GB2563855A

GB2563855A - Controlling a cycle

Info

Publication number: GB2563855A
Application number: GB1710230.2A
Authority: GB
Inventors: Prime Francis
Original assignee: Arrival Ltd
Current assignee: Arrival UK Ltd
Priority date: 2017-06-27
Filing date: 2017-06-27
Publication date: 2019-01-02
Anticipated expiration: 2037-06-27
Also published as: GB201710230D0; GB2563855B

Abstract

A computer-implemented method, comprising: receiving heart rate information indicative of a heart-rate of an operator of a vehicle; determining at least one heart-rate parameter for the operator of the vehicle; determining a correspondence between the received heart-rate information and the at least one determined heart-rate parameter; and causing a variation in the resistance to movement of at least one user-operable actuator of at least one drive apparatus of the vehicle in dependence of the determined correspondence between the received heart-rate information and the at least one determined heart-rate parameter. The vehicle may be an electrically assisted pedal cycle. Apparatuses, including vehicles, computer readable storage mediums and computer programs are also described.

Description

Controlling a cycle

Field

This specification relates to controlling a drive apparatus of a vehicle. Particularly, but not exclusively, the specification relates to causing a variation in the resistance to movement of at least one user-operable actuator of at least one drive apparatus of the vehicle in dependence of a determined correspondence between heart-rate information of a user of the vehicle and at least one determined heart-rate parameter of the user of the vehicle.

Background

Electrically-powered bicycles include an electric motor for rotating the rear wheel of the bicycle. The electric motor is included as a supplement to a conventional pedal-driven drive apparatus, via which a cyclist may push on the pedals to rotate the rear wheel of the bicycle. The motor acts to provide assistance to the cyclist when desired, for example when the cyclist is riding uphill or accelerating away from a stationary position. Such electrically-powered bicycles generally include a motor control on the handlebars, such as a rotatable grip, with which the cyclist can control the level of power supplied by the motor to the rear wheel of the bicycle.

Summary

This specification provided a computer-implemented method, comprising: receiving heart rate information indicative of a heart-rate of an operator of a vehicle; determining at least one heart-rate parameter for the operator of the vehicle; determining a correspondence between the received heart-rate information and the at least one determined heart-rate parameter; and causing a variation in the resistance to movement of at least one user-operable actuator of at least one drive apparatus of the vehicle in dependence of the determined correspondence between the received heart-rate information and the at least one determined heart-rate parameter.

Causing the variation in the resistance to movement of the at least one user-operable actuator of the at least one drive apparatus of the vehicle may comprise: selecting at least one of a plurality of operating states of the at least the drive apparatus of the vehicle in dependence of the determined correspondence between the received heart-rate information and the at least one determined heart-rate parameter.

Determining a correspondence between the received heart-rate information and the at least one determined heart-rate parameter may comprise: determining, from the received heart rate information, whether a current heart rate of the operator of the vehicle is within a predetermined range of heart rates.

Determining a correspondence between the received heart-rate information and the at least one determined heart-rate parameter may comprise: determining, from the received heart rate information, a rate of change of a heart rate of the operator of the vehicle.

The method may further comprise: determining whether the rate of change of the heart rate of the operator of the vehicle indicates that the heart rate of the operator is moving towards, or away from, a predetermined target heart rate value.

Selecting the at least one of the plurality of operating states may comprise selecting an operating state in which the resistance to movement of the at least one user-operable actuator is decreased.

Selecting the at least one of the plurality of operating states may comprise selecting an operating state in which the resistance to movement of the at least one user-operable actuator is increased.

The selected operating state may be different to a previous operating state of the at least one drive apparatus.

The method may comprise selecting the at least one of the plurality of operating states in response to determining that the received heart rate information does not correspond to the at least one determined heart-rate parameter.

The at least one user-operable actuator may be configured to transfer energy exerted by the operator of the vehicle on the at least one user-operable actuator to the at least one drive apparatus.

The at least one user-operable actuator may be mechanically coupled to at least one wheel of the vehicle to transfer energy from the at least one actuator to the at least one wheel.

The at least one user-operable actuator may be mechanically coupled to at least one electricity generating apparatus of the vehicle to transfer energy from the at least one actuator to the at least one electricity generating apparatus.

The at least one user-operable actuator of the at least one drive apparatus may comprise at least one pedal apparatus.

The at least one drive apparatus may comprise at least one electric drive motor operable to drive rotation of at least one wheel of the vehicle.

The vehicle may be a cycle and the operator of the vehicle may be a cyclist.

The cycle may be an Electronically Power Assisted Cycle (EPAC).

The method may comprise: causing the at least one drive apparatus to operate in the at least one selected operating state.

This specification also provides an apparatus comprising: at least one computer processor; and at least one computer memory storing computer-readable instructions which, when executed by the at least one processor, cause the at least one processor to perform the method.

This specification also provides a non-transitory computer-readable storage medium storing computer-readable instructions which, when executed by at least one computer processor, cause the at least one computer processor to perform the method.

This specification also provides a computer program comprising computer-readable instructions which, when executed by at least one computer processor, cause the at least one computer processor to perform the method.

This specification also provides a vehicle, comprising: at least one drive apparatus configured to actuate at least one wheel of the vehicle, wherein the drive apparatus comprises at least one user-operable actuator for controlling operation of the drive apparatus; and at least one computing apparatus comprising at least one computer processor and at least one computer memory, wherein the at least one processor is operable to execute computer-readable instructions stored in the at least one memory to: receive, from at least one heart rate monitoring apparatus, heart rate information indicative of a heart-rate of an operator of the vehicle; determine at least one heart-rate parameter for the operator of the vehicle; determine a correspondence between the received heart-rate information and the at least one determined heart-rate parameter; cause a variation in the resistance to movement of the at least one user-operable actuator of the at least one drive apparatus in dependence of the determined correspondence between the received heart-rate information and the at least one determined heart-rate parameter.

The vehicle may further comprise: the at least one heart rate monitoring apparatus configured to determine heart rate information indicative of a heart-rate of an operator of the vehicle.

The at least one heart rate monitoring apparatus may comprise a touch element arranged to contact the skin of the operator of the vehicle when the operator is operating the vehicle.

The touch element may be configured to generate an electrical signal which indicates the current heart rate of the operator of the vehicle.

The vehicle may comprise a cycle.

The cycle may comprise an Electronically Power Assisted Cycle (EPAC).

This specification also provides a vehicle, comprising: at least one drive apparatus configured to actuate at least one wheel of the vehicle, wherein the drive apparatus comprises at least one user-operable actuator for controlling operation of the drive apparatus; and at least one heart rate monitoring apparatus configured to determine heart rate information indicative of a heart-rate of an operator of the vehicle, wherein the at least one heart rate monitoring apparatus comprises a touch element arranged to contact the skin of the operator of the vehicle when the operator is operating the vehicle; wherein a variation in the resistance to movement of the at least one user-operable actuator is determined in dependence of a determined correspondence between the determined heart-rate information and at least one heart-rate parameter for the operator of the vehicle.

At least one operating state of the at least one drive apparatus may be selected in dependence of the determined correspondence between the determined heart-rate information and the at least one heart-rate parameter for the operator of the vehicle, thereby causing the variation in the resistance to movement of the at least one user-operable actuator.

The vehicle may comprise a cycle.

The vehicle may comprise an Electronically Power Assisted Cycle (EPAC).

For the purposes of example only, embodiments are described below with reference to the accompanying figures.

Brief Description of the Figures

Figure 1 is a schematic illustration of a cycle comprising a drive apparatus operable in a plurality of operating states to vary perceived pedalling resistance;

Figure 2 is a schematic diagram of a cycle comprising a drive apparatus operable in a plurality of operating states to vary perceived pedalling resistance;

Figure 3 is an illustration of a range of operating states for a drive apparatus comprising one or more motors and a pedal apparatus, both of which are mechanically coupled to a wheel of a cycle;

Figure 4 is an illustration of a range of operating states for a drive apparatus comprising one or more motors mechanically coupled to a wheel of a cycle, and a pedal apparatus mechanically coupled to an electricity generating apparatus;

Figure 5 is a schematic diagram of an external device configured to communicate with a cycle to control the operation of a drive apparatus of the cycle;

Figure 6 is a flow diagram of a method of controlling the operation of a drive apparatus of a cycle based on heart rate information for a rider of the cycle;

Figure 7 is a flow diagram of a method of controlling the operation of a drive apparatus of a cycle based on heart rate information for a rider of the cycle; and Figure 8 is a graphical illustration of a cyclist’s heart rate when riding a cycle controlled on the basis of heart rate information for the cyclist.

Detailed Description

The following description discusses an apparatus and method for controlling at least one drive apparatus of a vehicle in dependence of heart rate information for an operator of the vehicle. For the purposes of clarity, the embodiments are described primarily in the context of a cycle and a cyclist riding the cycle. The cycle comprises pedals via which energy provided by the cyclist is used to propel the cycle forwards. The cycle may also comprise one or more electric motors for propelling the vehicle forwards. In this regard, the cycle may be an Electronically Power Assisted Cycle (EPACs) and/or a Pedelec, such as a Speed Pedelec. For the avoidance of doubt, where the vehicle is a cycle, the aspects described herein are applicable to at least two-wheeled, threewheeled and four-wheeled versions.

It will be evident to a person skilled in the art that the aspects described herein are applicable not only to cycles but also to vehicles in general which are powered, at least partially, by energy provided by an operator of the vehicle.

Figure 1 is a schematic illustration of a cycle too. The cycle too comprises a front wheel tot and a rear wheel 102. The cycle 100 also comprises a frame 103, which includes a fork 103a. The front wheel 101 is rotatably located in the fork 103a and the rear wheel 102 is rotatably located in a rear end of the frame 103. As will be understood by those skilled in the art, the fork 103a can be turned within a head tube of the frame 103 to permit a cyclist to steer the front wheel 101 of the cycle 100. The cyclist is able to turn the fork 103a by appropriate movement of a steering apparatus in the form of a handlebar iO4attached to the fork 103a.

The cycle too also comprises a drive apparatus 200 for rotating one or more drivable wheels of the cycle 100. In the example of figure 1, the drive apparatus 200 is configured to drive rotation of the rear wheel 102 only, with the front wheel 101 being non-driven but free to rotate.

The drive apparatus 200 includes at least one user-operable actuator for allowing the cyclist to transfer energy from his/her body to the drive apparatus 200 by exerting a force on the actuator. This energy is used by the drive apparatus 200 to rotate the rear wheel 102. In the context of the cycle 100, the user operable actuator comprises a pedal apparatus 201, which is arranged to allow the cyclist to transfer energy from his/her legs to the drive apparatus 200 by exerting a force on the pedal apparatus 201.

An example of a pedal apparatus 201 is shown in figure 1. The pedal apparatus 201 comprises a chain 201a, a rotatable chain ring 201b, a sprocket 201c, and a pair of pedals 20id. The chain 201a is coupled between the rotatable chain ring 201b and the sprocket 201c, whilst the pedals 20id are attached to the chain ring 201b via cranks. In use, a cyclist may use his or her legs to apply pressure to the pair of pedals 20id, thereby rotating the chain ring 201b and causing a corresponding rotation of the sprocket 201c.

In a first implementation of the drive apparatus 200, the sprocket 201c is mechanically coupled to the rear wheel 102 of the cycle too so that a rotation of the sprocket 201c translates directly into a corresponding rotation of the rear wheel 102.

In a second, alternative, implementation of the drive apparatus 200, the sprocket 201c is mechanically coupled to an electricity generating apparatus 202 of the cycle too. In this second implementation, movement of the pedals 20id by the cyclist causes kinetic energy in the pedal apparatus 201 to be transferred to the electricity generating apparatus 202 rather than directly to the rear wheel 102 of the cycle too. Movement of the pedals 20id may, for example, cause a corresponding movement of one or more magnetic elements in the electricity generating apparatus 202. Kinetic energy in these moving elements may be converted into electrical energy in a manner which is well understood by persons skilled in the art. It will be appreciated that although the mechanical coupling between the pedal apparatus 201 and the electricity generating apparatus 202 is described above in the context of the chain 201a and the sprocket 201c, the mechanical coupling may alternatively be embodied using other suitable mechanical elements. The electricity generating apparatus 202 maybe part of the drive apparatus 200.

Figure 2 is a schematic diagram of the cycle 100, including the optional electricity generating apparatus 202 referred to above. As shown in figure 2, the drive apparatus 200 of the cycle too further comprises one or more electrical drive elements. Each of these electrical drive element(s) comprises one or more electric motors 203 configured to actuate a driveable wheel of the cycle too. In the cycle too illustrated in figure 1, for example, the electrical drive element(s) are configured to actuate the rear wheel 102 only. However, the electrical drive element(s) could additionally or alternatively be configured to actuate the front wheel 101.

The drive apparatus 200 of the cycle too further comprises one or more electrical storage elements, each of which comprises a battery 204. The battery 204, or batteries 204 if more than one is present, are rechargeable and are electrically coupled to the electric motor(s) 203. The one or more batteries 204 are configured to supply electrical power to the electric motor(s) 203 via the electrical coupling. The batteries 204 may also receive electrical power from the motor(s) 203, as discussed further below, for the purposes of re-charging.

In addition to being electrically coupled to the electric motor(s) 203, the one or more batteries 204 of the drive apparatus 200 maybe electrically coupled to the electricity generating apparatus 202 discussed above. Electrical energy generated at the electricity generating apparatus 202 from kinetic energy input via the pedal apparatus 201 maybe supplied to the one or more batteries 204 in order to re-charge the batteries 204.

During actuation of the wheel(s) 101,102 of the cycle too by the electric motor(s) 203, electrical energy flows between the one or more batteries 204 and the electric motor(s) 203. In this context, actuation of the wheel(s) 101,102 by the electric motor(s) 203 may involve either an acceleration of the rotation of the wheel(s) 101,102 or a braking of the rotation of the wheel(s) 101,102. As will be explained below, the direction in which the electrical energy flows between the batteries 204 and the motor(s) 203 depends on the current operating state of the drive apparatus 200.

The drive apparatus 200 comprises an electronic controller 205, such as an electronic microcontroller, for controlling the drive apparatus 200 to operate in one of a plurality of selectable operating states. For example, the controller 205 maybe configured to control the operation of the one or more motors 203, the one or more batteries 204 in a particular fashion in order to cause the drive apparatus 200 to operate in a selected state. Additionally or alternatively, the controller 205 may be configured to control the operation of the electricity generating apparatus 202 in a particular fashion in order to cause the drive apparatus 200 to operate in a selected state. The plurality of selectable operating states may represent a continuum of operating states for the drive apparatus 200. The ends of this continuum may correspond to the operating states which respectively provide a maximum resistance to movement of the pedal apparatus 201 and a minimum resistance to movement of the pedal apparatus 201. A change in the operating state of the drive apparatus 200 falls into one of two principal types. In a first type of change in the operating state, the drive apparatus 200 is configured to increase the resistance to movement of the pedal apparatus 201 so that the cyclist perceives increased resistance when pushing on the pedals 20id. In a second type of change in the operating state, the drive apparatus 200 is configured to decrease the resistance to movement of the pedal apparatus 201 so that the cyclist perceives reduced resistance when pushing on the pedals 20id. The two types of operating state change allow the drive apparatus 200 to be used to vary the level of resistance experienced by the cyclist over time. Examples of this are described below.

Figure 3 illustrates a continuum of selectable operating states for a drive apparatus 200 comprising a pedal apparatus 201 mechanically coupled to the rear wheel 102, as described above with respect to figure 1, one or more electric motors 203 and one or more batteries 204. In this type of drive apparatus 200, kinetic energy provided by the cyclist to the pedal apparatus 201 is transferred directly to the rear wheel 102 of the cycle 100 via a mechanical coupling between the pedals 20id and the rear wheel 102. The mechanical coupling comprises the chain 201a, the chain ring 201b and the sprocket 201c attached to the rear wheel 102.

Additionally, in this type of drive apparatus 200, kinetic energy maybe provided to the rear wheel 102 by the one or more electric motors 203 when operating in an energy supply mode. In such a mode, the one or more motors 203 receive electrical energy from the one or more batteries 204 and convert the received energy to kinetic energy for rotating the wheel 102. In contrast, when operating in an energy recovery mode, the one or more electric motors 203 may be configured to recover energy from the rear wheel 102 of the cycle 100 by converting kinetic energy in the wheel 102 to electrical energy. This recovered electrical energy is supplied to the one or more batteries 204 in order to re-charge the batteries 204.

The continuum shown in figure 3 has two end points, which respectively correspond to drive apparatus operating states in which the resistance to movement of the pedal apparatus 201 is at a maximum and a minimum. The maximum resistance to movement of the pedal apparatus 201 is provided by an operating state in which the one or more electric motors 203 are in a maximum energy recovery mode, causing a braking force to be applied to the rear wheel 102. This braking force is perceived by the cyclist turning the pedal apparatus 201 in the form of a high level of resistance. On the other hand, the minimum resistance to movement of the pedal apparatus 201 is provided by an operating state in which the one or more electric motors 203 are in a maximum energy supply mode, causing a maximum accelerating force to be applied to the rear wheel 102. This accelerating force is perceived by the cyclist turning the pedal apparatus 201 in the form of a low level of resistance.

Figure 4 illustrates a continuum of selectable operating states for a drive apparatus 200 comprising a pedal apparatus 201 which is mechanically coupled to an electricity generating apparatus 202 of the type described above, one or more electric motors 203 and one or more batteries 204. In this type of drive apparatus 200, kinetic energy provided by the cyclist to the pedal apparatus 201 is transferred to the electricity generating apparatus 202. The electricity generating apparatus 202 converts the kinetic energy to electrical energy and supplies the electrical energy to the one or more batteries 204 for re-charging. The driveable wheel(s) 101,102 of the cycle too are rotated by the one or more electric motors 203 operating in an energy supply mode, using electric energy supplied to the motors 203 by the one or more batteries 204. The motors 203 may also operate in an energy recovery mode for charging the one or more batteries 204 when excess energy is available from the rear wheel 102, for example when the cyclist too operates a brake actuator to decelerate the cycle too.

Like the continuum shown in figure 3, the continuum illustrated in figure 4 has two end points which respectively correspond to drive apparatus operating states at which the resistance to movement of the pedal apparatus 201 is at a maximum and a minimum. The maximum resistance to movement of the pedal apparatus 201 is provided by an operating state in which the electricity generating apparatus 202 is set to a maximum electricity generating mode. The minimum resistance to movement of the pedal apparatus 201 is provided by an operating state in which the electricity generating apparatus 202 is set to a minimum electricity generating mode.

The plurality of selectable operating states for the drive apparatus 200 of the cycle too allow the drive apparatus 200 to be used to vary the level of resistance that the cyclist perceives when pushing the pedals 20id, as desired. Variations of this type may be used to fulfil a particular aim of influencing the heart rate of the cyclist, as described further below.

The drive apparatus 200 also comprises a transceiver 206, which is configured to send data from the drive apparatus 200 to one or more external devices. The transceiver 206 may also receive data from external devices. The data sent to the external device(s) may include, for example, information indicating the current operating state of the drive apparatus 200. The data received from the external device(s) may, for example, include control instructions for the drive apparatus 200 or other information which the controller 205 of the drive apparatus 200 may use to control the apparatus 200. Examples of external devices with which the drive apparatus 200 may communicate via the transceiver 206 are discussed further below.

Referring again to figure 2, the cycle too also comprises a heart rate monitoring apparatus 300. The heart rate monitoring apparatus 300 is configured to detect a heart rate of a cyclist riding the cycle too. The heart rate monitoring apparatus 300 comprises a touch element 301 which is arranged to contact the skin of a cyclist when the cyclist is riding the cycle too. The touch element 301 is configured to generate an electrical signal which indicates the current heart rate of the cyclist. The signal can be generated by a variety of different techniques, any of which may be used by the touch element 301. For example, the touch element 301 may comprise electrodes configured to detect electrical changes on the cyclist’s skin which are indicative of the cyclist’s heart rate.

The touch element 301 of the heart rate monitoring apparatus 300 is located at a natural contact point between the cyclist and the cycle too. For example, as shown in figure 1, the touch element 301 maybe located on the handlebar 104 of the cycle too so that, when the cyclist holds the handlebar 104, his or her hands are naturally in contact with the touch element 301. As the cyclist’s hands are always, or nearly always, in contact with the handlebar 104, positioning the touch element 301 at the handlebar 104 allows a substantially continuous monitoring of the cyclist’s heart rate by the heart rate monitoring apparatus 300. Locating the touch element 301 at the handlebar 104 also means that the cyclist’s heart rate is monitored in a safe manner, without any requirement for the cyclist to alter his or her normal riding position or behaviour.

In addition to the touch element 301 discussed above, the heart monitoring apparatus 300 comprises an electronic controller 302 such as a microcontroller. Signals generated by the touch element 301 are communicated to the controller 302, where they are used by the controller 302 to determine the current heart rate of the cyclist.

For example, the controller 302 may comprise an internal memory 302a containing software instructions for determining a current heart rate from the signals generated at the touch element 301.

The heart rate monitoring apparatus 300 may be configured to monitor the heart rate of the cyclist over a period of time, such as the total period of a particular ride or training session, and may therefore be configured to accumulate historical heart rate information for the cyclist. This information may be stored by the heart rate monitoring apparatus 300, for example in the memory 302a of the controller 302 and/or in an external cloud server accessible by the controller 302 of the heart rate monitoring apparatus 300 over the Internet. The information may include data describing how the cyclist’s heart rate has risen and fallen over time during a particular ride or training session. The information may additionally include data describing the current rate-of-change in the cyclist’s heart rate.

The heart rate monitoring apparatus 300 also comprises a transceiver 303. The transceiver 303 is configured to send data from the heart rate monitoring apparatus 300 to one or more external devices/apparatuses and may also be configured to receive data from external devices. The data sent to the external devices may include information indicating the current heart rate of the cyclist. The data may additionally or alternatively include information describing the historical heart rate of the cyclist, for example including the current rate-of-change of the cyclist’s heart rate. Examples of external devices with which the heart rate monitoring apparatus 300 may communicate via the transceiver 303 are discussed further below.

The heart rate monitoring apparatus 300 may receive electrical power from the one or more batteries 204 discussed above. However, in the example illustrated in figure 2, the heart rate monitoring apparatus 300 comprises its own dedicated electrical power source 304 including a battery. The dedicated power source 304 is configured to supply electrical power to the various components of the heart rate monitoring apparatus 300, including the touch element 301, the controller 302 and the transceiver 303 discussed above.

Figure 5 is a schematic diagram of a user computing device 400, such as a smart phone, or a wearable device, such as a smart watch. The user device 400 comprises a computer processor 401, a computer memory 402, and an electrical power source 403 including a battery. The user device 400 also comprises a display 404 and a user-input apparatus 405, via which a user may provide inputs to the device 400. The user-input apparatus 405 may, for example, comprise a touch-sensitive panel which is integrated with the display 404 in a touch-screen display. The user device 400 also comprises a transceiver 406 for communicating with external apparatuses, such as the drive apparatus 200 and the heart rate monitoring apparatus 300 of the cycle too. For example, as described below, the user device 400 may receive heart rate information from the heart rate monitoring apparatus 300 and may send control instructions to the drive apparatus 200 to control the operational state of the drive apparatus 200 based on the heart rate information. Communication between the transceivers of the drive apparatus 200, heart rate monitoring apparatus 300 and user computing device 400 maybe via a suitable wireless communication link, such as Bluetooth.

The computer memory 402 of the user device 400 contains an application program 500 for controlling the operation of the cycle too. The application program 500 may cause the user device 400 to send instructions to the drive apparatus 200 to control the operational state of the drive apparatus 200. The instructions sent to the drive apparatus 200 may depend on the heart rate information received at the user device 400 from the heart rate monitoring apparatus 300 referred to above. It may be a function of the application program 500 to cause the drive apparatus 200 to operate in a manner which produces a particular result in terms of the cyclist’s heart rate. In other words, the application program 500 maybe configured to influence the cyclist’s heart rate in a particular manner by controlling the operation of the drive apparatus 200 to increase or decrease the resistance to movement of the pedal apparatus 201.

An example method of controlling the operation of the drive apparatus 200 based on heart rate information received from the heart rate monitoring apparatus 300 is described below with respect to figure 6.

In a first stage Si of the method, the user device 400 receives, from the heart rate monitoring apparatus 300, heart rate information indicative of the heart rate of a cyclist riding the cycle too. As previously discussed, the heart rate information may include the current heart rate of the cyclist and/or historical heart rate information such as the current rate of change of the cyclist’s heart rate.

In a second stage S2 of the method, the user device 400 determines at least one heart rate parameter for the cyclist riding the cycle too. The heart rate parameter may comprise a target heart rate or target range of heart rates. The heart rate parameters may be stored in the memory 402 of the user device 400 and may, for example, have been pre-selected by the cyclist using the user interface apparatus 405 referred to above.

In a third stage S3 of the method, the user device 400 may determine a correspondence between the received heart-rate information and the at least one determined heart-rate parameter for the cyclist. For example, the user device 400 may compare the heart rate information received from the heart rate monitoring apparatus 300 with heart rate parameters for the cyclist stored in the memory 402 of the user device 400. The comparison operation produces a result, for example in the form of a discrepancy between the heart rate information received from the monitoring apparatus 300 and the heart rate parameters stored in the memory 402 of the device 400.

In a fourth stage S4 of the method, the user device 400 selects an operating state for the drive apparatus 200 of the cycle too in dependence of the determined correspondence between the received heart-rate information and the at least one determined heart-rate parameter for the cyclist. For example, the user device 400 may select an operating state which causes the cyclist to perceive a particular level of resistance to movement of the pedal apparatus 201. This level of resistance maybe higher than that which was previously being perceived by the cyclist, requiring the cyclist to work harder in order to maintain the same rpm at the pedal apparatus 201. Alternatively, the level of resistance maybe lower than that which was previously being perceived by the cyclist, requiring the cyclist to work less hard in order to maintain the same rpm at the pedal apparatus 201.

As discussed above with respect to figures 3 and 4, depending on the specific design of the cycle 100, particular operating states of the drive apparatus 200 may be implemented using one of at least first and second approaches.

In a fifth stage S5 of the method, the user device 400 causes the drive apparatus 200 to operate in the selected operating state. For example, the user device 400 may transmit a control instruction to the drive apparatus 200 via the associated transceivers 406, 206 to cause the controller 205 of the drive apparatus 200 to initiate a transition to the selected state, if necessary (i.e. if the drive apparatus 200 is not already operating in the selected state).

Another example method of controlling the operation of the drive apparatus 200 based on heart rate information received from the heart rate monitoring apparatus 300 is described below with respect to figure 7. This method is consistent with the method described above with respect to figure 6.

In a first stage At of the method, the transceiver 406 of the user device 400 receives heart-rate information indicative of a heart-rate of a cyclist riding the cycle 100.

The heart rate information is generated by the heart rate monitoring apparatus 300 on the cycle 100. As described previously, the heart rate information indicates the current heart rate of the cyclist and/or historical heart rate information such as the current rate of change of the cyclist’s heart rate. The heart rate information is generated in the controller 302 of the heart rate monitoring apparatus 300 using signals received from the touch element 301, before being transmitted to the user device 400 using the transceiver 303 of the monitoring apparatus 300.

In a second stage A2 of the method, the user device 400 determines at least one heart rate parameter for the cyclist. This at least one heart rate parameter may include a target range of heart rates for the cyclist. The target range of heart rates may be preselected by the cyclist using the user device 400. For example, the cyclist may, before beginning a particular ride, select a target range of heart rates by providing inputs to the device 400 through the user interface apparatus 405 referred to above. The target range may be stored in the memory 402 of the device 400 so that it is accessible by the application program 500.

In a third stage A3 of the method, the user device 400 may determine a correspondence between the received heart-rate information and the at least one determined heart-rate parameter. For example, the user device 400 operating under the control of the application program 500 may determine, from the received heart rate information, whether the current heart rate of the cyclist is within the predetermined target range of heart rates.

If the current heart rate of the cyclist is determined to be within the target range of heart rates, the user device 400 may in a sub stage A3S1 of the third stage A3 of the method determine whether the heart rate of the cyclist is predicted to remain within the target range of heart rates for a predetermined time period. This determination may be made by comparing the absolute value and current rate of change of the cyclist’s heart rate, derived from the received heart rate information, with the boundaries of the range of target heart rates over the predetermined time period. The predetermined time period may be pre-selected by the cyclist and stored in the memory 402 of the device 400 in a corresponding manner to the target range of heart rates.

In a fourth stage A4 of the method, the user device 400 selects at least one operating state for the drive apparatus 200 of the cycle 100 in dependence of the determined correspondence between the received heart rate information and the at least one determined heart rate parameter.

For example, if it is determined that the heart rate of the cyclist is predicted to remain within the target range of heart rates for the predetermined time period, the user device 400 may in a sub stage A4S1 of the fourth stage A4 of the method determine that no change in the operating state of the drive apparatus 200 is required. The method may then return to the second stage A2 described above.

However, if it is determined that the heart rate of the cyclist is predicted to not remain within the target range of heart rates for the predetermined time period, the user device 400 may determine in another sub stage A4S2 of the fourth stage A4 of the method that a change in the operating state of the drive apparatus 200 is required. The user device 400 may adjust the operation of the drive apparatus so as to vary the resistance perceived by the cyclist at the pedals 20id and thereby cause an expected increase in the correspondence between the received heart rate information and the at least one heart rate parameter for the cyclist. In one example, the user device 400 may adjust the operation of the drive apparatus 200 in a manner which is proportional to both the current rate of change of the cyclist’s heart rate and the discrepancy between the cyclist’s current heart rate and a target heart rate for the cyclist.

In general terms, a positive rate of change in the cyclist’s heart rate may indicate that a decrease in the resistance to movement of the pedal apparatus 201 is required. This maybe achieved by selecting an operating state in which the current level of energy harvesting at the wheel(s) of the cycle too (using the motors 203) is decreased or an operating state in which the current level of motor assistance is increased. Alternatively, when the pedal apparatus 201 is mechanically coupled to the electricity generating apparatus 202, the decrease in pedalling resistance may be achieved by selecting an operating state in which the energy harvesting setting at the electricity generating apparatus 202 is reduced.

On the other hand, a negative rate of change in the cyclist’s heart rate may indicate that an increase in the resistance to movement of the pedal apparatus 201 is required. This maybe achieved by selecting an operating state in which the current level of energy harvesting at the wheel(s) of the cycle too (using the motors 203) is increased or an operating state in which the current level of motor assistance is decreased. Alternatively, when the pedal apparatus 201 is mechanically coupled to the electricity generating apparatus 202, the increase in pedalling resistance may be achieved by selecting an operating state in which the energy harvesting setting at the electricity generating apparatus 202 is increased.

The user device 400 may be configured to determine whether the current rate of change of the cyclist’s heart rate indicates that the cyclist’s heart rate is moving towards, or away from, a central value of the target range of heart rates. If it is determined that the cyclist’s heart rate is moving towards the central value of the target range of heart rates, the user device 400 may select a relatively small change in the operational state of the drive apparatus 200 in order to cause a relatively small change in the level of resistance to pedalling perceived by the cyclist. The change is for the purposes of adjusting the rate at which the cyclist’s heart rate is moving towards the centre of the target range of heart rates. Within these relatively small changes, larger changes maybe selected when the cyclist’s current heart rate is relatively far from the centre of the target range of heart rates and smaller changes may be selected when the cyclist’s current heart rate is relatively close to the centre of the target range of heart rates.

If, on the hand, it is determined that the cyclist’s heart rate is moving away from the central value of the target range of heart rates, the user device 400 may select a relatively large change in the operational state of the drive apparatus 200 in order to cause a relatively large change in the level of resistance to pedalling perceived by the cyclist. These larger changes are for the purposes of reversing the direction in which the cyclist’s heart rate is currently travelling in order to cause the cyclist’s heart rate to begin to move back towards the centre of the target range of heart rates. Within these relatively large changes, larger changes may be selected when the cyclist’s current heart rate is relatively far from the centre of the target range of heart rates and smaller changes may be selected when the cyclist’s current heart rate is relatively close to the centre of the target range of heart rates.

The method may then proceed to the fifth stage S5 described above, before returning to the second stage A2.

Referring again to the third stage A3 of the method, if the current heart rate of the cyclist is determined to be not within the target range of heart rates, the user device 400 may in another sub stage A3S2 of the third stage A3 of the method determine whether the heart rate of the cyclist is predicted to be within the target range of heart rates within a predetermined time period. This determination may be made by comparing the absolute value and current rate of change of the cyclist’s heart rate, derived from the received heart rate information, with the boundaries of the range of target heart rates over the predetermined time period. The predetermined time period may be pre-selected by the cyclist and stored in the memory 402 of the device 400, and may be the same as that referred to above with respect to the other sub stage A3S1 of the third stage A3 of the method.

If it is determined that the heart rate of the cyclist is predicted to be within the target range of heart rates within the predetermined time period, the user device 400 may in a sub stage A4S3 of the fourth stage A4 determine that no change in the operating state of the drive apparatus 200 is required. The method may then return to the second stage A2 described above.

However, if it is determined that the heart rate of the cyclist is predicted to not be within the target range of heart rates within the predetermined time period, the user device 400 may determine in another sub stage A4S4 of the fourth stage A4 of the method that a change in the operating state of the drive apparatus 200 is required. The user device 400 may adjust the operation of the drive apparatus 200 so as to increase the correspondence between the received heart rate information and the at least one heart rate parameter for the cyclist. In one example, in the manner described above, the user device 400 may adjust the operation of the drive apparatus 200 in a manner which is proportional to both the current rate of change of the cyclist’s heart rate and the discrepancy between the cyclist’s current heart rate and a target heart rate for the cyclist. The target heart rate may, for example, be the heart rate value which lies at the centre of the range of target heart rates. The method may then proceed to the fifth stage S5 before returning to the second stage A2 described above.

The methods described above with respect to figures 6 and 7 are discussed further below with reference to figure 8.

Figure 8 is a graphical illustration of how a cyclist’s heart rate may vary when riding the electrically-powered cycle too. At a first time ti the cyclist’s heart rate maybe relatively low, for example at a level which is normal for the cyclist when he or she not exercising. At the first time ti, the cyclist begins riding the electrically powered-cycle 100 by exerting a force on the pedals 20id to rotate the rear wheel 102 of the cycle too. At this time, in the first implementation of the drive apparatus 200 described above with respect to figure 1, in which the pedal apparatus 201 is mechanically coupled to the rear wheel 102 of the cycle too, the drive apparatus 200 maybe configured to operate in a neutral state in which the electrical motor(s) 203 of the drive apparatus 200 are neither driving rotation of the rear wheel 102 nor braking the rear wheel 102 by harvesting energy for the one or more batteries 204. In the second implementation of the drive apparatus 200 described above with respect to figure 1, in which the pedal apparatus 201 is mechanically coupled to the electricity generating apparatus 202, the neutral state of the drive apparatus 200 may involve a mid-level of resistance applied to movement ofthe pedal apparatus 201 by the electricity generating apparatus.

Operation of the motors 203 may be controlled independently by the cyclist, for example using a separate control on the cycle too.

The exertion involved in applying force to the pedals 20id of the cycle too causes the cyclist’s heart rate to increase. After a predetermined time period, at a second time t2, the user device 400 operating under the control of the application program 500 determines, in the third stage S3, A3 of the method, whether the cyclist’s current heart rate is within a predetermined target range of heart rates. As previously discussed, the target range of heart rates may be determined from the memory 402 of the device 400 in the second stage S2, A2 of the method.

In the example of figure 8, the cyclist’s heart rate is not within the target range of heart rates at the second time t2. In these circumstances, as shown in figure 7, the method may progress to a sub stage A3S1 in which the device 400 determines whether the cyclist’s heart rate is predicted to be within the target range of heart rates within the next predetermined time period. The device 400 may make this determination from the historical heart rate information received from the heart rate monitoring apparatus 300. For example, the device 400 may determine the current rate of change of the cyclist’s heart rate and, on this basis, extrapolate the cyclist’s heart rate over the next predetermined time period in order to predict the cyclist’s heart rate at the end of the time period.

In the example of figure 8, the absolute value and rate of change of the cyclist’s heart rate at the second time t2 indicate that at a third time t3 the cyclist’s heart rate will be within the target range of heart rates. As such, the method may progress to a sub stage A4S1 in which the user device 400 selects to maintain the current operating state of the drive apparatus 200.

At the third time t3 the user device 400 again determines in accordance with the third stage S3, A3 of the method whether the cyclist’s current heart rate is within the predetermined target range of heart rates. In the example of figure 8, the cyclist’s heart rate is found to be within the target range. As such, the method may progress to a sub stage A3S2 in which the user device 400 determines whether the cyclist’s heart rate is predicted to remain within the target range of heart rates for the next predetermined time period. At the third time t3, it is predicted on the basis of the absolute value and rate of change of the cyclist’s heart rate that at a fourth time t4 the cyclist’s heart rate will no longer be within the target range. As such, the method may progress to a sub stage A4S4 in which the user device 400 selects a different operating state for the drive apparatus 200.

The user device 400, operating under the control of the application program 500, is configured to select the new operating state for the drive apparatus 200 with the aim of bringing the cyclist’s expected heart rate into closer correspondence with the target range of heart rates. As previously discussed, the device 400 may select the new operating state of the drive apparatus 200 in a manner which is proportional to both the current rate of change of the cyclist’s heart rate and the magnitude of the discrepancy between the cyclist’s current heart rate and a target heart rate for the cyclist. In the example of figure 8, at the third time t3, the cyclist’s heart rate is increasing and the rate of change is relatively high. However, the difference between the absolute value of the cyclist’s current heart rate and the target heart rate for the cyclist is relatively small. As such, the device 400 selects a new operating state which provides a mid-level decrease to the resistance perceived by the cyclist at the pedal apparatus 201. As the drive apparatus 200 had previously been operating in a neutral mode, the newly selected operating state may involve the electric motor(s) 203 of the drive apparatus 200 supplying a mid-level of kinetic power to the rear wheel 102 of the cycle 100. Alternatively, the newly selected operating state may involve the electricity generating apparatus 202 operating at a higher electricity generating setting than previously.

At the fourth time t4 the user device 400 again determines in accordance with the third stage S3, A3 of the method whether the cyclist’s current heart rate is within the predetermined target range of heart rates. In the example of figure 8, the result of this determination is that the cyclist’s heart rate is within the target range. The device 400 then determines in the sub stage A3S2 of the method that the cyclist’s heart rate is predicted to remain within the target range of heart rates for the next predetermined time period. In a fourth stage A4S3 of the method, the device 400 selects to maintain the current operating state of the drive apparatus 200 of the cycle 100. Corresponding actions are taken by the device 400 at the fifth, sixth and seventh times t5-7 illustrated in figure 8.

At the eighth time ts, the device 400 determines in the third stage S3, A3 of the method that, although the cyclist’s current heart rate is within the target range, the cyclist’s heart rate is not predicted to remain within the target range for the next predetermined time period. As such, in the sub stage A4S4 of the method the user device 400 selects a new operating state for the drive apparatus 200. The new operating state represents a change in the level resistance to movement of the pedals 20id perceived by the cyclist. In these circumstances, as the cyclist’s heart rate is relatively close to the target heart rate and is decreasing at a relatively low rate of change, the device 400 selects an operating state which causes a low-level increase in the level resistance to movement of the pedals 2Oid perceived by the cyclist. If the drive apparatus 200 had previously been operating in a mid-level power-assist mode, as referred to above, the newly selected operating state may involve the electric motor(s) 203 of the drive apparatus 200 supplying a reduced, low-level of kinetic power to the rear wheel 102 of the cycle 100.

In this manner, the heart rate of the cyclist is maintained within the target range of heart rates by automatic control of the operational state of the drive apparatus 200.

This may have safety benefits for the cyclist, particularly if he or she has been advised by a medical practitioner to not exceed particular heart rate levels when exercising.

It will be appreciated that although the methods have been described above in relation to an application program 500 running on an external user device 400, the methods could alternatively be performed by computing apparatus on the electrically-powered cycle too. For example, the user device 400, or at least its principal constituent components described above with respect to figure 5, maybe integrated with the cycle too so that the application program 500 is executed locally at the cycle too. Such an implementation may make the separate user device 400 unnecessary.

In further examples, the selection of the operating state of the drivetrain apparatus 200 may consider not only aspects of the cyclist’s heart rate but also geographical factors such as terrain and elevation. These factors may be provided to the user device 400, or other computing apparatus controlling the drive apparatus 200, by map information stored in the memory 402 of the user device 400 and/or GPS position data indicating the current location of the user device 400 or cycle too. This information maybe used, for example, in the predictions of whether the cyclist’s heart rate will remain, or otherwise fall within, the range of target heart rates at a future time. The application program 500 may anticipate gradients and the changes which are likely to be caused to the cyclist’s heart rate by such gradients in order to select an appropriate operating mode for the drive apparatus 200. Similar anticipations may be made on the basis of changes in terrain or elevation.

In implementations where the vehicle is not a cycle, the heart rate monitoring apparatus 300 is configured to detect a heart rate of the operator of the vehicle in a manner akin to the cyclist referred to above. Furthermore, where the vehicle is not a cycle, the touch element 301 may be located on the steering apparatus of the vehicle in question. Similarly, the user-operable actuator, the functionality of which is described above in the context of the pedal apparatus 201, may take forms such as one or more user-operable levers. If the vehicle is a wheelchair, the pedal apparatus 200 may be operated by hand rather than by a cyclist’s feet.

In the embodiments described above, energy harvested from the electric motor(s) 203 when the motor(s) 203 are operating in an energy recovery mode is supplied to the one or more batteries 204 for re-charging. If the one or more batteries 204 are fully charged, this energy may be dissipated in an electrically resistive element of the drive apparatus 200.

Although not described above with respect to figures 7 and 8, the drive apparatus 200 maybe configured to initially operate independently of the heart rate monitoring apparatus 300. For example, the operating state of the drive apparatus 200 maybe selected independently of signals from the heart rate monitoring apparatus 300 for a predetermined period following an initial movement of the cycle too, such as when the cycle too and cyclist are pulling away from traffic lights. Alternatively, the operating state of the drive apparatus 200 maybe selected independently of signals from the heart rate monitoring apparatus 300 until the cycle too has reached a predetermined speed. The predetermined time period and/or predetermined speed maybe stored in the memory 402 of the user computing device 400.

The drive apparatus 200 may comprise a button or other user-actuatable switch for disabling the control of the operating state of the drive apparatus 200 based on the cyclist’s heart rate information, when desired by the cyclist.

In implementations of the drive apparatus 200 where no electric motor(s) 203 or batteries 204 are present, the resistance to pedalling perceived by the cyclist may be varied by using a mechanical element located in proximity to the rear wheel 102 to vary the resistance to rotation of the wheel. For example, the mechanical element maybe operable to exert various levels of pressure against a side wall of the rear wheel 102 of the cycle too, in a corresponding number of selectable operating states of the drive apparatus 200, to vary the resistance to pedalling perceived by the cyclist.

Although the embodiments described above indicate that the heart rate information for the cyclist is derived using the heart rate monitoring apparatus 300 at the cycle too, heart rate information for the cyclist may alternatively be derived using a separate heart rate monitor worn by the cyclist on an appropriate part of his/her body. The information may be communicated from the monitor to the user computing device 400 over an appropriate communication link, such as Bluetooth.

Embodiments of the present disclosure may be implemented in software, hardware, application logic or a combination of software, hardware and application logic. The software, application logic and/or hardware may reside on memory, or any computer media. In an example embodiment, the application logic, software or an instruction set is maintained on any one of various conventional computer-readable media. In the context of this document, a “computer-readable medium” maybe any media or means that can contain, store, communicate, propagate or transport the instructions for use by or in connection with an instruction execution system, apparatus, or device, such as a computer. A computer-readable medium may comprise a computer-readable storage medium that may be any tangible media or means that can contain or store the instructions for use by or in connection with an instruction execution system, apparatus, or device, such as a computer as defined previously.

According to various embodiments of the previous aspect of the present disclosure, the computer program according to any of the above aspects, may be implemented in a computer program product comprising a tangible computer-readable medium bearing computer program code embodied therein which can be used with a controller for the implementation of the functions described above.

Reference to “computer-readable storage medium”, “computer program product”, “tangibly embodied computer program” etc., or a “controller” or “processing circuit” etc. should be understood to encompass not only computers having differing architectures such as single/multi controller architectures and sequencers/parallel architectures, but also specialised circuits such as field programmable gate arrays FPGA, application specify circuits ASIC, signal processing devices and other devices. References to computer program, instructions, code etc. should be understood to express software for a programmable controller firmware such as the programmable content of a hardware device as instructions for a controller or configured or configuration settings for a fixed function device, gate array, programmable logic device, etc.

By way of example, and not limitation, such “computer-readable storage medium” may mean a non-transitory computer-readable storage medium which may comprise RAM, ROM, EEPROM, CD-ROM or other optical disk storage, magnetic disk storage, or other magnetic storage devices, flash memory, or any other medium that can be used to store desired program code in the form of instructions or data structures and that can be accessed by a computer. An exemplary non-transitory computer-readable storage medium is an optical storage disk such as a CD. Also, any connection is properly termed a “computer-readable medium”. For example, if instructions are transmitted from a website, server, or other remote source using a coaxial cable, fiber optic cable, twisted pair, digital subscriber line (DSL), or wireless technologies such as infrared, radio, and microwave, then the coaxial cable, fiber optic cable, twisted pair, DSL, or wireless technologies such as infrared, radio, and microwave are included in the definition of medium. It should be understood, however, that “computer-readable storage medium” and data storage media do not include connections, carrier waves, signals, or other transient media, but are instead directed to non-transient, tangible storage media. Disk and disc, as used herein, include compact disc (CD), laser disc, optical disc, digital versatile disc (DVD), floppy disk and Blu-ray disc, where disks usually reproduce data magnetically, while discs reproduce data optically with lasers. Combinations of the above should also be included within the scope of “computer-readable medium”.

Instructions may be executed by one or more controllers, such as one or more digital signal controllers (DSPs), general purpose microcontrollers, application specific integrated circuits (ASICs), field programmable logic arrays (FPGAs), or other equivalent integrated or discrete logic circuitry. Accordingly, the term “controller,” as used herein may refer to any of the foregoing structure or any other structure suitable for implementation of the techniques described herein. In addition, in some aspects, the functionality described herein maybe provided within dedicated hardware and/or software modules. Also, the techniques could be fully implemented in one or more circuits or logic elements.

If desired, the different steps discussed herein may be performed in a different order and/or concurrently with each other. Furthermore, if desired, one or more of the above-described steps maybe optional or maybe combined.

It will be evident to persons skilled in the art that variations and modifications of the above specific disclosures can be made without departing from the scope of the following claims.

Claims

1. A computer-implemented method, comprising: receiving heart rate information indicative of a heart-rate of an operator of a vehicle; determining at least one heart-rate parameter for the operator of the vehicle; determining a correspondence between the received heart-rate information and the at least one determined heart-rate parameter; and causing a variation in the resistance to movement of at least one user-operable actuator of at least one drive apparatus ofthe vehicle in dependence of the determined correspondence between the received heart-rate information and the at least one determined heart-rate parameter.

2. The method of claim l, wherein causing the variation in the resistance to movement of the at least one user-operable actuator of the at least one drive apparatus of the vehicle comprises: selecting at least one of a plurality of operating states of the at least the drive apparatus of the vehicle in dependence of the determined correspondence between the received heart-rate information and the at least one determined heart-rate parameter.

3. The method of claim 1 or 2, wherein determining a correspondence between the received heart-rate information and the at least one determined heart-rate parameter comprises: determining, from the received heart rate information, whether a current heart rate of the operator of the vehicle is within a predetermined range of heart rates.

4. The method of any preceding claim, wherein determining a correspondence between the received heart-rate information and the at least one determined heart-rate parameter comprises: determining, from the received heart rate information, a rate of change of a heart rate of the operator of the vehicle.

5. The method of claim 4, further comprising: determining whether the rate of change of the heart rate of the operator of the vehicle indicates that the heart rate of the operator is moving towards, or away from, a predetermined target heart rate value.

6. The method of any preceding claim, wherein selecting the at least one of the plurality of operating states comprises selecting an operating state in which the resistance to movement of the at least one user-operable actuator is decreased.

7. The method of any preceding claim, wherein selecting the at least one of the plurality of operating states comprises selecting an operating state in which the resistance to movement of the at least one user-operable actuator is increased.

8. The method of claim 6 or 7, wherein the selected operating state is different to a previous operating state of the at least one drive apparatus.

9. The method of any preceding claim, comprising selecting the at least one of the plurality of operating states in response to determining that the received heart rate information does not correspond to the at least one determined heart-rate parameter.

10. The method of any preceding claim, wherein the at least one user-operable actuator is configured to transfer energy exerted by the operator of the vehicle on the at least one user-operable actuator to the at least one drive apparatus.

11. The method of claim 10, wherein the at least one user-operable actuator is mechanically coupled to at least one wheel of the vehicle to transfer energy from the at least one actuator to the at least one wheel.

12. The method of claim 10 or 11, wherein the at least one user-operable actuator is mechanically coupled to at least one electricity generating apparatus of the vehicle to transfer energy from the at least one actuator to the at least one electricity generating apparatus.

13. The method of any preceding claim, wherein the at least one user-operable actuator of the at least one drive apparatus comprises at least one pedal apparatus.

14. The method of any preceding claim, wherein the at least one drive apparatus comprises at least one electric drive motor operable to drive rotation of at least one wheel of the vehicle.

15- The method of any preceding claim, wherein the vehicle is a cycle and the operator of the vehicle is a cyclist.

16. The method of claim 15, wherein the cycle is an Electronically Power Assisted Cycle (EPAC).

17. The method of any preceding claim, comprising: causing the at least one drive apparatus to operate in the at least one selected operating state.

18. An apparatus comprising: at least one computer processor; and at least one computer memory storing computer-readable instructions which, when executed by the at least one processor, cause the at least one processor to perform the method of any preceding claim.

19. A non-transitory computer-readable storage medium storing computer-readable instructions which, when executed by at least one computer processor, cause the at least one computer processor to perform the method of any of claims 1 to 17.

20 A computer program comprising computer-readable instructions which, when executed by at least one computer processor, cause the at least one computer processor to perform the method of any of claims 1 to 17.

21. A vehicle, comprising: at least one drive apparatus configured to actuate at least one wheel of the vehicle, wherein the drive apparatus comprises at least one user-operable actuator for controlling operation of the drive apparatus; and at least one computing apparatus comprising at least one computer processor and at least one computer memory, wherein the at least one processor is operable to execute computer-readable instructions stored in the at least one memory to: receive, from at least one heart rate monitoring apparatus, heart rate information indicative of a heart-rate of an operator of the vehicle; determine at least one heart-rate parameter for the operator of the vehicle; determine a correspondence between the received heart-rate information and the at least one determined heart-rate parameter; cause a variation in the resistance to movement of the at least one user-operable actuator of the at least one drive apparatus in dependence of the determined correspondence between the received heart-rate information and the at least one determined heart-rate parameter.

22. The vehicle of claim 21, further comprising: the at least one heart rate monitoring apparatus configured to determine heart rate information indicative of a heart-rate of an operator of the vehicle.

23. The vehicle of claim 22, wherein the at least one heart rate monitoring apparatus comprises a touch element arranged to contact the skin of the operator of the vehicle when the operator is operating the vehicle.

24. The vehicle of claim 23, wherein the touch element is configured to generate an electrical signal which indicates the current heart rate of the operator of the vehicle.

25. The vehicle of any of claims 21 to 24, comprising a cycle.

26. The vehicle of claim 25, wherein the cycle comprises an Electronically Power Assisted Cycle (EPAC).

27. A vehicle, comprising: at least one drive apparatus configured to actuate at least one wheel of the vehicle, wherein the drive apparatus comprises at least one user-operable actuator for controlling operation of the drive apparatus; and at least one heart rate monitoring apparatus configured to determine heart rate information indicative of a heart-rate of an operator of the vehicle, wherein the at least one heart rate monitoring apparatus comprises a touch element arranged to contact the skin of the operator of the vehicle when the operator is operating the vehicle; wherein a variation in the resistance to movement of the at least one user-operable actuator is determined in dependence of a determined correspondence between the determined heart-rate information and at least one heart-rate parameter for the operator of the vehicle.

28. The vehicle of claim 27, wherein at least one operating state of the at least one drive apparatus is selected in dependence of the determined correspondence between the determined heart-rate information and the at least one heart-rate parameter for the operator of the vehicle, thereby causing the variation in the resistance to movement of the at least one user-operable actuator.

29. The vehicle of claim 27 or 28, comprising a cycle.

30. The vehicle of claim 29, wherein the cycle comprises an Electronically Power Assisted Cycle (EPAC).