Abstract: A method for controlling and regulating an electrical auxiliary motor suitable for a pedal-driven vehicle including a crank axle, such as a bicycle, in such a way that said electrical auxiliary motor assists a user in rotating said crank axle by muscular force, the method including: a) receiving information about the specific torque TPSet said user would like to generate when rotating said crank axle by muscular force; b) determining the actual torque TP generated by the user on the crank axle; and c) for each TP, adjusting the torque generated by the electrical auxiliary motor TM in such a way that: TM is increased in case TP is higher than TPSet; TM is not changed in case TP is equal to TPSet; TM is reduced in case TP is lower than TPSet; and TM is 0 in case TP is 0.