Abstract
A method for controlling an electric motor as a drive motor of a bicycle. The method includes: a sensor-based detection of pushing of the bicycle by the user; acquiring an input of a user for activating the push-assistance operating mode, the acquisition taking place as a function of the detected pushing of the bicycle; and generating a motor torque for driving the bicycle in the push-assistance operating mode as a function of the detected pushing and the acquired input of the user.
Claims
1-14. (canceled)
15. A method for controlling an electric motor as a drive motor of a bicycle, the method comprising the following method steps: sensor-based detecting of pushing of the bicycle; acquiring an input of a user for activating a push-assistance operating mode; and generating a motor torque for driving the bicycle in the push-assistance operating mode as a function of the detected pushing and the acquired input of the user.
16. The method as recited in claim 15, wherein the following step is carried out prior to generating the motor torque: displaying information for enabling the acquisition of the input as a function of the detected pushing for activating the push-assistance operating mode.
17. The method as recited in claim 15, wherein the following step is carried out prior to generating the motor torque: displaying information for enabling the sensor-based detection of pushing as a function of the acquired input of the user for activating the push-assistance operating mode.
18. The method as recited in claim 15, wherein the following steps are carried out prior to acquiring the input of the user: acquiring a speed of the bicycle; and detecting the pushing as a function of the acquired speed.
19. The method as recited in claim 15, wherein the following steps are carried out prior to acquiring the input of the user: acquiring an acceleration of the bicycle in a direction of a longitudinal axis of the bicycle and/or in a direction of a transverse axis of the bicycle; and detecting the pushing as a function of the acquired acceleration of the bicycle.
20. The method as recited in claim 19, further comprising: ascertaining a statistical variable as a function of the acquired acceleration in the direction of the longitudinal axis of the bicycle and/or in the direction of the transverse axis of the bicycle; and detecting the pushing additionally as a function of the ascertained statistical variable and a threshold value, the pushing being detected when the ascertained statistical variable exceeds the threshold value.
21. The method as recited in claim 20, wherein the statistical variable is a standard deviation.
22. The method as recited in claim 19, further comprising: detecting a change in direction of the acquired acceleration in the direction of the transverse axis within a predefined time span, and detecting the pushing additionally as a function of the detected change in direction of the acquired acceleration in the direction of the transverse axis.
23. The method as recited in claim 15, further comprising: acquiring a rotation of a rotor of the electric motor; and detecting the pushing as a function of the acquired rotor rotation.
24. The method as recited in claim 15, further comprising: acquiring a camera image of at least a portion of an environment of the bicycle; and detecting the pushing as a function of the acquired camera image.
25. The method as recited in claim 15, further comprising: acquiring a force of the user in a direction of a longitudinal axis of the bicycle on a handlebar of the bicycle; and detecting the pushing as a function of the acquired force of the user.
26. The method as recited in claim 15, further comprising: acquiring a pedaling variable of the user, in particular a cadence and/or a driver torque; and detecting the pushing as a function of the acquired pedaling variable of the user, and in the case of an acquired pedaling variable, no pushing is detected.
27. The method as recited in claim 15, wherein the display of the information takes place by adapting an illumination of a key for the input of the user for activating the push-assistance operating mode.
28. A control device configured to control an electric motor as a drive motor of a bicycle, the control device configured to: sensor-based detect pushing of the bicycle; acquire an input of a user for activating a push-assistance operating mode; and generate a motor torque for driving the bicycle in the push-assistance operating mode as a function of the detected pushing and the acquired input of the user.
29. An electric bicycle, having a control device, the control device configured to control an electric motor as a drive motor of a bicycle, the control device configured to: sensor-based detect pushing of the bicycle; acquire an input of a user for activating a push-assistance operating mode; and generate a motor torque for driving the bicycle in the push-assistance operating mode as a function of the detected pushing and the acquired input of the user.
Description
DETAILED DESCRIPTION OF EXAMPLE EMBODIMENTS
[0024] FIG. 1 shows an electric bicycle as a bicycle, according of an example embodiment of the present invention.
[0025] FIG. 2 shows a flow diagram of the method as a circuit diagram, according to an example embodiment of the present invention.
DETAILED DESCRIPTION OF EXAMPLE EMBODIMENTS
[0026] FIG. 1 schematically shows an electric bicycle as a bicycle 100. Alternatively, bicycle 100 could be a motorcycle, the motorcycle being driven with the aid of an electric motor 111. The electric bicycle or bicycle 100 in FIG. 1 has a front wheel 101 and a rear wheel 102 as wheels. Bicycle 100 in FIG. 1 includes a drive unit 110 on a pedal axle 106 or crankshaft, which has an electric motor 111 as a drive motor. Drive unit 110 includes a control device 180, the control device 180 being configured so that it actuates electric motor 111 to generate a motor torque for driving bicycle 100 or electric bicycle. In other words, control device 180 is designed to actuate electric motor 111 to generate a motor torque for driving bicycle 100. With the aid of cranks 114, pedals 115 are connected to pedal axle 106 or the crankshaft for the generation of a driver torque by the driver. The driver torque is able to be acquired as a pedaling variable with the aid of an rpm sensor 105 in the region of pedal axle 106. As an alternative, the pedaling frequency or a cadence may be detected as the pedaling variable of the user, e.g., with the aid of an rpm sensor on pedal axle 106 and/or on pedals 115. Pedal axle 106 or the crankshaft and electric motor 111 are connected to an output pinion 117 with the aid of a gear unit. Output pinion 117, for example, is connected by a connection element 116 such as a chain or a belt to a hub of rear wheel 102 as a drive wheel for driving bicycle 100. It may be provided to position at least one rpm sensor 107 on or in electric motor 111 and/or on the gear unit of drive unit 110 and/or on output pinion 117 and/or on connection element 116 and/or on rear wheel 102 and/or on front wheel 101. In other words, rpm sensor 107 is designed to acquire a rotational speed of a component of the drive train of bicycle 100 or a speed of bicycle 100, especially the rotation or the rotational speed and/or a direction of rotation of electric motor 111 of drive unit 110. In addition, the vehicle has at least one speed sensor 114a and/or 114b and/or 114c. Speed sensor 114a, 114b and/or 114c, for instance, includes a reed sensor 114 on front wheel 101 or rear wheel 102, an rpm sensor 114c, a satellite-based position sensor 114b and/or a radar sensor. Speed sensor 114a, 114b, 114c is designed to acquire the speed of bicycle 100. Speed sensor 114c is preferably situated on a wheel hub of rear wheel 102 and/or on a wheel hub of front wheel 101. Speed sensor 114c is preferably, but not necessarily, rpm sensor 107. A battery module 120 is situated on bicycle 100 for the energy supply of drive unit 110, in particular for the energy supply of electric motor 111. In addition, drive unit 110 includes an inertial measuring unit or a sensor unit 112 or sensor. Sensor unit 112 has at least one acceleration sensor. In an advantageous manner, sensor unit 112 includes an acceleration sensor for acquiring an acceleration in the direction of longitudinal axis 190 of bicycle 100 and an acceleration sensor for acquiring an acceleration in the direction of transverse axis 191 of bicycle 100. Mounted on handlebar 103 of bicycle 100 or the electric bicycle is also an input means or a push button 130 or a switch for activating and/or deactivating a push-assistance operating mode. Push button 130 may have a transparent subregion 131 and an illumination means 132, illumination means 132 in particular being disposed behind transparent subregion 131 and having a green light diode, for instance. In addition, bicycle 100 has a display device 140 including a display 141. Display device 140 is particularly situated on handlebar 103 of bicycle 100. Display 141 is designed to display information to the user or bicyclist. As an alternative or in addition to display device 140, at least one actuator 142, e.g., a vibration motor or an electric motor having a rotating unbalance, is disposed on handlebar 103. Actuator 142 situated on handlebar 103 is advantageously designed to generate a haptic signal for the user at at least one handlebar grip 104 of handlebar 103. It may furthermore be provided to position a force sensor 160 on handlebar 103. Force sensor 160 is designed to acquire a force of the user on handlebar 103 in the longitudinal direction. In addition, the bicycle includes an optional camera unit 150, which, for instance, is situated on handlebar 103 or on frame 108 of bicycle 100, camera unit 150 advantageously having a viewing direction of camera 151 facing forward in the longitudinal direction. Camera 151 is designed to acquire at least a portion of an environment of bicycle 100 as a camera image.
[0027] FIG. 2 schematically shows a flow diagram of the present method in the form of a circuit diagram. In an optional step 201, a speed of the bicycle is acquired. In a further, optional step 202, a rotation of the rotor of the electric motor of the bicycle may be acquired, in particular if the rotation of the rotor represents a backward-directed movement of bicycle 100 in the longitudinal direction. As an alternative or in addition, a camera image of at least a portion of an environment of the bicycle is acquired in optional step 203. Moreover, in step 204, it may optionally be provided to acquire a force of the user in the direction of the longitudinal axis of bicycle 100 on the handlebar of the bicycle. In addition, an acquisition 205 of the pedaling variable of the user, in particular the cadence and/or the driver torque, is optionally implemented. In optional step 206, the acceleration of the bicycle in the direction of the longitudinal axis of the bicycle and/or in the direction of the transverse axis of the bicycle is/are acquired. In a subsequent optional step 210, it may be provided to detect a change in direction of the acquired acceleration in the direction of the transverse axis within a predefined time span. As an alternative or in addition, it may optionally be provided in step 211 to ascertain a standard deviation as a function of the acquired acceleration in the direction of the longitudinal axis of the bicycle and/or in the direction of the transverse axis of the bicycle. In step 220, pushing of the bicycle by the user is detected with the aid of a sensor or sensor unit 112. This sensor-based detection 220 of pushing is realized as a function of the acquired speed, for example. As an alternative or in addition, a sensor-based detection 220 of pushing preferably takes place as a function of the acquired speed, the acquired rotor rotation, the acquired camera image, the acquired force of the user and/or the acquired pedaling variable of the user and/or the acquired acceleration in the direction of the longitudinal axis and/or the transverse axis. For example, at a speed that is lower than or equal to a threshold value of 6 km/h, pushing is detected in step 220 or in case of a pedaling variable that is acquired in addition to the speed of less than or equal to 6 km/h, no pushing is detected, in particular. As an alternative or in addition, the sensor-based detection 220 of pushing preferably takes place as a function of the acquired acceleration of the bicycle. It is particularly provided to detect the pushing in step 220 furthermore as a function of the ascertained standard deviation for the acquired acceleration and a threshold value for the standard deviation, the pushing in particular being detected when the ascertained standard deviation exceeds the threshold value. As an alternative or in addition, it may be provided to carry out the sensor-based detection 220 of pushing also as a function of the detected change in direction of the acquired acceleration in the direction of the transverse axis. Particularly preferably, the sensor-based detection of pushing in step 220 is performed as a function of a plurality of acquired variables, e.g., as a function of the speed and the acceleration. Next, in optional step 230, information for enabling an input for activating the push-assistance operating mode is displayed as a function of the detected pushing. Optional display 230 is preferably implemented with the aid of a display unit 140 or a display 141, with the aid of a haptic signal, which is generated by an actuator 142, and/or by adapting an illumination of a key for detecting an input of the user for activating the push-assistance operating mode. In step 240, an acquisition 240 of the input of the user for activating the push-assistance operating mode is carried out, e.g., with the aid of the input means or with the aid of push button 130. The input of the user is optionally acquired only if the operation of the input means or push button takes place continuously. This acquisition 240 may advantageously be performed as a function of the detected pushing. In other words, the input of the user in step 240 is advantageously acquired or considered only if pushing of the bicycle was previously detected in step 240. As an alternative, in step 240, the acquisition 240 of the user input for activating the push-assistance operating mode initially takes place only if the input of the user was continuously detected or if the input means is operated continuously. In this alternative, after the input of the user has been detected, the detection of pushing of the bicycle by the user is detected in step 220 with the aid of a sensor or sensor unit 112 as a function of the acquired user input. In other words, the order is reversed in this alternative embodiment, i.e., the input of the user for activating the push-assistance operating mode is a condition for the sensor-based detection of the pushing of the bicycle in this alternative. It may advantageously be provided that information is displayed to the user after the detected input, the information including a reference for the user that the user is activating the push assistance by pushing the bicycle, which causes a motor torque to be generated. In step 250, a motor torque for driving the bicycle is generated as a function of an acquired input of a user and as a function of the detected pushing. Thus, step 250 activates the push assistance or generates a motoric force or motor torque to assist the user or bicyclist in pushing the bicycle. It may be provided that the motor torque is additionally implemented as a function of the detection 220 of the pushing of the bicycle. It is particularly provided to abort step 250 as soon as no further pushing of the bicycle is detected. In other words, it may particularly be provided to carry out the present method repeatedly and/or continuously.
