Electrically propelled two-wheeled vehicle and method for adjusting a drive torque of an electrically propelled two-wheeled vehicle
An electrically propelled two-wheeled vehicle and a method for adjusting a drive torque of an electrically propelled two-wheeled vehicle. The electrically propelled two-wheeled vehicle includes: a sensor, based on which a pitch rate of the electrically propelled two-wheeled vehicle is ascertainable; a device for influencing a drive torque of the electrically propelled two-wheeled vehicle; and an evaluation unit configured to compare a pitch rate, which is ascertained on the basis of the sensor and represents a pitch rate of the electrically propelled two-wheeled vehicle relative to the surroundings of the two-wheeled vehicle, to a predefined, static pitch rate threshold value, and configured to reduce a drive torque acting upon a drive train of the electrically propelled two-wheeled vehicle using a predefined amplification factor, if a pitch rate generated by an upward movement of a front wheel of the electrically propelled two-wheeled vehicle exceeds the static pitch rate threshold value.
1 . An electrically propelled two-wheeled vehicle, comprising:
a sensor, on the basis of which a pitch rate of the electrically propelled two-wheeled vehicle is ascertainable;
a device configured to influence a drive torque of the electrically propelled two-wheeled vehicle; and
an evaluator configured to:
compare the pitch rate, which is ascertained on the basis of the sensor and represents a pitch rate of the electrically propelled two-wheeled vehicle relative to surroundings of the electrically propelled two-wheeled vehicle, to a predefined, static pitch rate threshold value; and
proactively reduce the drive torque acting upon a drive train of the electrically propelled two-wheeled vehicle using a predefined amplification factor, if a pitch rate generated by an upward movement of a front wheel of the electrically propelled two-wheeled vehicle exceeds the static pitch rate threshold value,
wherein the proactive reduction is initiated based on the pitch rate on a prediction of imminent lift-off of the front wheel while the front wheel remains in contact with a road surface, thereby preventing a wheelie before lift-off occurs, and distinguishing from a static feedback control that merely maintains a predefined angle.
2 . The electrically propelled two-wheeled vehicle as recited in claim 1 , wherein the sensor is:
a rate-of-rotation sensor of the electrically propelled two-wheeled vehicle; and/or
an acceleration sensor of the electrically propelled two-wheeled vehicle; and/or
a spring deflection sensor of a suspension fork of the electrically propelled two-wheeled vehicle; and/or
a distance sensor of the electrically propelled two-wheeled vehicle; and/or
a vibration sensor of the electrically propelled two-wheeled vehicle; and/or
an inclination sensor of the electrically propelled two-wheeled vehicle; and/or
a sensor for satellite-aided navigation of the electrically propelled two-wheeled vehicle; and/or
an air pressure sensor of the electrically propelled two-wheeled vehicle.
3 . The electrically propelled two-wheeled vehicle as recited in claim 1 , further comprising at least one longitudinal speed sensor, wherein:
the longitudinal speed sensor is configured to measure a longitudinal speed of the electrically propelled two-wheeled vehicle; and
the evaluator is configured to ascertain the amplification factor as a function of a longitudinal speed determined on the basis of the longitudinal speed sensor.
4 . The electrically propelled two-wheeled vehicle as recited in claim 1 , wherein:
the device for influencing the drive torque is an electric drive motor of the electrically propelled two-wheeled vehicle, and/or a brake system of the electrically propelled two-wheeled vehicle, and/or a drive train gear ratio of the electrically propelled two-wheeled vehicle.
5 . The electrically propelled two-wheeled vehicle as recited in claim 1 , wherein the pitch rate is ascertained independent of cornering, the pitch rate derived from angular speed signals using a sensor fusion algorithm.
6 . The electrically propelled two-wheeled vehicle as recited in claim 1 , wherein:
the electrically propelled two-wheeled vehicle is an electric bicycle or a pedelec or an electric motorcycle or an electric scooter.
7 . A method for adjusting a drive torque of an electrically propelled two-wheeled vehicle, comprising the following steps:
comparing a pitch rate, which represents a pitch rate of the electrically propelled two-wheeled vehicle relative to surroundings of the electrically propelled two-wheeled vehicle, to a predefined, static pitch rate threshold value; and
proactively reducing a drive torque acting upon a drive train of the electrically propelled two-wheeled vehicle using a predefined amplification factor, when a pitch rate generated by an upward movement of a front wheel of the electrically propelled two-wheeled vehicle exceeds the predefined pitch rate threshold value,
wherein the proactive reduction is initiated based on the pitch rate on a prediction of imminent lift-off of the front wheel while the front wheel remains in contact with a road surface, thereby preventing a wheelie before lift-off occurs, and distinguishing from a static feedback control that merely maintains a predefined angle.
8 . The method as recited in claim 7 , wherein the pitch rate is controlled in view of a predefined setpoint pitch rate value.
9 . The method as recited in claim 7 , wherein the amplification factor is ascertained as a function of a longitudinal speed, which is measured using a longitudinal speed sensor of the electrically propelled two-wheeled vehicle.
10 . The method as recited in claim 7 , wherein the amplification factor is ascertained based on:
a rate of rotation about a transverse axis and/or about a vertical axis and/or about a longitudinal axis; and/or
an acceleration in the direction of the transverse axis and/or the vertical axis and/or the longitudinal axis; and/or
a wheel speed; and/or
a change in the wheel speed; and/or
an odometric value; and/or
a gear, currently used, of a gearshift mechanism of the electrically propelled two-wheeled vehicle.
11 . The method as recited in claim 7 , further comprising:
predicting future lift-off of a front wheel of the electrically propelled two-wheeled vehicle from a road surface, while the front wheel is in contact with a road surface; and
adjusting a setpoint drive torque as a function of a result of the prediction.
12 . The method as recited in claim 7 , wherein a specific accuracy of rate-of-rotation signals and/or of acceleration signals and/or of odometric signals is improved, using a sensor fusion algorithm, in that the sensor fusion algorithm merges a portion or all of the rate-of-rotation signals and/or the acceleration signals and/or the odometric signals with each other.
13 . The method as recited in claim 7 , further comprising:
ascertaining a desired lift-off of the front wheel of the electrically propelled two-wheeled vehicle from a road surface based on predefined criteria; and
preventing the drive torque from decreasing, and aiding the lift-off of the front wheel, based on the predefined criteria being satisfied.
14 . The method as recited in claim 7 , wherein the drive torque is reduced only when:
a user enables the reduction in the drive torque; and/or
a current longitudinal acceleration of the electrically propelled two-wheeled vehicle exceeds a predefined longitudinal acceleration threshold value; and/or
the pitch rate exceeds a predefined dynamic pitch rate threshold value, which in ascertained as a function of
an expected, maximum change in gradient of a road surface in an area of the electrically propelled two-wheeled vehicle;
a current longitudinal speed of the electrically propelled two-wheeled vehicle; and
a wheel base of the electrically propelled two-wheeled vehicle.
15 . The method as recited in claim 7 , wherein values of specific setpoint drive torques ascertained based on the amplification factor are:
smoothed using filtering; and/or
limited using a predefined setpoint value limiter in such a manner, that only a reduction in the drive torque is rendered possible.