Control device for human-powered vehicle

Abstract

The present disclosure provides a control device for a human-powered vehicle capable of appropriately controlling a motor. The control device includes a control unit that controls the motor, and the control unit is configured to calculate a predicted value of the human-powered force during a second pedaling period following a first pedaling period based on the human-powered force during the first pedaling period related to the human-powered vehicle, control the motor during the second pedaling period so that the assist force reaches a first target value calculated based on the predicted value, and control the motor so that the assist force reaches a second target value calculated based on a measured value of the human-powered force input to the human-powered vehicle when a first difference between the measured value and the predicted value is one or more than one.

Description

TECHNICAL FIELD

[0001] The present disclosure relates to a control device for a human-powered vehicle. BACKGROUND

[0002] Patent Document 1 discloses a control device that controls a motor that imparts an assist force to a human-powered vehicle in accordance with a human-powered force. The control device disclosed in Patent Document 1 delays reduction of the assist force of the motor in the case where the human-powered force is reduced, so that the assist force of the motor is not interrupted.

[0003] PRIOR ART DOCUMENTS

[0004] PATENT DOCUMENT

[0005] Patent Document 1: Japanese Patent Application Publication No. 2015-85741 SUMMARY

[0006] Problem to be solved by the invention

[0007] The control device disclosed in Patent Document 1 delays reduction of the assist force of the motor in the case where the human-powered force is reduced, so that the assist force of the motor is large in the case where the human-powered force is changed from being reduced to being increased.

[0008] An object of the present disclosure is to provide a control device for a human-powered vehicle that can appropriately control a motor.

[0009] Means for solving the problem

[0010] The control device according to the first aspect of the present disclosure is a control device for a human-powered vehicle including a motor that imparts an assist force corresponding to a human-powered force input to the human-powered vehicle, wherein the control device has a control section that controls the motor, and the control section is configured to calculate a predicted value of the human-powered force in a second pedaling period that follows a first pedaling period on the basis of the human-powered force in the first pedaling period related to the human-powered vehicle, control the motor in the second pedaling period so that the assist force reaches a first target value calculated on the basis of the predicted value, and control the motor so that the assist force reaches a second target value calculated on the basis of a measured value of the human-powered force input to the human-powered vehicle in the second pedaling period when a first difference between the measured value and the predicted value is one value or more.

[0011] According to the control device of the first aspect, since the control section controls the motor during the second pedaling to cause the assist force to reach the first target value calculated based on the predicted value calculated from the human power during the first pedaling, the assist force during the second pedaling can be appropriately caused. Thus, the control section can appropriately control the motor. According to the control device of the first aspect, since the control section controls the motor to cause the assist force to reach the second target value calculated based on the measured value of the human power in a case where the difference between the predicted value of the human power and the measured value of the human power is the first value or more, the control section can control the motor to cause the assist force to reach the assist force appropriate to the measured value in a case where the difference between the predicted value of the human power and the measured value of the human power is large.

[0012] In the control device of the second aspect according to the first aspect of the present disclosure, the control section is configured to change the second target value in a manner to make the second target value larger in a case where the first difference is the first value or more and the measured value is larger than the predicted value.

[0013] According to the control device of the second aspect, since the control section can control the motor to make the assist force larger in a case where the measured value of the human power is larger than the predicted value of the human power, the rider is less likely to feel a shortage of the assist force.

[0014] In the control device of the third aspect according to the first aspect or the second aspect of the present disclosure, the control section is configured to change the second target value in a manner to make the second target value smaller in a case where the first difference is the first value or more and the measured value is smaller than the predicted value.

[0015] According to the control device of the third aspect, since the control section can control the motor to make the assist force smaller in a case where the measured value of the human power is smaller than the predicted value of the human power, the rider is less likely to feel discomfort.

[0016] In the control device of the fourth aspect of any one of the first aspect to the third aspect of the present disclosure, the control section is configured to calculate the first target value by multiplying the predicted value by a first prescribed value.

[0017] According to the control device of the fourth aspect, the control section can control the motor based on the first target value obtained by multiplying the predicted value by the first prescribed value.

[0018] In the control device according to the fifth aspect of any one of the first to fourth aspects of the present disclosure, the control device further includes a storage section that stores prescribed information that prescribes a relationship between a pedaling period of the human-powered vehicle and a set value related to a sum of the human-powered force and the assist force, and the control section is configured to calculate the first target value based on the prescribed information and the second difference between the set value and the predicted value.

[0019] The control device according to the fifth aspect enables the control section to control the motor based on the first target value calculated from the second difference between the set value related to the measured value of the human-powered force and the sum of the assist force in the second pedaling period and the predicted value.

[0020] The control device according to the sixth aspect of the present disclosure is a control device for a human-powered vehicle including a motor that imparts an assist force corresponding to a human-powered force input to the human-powered vehicle, wherein the control device includes a control section that controls the motor and a storage section that stores prescribed information that prescribes a relationship between a pedaling period of the human-powered vehicle and a set value related to a sum of the human-powered force and the assist force, and the control section is configured to calculate a predicted value of the human-powered force in a second pedaling period after a first pedaling period of the human-powered vehicle based on the human-powered force in the first pedaling period related to the human-powered vehicle, calculate a first target value of the assist force in the second pedaling period based on the prescribed information and the second difference between the set value and the predicted value, and control the motor so that the assist force reaches the first target value.

[0021] The control device according to the sixth aspect enables the control section to control the motor so that the assist force in the second pedaling period is appropriate, by controlling the motor in the second pedaling period so that the assist force reaches the first target value calculated based on the predicted value calculated from the human-powered force in the first pedaling period. Thus, the control section can appropriately control the motor. The control device according to the sixth aspect enables the control section to control the motor based on the first target value calculated from the second difference between the set value related to the measured value of the human-powered force and the sum of the assist force in the second pedaling period and the predicted value.

[0022] In the control device according to the seventh aspect of the fifth or sixth aspect of the present disclosure, the prescribed information is information related to the set value corresponding to a travel characteristic of the human-powered vehicle.

[0023] The control device according to the seventh aspect enables the control section to control the motor based on the first target value appropriate for the travel characteristic of the human-powered vehicle.

[0024] In the control device according to the eighth aspect of the seventh aspect of the present disclosure, the travel characteristic includes at least one of a vehicle body characteristic of the human-powered vehicle, a rider characteristic of the human-powered vehicle, or a travel road characteristic of the human-powered vehicle.

[0025] According to the control device of the eighth aspect, the control section is able to control the motor based on a first target value that is appropriate to at least one of a vehicle body characteristic of the human-powered vehicle, a rider characteristic of the human-powered vehicle, or a travel road characteristic of the human-powered vehicle.

[0026] In the control device according to the ninth aspect of any one of the fifth aspect to the eighth aspect of the present disclosure, the storage section stores a plurality of the prescribed information, and the control section calculates the first target value based on one of the plurality of the prescribed information and according to the second difference.

[0027] According to the control device of the ninth aspect, the control section is able to select one from among a plurality of prescribed information, and thus is able to appropriately control the motor according to the situation.

[0028] In the control device according to the tenth aspect of any one of the first aspect to the ninth aspect of the present disclosure, the control section is configured to calculate the first target value based on the predicted value and a prescribed variable, and to calculate the first target value in the second pedaling period so that a rate of change of the first target value in a case where the assist force is increased is different from a rate of change of the first target value in a case where the assist force is decreased.

[0029] According to the control device of the tenth aspect, the control section is able to control the motor by a rate of change of the first target value that is appropriate to the case where the assist force is increased and the case where the assist force is decreased, respectively, in the second pedaling period.

[0030] The control device according to the eleventh aspect of the present disclosure is a control device for a human-powered vehicle including a motor that imparts an assist force corresponding to a human-powered driving force input to the human-powered vehicle, and the control device includes a control section that controls the motor, and the control section is configured to calculate a predicted value of the human-powered driving force in a second pedaling period that is after a first pedaling period based on the human-powered driving force in the first pedaling period related to the human-powered vehicle, and to control the motor in the second pedaling period so that the assist force reaches a first target value calculated based on the predicted value and a prescribed variable, and to calculate the first target value in the second pedaling period so that a rate of change of the first target value in a case where the assist force is increased is different from a rate of change of the first target value in a case where the assist force is decreased.

[0031] According to the control device of the eleventh aspect, since the control section controls the motor during the second pedaling period so that the assist force reaches the first target value calculated on the basis of the predicted value calculated from the human power driving force during the first pedaling period, the assist force during the second pedaling period can be appropriately made. Thus, the control section can appropriately control the motor. According to the control device of the eleventh aspect, the control section can control the motor by the rate of change of the first target value that is respectively appropriate to the case where the assist force increases and the case where the assist force decreases during the second pedaling period.

[0032] According to the control device of the twelfth aspect of the present disclosure, which is a control device for a human-powered vehicle including a motor that imparts an assist force corresponding to a human power driving force input to the human-powered vehicle, the control device includes a control section that controls the motor, and the control section is configured to calculate a predicted value of the human power driving force during a second pedaling period following a first pedaling period on the basis of the human power driving force during the first pedaling period related to the human-powered vehicle, control the motor during the second pedaling period so that the assist force reaches a first target value calculated on the basis of the predicted value and a prescribed variable, and calculate the first target value during the second pedaling period so that the response speed of the assist force with respect to the human power driving force is made slower in the case where the assist force decreases.

[0033] According to the control device of the twelfth aspect, since the control section controls the motor during the second pedaling period so that the assist force reaches the first target value calculated on the basis of the predicted value calculated from the human power driving force during the first pedaling period, the assist force during the second pedaling period can be appropriately made. Thus, the control section can appropriately control the motor. According to the control device of the twelfth aspect, when the assist force decreases during the second pedaling period, the response speed of the assist force is made slower, and thus the control section can suppress the decrease in the assist force when the rider pedals.

[0034] In the control device of the thirteenth aspect according to any one of the tenth aspect to the twelfth aspect of the present disclosure, the prescribed variable is an average value of the predicted value, the predicted value, and a variable related to the second pedaling period.

[0035] According to the control device of the thirteenth aspect, the control section can control the motor on the basis of the predicted value and the variable related to the second pedaling period.

[0036] In the control device of the fourteenth aspect according to any one of the tenth aspect to the thirteenth aspect of the present disclosure, the control section is configured to calculate the first target value on the basis of a value obtained by multiplying the predicted value by a second prescribed value and the prescribed variable, and determine the prescribed variable so that a maximum peak value of the first target value during the second pedaling period is smaller than a maximum peak value of the value obtained by multiplying the predicted value by the second prescribed value.

[0037] According to the control device of the fourteenth aspect, since the control section controls the motor so that the maximum peak value of the assist force during the second pedaling period is smaller than the maximum peak value obtained by multiplying the predicted value by the second prescribed value, the maximum peak value of the assist force during the second pedaling period is less likely to become excessively large.

[0038] In the control device of the fifteenth aspect according to any one of the first aspect to the fourteenth aspect of the present disclosure, the control section is configured to calculate the first target value using an offset value, and change the offset value in a case where a prescribed condition is satisfied.

[0039] According to the control device of the fifteenth aspect, since the control section is able to calculate the first target value using the offset value that is changed in accordance with the prescribed condition, the motor can be appropriately controlled in accordance with the prescribed condition.

[0040] In the control device of the sixteenth aspect according to the fifteenth aspect of the present disclosure, the prescribed condition is satisfied in a case where a difference between the human power driving force during the second pedaling period and the predicted value is outside a first range.

[0041] According to the control device of the sixteenth aspect, since the control section changes the offset value in a case where the difference between the human power driving force during the second pedaling period and the predicted value is outside the first range, the first target value can be appropriately changed in accordance with the difference between the human power driving force during the second pedaling period and the predicted value.

[0042] In the control device of the seventeenth aspect according to any one of the first aspect to the sixteenth aspect of the present disclosure, the control section is configured to calculate the first target value so that the first target value is below an upper limit value corresponding to the motor.

[0043] According to the control device of the seventeenth aspect, the control section is able to control the motor so that the assist force during the second pedaling period is below the upper limit value corresponding to the motor, and thus control appropriate to the characteristics of the motor can be performed.

[0044] In the control device of the eighteenth aspect according to any one of the first aspect to the seventeenth aspect of the present disclosure, the control section calculates the predicted value in accordance with an average value of the human power driving force during the first pedaling period, the human power driving force during the first pedaling period, and a rotation angle of a crank of the human power driving vehicle during the first pedaling period.

[0045] According to the control device of the eighteenth aspect, the control section is able to control the motor during the second pedaling period so as to reach the first target value based on the predicted value corresponding to the average value of the human power driving force during the first pedaling period, the human power driving force during the first pedaling period, and the rotation angle of the crank of the human power driving vehicle during the first pedaling period.

[0046] In the control device according to the nineteenth aspect of any one of the first aspect to the eighteenth aspect of the present disclosure, the first pedaling period is a period in which the crank of the human-powered vehicle rotates 360 degrees or more.

[0047] According to the control device of the nineteenth aspect, the control section can control the motor in the second pedaling period to achieve the first target value based on a predicted value corresponding to the average of the human power during the pedaling period in which the crank rotates 360 degrees or more, the human power, and the rotation angle of the crank.

[0048] In the control device according to the twentieth aspect of any one of the first aspect to the nineteenth aspect of the present disclosure, the second pedaling period is a period in which the crank of the human-powered vehicle rotates 360 degrees or more.

[0049] According to the control device of the twentieth aspect, the control section can control the motor to achieve the first target value based on the predicted value in the pedaling period in which the crank rotates 360 degrees or more.

[0050] In the control device according to the twenty-first aspect of any one of the first aspect to the twentieth aspect of the present disclosure, the length of the second pedaling period is equal to the length of the first pedaling period.

[0051] According to the control device of the twenty-first aspect, since the length of the first pedaling period is equal to the length of the second pedaling period, the control section easily calculates the predicted value.

[0052] In the control device according to the twenty-second aspect of any one of the first aspect to the twenty-first aspect of the present disclosure, the control device further includes a first detection section that detects information related to the first pedaling period and the second pedaling period.

[0053] According to the control device of the twenty-second aspect, the control section can appropriately detect the information related to the first pedaling period and the second pedaling period by the first detection section.

[0054] Effects of the invention

[0055] The control device for a human-powered vehicle of the present disclosure can appropriately control the motor. BRIEF DESCRIPTION OF DRAWINGS

[0056] Figure 1 is a side view of a human-powered vehicle including the control device for a human-powered vehicle of the first embodiment;

[0057] Figure 2 is a block diagram showing an electrical structure of Figure 1 the human-powered vehicle;

[0058] Figure 3 is a chart showing an example of a relationship between the human driving force and the assist force during the first pedaling period and a predicted value of the human driving force and a first target value during the second pedaling period;

[0059] Figure 4 is a chart showing an example of a predicted value of the human driving force, a measured value of the human driving force, the first difference, the first target value, and the second target value during the second pedaling period of the first embodiment;

[0060] Figure 5 is a chart showing an example of a relationship between an average value of the human driving force during the first pedaling period and an average assist ratio of each of a plurality of assist patterns stored in the storage section of Figure 1 ;

[0061] Figure 6 is a chart showing an example of a predicted value of the human driving force, a set value, and the second difference during the second pedaling period;

[0062] Figure 7 is a flowchart showing a process of controlling the motor according to either one of the first target value and the second target value during the second pedaling period, which is executed by the control section of Figure 1 ;

[0063] Figure 8 is a chart showing an example of a predicted value of the human driving force, a set value, and the second difference during the second pedaling period of the second embodiment;

[0064] Figure 9 is a flowchart showing a process of controlling the motor according to the first target value during the second pedaling period, which is executed by the control section of the control device for the human-powered vehicle of the second embodiment;

[0065] Figure 10 is a flowchart showing a process of controlling the motor according to the first target value during the second pedaling period, which is executed by the control section of the control device for the human-powered vehicle of the third embodiment;

[0066] Figure 11 is a flowchart showing a process of changing the offset value during the second pedaling period, which is executed by the control section of the modified example. DETAILED DESCRIPTION

[0067] <First Embodiment>

[0068] Referring to Figures 1 to 7A control device 50 for a human-powered vehicle according to the present embodiment will be described. Hereinafter, the control device 50 for a human-powered vehicle will be referred to as the control device 50. The human-powered vehicle 10 is a vehicle having at least one wheel and capable of being driven by at least human power. The human-powered vehicle 10 includes, for example, various bicycles such as a mountain bike, a road bike, a city bike, a cargo bike, a hand cycle, and a recumbent bicycle. The number of wheels of the human-powered vehicle 10 is not limited. The human-powered vehicle 10 includes, for example, a unicycle and a vehicle having two or more wheels. The human-powered vehicle 10 is not limited to a vehicle driven by only human power. The human-powered vehicle 10 includes an E-bike that is propelled by not only human power but also driving force of an electric motor. The E-bike includes an electrically assisted bicycle that is assisted in propulsion by an electric motor. Hereinafter, in the embodiment, the human-powered vehicle 10 will be described as an electrically assisted bicycle.

[0069] As shown in FIG. 1, for example, the human-powered vehicle 10 includes a pedal 18, a crank 12, a drive wheel 14, and a frame 16. The human power is input to the pedal 18. The pedal 18 is coupled to the crank 12. The drive wheel 14 is driven by the crank 12. The drive wheel 14 is supported by the frame 16. Figure 1 As shown in FIG. 1, for example, the human-powered vehicle 10 includes a pedal 18, a crank 12, a drive wheel 14, and a frame 16. The human power is input to the pedal 18. The pedal 18 is coupled to the crank 12. The drive wheel 14 is driven by the crank 12. The drive wheel 14 is supported by the frame 16.

[0070] For example, the human-powered vehicle 10 includes a drive mechanism 20. The drive mechanism 20 transmits the human power input to the crank 12 to the drive wheel 14. The drive mechanism 20 links the crank 12 and the drive wheel 14. For example, the drive mechanism 20 includes a first rotating body 22 coupled to the crank shaft 12A. The first rotating body 22 includes a sprocket, a pulley, or a bevel gear. For example, the crank shaft 12A and the first rotating body 22 are coupled via a first one-way clutch. The first one-way clutch is configured to rotate the first rotating body 22 forward when the crank 12 rotates in a first direction Al and not to rotate the first rotating body 22 backward when the crank 12 rotates in a direction opposite to the first direction Al.

[0071] For example, the drive mechanism 20 includes a second rotary body 24 and a coupling member 26. The coupling member 26 transmits the rotational force of the first rotary body 22 to the second rotary body 24. The second rotary body 24 includes a sprocket, a pulley, or a bevel gear. The coupling member 26 includes, for example, a chain, a belt, or a transmission shaft. The second rotary body 24 is coupled to the drive wheel 14. For example, the second rotary body 24 is coupled to the drive wheel 14 via a second one-way clutch. The second one-way clutch is configured to rotate the drive wheel 14 forward when the second rotary body 24 rotates in the first direction Al, and not to rotate the drive wheel 14 backward when the second rotary body 24 rotates in the direction opposite to the first direction Al.

[0072] The human-powered vehicle 10 includes front wheels 28 and rear wheels 30. In the present embodiment, the rear wheels 30 are the drive wheels 14, but the front wheels 28 can also be the drive wheels 14. The front wheels 28 are mounted to the frame 16 via a front fork 32. A handlebar 34 is coupled to the front fork 32 via a stem 36.

[0073] For example, the human-powered vehicle 10 includes a transmission unit 38. The transmission unit 38 includes a motor 40 that imparts an assist force corresponding to an input human-powered force of the human-powered vehicle 10. The motor 40 is communicably connected to the control unit 52. The motor 40 can communicate with the control unit 52, for example, by power line communication (PLC), CAN (Controller Area Network), or UART (Universal Asynchronous Receiver / Transmitter).

[0074] For example, the human-powered vehicle 10 includes a battery 42. The battery 42 includes one or more battery elements. The battery elements include a rechargeable battery. The battery 42 is provided in the human-powered vehicle 10 and supplies electric power to other electric components electrically connected to the battery 42 in a wired manner, for example, to the motor 40 and the control device 50. The battery 42 is communicably connected to the control unit 52 of the control device 50 by wire or wirelessly. For example, the battery 42 can communicate with the control unit 52 by power line communication. The battery 42 can be installed outside the frame 16 of the human-powered vehicle 10 or at least partially housed inside the frame 16 of the human-powered vehicle 10.

[0075] As Figure 2As shown, the human-powered vehicle 10 includes a control device 50. The control device 50 is provided with a control section 52. The control section 52 includes an arithmetic processing device that executes a predetermined control program. The arithmetic processing device includes, for example, a CPU (Central Processing Unit) or an MPU (Micro Processing Unit). The control section 52 can include one or a plurality of microcomputers. The control section 52 can include a plurality of arithmetic processing devices that are separately arranged at a plurality of locations.

[0076] For example, the control device 50 is further provided with a storage section 54. The storage section 54 stores various control programs and information used for various control processes. The storage section 54 includes, for example, a nonvolatile memory and a volatile memory. The nonvolatile memory includes, for example, at least one of a ROM (Read-Only Memory), an EPROM (Erasable Programmable Read Only Memory), an EEPROM (Electrically Erasable Programmable Read-Only Memory), and a flash memory. The volatile memory includes, for example, a RAM (Random Access Memory).

[0077] The control section 52 controls the motor 40. For example, the control device 50 is provided with an inverter circuit 56 configured to supply electric power to the motor 40. The motor 40 generates an assist force by the electric power supplied from the inverter circuit 56. The control section 52, the storage section 54, and the inverter circuit 56 are provided, for example, in a housing of the transmission unit 38 provided with the motor 40.

[0078] For example, the control section 52 controls the motor 40 so that the assist force of the motor 40 reaches a predetermined target value. The control section 52 is electrically connected to the inverter circuit 56 and controls the motor 40 by controlling the inverter circuit 56.

[0079] For example, the control section 52 controls the motor 40 in accordance with the human-powered force to impart an assist force corresponding to a rotation angle of the crank 12. The human-powered force input to the crank 12 periodically changes.

[0080] For example, the rotation angle of the crank 12 is zero at an angle at which the first crank arm 12B is at a position corresponding to a top dead center, and is represented by an angle by which the first crank arm 12B rotates in the first direction Al with respect to the vehicle frame 16 of the human-powered vehicle 10.

[0081] For example, the control device 50 further includes a first detection section 58. The first detection section 58 is configured to be able to detect information related to the rotation angle of the crank 12. For example, the first detection section 58 detects the rotation angle of the crank 12. The first detection section 58 is configured to be able to output information related to the rotation angle of the crank 12 to the control section 52. The first detection section 58 can include a wireless or wired communication section. In the case where the first detection section 58 includes a wireless or wired communication section, the communication section of the first detection section 58 is configured to be able to communicate with the control section 52.

[0082] For example, the first detection section 58 includes a crank rotation sensor 60. The crank rotation sensor 60 is configured to detect information related to the rotation angle of the crank 12. For example, the crank rotation sensor 60 is provided to the frame 16 of the human-powered vehicle 10. The crank rotation sensor 60 is configured to include an output signal related to the intensity of a magnetic field. A ring-shaped magnet whose intensity of a magnetic field varies in the circumferential direction is provided to the crank shaft 12A, the first crank arm 12B, the second crank arm 12C, or a transmission path of the human-powered force from the crank shaft 12A to the second rotating body 24. The crank rotation sensor 60 outputs a signal related to the rotation angle of the crank 12. The crank rotation sensor 60 can include an optical sensor, an acceleration sensor, or a gyro sensor, instead of a magnetic sensor.

[0083] Preferably, the crank rotation sensor 60 is configured to output a predetermined number of detection signals during one rotation of the crank 12. The predetermined number is, for example, two or more. Preferably, the predetermined number is determined in accordance with the first pedaling period and the second pedaling period.

[0084] The crank rotation sensor 60 can be configured to include a vehicle speed sensor. In the case where the crank rotation sensor 60 includes a vehicle speed sensor, for example, the control section 52 is configured to calculate the rotation angle of the crank 12 in accordance with the vehicle speed detected by the vehicle speed sensor and the gear ratio.

[0085] For example, the control device 50 is provided with a second detection section 62. For example, the second detection section 62 detects information related to the human-powered driving force input to the human-powered vehicle 10. The information related to the human-powered driving force input to the human-powered vehicle 10 is, for example, information related to the torque of the human-powered driving force. In the present embodiment, the second detection section 62 detects the torque of the human-powered driving force. The second detection section 62 is configured to be able to output information related to the torque of the human-powered driving force to the control section 52. The second detection section 62 can include a wireless or wired communication section. In the case where the second detection section 62 includes a wireless or wired communication section, the communication section of the second detection section 62 is configured to be able to communicate with the control section 52.

[0086] For example, the second detection portion 62 includes a torque sensor 64. The torque sensor 64 is used to detect the torque of the human-powered driving force. For example, the torque sensor 64 is provided to a housing of the transmission unit 38 provided with the motor 40. The torque sensor 64 detects the torque of the human-powered driving force input to the crank 12.

[0087] For example, in a case where the first one-way clutch is provided to the power transmission path, the torque sensor 64 is provided to an upstream side than the first one-way clutch. The torque sensor 64 includes a strain sensor or a magnetostrictive sensor, or the like. The strain sensor includes a strain gauge. In a case where the torque sensor 64 includes the strain sensor, the strain sensor is preferably provided to an outer peripheral portion of a rotating body included in the power transmission path.

[0088] Referring to Figures 1 to 3 The relationship between the human-powered driving force during the first pedaling period and the control of the motor 40 by the control portion 52 during the second pedaling period will be described.

[0089] The control portion 52 is configured to calculate a predicted value of the human-powered driving force during the second pedaling period after the first pedaling period, on the basis of the human-powered driving force during the first pedaling period in relation to the human-powered vehicle 10.

[0090] As Figure 3 indicated, the human-powered driving force periodically changes in accordance with the rotation angle of the crank 12. In a case where the rotation angle of the crank 12 is an angle at which the first crank arm 12B is located at the top dead center or the bottom dead center, the human-powered driving force is the smallest. In a case where the rotation angle of the crank 12 is an angle corresponding to a position at which the first crank arm 12B is separated by 90 degrees from the top dead center or an angle corresponding to a position at which the first crank arm 12B is separated by 90 degrees from the bottom dead center, the human-powered driving force reaches the maximum. Thus, the change in the human-powered driving force over time is represented by a waveform similar to a sine wave.

[0091] For example, the first detection portion 58 detects information related to the first pedaling period and the second pedaling period. The rotation angle of the crank 12 detected by the first detection portion 58 corresponds to the information related to the first pedaling period and the second pedaling period. For example, as Figure 3 indicated, the first pedaling period and the second pedaling period are periods that do not overlap and are adjacent to each other. The first pedaling period and the second pedaling period can not necessarily be adjacent to each other. For example, the length of the second pedaling period is equal to the length of the first pedaling period.

[0092] For example, the first pedaling period is a period in which the crank 12 of the human-powered vehicle 10 is rotated by 360 degrees or more. For example, the length of the first pedaling period is 360 degrees or more. For example, the first pedaling period is a period in which the crank 12 of the human-powered vehicle 10 is rotated by 360 degrees. For example, the first pedaling period is a period in which the crank 12 of the human-powered vehicle 10 is rotated by a multiple of 180 degrees. For example, the timing at which the first pedaling period starts is the timing at which the first crank arm 12B is positioned at a position corresponding to the top dead center. For example, the timing at which the first pedaling period ends is the timing at which the first crank arm 12B is positioned at a position corresponding to the top dead center after the first crank arm 12B is rotated from the position corresponding to the top dead center in the first direction Al. For example, the timing at which the first pedaling period starts is the timing at which the first crank arm 12B is positioned at a position corresponding to the bottom dead center. For example, the timing at which the first pedaling period ends is the timing at which the first crank arm 12B is positioned at a position corresponding to the bottom dead center after the first crank arm 12B is rotated from the position corresponding to the bottom dead center in the first direction Al.

[0093] For example, the second pedaling period is a period in which the crank 12 of the human-powered vehicle 10 is rotated by 360 degrees or more. For example, the length of the second pedaling period is 360 degrees or more. For example, the second pedaling period is a period in which the crank 12 of the human-powered vehicle 10 is rotated by a multiple of 180 degrees. For example, the second pedaling period is a period in which the crank 12 of the human-powered vehicle 10 is rotated by 360 degrees. For example, the timing at which the second pedaling period starts substantially coincides with the timing at which the first pedaling period ends. For example, the timing at which the first pedaling period ends substantially coincides with the timing at which the second pedaling period starts.

[0094] For example, the control portion 52 calculates the predicted value on the basis of the average value of the human-powered driving force during the first pedaling period, the human-powered driving force during the first pedaling period, and the rotation angle of the crank 12 of the human-powered vehicle 10 during the first pedaling period. For example, the control portion 52 is configured to calculate the predicted value on the basis of the relationship between the human-powered driving force detected by the second detection portion 62 during the first pedaling period and the predicted value.

[0095] For example, the control portion 52 calculates the predicted value of the human-powered driving force at a time when the rotation angle of the crank 12 during the second pedaling period is an angle identical to a prescribed angle on the basis of the human-powered driving force at the time when the rotation angle of the crank 12 during the first pedaling period is the prescribed angle. The control portion 52 calculates the predicted value of the human-powered driving force at a time when the rotation angle of the crank 12 during the second pedaling period is an angle identical to a prescribed angle on the basis of a plurality of prescribed angles included in the first pedaling period, thereby calculating the predicted value of the human-powered driving force during the entire second pedaling period. For example, as shown in FIG. 6, the predicted value calculated by the control portion 52 is configured to form a waveform corresponding to the waveform of the change in the human-powered driving force during the first pedaling period. Figure 3

[0096] ​For example, the relational expression related to the predicted value is related to an average value of the human power during the first pedaling, the human power during the first pedaling, and a rotation angle of the crank 12 of the human-powered vehicle 10 during the first pedaling. For example, the relational expression related to the predicted value includes an expression (1) as follows. The expression (1) is stored in the storage section 54, for example.

[0097] T = A1 x sin X + B1... (1)

[0098] T represents the predicted value when the rotation angle of the crank 12 is X during the second pedaling. X represents the rotation angle of the crank 12 of the human-powered vehicle 10. sin X represents the human power detected by the second detection section 62 when the rotation angle is X during the first pedaling. A1 represents a value that is half of a value obtained by subtracting the minimum value of the human power during the first pedaling from the human power detected by the second detection section 62 when the rotation angle is X during the first pedaling. B1 represents the average value of the human power during the first pedaling.

[0099] For example, the control section 52 is configured to control the motor 40 so that the assist force reaches the target value. For example, the control section 52 is configured to perform control of the motor 40 during the second pedaling in accordance with the human power during the first pedaling. For example, the target value includes a first target value and a second target value. The control section 52 is configured to control the motor 40 during the second pedaling so that the assist force reaches the first target value calculated on the basis of the predicted value. For example, the control section 52 is configured to control the motor 40 on the basis of a first difference between the measured value and the predicted value during the second pedaling. The control section 52 is configured to control the motor 40 so that the assist force reaches the second target value calculated on the basis of the measured value when the first difference between the measured value and the predicted value of the human power input to the human-powered vehicle 10 during the second pedaling is the first value or more. For example, the first difference is represented by an absolute value. The measured value corresponds to the human power detected by the second detection section 62.

[0100] For example, the control section 52 is configured to change the second target value in such a manner that the second target value becomes larger when the first difference is the first value or more and the measured value is larger than the predicted value. The control section 52 is configured to control the motor 40 so that the assist force reaches the changed second target value when the first difference is the first value or more and the measured value is larger than the predicted value.

[0101] For example, the control section 52 is configured to change the second target value in such a manner that the second target value becomes smaller when the first difference is the first value or more and the measured value is smaller than the predicted value. The control section 52 is configured to control the motor 40 so that the assist force reaches the changed second target value when the first difference is the first value or more and the measured value is smaller than the predicted value.

[0102] For example, the control section 52 is configured to change the second target value in such a manner that the second target value becomes smaller when the first difference is the first value or more and the measured value is smaller than the predicted value. The control section 52 is configured to control the motor 40 so that the assist force reaches the changed second target value when the first difference is the first value or more and the measured value is smaller than the predicted value.Figure 4 This is an example representing the predicted value, measured value, first difference, first target value, and second target value of human-driven forces. Figure 4 In the second pedal stroke, the measured value began to be larger than the predicted value from near the time point corresponding to the 270-degree rotation angle of crank 12 during the second pedal stroke. Figure 4 In the process, the first difference between the measured and predicted values ​​begins near the time point during the second pedaling phase corresponding to a rotation angle of 270 degrees for crank 12, and increases as the rotation angle of crank 12 increases. Therefore, in Figure 4 In the second pedaling phase, after the time point corresponding to the rotation angle of crank 12 of 270 degrees, and starting from the time point where the first difference is greater than the first value, the second target value becomes larger than the first target value.

[0103] Reference Figure 2 and Figures 4 to 6 The method for calculating the first target value is explained.

[0104] For example, the control unit 52 is configured to calculate a first target value by multiplying a predicted value by a first predetermined value. The first predetermined value is a value obtained by multiplying the average assist ratio by a value related to the human driving force during the second pedaling period, or a value related to the human driving force during the first pedaling period. For example, the average assist ratio is set according to the assist mode. For example, the control unit 52 is configured to control the motor 40 in multiple assist modes. The average assist ratios in the multiple assist modes are different from each other. For example, the average assist ratio is calculated based on the average human driving force during the first pedaling period. For example, the relationship between the average assist ratio and the average human driving force during the first pedaling period is different in each assist mode. For example, the control unit 52 calculates the average assist ratio based on the average human driving force during the first pedaling period.

[0105] Figure 5 This is a graph illustrating an example of the relationship between the average human drive force and the average assist ratio during the first pedal stroke in each of multiple assist modes. Figure 5 The solid lines L1, L2, L3, L4, L5, L6, L7, L8, L9, L10, L11, and L12 each represent the relationship between the average human driving force and the average assistance ratio in an assistance mode. Figure 5In the graph, the relationship between the average value of the human power and the average assist ratio in the 12 assist modes is shown, but the number of assist modes can be appropriately changed. For example, the two-dot chain line Zl shows a boundary at which the output of the motor 40 reaches 27 Nm. For example, the two-dot chain line Z2 shows a boundary at which the output of the motor 40 reaches 85 Nm. For example, the assist modes shown by the solid lines Ll, L2, L3 are set to the output of the motor 40 of 27 Nm or less. For example, the assist modes shown by the solid lines L4, L5, L6, L7, L8, L9, LlO, LI l, L12 are set to the output of the motor 40 of 85 Nm or less.

[0106] For example, in the assist mode shown by the solid line L2, in a case where the average value of the human power is 70 Nm, the control portion 52 calculates the average assist ratio to be 0.45. For example, in the assist mode shown by the solid line L4, in a case where the average value of the human power is 70 Nm, the control portion 52 calculates the average assist ratio to be 1.25.

[0107] The relationship between the average value of the human power and the average assist ratio can be variably stored in the storage portion 54. For example, it is configured to be able to change at least one of the relationship between the average value of the human power and the average assist ratio in each assist mode stored in the storage portion 54.

[0108] For example, the control portion 52 calculates a first prescribed value based on the average assist ratio and a prescribed variable. The relational expression related to the first prescribed value includes the following expression (2). The expression (2) is stored in, for example, the storage portion 54.

[0109] Y = C x (2 / P) x atan(B2 / A2)... (2)

[0110] Y indicates the first prescribed value. C indicates the average assist ratio in the first pedaling period. P indicates a circular constant. A2 indicates a value obtained by halving a value obtained by subtracting the minimum value of the predicted value in the second pedaling period from the predicted value of the human power at the rotation angle X in the second pedaling period. B2 indicates the average value of the human power in the second pedaling period. In the present embodiment, A2 is equal to Al. Al can be used instead of A2. In the present embodiment, B2 is equal to Bl. Bl can be used instead of B2.

[0111] For example, in equation (2), when the amplitude of the human driving force during the first pedaling period is zero (A1 = 0), since atan(B2 / A2) is P / 2, the first specified value is equal to the average assist ratio. The case where the amplitude of the human driving force during the first pedaling period is zero is, for example, the case where no human driving force is input. For example, in equation (2), when the amplitude of the human driving force during the first pedaling period is equal to the average value of the human driving force during the first pedaling period (A1 = B1), since atan(B2 / A2) is P / 4, the first specified value is C / 2. The case where the amplitude of the human driving force during the first pedaling period is equal to the average value of the human driving force during the first pedaling period is, for example, the case where the minimum peak value of the human driving force during the first pedaling period is zero.

[0112] For example, the control unit 52 calculates a predicted value of the rotation angle of the crank 12 during the second pedaling period multiplied by a first predetermined value, and uses this value as a first target value for the rotation angle of the crank 12 during the second pedaling period. For example, the control unit 52 determines the first target value for the entire period of the second pedaling period by multiplying the predicted value of the rotation angle of the crank 12 during the second pedaling period by the first predetermined value among a plurality of predetermined rotation angles of the crank 12.

[0113] Reference Figure 2 and Figure 6 The specified information used to calculate the first target value is explained.

[0114] For example, the storage unit 54 stores specified information regarding the pedaling period of the human-powered vehicle 10 and the relationship between the set values ​​related to the sum of the human-powered driving force and the auxiliary force. For example, the storage unit 54 stores the specified information in a changeable manner.

[0115] For example, the control unit 52 is configured to calculate a first target value based on prescribed information and a second difference between a set value and a predicted value. For example, the control unit 52 is configured to calculate a first target value of the assist force during the second pedaling period based on prescribed information and a second difference between a set value and a predicted value.

[0116] Figure 6An example of the prescribed information is shown. The prescribed information is information indicating a relationship between a rotation angle of the crank 12 during a pedaling period and a set value, for example. The set value is a value related to a sum of the human-powered driving force and the assist force, which is set with respect to the rotation angle of the crank 12, for example. The sum of the human-powered driving force and the assist force is an output most suitable for the propulsion of the human-powered vehicle 10. The output most suitable for the propulsion of the human-powered vehicle 10 is set as the set value with respect to the rotation angle of the crank 12, for example. The prescribed information includes a target waveform of the sum of the assist force and the human-powered driving force during the second pedaling period, for example. The target waveform is set based on a waveform of the human-powered driving force in a case where a professional rider rides the human-powered vehicle 10, for example.

[0117] The prescribed information is information related to a set value corresponding to a running characteristic of the human-powered vehicle 10, for example. The output most suitable for the propulsion of the human-powered vehicle 10 differs depending on the running characteristic of the human-powered vehicle 10.

[0118] The running characteristic of the human-powered vehicle 10 includes at least one of a vehicle body characteristic of the human-powered vehicle 10, a rider characteristic of the human-powered vehicle 10, or a running road characteristic of the human-powered vehicle 10, for example. The vehicle body characteristic of the human-powered vehicle 10 includes at least one of a vehicle height of the human-powered vehicle 10, a shape of the frame 16, a shape of the crank 12, and a size of the wheel. The rider characteristic of the human-powered vehicle 10 includes at least one of a height, a weight, and a length of a foot of a rider. The running road characteristic of the human-powered vehicle 10 includes at least one of a material, a slope, a curve, and a height difference of a road surface of a running road.

[0119] The storage section 54 stores a plurality of prescribed information, and the control section 52 is configured to calculate the first target value based on one of the plurality of prescribed information and in accordance with the second difference, for example. The running characteristic of the human-powered vehicle 10 corresponding to each of the plurality of prescribed information is different, for example. The control section 52 is configured to calculate the first target value based on the prescribed information corresponding to the running characteristic of the human-powered vehicle 10 and in accordance with the second difference between the set value and the predicted value, for example. Each of the plurality of prescribed information corresponds to each of a plurality of assist modes, for example. The control section 52 is configured to calculate the first target value based on the prescribed information corresponding to the currently selected assist mode and in accordance with the second difference between the set value and the predicted value, for example.

[0120] For example, the control unit 52 is configured to adjust the set value on the basis of a prescribed variable. For example, the control unit 52 calculates the first target value on the basis of the predicted value and the prescribed variable. For example, the control unit 52 calculates the first target value in accordance with the set value adjusted on the basis of the predicted value and the prescribed variable. For example, the control unit 52 is configured to control the motor 40 during the second pedaling period so that the assist force reaches the first target value calculated on the basis of the predicted value and the prescribed variable. For example, the prescribed variable is a variable related to the average value of the predicted value, the predicted value, and the second pedaling period.

[0121] For example, the control unit 52 is configured to calculate the first target value so that the rate of change of the first target value in the case where the assist force is increased during the second pedaling period is different from the rate of change in the case where the assist force is decreased.

[0122] For example, the control unit 52 is configured to calculate the first target value during the second pedaling period so that the response speed of the assist force with respect to the human-powered driving force is slower in the case where the assist force is decreased. For example, the control unit 52 calculates the first target value so that the first response speed of the assist force with respect to the human-powered driving force when the assist force is decreased during the second pedaling period is slower than the second response speed of the assist force with respect to the human-powered driving force when the assist force is increased during the second pedaling period. For example, the control unit 52 calculates the first target value during the second pedaling period so that the rate of change of the first target value when the assist force is increased is greater than the rate of change when the assist force is decreased, thereby calculating the first target value during the second pedaling period so that the response speed of the assist force with respect to the human-powered driving force is slower in the case where the assist force is decreased.

[0123] For example, the rate of change when the assist force is decreased is smaller than the rate of change when the assist force is increased and is greater than 0.3 times. For example, the rate of change when the assist force is decreased is smaller than 0.7 times the rate of change when the assist force is increased and is greater than 0.5 times. The rate of change of the first target value when the assist force is increased during the second pedaling period can be set to be smaller than the rate of change when the assist force is decreased.

[0124] For example, the control unit 52 is configured to calculate the first target value on the basis of a value obtained by multiplying the predicted value by a second prescribed value and the prescribed variable, and is configured to determine the prescribed variable in such a manner that the maximum peak value of the first target value during the second pedaling period is smaller than the maximum peak value of the value obtained by multiplying the predicted value by the second prescribed value. For example, the second prescribed value is a reference assist ratio set for each assist mode. The assist ratio is the size of the output of the motor 40 with respect to the size of the human-powered driving force. For example, the second prescribed value can be the same value as the first prescribed value.

[0125] Figure 6The set value indicated by the double-dot chain line in the middle indicates a set value in a case where the change rate of the first target value when the assist force is increased and the change rate of the first target value when the assist force is decreased are different. For example, the prescribed variable includes a first prescribed variable in the rotation angle of the crank 12 corresponding to the case where the assist force is increased, and a second prescribed variable in the rotation angle of the crank 12 corresponding to the case where the assist force is decreased.

[0126] Figure 6 The set value indicated by the double-dot chain line in the middle is configured so that the change rate of the set value when the assist force is increased is larger than the change rate of the set value when the assist force is decreased during the second pedaling. Figure 6 The set value indicated by the double-dot chain line in the middle is set so that the assist force does not sharply decrease by reducing the change rate of the set value when the assist force is decreased.

[0127] For example, by setting the prescribed variable so that the change rate of the first target value when the assist force is increased and the change rate when the assist force is decreased are different, the assist force is increased and decreased in a manner corresponding to the change rate of the first target value. Figure 6 The change rate of the first target value is determined in a manner corresponding to the set value indicated by the double-dot chain line in the middle. For example, the change rate of the first target value is the amount of change of the first target value when the rotation angle of the crank 12 changes by a prescribed angle. The amount of change of the first target value is indicated by an absolute value.

[0128] For example, the control section 52 is configured to calculate the product of the first prescribed value and the predicted value, and calculate the first target value based on the second difference between the calculated product and the set value. For example, the control section 52 is configured to calculate the product of the first prescribed value and the predicted value, and calculate the first target value based on the second difference between the calculated product and the set value adjusted by the prescribed variable. For example, the control section 52 is configured to calculate, as the first target value, a value obtained by adding the second difference to the product of the first prescribed value and the predicted value.

[0129] For example, the first target value obtained using the prescribed information is calculated by the following equation (3). The equation (3) is stored in the storage section 54.

[0130] X1 = XA + D... (3)

[0131] X1 indicates the first target value. XA is the product of the first prescribed value and the predicted value of the human power during the second pedaling, XA = Y x T. D is the second difference.

[0132] For example, the control section 52 is configured to calculate the first target value so that the first target value is below the upper limit value corresponding to the motor 40. For example, the upper limit value corresponding to the motor 40 is an upper limit value of the output of the motor 40 corresponding to the characteristics of the motor 40. For example, the upper limit value corresponding to the motor 40 is determined in accordance with at least one of the power limit of the motor 40, the rotational speed of the motor 40, and the output upper limit value. For example, the output upper limit value is a value related to the characteristics of the motor 40. For example, the control section 52 is configured to calculate the first target value so that the first target value reaches below the upper limit value corresponding to the motor 40 by setting the set value to be below the upper limit value corresponding to the motor 40. For example, the set value is made to be below the upper limit value corresponding to the motor 40 by adjusting the set value using a prescribed variable.

[0133] In a case where the set value is not set to be below the upper limit value corresponding to the motor 40, the control section 52 can be configured to change the first target value exceeding the upper limit value corresponding to the motor 40 based on the upper limit value corresponding to the motor 40 in a case where the first target value calculated by the formula (3) exceeds the upper limit value corresponding to the motor 40. For example, the control section 52 changes the first target value exceeding the upper limit value corresponding to the motor 40 to the upper limit value corresponding to the motor 40 in a case where the first target value calculated by the formula (3) exceeds the upper limit value corresponding to the motor 40. For example, the storage section 54 stores information related to the upper limit value corresponding to the motor 40 in association with the characteristics of the motor 40, and the control section 52 is configured to calculate the upper limit value in accordance with the information related to the upper limit value corresponding to the motor 40 stored in the storage section 54.

[0134] For example, the control section 52 can be configured to control the motor 40 using either one of the first target value and the second target value in accordance with the first difference between the measured value and the predicted value of the human power during the second pedaling period. For example, the control section 52 is configured to control the motor 40 so that the assist force reaches the second target value in a case where the first difference is equal to or greater than a first value, and to control the motor 40 so that the assist force reaches the first target value in a case where the first difference is smaller than the first value. For example, the second target value is calculated to be equal to the first target value in a case where the first difference between the measured value and the predicted value of the human power during the second pedaling period is smaller than the first value. For example, the first value is variably stored in the storage section 54. In the present embodiment, the first value is, for example, all values other than zero.

[0135] For example, the second target value is calculated by the formula (4). The formula (4) is stored in the storage section 54.

[0136] X2 = YX x (TA - T) + X1... (4)

[0137] X2 represents a second target value. TA represents a measured value of the human power during the second pedaling. In a case where the measured value of the human power during the second pedaling is equal to the predicted value, the second target value is equal to the first target value. Therefore, in a case where the measured value of the human power during the second pedaling is equal to the predicted value, the control section 52 can control the motor 40 so that the assist force reaches the first target value, or can control the motor 40 so that the assist force reaches the second target value.

[0138] Figure 4 In the first target value indicated by the double-dotted line, the first target value corresponds to that obtained by (3). Figure 4 In the first target value indicated by the double-dotted line, the first target value corresponds to that obtained by adding the product of the first prescribed value and the predicted value of the human power during the second pedaling to the second difference indicated by (3). Figure 6 Figure 4 In the second target value indicated by the solid line, the second target value corresponds to that obtained by (4).

[0139] The control section 52 can be configured to determine whether the first difference between the measured value and the predicted value is the first value or more, control the motor 40 on the basis of the first target value calculated using (3) in a case where the first difference between the measured value and the predicted value is less than the first value, and control the motor 40 on the basis of the second target value calculated using (4) in a case where the first difference between the measured value and the predicted value is the first value or more.

[0140] Referring to the flowchart of Figure 7 , a process of controlling the motor 40 on the basis of either the first target value or the second target value will be described. For example, if power is supplied to the control section 52, the control section 52 starts the process and proceeds to step S11 of the flowchart indicated by Figure 7 .

[0141] In step S11, the control section 52 determines whether the human power during the second pedaling is input. The control section 52 determines whether the human power during the second pedaling is input on the basis of the output from the first detection section 58. In a case where the human power during the second pedaling is input, the control section 52 proceeds to step S12. In a case where the human power during the second pedaling is not input, the control section 52 ends the process.

[0142] In step S12, the control section 52 determines whether the first difference between the measured value and the predicted value of the human power is the first value or more. The control section 52 acquires the measured value of the human power from the second detection section 62. In a case where the first difference is the first value or more, the control section 52 proceeds to step S13. In a case where the first difference is less than the first value, the control section 52 proceeds to step S14.

[0143] ​In step S13, the control section 52 controls the motor 40 so that the assist force reaches the second target value, and then ends the process.

[0144] In step S14, the control section 52 controls the motor 40 so that the assist force reaches the first target value, and then ends the process.

[0145] For example, in a case where the assist force is controlled using a low-pass filter or the like so that the response speed, that is, the ratio of the change speed of the assist force to the change speed of the measured value of the human driving force, is made slow, if the human driving force changes from decreasing to increasing, the assist force increases above the required value with respect to the human driving force. Since the control section 52 of the present embodiment controls the assist force of the motor 40 in accordance with the predicted value of the human driving force in the second pedaling period calculated on the basis of the human driving force in the first pedaling period, even if the human driving force changes from decreasing to increasing, the assist force is difficult to increase above the required value with respect to the human driving force. The control section 52 of the present embodiment can control the assist force of the motor 40 without using the predicted value of the human driving force in the second pedaling period. In a case where the human driving force decreases and then stops, the control section 52 of the present embodiment can make the assist force zero as soon as possible, and thus the rider is less likely to feel discomfort.

[0146] The control section 52 of the present embodiment controls the motor 40 in accordance with the set value, and thus the rider can obtain a natural assist feeling by setting the set value, and thus the rider can obtain a natural feeling.

[0147] <Second Embodiment>

[0148] Reference Figure 2 , Figure 6 , Figure 8 and Figure 9 , the control device 50 of the second embodiment will be described. The control device 50 of the second embodiment is the same as the control device 50 of the first embodiment except that the motor 40 is controlled in accordance with the first target value calculated on the basis of the prescribed information, and thus the same symbols as those of the first embodiment are added to the structures common to the first embodiment, and the repeated description is omitted.

[0149] The control device 50 of the present embodiment includes the control section 52 that controls the motor 40, and the storage section 54. The storage section 54 stores prescribed information that prescribes a relationship between the pedaling period of the human-powered vehicle 10 and the set value related to the sum of the human driving force and the assist force. The control section 52 is configured to calculate a predicted value of the human driving force in the second pedaling period after the first pedaling period on the basis of the human driving force in the first pedaling period related to the human-powered vehicle 10. The control section 52 is configured to calculate the first target value of the assist force in the second pedaling period on the basis of the prescribed information and in accordance with the second difference between the set value and the predicted value. The control section 52 is configured to control the motor 40 so that the assist force reaches the first target value.

[0150] In the present embodiment, for example, the first target value is equal to the second difference. For example, the control section 52 is configured to control the motor 40 so that the assist force reaches the second difference during the second pedaling period.

[0151] In the present embodiment, the control section 52 is configured to calculate the first target value during the first pedaling period based on the prescribed information. In the present embodiment, the control section 52 can not control the motor 40 using the measured value during the second pedaling period. Therefore, the control section 52 can calculate the first target value during the first pedaling period based on the prescribed information, and control the motor 40 during the second pedaling period based on the calculated first target value.

[0152] Figure 8 The set value indicated by the double-dotted line in FIG. 12 indicates a set value when the predicted value is multiplied by the average assist ratio. For example, the control section 52 calculates the second difference indicated by the double-dotted line in FIG. 12 as the first target value. In the case where the set value is the double-dotted line in FIG. 12, the control section 52 calculates the second difference indicated by the double-dotted line in FIG. 12 as the first target value. Figure 8 Figure 6 In the case where the set value is the double-dotted line in FIG. 12, the control section 52 calculates the second difference indicated by the double-dotted line in FIG. 12 as the first target value. Figure 6

[0153] The control section 52 can be configured to set the first prescribed value to zero in the expression (3), and further calculate the first target value. In the case where the control section 52 is configured to set the first prescribed value to zero in the expression (3), and further calculate the first target value, the control section 52 is configured to control the motor 40 according to the first target value calculated by the expression (3). The control section 52 can be configured not to set the first prescribed value to zero, and calculate the first target value in the same expression (3) as the first embodiment.

[0154] The process of controlling the motor 40 according to the first target value calculated based on the prescribed information will be described with reference to the flowchart of FIG. 11. For example, if power is supplied to the control section 52, the control section 52 starts the process and proceeds to step S21 of the flowchart illustrated in FIG. 11. Figure 9 Figure 9

[0155] In step S21, the control section 52 determines whether the human-driven force during the second pedaling period is input. The control section 52 determines whether the human-driven force during the second pedaling period is input based on the output from the first detection section 58. In the case where the human-driven force during the second pedaling period is input, the control section 52 proceeds to step S22. In the case where the human-driven force during the second pedaling period is not input, the control section 52 ends the process.

[0156] In step S22, the control section 52 controls the motor 40 so that the assist force reaches the first target value calculated based on the prescribed information, and then ends the process. ​​​​

[0157] <Third Embodiment>

[0158] The control device 50 of the third embodiment will be described with reference to Figure 2 , Figure 6 and Figure 10 . Since the control device 50 of the third embodiment is the same as the control device 50 of the second embodiment except that the motor 40 is controlled based on the first target value calculated based on the prescribed variable, the structure common to the first embodiment is denoted by the same symbols as those of the first embodiment, and the repeated description will be omitted.

[0159] The control device 50 of the present embodiment includes a control section 52 that controls the motor 40. The control section 52 is configured to calculate a predicted value of the human power driving force in the second pedaling period after the first pedaling period based on the human power driving force in the first pedaling period related to the human-powered vehicle 10. The control section 52 is configured to control the motor 40 in the second pedaling period so that the assist force reaches the first target value calculated based on the predicted value and the prescribed variable. The control section 52 is configured to calculate the first target value in the second pedaling period so that the rate of change of the first target value when the assist force is increased is different from the rate of change when the assist force is decreased. The control section 52 of the present embodiment is configured to calculate the first target value in the second pedaling period so that the response speed of the assist force with respect to the human power driving force is slower in the case where the assist force is decreased.

[0160] For example, the control section 52 of the present embodiment is configured to calculate the first target value based on the set value indicated by the double-dotted line in FIG. 24. For example, the control section 52 is configured to control the motor 40 based on the first target value calculated by the formula (3) using the set value indicated by the double-dotted line in FIG. 24. Figure 6 Figure 6

[0161] In the present embodiment, the control section 52 is configured to calculate the first target value in the first pedaling period based on the prescribed variable. In the present embodiment, the control section 52 can control the motor 40 without using the measured value in the second pedaling period. Therefore, the control section 52 can calculate the first target value in the first pedaling period based on the prescribed variable.

[0162] The process of controlling the motor 40 based on the first target value calculated based on the prescribed variable will be described with reference to the flowchart of FIG. 25. For example, if power is supplied to the control section 52, the control section 52 starts the process and proceeds to step S31 of the flowchart shown in FIG. 25. Figure 10 Figure 10

[0163] ​​​​In step S31, the control section 52 determines whether or not the second-pedaling-period human power driving force is input. The control section 52 determines whether or not the second-pedaling-period human power driving force is input on the basis of the output from the first detection section 58. In a case where the second-pedaling-period human power driving force is input, the control section 52 proceeds to step S32. In a case where the second-pedaling-period human power driving force is not input, the control section 52 ends the processing.

[0164] In step S32, the control section 52 controls the motor 40 so that the assist force reaches the first target value calculated on the basis of the prescribed variable, and then ends the processing.

[0165] <Modification Examples>

[0166] The description of each embodiment is an example of a mode that the control device according to the present disclosure can take, and is not intended to limit the mode thereof. The control device according to the present disclosure can take, for example, each of the modification examples of the embodiments shown below and a mode obtained by combining at least two of the modification examples that do not contradict each other. In the following modification examples, for portions common to the modes of each embodiment, the same symbols are added and the description thereof is omitted.

[0167] • In the first embodiment, the control section 52 can be configured to calculate the first target value in the second-pedaling period so that the response speed of the assist force with respect to the human power driving force is made slower in a case where the assist force is reduced. For example, the control section 52 can be configured to calculate the first target value on the basis of the set value indicated by the double-dotted line in FIG. 10. For example, the control section 52 can be configured to control the motor 40 on the basis of the set value indicated by the double-dotted line in FIG. 10 and the first target value calculated by Expression (3). Figure 8 • In the first embodiment, the control section 52 can be configured to calculate the first target value in the second-pedaling period so that the response speed of the assist force with respect to the human power driving force is made slower in a case where the assist force is reduced. For example, the control section 52 can be configured to calculate the first target value on the basis of the set value indicated by the double-dotted line in FIG. 10. For example, the control section 52 can be configured to control the motor 40 on the basis of the set value indicated by the double-dotted line in FIG. 10 and the first target value calculated by Expression (3). Figure 8 • In the first embodiment, the control section 52 can be configured to calculate the first target value in the second-pedaling period so that the response speed of the assist force with respect to the human power driving force is made slower in a case where the assist force is reduced. For example, the control section 52 can be configured to calculate the first target value on the basis of the set value indicated by the double-dotted line in FIG. 10. For example, the control section 52 can be configured to control the motor 40 on the basis of the set value indicated by the double-dotted line in FIG. 10 and the first target value calculated by Expression (3).

[0168] • The control section 52 is configured to calculate the first target value using the offset value, and changes the offset value in a case where a prescribed condition is satisfied. For example, the prescribed condition is satisfied in a case where the difference between the human power driving force in the second-pedaling period and the predicted value is outside the first range. For example, the control section 52 increases the offset value in a case where the difference between the measured value and the predicted value is outside the first range and the measured value of the human power driving force is larger than the predicted value. The control section 52 increases the offset value in a case where the difference between the measured value and the predicted value is outside the first range and the measured value of the human power driving force is smaller than the predicted value. For example, the control section 52 calculates the first target value by Expression (5).

[0169] X1 = XA + E... (5)

[0170] E represents the offset value. The offset value can be a constant or a variable.

[0171] Reference Signs Figure 11The flowchart shown in FIG. 6 is a flowchart for explaining the process of the control section 52 changing the offset value. For example, if power is supplied to the control section 52, the control section 52 starts the process and proceeds to step S41 of the flowchart shown in FIG. 6. Figure 11

[0172] In step S41, the control section 52 determines whether the human power during the second pedaling period is input. The control section 52 determines whether the human power during the second pedaling period is input on the basis of the output from the first detection section 58. In a case where the human power during the second pedaling period is input, the control section 52 proceeds to step S42. In a case where the human power during the second pedaling period is not input, the control section 52 ends the process.

[0173] In step S42, the control section 52 determines whether the difference between the measured value and the predicted value of the human power is within the first range. The control section 52 acquires the measured value of the human power from the second detection section 62. In a case where the difference between the measured value and the predicted value of the human power is within the first range, the control section 52 ends the process. In a case where the difference between the measured value and the predicted value of the human power is outside the first range, the control section 52 proceeds to step S43.

[0174] In step S43, the control section 52 changes the offset value and then ends the process. For example, in a case where the measured value of the human power is larger than the predicted value, the control section 52 changes the offset value to be larger. For example, in a case where the measured value of the human power is smaller than the predicted value, the control section 52 changes the offset value to be smaller. The control section 52 is configured to control the motor 40 on the basis of the first target value obtained by substituting the changed offset value into equation (5).

[0175] • In a case where the control section 52 calculates the first target value by using equation (5) and the human-powered vehicle 10 includes a speed change device, the prescribed condition can be satisfied in a case where the speed ratio of the human-powered vehicle 10 is changed by the speed change device. For example, the control section 52 is configured to change the offset value so as to make the offset value smaller in a case where the speed ratio of the human-powered vehicle 10 is changed by the speed change device. In a case where the speed ratio of the human-powered vehicle 10 is changed by the speed change device, the first target value is smaller because the offset value is smaller, and thus the assist force is smaller. By the assist force being smaller, the speed change device is easily speed-changed.

[0176] • The length of the second pedaling period can be equal to the length of the first pedaling period. For example, the length of the first pedaling period can be 360 degrees, and the length of the second pedaling period can be 720 degrees. The control section 52 can calculate the predicted value of the human power during the pedaling period corresponding to two cycles of the second pedaling period on the basis of the human power during the first pedaling period.

[0177] ​The control section 52 can calculate the predicted value of the human power driving force during the second pedaling period on the basis of the human power driving force during the first pedaling period, in addition to the human power driving force during the pedaling period before the first pedaling period. For example, the predicted value is calculated in such a manner that the predicted value of the human power driving force during the second pedaling period is increased in a case where there is a tendency for the human power driving force to increase from the pedaling period before the first pedaling period to the first pedaling period, compared to a case where there is no tendency for the human power driving force to increase from the pedaling period before the first pedaling period to the first pedaling period.

[0178] The expression "at least one of" as used in this specification means "one or more". As an example, if the number of options is two, the expression "at least one of" as used in this specification means "only one of the options" or "both of the options". As other examples, if the number of options is three or more, the expression "at least one of" as used in this specification means "only one of the options" or "a combination of any of the options two or more".

[0179] Symbol explanation:

[0180] 10 … human-powered vehicle, 12 … crank, 40 … motor, 42 … speed change device, 50 … control device, 52 … control section, 51 … storage section, 58 … first detection section.

Claims

1. A control device for a human-powered vehicle including a motor that imparts an assist force corresponding to a human-powered driving force input to the human-powered vehicle, wherein the control device includes a control unit that controls the motor, the control unit is configured to calculate a predicted value of the human-powered driving force in a second pedaling period following a first pedaling period based on the human-powered driving force in the first pedaling period related to the human-powered vehicle, control the motor in the second pedaling period so that the assist force reaches a first target value calculated based on the predicted value, and control the motor so that the assist force reaches a second target value calculated based on a measured value of the human-powered driving force input to the human-powered vehicle in the second pedaling period when a first difference between the measured value and the predicted value is a first value or more.

2. The control device according to claim 1, wherein the control unit is configured to change the second target value in such a manner that the second target value becomes larger in a case where the first difference is the first value or more and the measured value is larger than the predicted value.

3. The control device according to claim 1 or 2, wherein the control unit is configured to change the second target value in such a manner that the second target value becomes smaller in a case where the first difference is the first value or more and the measured value is smaller than the predicted value.

4. The control device according to claim 1 or 2, wherein the control unit is configured to calculate the first target value by multiplying the predicted value by a first prescribed value.

5. The control device according to claim 1 or 2, further comprising a storage unit that stores prescribed information that prescribes a relationship between a pedaling period of the human-powered vehicle and a set value related to a sum of the human-powered driving force and the assist force, wherein the control unit is configured to calculate the first target value based on the prescribed information and according to a second difference between the set value and the predicted value.

6. The control device according to claim 5, wherein the prescribed information is information related to the set value corresponding to a travel characteristic of the human-powered vehicle.

7. The control device according to claim 6, wherein the travel characteristic includes at least one of a vehicle body characteristic of the human-powered vehicle, a rider characteristic of the human-powered vehicle, or a travel road characteristic of the human-powered vehicle.

8. The control device according to claim 5, wherein the storage unit stores a plurality of the prescribed information, and the control unit calculates the first target value based on one of the plurality of the prescribed information and according to the second difference.

9. The control device according to claim 1 or 2, wherein the control unit is configured to calculate the first target value based on the predicted value and a prescribed variable, and calculate the first target value in the second pedaling period so that a rate of change of the first target value in a case where the assist force increases is different from a rate of change of the first target value in a case where the assist force decreases.

10. The control device according to claim 9, wherein ​ ​ ​ ​ ​ ​ ​ ​ ​ ​ ​ ​ ​ ​ ​ ​ ​ The prescribed variable is an average of the predicted values, the predicted values, and a variable related to the second pedaling period.

11. The control device according to claim 9, wherein The control section is configured to The first target value is calculated based on a value obtained by multiplying the predicted value by a second prescribed value and the prescribed variable, The prescribed variable is determined so that a maximum peak value of the first target value during the second pedaling period is smaller than a maximum peak value of a value obtained by multiplying the predicted value by the second prescribed value.

12. The control device according to claim 1 or 2, wherein The control section is configured to The first target value is calculated using an offset value, The offset value is changed when a prescribed condition is satisfied.

13. The control device according to claim 12, wherein The prescribed condition is satisfied when a difference between the human-powered driving force during the second pedaling period and the predicted value is outside a first range.

14. The control device according to claim 1 or 2, wherein The control section is configured to calculate the first target value so that the first target value is below an upper limit value corresponding to the motor.

15. The control device according to claim 1 or 2, wherein The control section calculates the predicted value based on an average of the human-powered driving force during the first pedaling period, the human-powered driving force during the first pedaling period, and a rotation angle of a crank of the human-powered vehicle during the first pedaling period.

16. The control device according to claim 1 or 2, wherein The first pedaling period is a period in which a crank of the human-powered vehicle rotates 360 degrees or more.

17. The control device according to claim 1 or 2, wherein The second pedaling period is a period in which a crank of the human-powered vehicle rotates 360 degrees or more.

18. The control device according to claim 1 or 2, wherein The length of the second pedaling period is equal to the length of the first pedaling period.

19. The control device according to claim 1 or 2, wherein The control device further includes a first detection section that detects information related to the first pedaling period and the second pedaling period.

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