Bicycle control system
A bicycle with an electric pedal assist motor capable of driving a chainring independent of cranks includes wheel speed sensors and crank cadence sensors. The wheel speed sensors and the crank cadence sensors measure wheel speed and crank cadence, respectively, and provide the measured wheel speed and crank cadence to controller of the bicycle. The controller activates motor overdrive based on the measured wheel speed and/or the measured crank cadence.
1. A method for controlling electronic shifting of a bicycle, the method comprising:
determining, by a processor, whether the bicycle is moving;
when the bicycle is determined to be moving, determining, by the processor, whether the bicycle is being pedaled; and
after the bicycle is determined to be moving and be free of pedaling, causing an assist motor of the bicycle to provide power to a drive train of the bicycle for the electronic shifting of the bicycle,
wherein causing the assist motor of the bicycle to provide power to the drive train of the bicycle for the electronic shifting of the bicycle comprises causing the assist motor of the bicycle to provide power to the drive train of the bicycle for a period of time such that a single gear is shifted.
2. The method of claim 1 , wherein determining whether the bicycle is moving comprises:
receiving, by the processor, wheel speed data from a wheel speed sensor of the bicycle; and
determining whether the bicycle is moving based on the received wheel speed data.
3. The method of claim 1 , wherein determining whether the bicycle is being pedaled comprises:
receiving, by the processor, crank data from one or more crank sensors of the bicycle; and
determining whether the bicycle is being pedaled based on the received crank data.
4. The method of claim 3 , wherein receiving crank data from the one or more crank sensors comprises receiving crank cadence data from a cadence sensor of the bicycle, receiving crank angular position data from an angular position sensor of the bicycle, receiving crank angular velocity data from an angular velocity sensor of the bicycle, or any combination thereof.
5. The method of claim 4 , further comprising:
when the bicycle is determined as being pedaled:
estimating, by the processor, continuously or at a predetermined interval, an angular position of the crank arm based on the received crank data;
causing the assist motor of the bicycle to provide power to the drive train of the bicycle for the electronic shifting of the bicycle when the estimated angular position of the crank arm matches a predetermined angular position of the crank arm.
6. The method of claim 5 , wherein the predetermined angular position of the crank arm corresponds to a vertical position of the crank arm.
7. The method of claim 1 , wherein the determining of whether the bicycle is moving, the determining of whether the bicycle is being pedaled, and the causing of the assist motor of the bicycle to provide power to the drive train of the bicycle for the electronic shifting of the bicycle are part of a mode of operation of the bicycle, and
wherein the method further comprises initiating, by the processor, the mode of operation of the bicycle.
8. The method of claim 7 , wherein the method further comprises receiving a user input, and
wherein initiating the mode of operation of the bicycle comprises initiating the mode of operation of the bicycle based on the received user input.
9. The method of claim 7 , wherein initiating the mode of operation of the bicycle comprises automatically initiating the mode of operation of the bicycle when the bicycle is determined to be moving and the bicycle is determined to be free of pedaling.
10. The method of claim 7 , further comprising:
receiving, by the processor, wheel speed data from a wheel speed sensor of the bicycle continuously or at a predetermined interval; and
after the mode of operation of the bicycle is initiated, controlling the assist motor for the electronic shifting of the bicycle based on the received wheel speed data.
11. A controller for a bicycle, the controller comprising:
a processor configured to:
determine whether the bicycle is moving;
when the bicycle is determined to be moving, determine whether the bicycle is being pedaled; and
after the bicycle is determined to be moving and be free of pedaling, cause an assist motor of the bicycle to provide power to a drive train of the bicycle for electronic shifting of the rear derailleur,
wherein the processor is further configured to estimate, continuously or at a predetermined interval, an angular position of the crank arm based on the received crank data,
wherein the causing of the assist motor of the bicycle to provide power to the drive train of the bicycle for electronic shifting of the rear derailleur comprises causing the assist motor of the bicycle to provide power to the drive train of the bicycle for the electronic shifting of the rear derailleur when the estimated angular position of the crank arm matches a predetermined angular position of the crank arm.
12. The controller of claim 11 , wherein the determination of whether the bicycle is moving comprises:
receipt, by the processor, of wheel speed data from a wheel speed sensor of the bicycle; and
determination of whether the bicycle is moving based on the received wheel speed data.
13. The controller of claim 11 , wherein the determination of whether the bicycle is being pedaled comprises:
receipt, by the processor, of crank data from one or more crank sensors of the bicycle, the crank data representing a crank speed, a crank cadence, or the crank speed and the crank cadence of a crank arm of the bicycle; and
determination of whether the bicycle is being pedaled based on the received crank data.
14. The controller of claim 11 , wherein the predetermined angular position of the crank arm corresponds to a vertical position of the crank arm.
15. A method for controlling electronic shifting of a bicycle, the method comprising:
receiving, by a processor, wheel speed data from a wheel speed sensor of the bicycle;
determining, by the processor, whether the bicycle is moving based on the received wheel speed data;
when the bicycle is determined to be moving:
identifying, by the processor, crank data representing a crank speed, a crank cadence, or the crank speed and the crank cadence of a crank arm of the bicycle; and
determining whether the bicycle is being pedaled based on the identified crank data; and
after the bicycle is determined to be moving and be free of pedaling, causing an assist motor of the bicycle to provide power to a drive train of the bicycle for the electronic shifting of the bicycle,
when the bicycle is determined as being pedaled:
estimating, by the processor, continuously or at a predetermined interval, an angular position of the crank arm based on the received crank data; and
causing the assist motor of the bicycle to provide power to the drive train of the bicycle for the electronic shifting of the bicycle when the estimated angular position of the crank arm matches a predetermined angular position of the crank arm.
16. The method of claim 15 , wherein identifying the crank data comprises receiving, by the processor, the crank data from one or more crank sensors of the bicycle.
17. The method of claim 15 , wherein receiving wheel speed data from the wheel speed sensor of the bicycle comprises receiving wheel speed data from the wheel speed sensor of the bicycle continuously or at a predetermined interval, and
wherein the method further comprises, after causing the assist motor of the bicycle to provide power to the drive train of the bicycle for the electronic shifting of the bicycle, controlling the assist motor for the electronic shifting of the bicycle based on the received wheel speed data.