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WO2024200419A1 - Procédé de commande d'une unité d'entraînement, unité d'entraînement comprenant une unité de commande et bicyclette - Google Patents

Procédé de commande d'une unité d'entraînement, unité d'entraînement comprenant une unité de commande et bicyclette Download PDF

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Publication number
WO2024200419A1
WO2024200419A1 PCT/EP2024/058075 EP2024058075W WO2024200419A1 WO 2024200419 A1 WO2024200419 A1 WO 2024200419A1 EP 2024058075 W EP2024058075 W EP 2024058075W WO 2024200419 A1 WO2024200419 A1 WO 2024200419A1
Authority
WO
WIPO (PCT)
Prior art keywords
drive unit
threshold value
torque
vehicle
inclination
Prior art date
Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
Pending
Application number
PCT/EP2024/058075
Other languages
German (de)
English (en)
Inventor
Franz Hofmann
Daniel Baumgaertner
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
Robert Bosch GmbH
Original Assignee
Robert Bosch GmbH
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by Robert Bosch GmbH filed Critical Robert Bosch GmbH
Priority to CN202480023932.XA priority Critical patent/CN120981386A/zh
Publication of WO2024200419A1 publication Critical patent/WO2024200419A1/fr
Anticipated expiration legal-status Critical
Pending legal-status Critical Current

Links

Classifications

    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
    • B62M—RIDER PROPULSION OF WHEELED VEHICLES OR SLEDGES; POWERED PROPULSION OF SLEDGES OR SINGLE-TRACK CYCLES; TRANSMISSIONS SPECIALLY ADAPTED FOR SUCH VEHICLES
    • B62M6/00—Rider propulsion of wheeled vehicles with additional source of power, e.g. combustion engine or electric motor
    • B62M6/40—Rider propelled cycles with auxiliary electric motor
    • B62M6/45—Control or actuating devices therefor
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
    • B62J—CYCLE SADDLES OR SEATS; AUXILIARY DEVICES OR ACCESSORIES SPECIALLY ADAPTED TO CYCLES AND NOT OTHERWISE PROVIDED FOR, e.g. ARTICLE CARRIERS OR CYCLE PROTECTORS
    • B62J45/00—Electrical equipment arrangements specially adapted for use as accessories on cycles, not otherwise provided for
    • B62J45/40—Sensor arrangements; Mounting thereof
    • B62J45/41—Sensor arrangements; Mounting thereof characterised by the type of sensor
    • B62J45/411—Torque sensors
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
    • B62J—CYCLE SADDLES OR SEATS; AUXILIARY DEVICES OR ACCESSORIES SPECIALLY ADAPTED TO CYCLES AND NOT OTHERWISE PROVIDED FOR, e.g. ARTICLE CARRIERS OR CYCLE PROTECTORS
    • B62J45/00—Electrical equipment arrangements specially adapted for use as accessories on cycles, not otherwise provided for
    • B62J45/40—Sensor arrangements; Mounting thereof
    • B62J45/41—Sensor arrangements; Mounting thereof characterised by the type of sensor
    • B62J45/415—Inclination sensors

Definitions

  • the driver adapts the engine support to his needs by selecting a driving program.
  • WO 2013/156445 A1 discloses a drive device for an electric bicycle.
  • the motor control calculates the power to be fed in by an electric motor based on sensor data and depending on a selected level of support, so that the electric motor automatically adds a certain percentage of the power provided by the driver.
  • the object of the invention is to eliminate these disadvantages.
  • the object is achieved by the inventive method with the features according to claim 1 and a bicycle with the features of claim 11.
  • the method for controlling a drive unit for a vehicle powered by muscle and/or motor power, in particular a Pedelec, S-Pedelec or eBike, comprises the following method steps:
  • the torque to be determined is in particular a driver torque, which is generated by muscle power by a user of the vehicle.
  • the driver torque serves as propulsion for a vehicle operated by muscle and/or motor power.
  • the torque can be applied to a pedal shaft, for example, via pedals that are attached to crank arms.
  • a drive arrangement comprising a drive unit, a control unit and a sensor device, is designed to support the driver torque acting on the pedal shaft and to transmit it to an output pinion, which is in direct engagement with a connecting element, preferably a chain or a belt, for driving the vehicle.
  • the torque is determined at a time after initialization of the drive unit.
  • Initialization takes place after switching on or connecting the drive unit.
  • Switching on and connecting refers to an event in which a user switches on the drive unit using an operating unit.
  • switching on or connecting the drive unit is supplied with power from a battery, for example.
  • an operating unit can be a button, a switch, a touch-sensitive screen or the like.
  • the drive unit begins to initialize.
  • the drive unit can be switched on before the vehicle starts moving, for example. Alternatively, the user can have already started a journey and decide to have support from the drive unit during the journey.
  • the inclination of the vehicle relative to a transverse axis of the vehicle is a pitch angle of the vehicle about an axis that is concentric or parallel to the pedal shaft of the drive arrangement.
  • the inclination to the transverse axis can be used to determine in particular whether the bicycle is moving or is located on an incline, on a level surface, on a slope or the like.
  • the determination of the pitch angle can be carried out in particular by an inertial sensor.
  • the activation of the drive unit is subject to conditions.
  • the conditions include reaching or falling below the first threshold value.
  • the first threshold value hereinafter referred to as “starting torque” for ease of understanding, is a first threshold value relating to a torque, in particular a driver torque, of a two-stage security query.
  • starting torque is a first threshold value relating to a torque, in particular a driver torque, of a two-stage security query.
  • starting torque is a first threshold value relating to a torque, in particular a driver torque, of a two-stage security query.
  • T_min is the second threshold in the two-stage safety query.
  • T_min is smaller in magnitude than the starting torque. Falling below T_min has a particularly positive effect on the safety of the vehicle. The query as to whether T_min has been reached or fallen below prevents the drive unit from being activated by an incorrect starting torque signal and the vehicle from moving uncontrollably.
  • Another condition in the first case for activating the drive unit is that the threshold value of the inclination is not reached or exceeded.
  • the drive arrangement in particular the control unit of the drive arrangement, compares the inclination about the transverse axis with the threshold value of the inclination about the transverse axis. If the inclination about the transverse axis is smaller than the threshold value of the inclination about the transverse axis, the condition is met.
  • a second case other conditions apply for activating the drive unit. If the threshold value of the incline is reached or exceeded, the vehicle is on an incline. The vehicle can be moving or standing still. The activation of the drive unit is independent of T_min. In other words, in the second case, the drive unit is activated when the starting torque and the threshold value of the incline are reached or exceeded.
  • a user of the vehicle can switch the drive unit on or off on an incline and can immediately receive a supporting torque without first having to reduce the driver torque, which can lead to uncontrollable situations.
  • the user can hold the vehicle with an applied driver torque when switching on the drive unit on an incline.
  • a user of a cargo bike with a load has come to a stop on a slope, whereby the drive unit has not yet is switched on
  • the user of the cargo bike wants immediate support of the driver's torque when starting off, in order to be able to continue to move the vehicle in a controlled manner. To do this, the user switches the drive unit on while already applying driver torque to the pedal with one leg.
  • the present invention makes it possible to provide the user with the supporting torque immediately when starting off.
  • the user of an electric bicycle with a deactivated drive unit is about to ride up a hill.
  • the user's performance decreases and he decides to switch on the drive unit.
  • the electric bicycle is propelled by the driver's torque and is in a controllable state.
  • the user wants the drive unit to be activated immediately, without first having to fall below the second threshold value T_min. Falling below this would mean pausing pedaling and could lead to an uncontrollable situation.
  • the present invention also enables the user here to receive the supporting torque immediately when the drive unit is switched on. In other words, the drive unit is activated if the conditions are met immediately after the drive unit is switched on.
  • the proposed method can be incorporated into any type of vehicle powered by muscle and motor power.
  • a query about the second threshold value is deactivated.
  • the threshold value of the inclination is reached or exceeded, the conditions for activating the drive unit are met and a check of the driver torque to see whether the second threshold value T_min is reached or not reached does not take place.
  • the second threshold value T_min is deactivated by computer implementation on the control unit. In a specific embodiment, the check is skipped in a computer-implemented method.
  • a temporal progression of the torque is recorded after the drive unit is activated. A temporal progression of the torque, in particular the driver torque, is recorded, for example, by continuously determining the torque and storing the torque values in a memory of the control unit of the drive unit. The stored values can be read out for further analyses.
  • the drive unit in the second case, is activated under conditions.
  • activated under conditions is meant that the activation of the drive unit has taken place and an assisting torque is being delivered by the drive unit, but the activation can be withdrawn.
  • the “under conditions” state is an assisting mode that is activated in a computer-implemented sequence of the control unit in a first period of time.
  • the “activation under conditions” must meet further conditions so that the activation is not withdrawn, deactivated or suspended.
  • the drive unit activated with reservations is activated without reservations if the torque curve is plausible.
  • the driver torque and its curve are subjected to a plausibility check after the drive unit is activated.
  • a plausibility check is a check to see whether the driver torque is within the required parameters.
  • the required parameters can, for example, be a corridor of the torque curve within which the driver torque must be.
  • a plausible progression of the driver torque is similar to a rise and fall of the driver torque.
  • an expected change in the torque over time can indicate a plausible progression of the torque.
  • the exceeding or falling below of further torque threshold values can be expected. If the condition is met, the support mode "with advance" changes to a normal support mode of the drive unit. If the driver If the torque is outside the required parameters, the support is deactivated again.
  • the drive unit is preferably activated even if the torque only briefly falls below the second threshold value.
  • a user of the vehicle can drive on a horizontal surface and switch on the drive unit. In doing so, he or she particularly satisfies the condition of reaching or exceeding the starting torque by introducing a driver torque, but not reaching or falling below T_min. The user can satisfy the condition of reaching or falling below T_min by briefly interrupting the torque introduced and thus activate the drive unit.
  • “Briefly” means in particular that the driver torque does not have to reach or fall below the threshold value T_min for any required period of time. It is sufficient that at least one measured value of the driver torque is equal to or less than T_min.
  • the brief interruption does not create an uncontrollable situation for the user of the vehicle. During the interruption, the speed of the vehicle only decreases slowly.
  • a longitudinal axis of the vehicle describes an axis that is arranged parallel to a direction of travel of the vehicle and is arranged in a vertical plane of the vehicle center in a longitudinal direction. Determining an inclination about a longitudinal axis can be done using inertial sensors, for example.
  • the drive unit is activated when other conditions such as the inclination relative to the longitudinal axis are met and depending on the first threshold value. Preferably, the drive unit is only activated when the inclination of the vehicle relative to a longitudinal axis reaches or falls below a threshold value of the inclination of the vehicle about the longitudinal axis.
  • a threshold value of the inclination about the longitudinal axis of the vehicle is in particular a limit value up to which an upright positioning or essentially upright positioning is referred to.
  • determining the posture of the user should be understood as how the user is positioned on the vehicle.
  • Suitable sensors in the handlebar grips can be used to ensure that the driver has both hands on the handlebars of the vehicle.
  • a force measuring sensor in the saddle or seat post can also detect that the user is sitting on the vehicle and thus provide information and conclusions about the upright orientation of the vehicle and thus perform a plausibility check of the threshold value of the inclination around a longitudinal axis.
  • the drive unit is activated in the second case even if the torque has not or has not yet fallen below the second threshold value.
  • the query for T_min is not deactivated, but rather queried and the value of the driver torque is ignored.
  • activation of the drive unit occurs, in the second case, independently of the second threshold value and is activated in that the torque has not or has not yet fallen below the second threshold value.
  • the invention further relates to a drive unit 131 with a control unit 132, which is designed to carry out the method.
  • the invention further relates to a bicycle, in particular an electric bicycle, eBike, Pedelec or S-Pedelec, which comprises a drive unit with a control unit for carrying out the method mentioned.
  • the drive unit is also activated in a first case if it is determined, depending on the environment, that the user of the vehicle requires an assistance torque immediately after starting off and T_min is not reached or is not reached.
  • the bicycle environment can be detected by passive sensor devices such as (stereo) cameras.
  • active sensor devices such as radar or LiDAR systems can also provide conclusions about the expected vehicle environment.
  • the user can switch the drive unit on or off in a depression where the front wheel of the vehicle is directly at the start of a steep climb. In this case, the threshold value for the incline is not exceeded, the driver torque is reached or exceeded, analogous to the first case.
  • the drive unit can also be activated depending on the vehicle environment. An environment sensor device can detect an incline in one direction of travel and activate the hill start assist.
  • the hold assist, hill start assist and other functions of the drive unit can be activated by connecting a smartphone in conjunction with a microphone or a voice control unit.
  • An advantage of this embodiment is a further increase in safety and comfort, as the user can still keep their hands on the steering device.
  • another embodiment can be designed using the user's posture.
  • the user's posture means that the second threshold value does not need to be checked.
  • the drive unit can be activated in the first case in particular if the user has both hands on the handlebars. Sensors in the handlebar grips are preferably queried for this purpose, even on the flat, thus leading to faster motor support after switching on.
  • Figure 1 is a process diagram of an embodiment of the method according to the invention.
  • Figure 2 is a schematic view of a bicycle with a drive unit for carrying out the method according to the invention
  • Figure 3 is a schematic view of a bicycle on a slope
  • Figure 4 is a schematic representation of a torque curve of an embodiment of the method according to the invention.
  • Figure 1 shows an embodiment of the method 1 for controlling the vehicle 100 that can be operated with motor power and/or pedal power in the form of a process diagram.
  • the vehicle 100 is designed as an electric bicycle.
  • a trigger signal relating to switching on or connecting a drive unit 131 of the vehicle 100 is provided to a control unit 132 of the vehicle 100, i.e. forwarded by signal technology.
  • the trigger signal is triggered by a user using the operating unit 122 and can be provided to the control unit 132.
  • the trigger signal can be triggered by a touch-sensitive screen, button, switch or the like, in particular an on/off button.
  • the drive unit 131 is initialized.
  • the initialization also includes activating the control unit 132.
  • the control unit 132 is provided with measurement signals from at least one of the sensor devices 133.
  • the method 1 takes into account the following measurement signals, which are sent to the control unit 132 after the initialization 201 regularly or when required:
  • a check is carried out to determine whether the vehicle 100 has reached or exceeded a threshold value of the incline. If the threshold value of the incline is reached or exceeded, the vehicle 100 is on an incline. The vehicle 100 can be driving or standing still. Depending on whether the threshold value of the incline is reached or exceeded or not reached or not exceeded, a case distinction is made for the further course of the method: In a first case, the threshold value is not reached or exceeded, in a second case, the threshold value is reached or exceeded.
  • a deactivation 220 of the second threshold value 50 T_min takes place in a further method step. This means that a test is either ignored, deactivated or skipped in a computer-implemented manner on the control unit 132.
  • a check is carried out to determine whether a torque, in particular the starting torque 55, has been reached or exceeded. For this purpose, at least one measurement signal provided to the control unit 132, a torque, with the first threshold value, the starting torque 55. If a result from method step 230 is that the threshold value of the starting torque was not reached or exceeded, the control unit 132 decides in a subsequent method step 270 that the drive unit 131 will not be activated. The method is ended at this point and can be run through again after method step 201.
  • the drive unit 131 is activated under conditions in a subsequent method step 240.
  • the plausibility of a driver torque curve is then analyzed.
  • the plausibility of the driver torque is recognized if the driver torque is within required parameters, for example, has a sinusoidal curve.
  • driver torque curve is classified as plausible and then, in method step 260, the vehicle 100 is controlled such that the drive unit 131 is activated without reservation.
  • the method steps after method step 210 are explained below if the threshold value of the inclination about the transverse axis has not been reached or exceeded (the first case in the case distinction described above).
  • the vehicle 100 is standing or driving on a horizontal 401, a gradient or a slight incline, which is still characterized below the threshold value of the inclination 402 about the transverse axis 404.
  • a subsequent step 300 it is checked whether the second threshold value 50, T_min, is not reached.
  • T_min it is also possible to check the course of the driver torque, in which it is checked whether T_min is briefly not reached. If the condition is met, the drive unit 131 is activated. If, for example, the driver torque when the vehicle is stationary is essentially 0 Nm, the condition of falling below the second threshold value 50 is met and the previously described, identical method step 230 then follows. This checks whether the starting torque 55 is reached or exceeded. For further details, please refer to the previous explanations of step 230 and the identical subsequent step 270.
  • FIG. 2 shows a simplified schematic view of a bicycle 100, in particular a Pedelec or S-Pedelec with the drive arrangement 104 according to the invention.
  • the bicycle 100 has a front wheel 115 and a rear wheel 116, wherein the rear wheel 116 is driven on the rear wheel hub 118 by means of a connecting element 117, in particular a toothed belt or a chain, and by means of a drive arrangement 130 by a pedal force of the user on the pedals 108.
  • the pedals 108 are connected to cranks 119, which in turn are connected to different ends of the pedal shaft 101.
  • the vehicle 100 also includes a control unit 132.
  • the control unit 132 is connected to the drive unit 131 and is configured to control the electric drive (not shown in detail here) according to the method explained.
  • the control unit 132 has an operating unit 122 comprising operating elements (not shown in detail here).
  • the drive arrangement 130 in particular the drive unit 131, is designed to support a driver torque acting on the pedal shaft 101 and to transmit it to an output pinion 107, which is in direct engagement with the connecting element 117 for driving the bicycle 100.
  • the frame component 102 of the vehicle 100 comprises in particular a seat tube 106, a down tube 111, a top tube 110, a head tube 112, a chain stay 105, which are inseparably connected to one another, for example welded to one another.
  • the drive arrangement 130 attached to the frame component is connected to a battery module 109 via a cable and is powered by the latter.
  • the vehicle 100 has at least one sensor device 133, which here serves, for example, to measure a position of the vehicle 100 as a characterizing variable.
  • inertial sensors are used to determine the position.
  • vehicle 100 has further sensor devices (not shown in detail) that serve to record measurement signals and which relate, for example, to a speed as a state of motion of the vehicle 100, a torque applied to the pedal shaft 101 of the vehicle 100, and, for example, a cadence.
  • Figure 3 shows a vehicle 100 on an incline 403.
  • Figure 3 also shows a horizontal reference surface 401.
  • Figure 3 also shows an angle 400 by which the vehicle 100 is inclined relative to the horizontal about a transverse axis 404, which is arranged parallel or coaxially to a treadmill 101 of the vehicle.
  • the transverse axis 404 has been shown outside the vehicle.
  • the threshold value of the incline 402 is shown in a graphic representation in Figure 3, which is not to scale.
  • the graphic representation of the threshold value of the incline 402 is for illustrative purposes only and is checked in the control unit 132 of the vehicle 100 using measured values from the sensor device 133 to see whether it has been reached or exceeded.
  • Figure 4 shows an example of a section of a non-scale, temporal progression of a driver torque 60, 61.
  • the driver torque 60 shown by means of a solid line, is an example of a torque progression when starting the electric bicycle 100 on a level.
  • a user puts a foot on one of the pedals 108.
  • a simultaneous braking intervention prevents the bicycle from setting off, with the braking intervention being initiated by means of a braking device 121.
  • a typical example of this is the electric bicycle, which is held by braking intervention and is subjected to a slight torque with a foot on one of the pedals 108 shortly before the start of the journey.
  • the driver torque increases and initially exceeds T_min 50 and consequently the starting torque 55.
  • a supporting torque 62 (indicated by the dash-dot line) can be applied after the starting torque ment 55 was exceeded.
  • the torque curve shows that T_min 50 was undercut.
  • a section of a torque curve 61 results when starting a journey with initialization on an incline.
  • the electric bicycle is held by means of a torque on one of the pedals 108, which has already exceeded the starting torque 55.
  • the method step 210 ensures that the user experiences the supporting torque 61 during the course of the journey.

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  • Engineering & Computer Science (AREA)
  • Mechanical Engineering (AREA)
  • Chemical & Material Sciences (AREA)
  • Combustion & Propulsion (AREA)
  • Transportation (AREA)
  • Electric Propulsion And Braking For Vehicles (AREA)

Abstract

L'invention concerne un procédé de commande d'une unité d'entraînement pour un véhicule entraîné par la force musculaire et/ou motrice, en particulier un vélo à assistance électrique, un S-pedelec ou un eBike, comprenant les étapes de procédé suivantes : - déterminer un couple, le couple étant déterminé à un instant après une initialisation de l'unité d'entraînement, - déterminer une inclinaison du véhicule par rapport à un axe transversal du véhicule, - activer l'unité d'entraînement lorsque le couple dépasse une première valeur seuil, et dans un premier cas dans lequel l'inclinaison du véhicule n'atteint pas ou ne dépasse pas une valeur seuil de l'inclinaison et que le couple a précédemment atteint ou une deuxième valeur seuil ou est passé au-dessus de celle-ci, la deuxième valeur seuil étant inférieure à la première valeur seuil. Dans un deuxième cas dans lequel l'inclinaison du véhicule atteint ou dépasse une valeur seuil, l'activation a lieu indépendamment de la deuxième valeur seuil.
PCT/EP2024/058075 2023-03-31 2024-03-26 Procédé de commande d'une unité d'entraînement, unité d'entraînement comprenant une unité de commande et bicyclette Pending WO2024200419A1 (fr)

Priority Applications (1)

Application Number Priority Date Filing Date Title
CN202480023932.XA CN120981386A (zh) 2023-03-31 2024-03-26 用于控制驱动单元的方法、具有控制单元的驱动单元和自行车

Applications Claiming Priority (2)

Application Number Priority Date Filing Date Title
DE102023203004.7 2023-03-31
DE102023203004.7A DE102023203004A1 (de) 2023-03-31 2023-03-31 Verfahren zur Steuerung einer Antriebseinheit

Publications (1)

Publication Number Publication Date
WO2024200419A1 true WO2024200419A1 (fr) 2024-10-03

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Application Number Title Priority Date Filing Date
PCT/EP2024/058075 Pending WO2024200419A1 (fr) 2023-03-31 2024-03-26 Procédé de commande d'une unité d'entraînement, unité d'entraînement comprenant une unité de commande et bicyclette

Country Status (3)

Country Link
CN (1) CN120981386A (fr)
DE (1) DE102023203004A1 (fr)
WO (1) WO2024200419A1 (fr)

Families Citing this family (1)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
DE102024201620A1 (de) * 2024-02-22 2025-08-28 Zf Friedrichshafen Ag Antriebsstrang eines muskelkraftbetriebenen Fahrzeug

Citations (3)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
WO2013156445A1 (fr) 2012-04-17 2013-10-24 Brose Fahrzeugteile Gmbh & Co. Kommanditgesellschaft, Coburg Antriebseinrichtung für ein elektrorad dispositif d'entraînement pour une bicyclette électrique
DE102020204201A1 (de) 2019-09-04 2021-03-04 Continental Bicycle Systems Gmbh & Co. Kg Steuervorrichtung für ein Elektrofahrrad
US20220289334A1 (en) * 2021-03-09 2022-09-15 Robert Bosch Gmbh Method for operating a vehicle operable by motor power and/or pedal power, and vehicle

Family Cites Families (3)

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Publication number Priority date Publication date Assignee Title
JP3528996B2 (ja) 1995-04-17 2004-05-24 本田技研工業株式会社 電動補助自転車
DE102012201881A1 (de) 2012-02-09 2013-01-17 Robert Bosch Gmbh Steuerungsanordnung für ein Elektrofahrrad
DE102021201405A1 (de) 2021-02-15 2022-08-18 Robert Bosch Gesellschaft mit beschränkter Haftung Verfahren zur Ansteuerung eines elektrischen Antriebsmotors eines elektrisch antreibbaren Fahrrades

Patent Citations (3)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
WO2013156445A1 (fr) 2012-04-17 2013-10-24 Brose Fahrzeugteile Gmbh & Co. Kommanditgesellschaft, Coburg Antriebseinrichtung für ein elektrorad dispositif d'entraînement pour une bicyclette électrique
DE102020204201A1 (de) 2019-09-04 2021-03-04 Continental Bicycle Systems Gmbh & Co. Kg Steuervorrichtung für ein Elektrofahrrad
US20220289334A1 (en) * 2021-03-09 2022-09-15 Robert Bosch Gmbh Method for operating a vehicle operable by motor power and/or pedal power, and vehicle

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Publication number Publication date
DE102023203004A1 (de) 2024-10-02
CN120981386A (zh) 2025-11-18

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