving power from a battery of the main control unit and/or a drive motor battery of the bicycle, a shifting motor, such as an electric motor, such as a stepper motor for providing a shifting motion for driving a shifting assembly for actuating a gear actuator, the shifting assembly for transferring the shifting motion from the shifting motor to the gear actuator, and the gear actuator for transferring the shifting motion to the bicycle gear. The shifting control unit, by means of communication with and controlling by the main control unit of the bicycle, is configured as a subsystem of the bicycle. The shifting control unit shifts the bicycle gear at each time on the basis of shifting instructions from the main control unit or the motor control unit.

A method for ascertaining movement variables of a two-wheeled vehicle. The two-wheeled vehicle includes a sensor system including rotational rate, acceleration, and wheel rotational speed sensors. The wheel rotational speed sensor detects at least one measurement pulse per rotation of a wheel of the two-wheeled vehicle. The method includes: acquisition of three-dimensional rotational rates of the two-wheeled vehicle by the rotational rate sensor, acquisition of acceleration values by the acceleration sensor, estimation of a state of movement of the two-wheeled vehicle based on the acquired rotational rates, the state of movement including estimated values for estimated acceleration values and for an estimated speed and for an estimated distance traveled, first correction of the estimated state of movement based on the acquired acceleration values, and ascertaining of an instantaneous speed of the two-wheeled vehicle and/or of a distance traveled by the two-wheeled vehicle, based on the corrected estimated state of movement.

A method for ascertaining movement variables of a two-wheeled vehicle. The two-wheeled vehicle includes a sensor system including rotational rate, acceleration, and wheel rotational speed sensors. The wheel rotational speed sensor detects at least one measurement pulse per rotation of a wheel of the two-wheeled vehicle. The method includes: acquisition of three-dimensional rotational rates of the two-wheeled vehicle by the rotational rate sensor, acquisition of acceleration values by the acceleration sensor, estimation of a state of movement of the two-wheeled vehicle based on the acquired rotational rates, the state of movement including estimated values for estimated acceleration values and for an estimated speed and for an estimated distance traveled, first correction of the estimated state of movement based on the acquired acceleration values, and ascertaining of an instantaneous speed of the two-wheeled vehicle and/or of a distance traveled by the two-wheeled vehicle, based on the corrected estimated state of movement.

A control device is provided for a human-powered vehicle that includes a generator configured to output electrical power, an electric power storage device electrically connected to the generator, and a component having an actuator actuated by electrical power from at least one of the generator and the electric power storage device. The control device includes a controller electrically connected to at least one of the generator and the electric power storage device. The controller is configured to control an operation state of the component in accordance with information relating to at least one of an output state of the generator and a store state of the electric power storage device.

An electric module for a bicycle according to an example embodiment of the present disclosure is equipped on the bicycle including a pedal configured to generate rotational energy and a driving wheel configured to rotate by receiving power, and the electric module includes a pedal rotation speed detector configured to measure a rotation speed of the pedal, a motor configured to rotate the driving wheel, a driving wheel rotation speed detector configured to measure a rotation speed of the driving wheel, a control device configured to determine whether a tire is abnormal based on the rotation speed of the pedal, a torque of the motor, and the rotation speed of the driving wheel, and a user interface device configured to display condition information of the tire provided by the control device.