Patent Publication Number: US-2021171154-A1

Title: Method for controlling an electric motor of an electric bicycle for driving the electric bicycle, control unit and electric bicycle

Description:
CROSS REFERENCE 
     The present application claims the benefit under 35 U.S.C. § 119 of German Patent Application Nos. DE 102019219164.9 filed on Dec. 9, 2019, and DE 102020200432.3 filed on Jan. 15, 2020, which are both expressly incorporated herein by reference in their entireties. 
     BRIEF SUMMARY 
     The present invention relates to a method for controlling an electric motor of an electric bicycle for driving the electric bicycle, a motor torque being generated with the aid of the electric motor as a function of an ascertained longitudinal acceleration. The present invention furthermore relates to a control unit which is configured to carry out the control method according to the present invention. The present invention also relates to an electric bicycle including this control unit. 
     BACKGROUND INFORMATION 
     European Patent No. EP 2 931 550 B1 describes a method for the total mass determination of an electrically drivable vehicle, a portion of the drive torque being provided by a driver. In this method, a determination of a total mass is carried out at a certain drive torque of the driver of 0 Nm. 
     A method for activating an electric motor of a vehicle is described in German Patent Application No. DE 10 2010 017 742 A1. 
     In the case of a changed mass of at least a portion of an electric bicycle, or in the case of a changed total mass of the electric bicycle, a changed acceleration of the electric vehicle results, in the related art, with the same driver torque. For example, with the same driver torque for a cargo bike as the electric bicycle, a higher acceleration of the cargo bike results prior to loading than after loading the cargo bike with a heavy payload. In other words, a non-typical and/or undesirable acceleration behavior of the electric bicycle results in the case of a changed total mass of the electric bicycle. 
     The acceleration of the electric bicycle may also vary due to a changed friction of rotating components of the drive train, such as different tire types and/or worn or different bearings of the axles or shafts of the drive train, for example, or changing surroundings conditions, such as with increasing headwind and/or as a function of a ground of the route, for example in the case of cobblestones, and/or when driving on an uphill grade of a route. 
     It is an object of the present invention to improve a driving behavior of an electric bicycle, for example in the case of a changed total mass of the electric bicycle and/or in the case of changed friction coefficients of the drive train of the electric bicycle and/or in the case of changed surroundings conditions. 
     SUMMARY 
     The above object may achieved according to example embodiments of the present invention. 
     The present invention relates to a method for controlling or regulating an electric motor of an electric bicycle for driving the electric bicycle. The electric bicycle is, in particular, an electrical power-assisted cargo bike. Such a cargo bike is advantageously configured to transport larger payloads on a transport surface, for example at least one child and/or heavy purchases and/or beverage crates. In an example embodiment of the present invention, in one method step, a longitudinal acceleration of the electric bicycle in the direction of the longitudinal axis of the electric bicycle is detected. This detection takes place, in particular, with the aid of an acceleration sensor or an inertial sensor unit. In a subsequent step, a motor torque is generated or adapted with the aid of the electric motor as a function of the detected longitudinal acceleration of the electric bicycle, the motor torque being adapted until a predefined setpoint acceleration has been reached or exceeded or undershot, in particular, the adaptation taking place during or in a predefined time period. The method advantageously results in a longitudinal acceleration of the electric bicycle which is essentially independent of the total mass of the electric bicycle, of friction coefficients of the drive train and/or of changing surroundings conditions. The method furthermore results in the advantage that the electric bicycle is accelerated with a predefined setpoint acceleration which is known to the user, with the same pedaling force of the user. In other words, the generated motor torque is advantageously adapted to the instantaneous total mass of the electric bicycle, to the instantaneous friction coefficients of the drive train and/or to changing surroundings conditions or the detected longitudinal acceleration, thereby resulting in a predefined setpoint acceleration of the electric bicycle, in particular after the predefined time period, with the same pedaling force of the user. It may advantageously be provided that the predefined time period is adapted as a function of an uphill grade of the route and/or as a function of an input of the user. Advantageously, a predefined setpoint acceleration value exists in each case for a pushing aid operating mode, and for different assistance situations selectable by the input of the user. The predefined setpoint acceleration values of the pushing aid operating mode and/or of the particular desired assistance situation may advantageously differ from one another. For example, the method has a first predefined setpoint acceleration for a first assistance situation, a second predefined setpoint acceleration for a second assistance situation and/or a third predefined setpoint acceleration for a third assistance situation and/or a further predefined setpoint acceleration for the pushing aid operating mode. 
     In a preferred embodiment of the present invention, the motor torque of the electric motor is adapted as soon as the detected longitudinal acceleration drops below a first longitudinal acceleration threshold value and/or exceeds a second longitudinal acceleration threshold value. The method is furthermore preferably only carried out when a detected pedaling force of the user exceeds a pedaling force threshold value and/or a detected pedaling frequency of the user exceeds a pedaling frequency threshold value, by which a desired acceleration phase is identified. The advantage that the acceleration behavior of the electric bicycle is set precisely, and only in driving situations desired by the user, results in the method, a manual acceleration component, based on the pedaling force of the user, also being taken into consideration. 
     In a further embodiment of the present invention, the control method includes the step of an ascertainment of a mass of at least a portion of the electric bicycle. The ascertained mass, in particular, represents a weight of a payload and/or a weight of a user of the electric bicycle, the electric bicycle being, in particular, a cargo bike. The mass may advantageously be detected or ascertained with the aid of a sensor at a cargo area of the electric bicycle and/or with the aid of a further sensor at a seat of the electric bicycle. The total mass of the electric bicycle may alternatively be ascertained as a function of detected trip variables of the electric bicycle, for example according to European Patent No. EP 2 931 550 B1. In a subsequent step, the motor torque is additionally generated with the aid of the electric motor as a function of the ascertained mass. This embodiment yields the advantage that the generated motor torque or the resulting acceleration behavior is adapted to the particular predefined setpoint acceleration value immediately after a changed total mass of the electric bicycle, in particular a changed mass of a payload. 
     Particularly preferably a pedaling force of the user is detected in one embodiment. Advantageously, a driver torque at a pedaling axis of the electric bicycle is detected, the driver torque representing the pedaling force. In this embodiment, furthermore an input of the user regarding a desired degree of assistance or regarding a desired assistance situation for the power assistance of the electric bicycle is detected in one step of the method. Thereafter, the generation of the motor torque additionally takes place as a function of the detected pedaling force and as a function of the detected assistance situation, the detected desired assistance situation being adapted as a function of the detected longitudinal acceleration value and/or the first and/or second longitudinal acceleration threshold value(s) being changed as a function of the detected assistance situation or the first and/or second longitudinal acceleration threshold value(s) being changed as a function of the adapted assistance situation. This embodiment advantageously results in a mass-independent, friction coefficient-independent and/or surroundings-independent acceleration of the electric bicycle, with the same pedaling force of the user. 
     In a further embodiment, an ascertainment of an instantaneous hazard potential takes place as a function of an instantaneous position of the electric bicycle and/or as a function of a camera image recorded with the aid of a camera at the electric bicycle, the hazard potential, in particular, representing an instantaneous weather situation and/or an instantaneous traffic density and/or an instantaneous hazard area in the surroundings of the electric bicycle. It may optionally be provided that an instantaneous position of the electric bicycle is ascertained with the aid of a location sensor situated at the electric bicycle, the location sensor ascertaining the geographical position of the electric bicycle, for example with the aid of a satellite-based navigation system. The ascertained position of the electric bicycle is subsequently transmitted to a server unit. Thereafter, the instantaneous hazard potential is received by the electric bicycle from the server unit as a function of the ascertained geographical position of the electric bicycle, the emission of the position of the electric bicycle and the reception of the instantaneous hazard potential, for example, taking place with the aid of a transceiver unit, in particular with the aid of a mobile communication link. In this embodiment, the generation of the motor torque additionally takes place as a function of the ascertained and/or received instantaneous hazard potential. An absolute value of the generated motor torque is advantageously limited as a function of the ascertained and/or received instantaneous hazard potential. As an alternative or in addition, it may be provided that the assistance situation selected by a detected input of the user for assisting the user and/or the first and/or second longitudinal acceleration threshold value(s) is/are adapted as a function of the ascertained and/or received instantaneous hazard potential. In this embodiment, the acceleration of the electric bicycle may advantageously be adapted to the instantaneous hazard potential, thereby resulting in a safer acceleration behavior or a safer trip of the electric bicycle. 
     In another embodiment of the present invention, a pedaling frequency of the user is detected. The detection of the pedaling frequency, in particular, takes place at the pedaling axis of the electric bicycle. In this embodiment, the motor torque is additionally generated as a function of the detected pedaling frequency. This results in the advantage that a desired acceleration phase of the electric bicycle is quickly identified as well as the resulting acceleration of the electric bicycle is adapted more precisely and/or more quickly or more dynamically to the desired driving behavior of the user. 
     In one further embodiment of the present invention, it may optionally furthermore be provided that a pitch angle of the electric bicycle is detected. The pitch angle represents a rotation of the electric bicycle about the transverse axis of the electric bicycle. In this embodiment, the generation of the motor torque additionally takes place as a function of the detected pitch angle. This results in the advantage that the resulting acceleration of the electric bicycle is also adapted to an uphill grade of a route of the electric bicycle. In particular, the absolute value of the motor torque is generated in a steadily increasing manner with increasing pitch angle. As a result of this embodiment of the present invention, the electric bicycle also accelerates in the desired or customary manner, or at least essentially consistently and comprehensibly for the user, with the particular predefined setpoint acceleration for, for example, the selected assistance situation or the pushing aid during an upwardly directed trip of the electric bicycle on an uphill grade of the route. 
     In another refinement, the control method may encompass the step of an identification of an activation of a pushing aid. This pushing aid operating mode is advantageously activated by a user at steeper inclines or uphill grades of the route. In this refinement, the user advantageously does not exert any pedaling force. In other words, in this refinement the user walks next to the electric bicycle, the user pushing the electric bicycle using a manual pushing force. With the pushing aid activated, in this refinement the user is receiving assistance from the generated motor torque with the pushing of the electric bicycle. In this refinement, the generation of the motor torque is additionally carried out as a function of the identified activation of the pushing aid. 
     The present invention also relates to a control unit, the control unit being configured to carry out a control method according to the present invention. The control unit advantageously detects the longitudinal acceleration of the electric bicycle or a variable which represents the longitudinal acceleration, with the aid of an acceleration sensor or an inertial measuring unit or sensor unit. Thereafter, the control unit advantageously activates the electric motor for generating the motor torque as a function of the detected longitudinal acceleration. The control for the generation of the motor torque is, in particular, adapted until a predefined setpoint acceleration is reached or exceeded. The control unit is, in particular, part of a drive unit, which furthermore advantageously includes the electric motor. 
     The present invention furthermore relates to an electric bicycle, including the control unit according to the present invention. 
     Further advantages are derived from the following description of exemplary embodiments with reference to the figures. 
    
    
     
       BRIEF DESCRIPTION OF THE DRAWINGS 
         FIG. 1  shows an electric bicycle in accordance with an example embodiment of the present invention. 
         FIG. 2  shows a flowchart of the control method as a block diagram, in accordance with an example embodiment of the present invention. 
         FIG. 3  shows a diagram regarding the dependence of the assistance situation, in accordance with an example embodiment of the present invention. 
     
    
    
     DETAILED DESCRIPTION OF EXAMPLE EMBODIMENTS 
       FIG. 1  shows a cargo bike as an electric bicycle  100 , including a front wheel  101  and a rear wheel  102  for driving electric bicycle  100 . The cargo bike is steered with the aid of a handle bar and a linkage, which is situated between the handle bar and front wheel  101 . The cargo bike furthermore includes a drive unit  110 , drive unit  110  including an electric motor  111  and a sensor unit  112 , as well as a control unit  130 . Control unit  130  is configured to activate electric motor  111 . Electric motor  111  is configured to generate a motor torque, which is transmitted with the aid of an output pinion  113 , a chain  103  or a belt to a pinion  104  at rear wheel  102  for driving electric bicycle  100  with the aid of rear wheel  102 . Using the right and left legs, the user or bicyclist typically generates a respective pedaling force on one of pedals  114 , the pedaling force being transmitted with the aid of a respective crank to pedaling axis  115 , and with the aid of an output pinion  113  as well as a chain  103  for driving electric bicycle  100  to a sprocket  104  of rear wheel  102 . In other words, the user of electric bicycle  101  generates a driver torque to pedaling axis  115 , which represents the pedaling force or the pedaling forces of the user, the driver torque being transmitted to output pinion  113 , which is connected to pedaling axis  115  or the crankshaft. The driver torque may, for example, be detected with the aid of a torque sensor in drive unit  110  or in the area of pedal axis  115 . Electric motor  111  is advantageously activated as a function of the detected driver torque for the generation of a motor torque. In other words, both the driving torque and the motor torque are transmitted with the aid of output pinion  113 , chain  103  or the belt to sprocket  104  at rear wheel  102  for driving electric bicycle  100 . In this way, the motor torque generated with the aid of electric motor  111  assists the user with driving electric bicycle  100 , by which the manual pedaling force of the user onto pedals  114  or the driver torque for accelerating electric bicycle  100  or for maintaining a speed of electric bicycle  100  may be reduced. As an alternative, electric bicycle  100  may also be operated in a pushing aid operating mode, the user advantageously activating or deactivating the pushing aid operating mode or the pushing aid with the aid of a switch at the handle bar of electric bicycle  100 . During operation of the pushing aid, a motor torque is generated by electric bicycle  100  with the aid of electric motor  111 , which assists the user with pushing electric bicycle  100 . During operation of the pushing aid, no pedaling force of the user is necessary for generating the motor torque for driving electric bicycle  100 . In other words, in the pushing aid operating mode or during the pushing aid, purely a motor drive of electric bicycle  100  by the generated motor torque takes place, in particular an absolute value of the velocity of electric bicycle  100  not exceeding a maximum value which, in particular, is predefined by law. Sensor unit  112  situated at electric bicycle  100  is, in particular, an inertial measuring unit and configured to detect a longitudinal acceleration of electric bicycle  100  in the direction of longitudinal axis  190  of electric bicycle  100  and/or a transverse acceleration of the electric bicycle in the direction of transverse axis  192  of electric bicycle  100  and/or a vertical acceleration of electric bicycle  100  in the direction of vertical axis  191  of electric bicycle  100 . Sensor unit  112  is furthermore configured to detect a pitch angle, the pitch angle representing a rotation  193  of the electric bicycle about transverse axis  192  of the electric bicycle. Electric bicycle  100  furthermore includes an optional weight sensor  140  for detecting the driver weight or for detecting the mass of a bicyclist or a mass of a user of electric bicycle  100 . In addition, at least one optional further weight sensor  141  is situated at electric bicycle  100 , further weight sensor  141  being configured to detect a mass of a payload of electric bicycle  100 . It may be provided that multiple further weight sensors  141  are situated at the cargo bike, as electric bicycle  100 , at a transport container  120  of electric bicycle  100 . The at least one further weight sensor  141  is configured to detect a mass of the payload of electric bicycle  100  in transport container  120  or a cargo area. For this purpose, transport container  120  is mounted at electric bicycle  100 , for example with the aid of further weight sensor  141 . In other words, both the mass of the bicyclist may be detected or ascertained with the aid of weight sensor  140  and the mass of the payload in transport container  120  may be detected or ascertained with the aid of weight sensor  141 , in the case of electric bicycle  100  shown in  FIG. 1 , so that the total mass of electric bicycle  100  may be ascertained. For example, children are transported with the aid of the cargo bike, further weight sensor  141  being configured to detect the weight of the children. Weight sensor  140  and/or further weight sensor  141  may advantageously include a pressure sensor. 
       FIG. 2  shows a flowchart of the control method as a block diagram, in accordance with an example embodiment of the present invention. In a first optional step  210 , an identification of an activation of the pushing aid or of a pushing aid operating mode is carried out, for example by detecting an input of the user. For example, identification  210  of the activation of the pushing aid takes place by detecting a switch for activating the pushing aid being depressed by the user, the pushing aid, in particular, being deactivated when the switch is released. In one step  220 , a longitudinal acceleration of electric bicycle  100  in the direction of longitudinal axis  190  of electric bicycle  100  is detected. As an alternative or in addition, a mass of at least a portion of the electric bicycle is ascertained or detected in an optional step  230 , for example the mass of the bicyclist and/or of a payload of the electric bicycle on a transport surface or in transport container  120 . The optional detected or ascertained mass advantageously represents a weight of the payload and/or a weight of the user of electric bicycle  100 . In an optional step  240 , it may be provided to carry out a detection  240  of a pedaling force of the user. The pedaling force of the user is, in particular, detected as a driver torque at a pedaling axis of the electric bicycle. The detected driver torque thus represents the pedaling force. In optional step  250 , furthermore an input of the user regarding a desired assistance situation for power assistance is detected. The desired assistance situation represents a desired motor torque which is to be generated as a function of the pedaling force for assisting the drive of electric bicycle  100 . For example, a linear dependence exists between the generated motor torque and the detected pedaling force of the user, the desired assistance situation representing the particular uphill grade of this linear dependence. In other words, the user, in optional step  250 , may, for example, select a lower, average or high degree of power assistance by the motor torque generated with the aid of the electric motor. In step  260 , it may in addition optionally be provided to ascertain an instantaneous hazard potential as a function of an instantaneous position of the electric bicycle and/or as a function of a camera image recorded with the aid of a camera at the electric bicycle. The instantaneous position of the electric bicycle is, for example, ascertained with the aid of a location sensor for a global positioning system. Optionally or additionally, the hazard potential is ascertained as a function of detected camera data of a camera at the electric bicycle. It may be provided, for example, that a high hazard potential is ascertained, as a function of a detected position of the electric bicycle, in certain surroundings areas, for example at blind road junctions and/or at tight curves of the route. As an alternative or in addition, it may be provided that the hazard potential, in particular, represents an instantaneous weather situation and/or an instantaneous traffic density and/or an instantaneous hazard area in the surroundings of the electric bicycle. In addition, a pedaling frequency of the user is detected in an optional further method step  270 . The pedaling frequency of the user is, in particular, detected at the pedaling axis of the electric bicycle. Furthermore, an optional detection  280  of the pitch angle of the electric bicycle may take place. The pitch angle represents a rotation of the electric bicycle about the transverse axis of the electric bicycle or an uphill grade of the route of the electric bicycle and a driving direction of the electric bicycle. Generation  290  of the motor torque is carried out with the aid of the electric motor as a function of the detected longitudinal acceleration of the electric bicycle. In the process, the generated motor torque is, in particular, adapted, in particular increased, until a predefined setpoint acceleration of the electric bicycle is reached or results or is exceeded. Different predefined setpoint accelerations may be provided for different assistance situations. In other words, the motor torque is adapted in step  290 , for example, the motor torque being increased until the electric bicycle during the pushing aid or while driving, with the same pedaling force of the user, accelerates essentially independently of the total mass of the electric bicycle, in particular in absolute terms, approximately with the predefined setpoint acceleration. During generation  290  of the motor torque, in particular essentially an acceleration of electric bicycle  100  which is independent of the total mass of the electric bicycle results in this way. Generation  290  or the adaptation of the motor torque may optionally take place as a function of the ascertained mass of the electric bicycle. An acceleration phase desired by the user or bicyclist is advantageously identified in an optional intermediate step  285  of the method as a function of the detected longitudinal acceleration and/or as a function of the detected pedaling force or the detected driver torque and/or as a function of the detected pedaling frequency. Thereafter, in step  290 , the motor torque is optionally adapted or generated as a function of the detected longitudinal acceleration and as a function of the identified acceleration phase, in particular only when an acceleration phase is identified in step  285 . Generation  290  or the adaptation of the motor torque of the electric motor advantageously takes place as soon as the detected longitudinal acceleration drops below a first longitudinal acceleration threshold value and/or exceeds a second longitudinal acceleration threshold value. In this optional embodiment of step  290 , the motor torque is advantageously adapted to the detected longitudinal acceleration with the aid of the first longitudinal acceleration threshold value and the second longitudinal acceleration threshold value, resulting in a particularly mass-independent acceleration behavior of the electric bicycle compared to alternative method sequences, and a generation or an adaptation of the motor torque only taking place during acceleration phases desired by the user. In step  290 , the motor torque may optionally additionally be generated or adapted as a function of the detected pedaling force and as a function of the detected assistance situation. In the process, the detected assistance situation is advantageously adapted as a function of the detected longitudinal acceleration. As an alternative or in addition, the first longitudinal acceleration threshold value and/or the second longitudinal acceleration threshold value is/are changed as a function of the detected assistance situation or the adapted assistance situation. 
     In step  290 , it may furthermore optionally be provided that the motor torque is additionally generated or adapted as a function of the ascertained instantaneous hazard potential. In this embodiment, for example, the acceleration of the electric bicycle may be reduced in a mass-independent manner as a function of a weather situation as the instantaneous hazard potential, for example during poor weather, and/or as a function of a traffic situation as the instantaneous hazard potential, for example in the case of high traffic density. In other words, in step  290 , the electric bicycle, with the same pedaling force of the user, is optionally accelerated essentially in a mass-independent manner with the aid of the generated motor torque, and additionally as a function of the ascertained instantaneous hazard potential, by which the safety of the user during the trip with the electric bicycle is increased. In step  290 , it may furthermore optionally be provided that the motor torque is additionally generated or adapted as a function of the detected pedaling frequency and/or as a function of a detected brake actuation. For example, an acceleration phase or a braking phase or a coasting phase may be identified as a function of the detected pedaling frequency and/or the detected brake actuation, the motor torque subsequently being generated or adapted as a function of the identified acceleration phase or the identified braking phase or the identified coasting phase. In other words, a mass-independent coasting of the electric bicycle or a mass-independent negative acceleration results in this embodiment of the present invention. In step  290 , it may furthermore optionally be provided that the motor torque is additionally generated or adapted as a function of the detected pitch angle. The acceleration of the electric bicycle during an upwardly directed trip at an uphill grade of the route is lower in the related art, due to a grade resistance which increases with increasing pitch angle, than the acceleration of the electric bicycle during a downwardly directed trip, or lower than the acceleration of the electric bicycle during a trip on a horizontal route. In other words, a mass-independent and uphill grade-independent acceleration of the electric bicycle results in this embodiment of the present invention, due to the motor torque generated as a function of the pitch angle. In addition, generation  290  of the motor torque optionally additionally takes place as a function of the identified activation of the pushing aid. 
     Equation 1 shows a drastically simplified linear relationship, adapted for acceleration a, between a constant driving force F, which acts at the circumference of the rear wheel of the electric bicycle and generates a driving torque, and total weight m of the electric bicycle as well as the longitudinal acceleration or acceleration a of the electric bicycle. In other words, with constant driving force F, longitudinal acceleration a of the electric bicycle increases with decreasing total weight of the electric bicycle, and vice versa. 
     
       
         
           
             
               
                 
                   a 
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                     F 
                     m 
                   
                 
               
               
                 
                   ( 
                   
                     equation 
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     In the case of an electric bicycle, driving force F is proportional to driver torque M F  and motor torque M M  generated with the aid of the electric motor; see equation 2. In the case of a constant assistance situation α of the related art, a linear relationship exists between driver torque M F  and the generated motor torque M M . In other words, in the related art, with the same pedaling force or same driver torque M F  and thus constant driving force F, an increasing longitudinal acceleration a of the electric bicycle according to equation 1 results with decreasing total weight of the electric bicycle, and vice versa. 
         F ˜( M   F   +M   M )=( M   F   +αM   F )= M   F (1+α)  (equation 2)
 
     Generation  290  of the motor torque in the present invention takes place as a function of the detected longitudinal acceleration. The motor torque is optionally generated as a function of the ascertained mass, the ascertained mass, in particular, representing a weight of a payload and/or a weight of a user of the electric bicycle. For the purpose of the generation of a weight-independent or payload-independent acceleration of the electric bicycle, in particular the detected assistance situation α is adapted as a function of the detected longitudinal acceleration and/or as a function of detected mass m, in particular continuously, and in particular until the predefined setpoint acceleration is reached, or undershot or exceeded, as the longitudinal acceleration. Assistance situation α is advantageously additionally adapted as a function of the pitch angle of the electric bicycle, by which a weight-independent and uphill grade-independent longitudinal acceleration of the electric bicycle also results at uphill grades of the route. 
       FIG. 3  shows an example of a three-dimensional diagram regarding the dependence of assistance situation α on detected longitudinal acceleration a and detected driver torque M F , motor torque M M  being generated as a function of assistance situation a. A standard line  320  represents the detected desired assistance situation, which typically results in an acceleration characteristic expected by the user or in the predefined setpoint acceleration. For example, the user selects an assistance situation of 250% by a detected input. The desired assistance situation applies, for example, to all detected driver torques. Standard line  320  extends through the intersecting point of a curved assistance plane  310  with an original assistance plane  321 . Original assistance plane  321  visualizes the weight-independent constant assistance situation in the related art, a predefined setpoint acceleration resulting under certain standard conditions, for example on a horizontal paved route with a user having an ideal driver weight. Curved assistance plane  310  visualizes a dependence according to the present invention of the generated motor torque or of the assistance situation on the detected longitudinal acceleration. This is explained hereafter. If, for example, a longitudinal acceleration of a heavily loaded cargo bike as an electric bicycle of 1 m/s 2  is detected with a detected driver torque of 5 Nm, this acceleration of electric bicycle  100  does not correspond to the acceleration characteristic expected by the user, or the predefined setpoint acceleration of 2 m/s 2 , for the detected desired assistance situation of 250%. According to curved assistance plane  310 , the detected desired assistance situation of 250% is consequently adapted to the amount of 310%, as a result of which the absolute value of the generated motor torque is increased, and thus the acceleration or longitudinal acceleration of the electric bicycle is increased or adapted. The user perceives this adapted longitudinal acceleration as being essentially mass-independent. In other words, the progression of the assistance plane  310  represents an adaptation of the driving dynamics or of assistance situation α to varying total masses or different kinds of electric bicycles and/or different payloads. As a result of the detected longitudinal acceleration changing over the course of time, the generated motor torque or assistance situation α is, in particular, continuously varied or adapted, until the predefined setpoint acceleration is reached, or the acceleration process is completed and a velocity of the electric bicycle desired by the user is reached. In other words, the generated motor torque or the assistance situation is incrementally or continuously adapted, in particular, within a predefined time period, until the desired assistance situation of 250%, as detected by the input, results for the user. Within what duration or how quickly a user reaches a desired velocity, or when the phase of the longitudinal acceleration is completed, and at what velocity of the electric bicycle the user is moving on curved assistance plane  310  along path  330  during the trip, or how long the generated motor torque or the assistance situation is adapted, depends on the radius of curvature of assistance plane  310  and driver torque M F . In addition to the method described for  FIG. 3 , particularly preferably a mass of at least a portion of the electric bicycle is detected or ascertained, and the motor torque is generated as a function of the detected mass, in particular at the beginning of the method or the predefined time period. It may be provided to adapt a radius of curvature of assistance plane  310  as a function of the detected mass of the electric bicycle.