An e-bike assist gear automatic adjusting device and adjusting method

Abstract

This invention provides an automatic assist level adjustment device and method for e-bikes. The device includes a wheel speed sensor, a pedal force sensor, and a control mechanism. The control mechanism is connected to the wheel speed sensor and the pedal force sensor via wired or wireless means. The wheel speed sensor is used to detect the e-bike's speed in real time. The pedal force sensor is used to detect the pedal force applied by the user when pedaling the e-bike. The control mechanism is used to calculate speed change curves and pedal force change curves based on the real-time detected speed and pedal force. Based on the speed and pedal force change curves, it determines whether the assist level of the e-bike needs to be adjusted and then makes the adjustment. This invention automatically increases or decreases the assist level by collecting data from the speed and pedal force sensors in real time and based on the speed and pedal force change curves, providing the user with a good riding experience while minimizing battery power consumption.

Description

Technical Field

[0001] This invention relates to the field of electric-assisted bicycles, and more specifically, to an automatic adjustment device and method for E-bike power assist levels. Background Technology

[0002] Bicycles are categorized into electric-assisted bicycles (E-Bikes) and human-powered bicycles based on whether they offer auxiliary power. E-Bikes use batteries as an auxiliary power source, are equipped with a motor, and feature a power assistance system, integrating human riding with motor assistance. As an environmentally friendly and energy-saving mode of transportation, E-Bikes have gradually gained acceptance among consumers, and their sales are increasing year by year both domestically and internationally. Human-powered bicycles are commonly two-wheeled bicycles. Two-wheeled bicycles have a long history of development. Conventional two-wheeled bicycles are purely mechanical structures. With technological advancements, more and more bicycles are equipped with various sensors and network data functions, enabling data collection and control of the bicycle.

[0003] The existing E-Bike's assist levels can only be adjusted manually by the user. When the road conditions are complex and changeable (such as alternating between flat and uphill roads), the user may need to adjust the assist level frequently, which affects the riding experience. Summary of the Invention

[0004] This invention addresses the technical problems existing in the prior art by providing an automatic adjustment device and method for the power assist gear of an E-bike.

[0005] According to a first aspect of the present invention, an automatic adjustment device for assist level of an E-bike is provided, comprising:

[0006] The system includes a wheel speed sensor, a pedal force sensor, and a control mechanism, wherein the control mechanism is connected to the wheel speed sensor and the pedal force sensor via wired or wireless means, respectively.

[0007] The wheel speed sensor is used to detect the speed of the E-bike in real time;

[0008] The pedal force sensor is used to detect the pedal force when the user steps on the E-bike pedal in real time;

[0009] The control mechanism is used to calculate the speed change curve and the pedal force change curve based on the real-time detected speed and pedal force; and to determine whether the E-bike's power assist level needs to be adjusted based on the speed change curve and pedal force change curve, and then make the adjustment.

[0010] Based on the above technical solution, the present invention can also be improved as follows.

[0011] Optionally, the control mechanism includes a motor controller, which is used to determine whether the assist level of the E-bike needs to be adjusted based on the speed change curve and the pedal force change curve, and then make the adjustment accordingly.

[0012] or,

[0013] The control mechanism includes an instrument and a motor controller. The instrument is connected to the motor controller via wired or wireless means. The instrument is used to determine whether the assist level of the E-bike needs to be adjusted based on the speed change curve and pedal force change curve. When the assist level needs to be adjusted, the instrument sends a command to the motor controller to adjust the assist level of the E-bike.

[0014] According to a second aspect of the present invention, an automatic adjustment method for the power assist level of an E-bike is provided, comprising:

[0015] Real-time detection of E-bike speed and pedal force when the user pedals the E-bike;

[0016] Based on the real-time detected vehicle speed and pedal force, calculate the vehicle speed change curve and pedal force change curve respectively;

[0017] Based on the speed change curve and pedal force change curve, determine whether the E-bike's assist level needs to be adjusted, and then make the adjustment.

[0018] Optionally, based on the real-time detected vehicle speed and pedal force, calculate the vehicle speed change curve and pedal force change curve respectively, including:

[0019] The slope of the vehicle speed change curve, i.e., acceleration, is calculated based on the real-time collected vehicle speed data.

[0020] The slope of the pedal force change curve, i.e. the pedal force change rate, is calculated based on the pedal force collected in real time.

[0021] The process of determining whether to adjust the E-bike's assist level based on the speed and pedaling force change curves, and then making the adjustment, includes:

[0022] Based on vehicle speed, acceleration, pedaling force, and rate of change of pedaling force, determine the road conditions and whether it is necessary to adjust the power assist level.

[0023] Optionally, the step of judging the road surface conditions based on vehicle speed, acceleration, pedaling force, and rate of change of pedaling force, and judging whether to adjust the power assist level based on the road surface conditions, includes:

[0024] Based on vehicle speed, acceleration, pedal force, and rate of change of pedal force, if the road is judged to be uphill or rough, the power assist level is increased; if the road is judged to be downhill or flat, the power assist level is decreased.

[0025] Optionally, the real-time detection of the E-bike's speed and the user's pedaling force includes:

[0026] E-bike speed and pedaling force data are collected at the first fixed time interval.

[0027] The method also includes maintaining four queues to cache data within a set time period. The four queues include a vehicle speed data queue, an acceleration data queue, a pedal force data queue, and a pedal force change rate data queue.

[0028] The vehicle speed data queue is used to store vehicle speed data within a set time period. If the queue is full, the data at the head of the queue is popped out, and the collected vehicle speed data S[i] is added to the tail of the queue. S[i] represents the i-th vehicle speed data in the queue.

[0029] An acceleration data queue is used to store acceleration data. When vehicle speed data S[i] is collected, the acceleration A[i] is calculated by combining it with the previous vehicle speed data S[i-1], i.e., A[i] = (S[i] – S[i-1]) / △t, where △t is a set duration. If the queue is full, the data at the head of the queue is popped and A[i] is added to the tail of the queue.

[0030] The pedal force data queue is used to store pedal force data. If the queue is full, the data at the head of the queue is popped out, and the collected pedal force data T[i] is added to the tail of the queue. T[i] is the i-th pedal force data in the queue.

[0031] The pedal force change rate data queue is used to store pedal force change rate data. When pedal force data T[i] is collected, the pedal force change rate R[i] is calculated by combining it with the previous pedal force data T[i-1], that is, R[i] = (T[i] – T[i-1]) / △t. If the queue is full, the data at the head of the queue is popped and R[i] is added to the tail of the queue.

[0032] Optionally, the step of judging the road surface conditions based on vehicle speed, acceleration, pedaling force, and rate of change of pedaling force, and judging whether to adjust the power assist level based on the road surface conditions, includes:

[0033] When the vehicle speed data queue, acceleration data queue, pedal force data queue, and pedal force change rate data queue are full, based on the vehicle speed data, acceleration data, pedal force data, and pedal force change rate data, it is determined once at a second fixed time interval whether the power assist level needs to be increased or decreased. If so, a new power assist level is set. After the power assist level is successfully modified, all four queues are cleared.

[0034] After all four queues are cleared, the data within the set time period is cached again.

[0035] Optionally, the step of judging the road surface conditions based on vehicle speed, acceleration, pedaling force, and rate of change of pedaling force, and judging whether to adjust the power assist level based on the road surface conditions, includes:

[0036] First, scan the first half of the pedal force data queue near the head to find the starting data point that is greater than the pedal force threshold for triggering assist. The position of this data point in the queue is offset by ib. If the data point cannot be found, or if there are fewer than 3 consecutive data points greater than the pedal force threshold starting from ib, then there is no need to adjust the assist level and the judgment stops.

[0037] If, assuming the current assist level is not the highest, starting from the ib position, there are more than 5 consecutive data points where the rate of change of pedal force is not less than 0, and the acceleration is always less than the preset acceleration value, and the difference between the speed at the end of the pedal force data queue and the speed at the ib position is less than the preset speed difference, then the current riding surface is determined to be uphill or rough, and the assist level needs to be increased.

[0038] If the current assist level is not the lowest level, starting from the ib position, if there are no more than two consecutive data points with a pedal force change rate not less than 0, and the acceleration is greater than the preset acceleration value for two consecutive data points, and the difference between the speed at the end of the pedal force data queue and the speed at the ib position is greater than the preset speed difference, then the current riding surface is determined to be a downhill or flat surface, and the assist level needs to be reduced. The assist level is reduced by one level at a time.

[0039] In other cases, there is no need to adjust the power assist level.

[0040] Optionally, the preset acceleration value includes a low acceleration threshold and a high acceleration threshold, and the preset speed difference value includes a low speed difference threshold and a high speed difference threshold. When determining whether to increase the power assist level based on the difference between acceleration and speed, the following further applies:

[0041] If the acceleration and speed difference are less than the low threshold for acceleration and the speed difference is less than the low threshold for speed difference, the power assist level will increase by two levels; otherwise, if the acceleration is greater than the low threshold for acceleration and less than the high threshold for acceleration, or if the speed difference is greater than the low threshold for speed difference and less than the high threshold for speed difference, the power assist level will increase by one level.

[0042] This invention provides an E-bike automatic gear adjustment device and method, which automatically increases or decreases the gear according to the speed and pedal force change curves by collecting data from speed and pedal force sensors in real time, providing users with a good riding experience while saving battery power as much as possible. Attached Figure Description

[0043] Figure 1A schematic diagram of an E-bike automatic power assist gear adjustment device provided in one embodiment of the present invention;

[0044] Figure 2 A schematic diagram of an E-bike automatic power assist gear adjustment device provided in another embodiment of the present invention;

[0045] Figure 3 A flowchart illustrating an automatic adjustment method for E-bike power assist gears provided by the present invention;

[0046] Figure 4 A flowchart for storing data in a queue and determining whether to adjust the power assist level;

[0047] Figure 5 A flowchart illustrating the process of adjusting the power assist level based on the data in the scanning queue. Detailed Implementation

[0048] To make the objectives, technical solutions, and advantages of the embodiments of the present invention clearer, the technical solutions of the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of the present invention, not all embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of the present invention. In addition, the technical features of the various embodiments or individual embodiments provided by the present invention can be arbitrarily combined with each other to form feasible technical solutions. Such combinations are not constrained by the order of steps and / or structural composition patterns, but must be based on the ability of those skilled in the art to implement them. When the combination of technical solutions is contradictory or cannot be implemented, it should be considered that such a combination of technical solutions does not exist and is not within the scope of protection claimed by the present invention.

[0049] Figure 1 The present invention provides an E-bike automatic gear adjustment device, which includes a wheel speed sensor, a pedal force sensor and a control mechanism. The control mechanism is connected to the wheel speed sensor and the pedal force sensor via wired or wireless means.

[0050] The system includes a wheel speed sensor for real-time detection of the E-bike's speed, a pedal force sensor for real-time detection of the pedal force applied by the user, and a control mechanism for calculating speed change curves and pedal force change curves based on the real-time detected speed and pedal force. Based on these curves, the system determines whether the E-bike's assist level needs adjustment and makes the necessary adjustments.

[0051] Understandably, the wheel speed sensor in this invention is a basic component of the E-Bike, and is generally based on the Hall effect. The vehicle speed, i.e. the forward speed of the E-Bike, can be calculated from the wheel speed.

[0052] The pedal force sensor is a fundamental component of the E-Bike, used to detect the torque generated on the bottom bracket when a user pedals the E-Bike.

[0053] See Figure 1 The control mechanism, at least including a motor controller, controls the motor's output and is a fundamental component of the E-Bike. See also... Figure 2 The control mechanism may include a motor controller and an instrument panel, sometimes called a speedometer, which displays information such as vehicle speed and pedal assist level. It connects to the motor controller via wired or wireless means. Based on the changes in vehicle speed and pedal force, and in conjunction with preset thresholds, the instrument panel determines whether the pedal assist level needs to be increased or decreased, and sends the command to adjust the pedal assist level to the motor controller.

[0054] The control mechanism may also exclude instruments and include only a motor controller. In this structure, the motor controller determines whether the power assist level needs to be adjusted based on the speed and pedal force change curves and preset thresholds, and then adjusts it directly.

[0055] The control mechanism adjusts the assist level based on the speed and pedaling force curves as follows: If the pedaling force collected by the motor controller exceeds a preset threshold, assist is triggered, driving the motor to rotate and generating acceleration, propelling the E-Bike forward. As the speed increases, the pedals also rotate, thus reducing the pedaling force. If the pedaling force decreases below the threshold, assist stops. If the acceleration is small, the speed does not increase significantly, or / and the pedaling force does not decrease rapidly and significantly, it indicates that the E-Bike is experiencing greater resistance, possibly encountering an uphill or rough road surface. If the acceleration is large, the speed increases significantly, or / and the pedaling force decreases rapidly and significantly, it indicates that the E-Bike may be encountering a downhill or flat road surface.

[0056] The control mechanism determines the difference between the real-time vehicle speed and the preset vehicle speed threshold, and calculates the slope of the speed change curve, i.e., acceleration; and determines the difference between the real-time pedal force and the preset pedal force threshold, and calculates the slope of the pedal force change curve, i.e., pedal force change rate; based on vehicle speed, acceleration, pedal force, pedal force change rate and other parameters, it determines the riding road conditions. If it is determined to be uphill or rough road, the power assist level is increased; if it is determined to be downhill or flat road, the power assist level is decreased.

[0057] See Figure 3 The present invention provides an automatic adjustment method for the power assist level of an E-bike, the method comprising:

[0058] Step 1: Real-time detection of E-bike speed and pedal force when the user pedals; Step 2: Calculation of speed change curve and pedal force change curve based on the real-time detected speed and pedal force; Step 3: Determination based on the speed change curve and pedal force change curve to determine whether the E-bike's assist level needs to be adjusted, and adjustment accordingly.

[0059] In terms of physical structure, the control mechanism in the present invention may or may not include instruments. The instruments may be directly connected to the sensors or indirectly connected to the sensors through the motor controller. Figure 1 A specific embodiment of a control mechanism is shown. The control mechanism includes only a motor controller. Wheel speed sensors and pedal force sensors are connected to the motor controller via wires. Software algorithms that process vehicle speed and pedal force, determine gear adjustment requirements, etc., run on the motor controller. Figure 2 Another specific embodiment of the control mechanism is shown, which includes a motor controller and an instrument. The instrument is connected to the motor controller via a CAN bus and processes software algorithms such as vehicle speed and pedal force, and determines gear adjustment requirements, which run on the instrument.

[0060] The following describes in detail a specific embodiment of the software algorithm for processing vehicle speed and pedal force, as well as determining the gear adjustment requirements.

[0061] See Figure 4 The program collects vehicle speed and pedal force data every 200ms, calculates acceleration and rate of change of pedal force, and caches the data of the most recent 4 seconds in a queue with a length of 20. Specifically, there are 4 queues:

[0062] A vehicle speed data queue is used to store the real-time collected vehicle speeds. If the queue is full, the data at the head of the queue is popped out, and the collected vehicle speed data S[i] is added to the tail of the queue.

[0063] An acceleration data queue is used to store the calculated acceleration. When the vehicle speed data S[i] is collected, the acceleration A[i] is calculated by combining it with the previous vehicle speed data S[i-1], that is, A[i] = (S[i] – S[i-1]) / 0.2s. If the queue is full, the data at the head of the queue is popped and A[i] is added to the tail of the queue.

[0064] A pedal force data queue is used to store the pedal force data collected in real time. If the queue is full, the data at the head of the queue is popped and the collected pedal force data T[i] is added to the tail of the queue.

[0065] A data queue for pedal force change rate is used to store the calculated pedal force change rate. When pedal force data T[i] is collected, the pedal force change rate R[i] is calculated by combining it with the previous pedal force data T[i-1], that is, R[i] = (T[i] - T[i-1]) / 0.2s. If the queue is full, the data at the head of the queue is popped and R[i] is added to the tail of the queue.

[0066] See Figure 4 When the queue is full, the program checks every 800ms. If it is necessary to add or remove the power assist level, it sets a new power assist level. After the power assist level is successfully modified, the entire data queue is cleared. It takes 4 seconds for the queue to become full again after it is cleared. This interval is a buffer period for automatically adjusting the power assist level to avoid frequent adjustments.

[0067] The software flow for determining gear adjustment requirements in this embodiment of the invention is as follows: Figure 5 The following are steps to determine whether the main gear needs adjustment:

[0068] First, scan the first half of the pedal force data queue near the head to find the starting data point that is greater than the pedal force threshold for triggering assist. The position offset of this data point in the queue is ib. If the data point cannot be found, or if there are fewer than 3 consecutive data points greater than the threshold starting from ib, then there is no need to adjust the gear and the judgment stops.

[0069] If, assuming the current assist level is not the highest, starting from the ib position, there are more than 5 consecutive data points where the rate of change of pedal force is not less than 0, and the acceleration is always less than the preset value (e.g., 2 m / s²), and the difference between the speed at the tail of the line and the speed at the ib position is less than the preset value (e.g., 3 m / s), then the road surface may be uphill or rough, and the assist level needs to be increased.

[0070] The acceleration threshold includes a low acceleration threshold and a high acceleration threshold, and the speed difference threshold includes a low speed difference threshold and a high speed difference threshold. When determining whether to increase the power assist level based on the difference between acceleration and speed, if the acceleration and speed difference are less than the low acceleration threshold and the speed difference is less than the low speed difference threshold, the power assist level is increased by two levels; otherwise, if the acceleration is greater than the low acceleration threshold and less than the high acceleration threshold, or if the speed difference is greater than the low speed difference threshold and less than the high speed difference threshold, the power assist level is increased by one level.

[0071] If, assuming the current assist level is not the lowest, starting from position ib, there are no more than two consecutive data points where the rate of change of pedal force is not less than 0, and the acceleration is greater than the preset value (e.g., 3 m / s²) for two consecutive data points, and the difference between the speed at the tail of the train and the speed at position ib is greater than the preset value (e.g., 5 m / s), then it is determined that the assist level needs to be reduced. The assist level is reduced by only one level at a time. In other cases, there is no need to adjust the assist level.

[0072] This invention provides an automatic power assist adjustment device and method for E-bikes. By collecting data from speed and pedal force sensors in real time, and based on the speed and pedal force variation curves, the device automatically increases the power assist level when encountering uphill or rough terrain to make riding easier; and automatically decreases the power assist level when encountering downhill or flat terrain to conserve battery power. No manual adjustment is required throughout the ride, allowing users to focus more on riding and enjoy the experience.

[0073] It should be noted that the descriptions of each embodiment in the above embodiments have different focuses. For parts that are not described in detail in a certain embodiment, please refer to the relevant descriptions in other embodiments.

[0074] Those skilled in the art will understand that embodiments of the present invention can be provided as methods, systems, or computer program products. Therefore, the present invention can take the form of a completely hardware embodiment, a completely software embodiment, or an embodiment combining software and hardware aspects. Furthermore, the present invention can take the form of a computer program product embodied on one or more computer-usable storage media (including, but not limited to, disk storage, CD-ROM, optical storage, etc.) containing computer-usable program code.

[0075] This invention is described with reference to flowchart illustrations and / or block diagrams of methods, apparatus (systems), and computer program products according to embodiments of the invention. It will be understood that each block of the flowchart illustrations and / or block diagrams, and combinations of blocks in the flowchart illustrations and / or block diagrams, can be implemented by computer program instructions. These computer program instructions can be provided to a processor of a general-purpose computer, special-purpose computer, embedded computer, or other programmable data processing apparatus to produce a machine, such that the instructions, which execute via the processor of the computer or other programmable data processing apparatus, generate instructions for implementing the flowchart illustrations. Figure 1 One or more processes and / or boxes Figure 1 A device that provides the functions specified in one or more boxes.

[0076] These computer program instructions may also be stored in a computer-readable storage medium that can direct a computer or other programmable data processing device to function in a particular manner, such that the instructions stored in the computer-readable storage medium produce an article of manufacture including instruction means, which are implemented in a process Figure 1 One or more processes and / or boxes Figure 1 The function specified in one or more boxes.

[0077] These computer program instructions may also be loaded onto a computer or other programmable data processing equipment to cause a series of operational steps to be performed on the computer or other programmable equipment to produce a computer-implemented process, thereby providing instructions that execute on the computer or other programmable equipment for implementing the process. Figure 1 One or more processes and / or boxes Figure 1 The steps of the function specified in one or more boxes.

[0078] Although preferred embodiments of the invention have been described, those skilled in the art, upon learning the basic inventive concept, can make other changes and modifications to these embodiments. Therefore, the appended claims are intended to be interpreted as including both the preferred embodiments and all changes and modifications falling within the scope of the invention.

[0079] Obviously, those skilled in the art can make various modifications and variations to this invention without departing from its spirit and scope. Therefore, if these modifications and variations fall within the scope of the claims of this invention and their equivalents, this invention also intends to include these modifications and variations.

Claims

1. An automatic power assist gear adjustment device for E-bikes, characterized in that, It includes a wheel speed sensor, a pedal force sensor, and a control mechanism, wherein the control mechanism is connected to the wheel speed sensor and the pedal force sensor via wired or wireless means, respectively; The wheel speed sensor is used to detect the speed of the E-bike in real time; The pedal force sensor is used to detect the pedal force when the user steps on the E-bike pedal in real time; The control mechanism is used to acquire speed change curves and pedal force change curves based on real-time detected vehicle speed and pedal force, respectively; and to determine whether the E-bike's assist level needs to be adjusted based on the speed change curves and pedal force change curves, and to make the adjustment accordingly. The control mechanism includes a motor controller, which is used to determine whether the assist level of the E-bike needs to be adjusted based on the speed change curve and the pedal force change curve, and then make the adjustment accordingly. or, The control mechanism includes an instrument and a motor controller. The instrument is connected to the motor controller via wired or wireless means. The instrument is used to determine whether the assist level of the E-bike needs to be adjusted based on the speed change curve and the pedal force change curve. When the assist level needs to be adjusted, the instrument sends a command to the motor controller to adjust the assist level of the E-bike. The automatic adjustment method for the power assist level of the control mechanism includes: Real-time detection of E-bike speed and pedal force when the user pedals the E-bike; Based on the real-time detected vehicle speed and pedal force, obtain the vehicle speed change curve and pedal force change curve respectively; Based on the speed change curve and pedal force change curve, determine whether the E-bike's assist level needs to be adjusted, and then make the adjustment accordingly. Specifically, based on the real-time detected vehicle speed and pedal force, the vehicle speed change curve and pedal force change curve are calculated respectively, including: The slope of the vehicle speed change curve, i.e., acceleration, is calculated based on the real-time collected vehicle speed data. The slope of the pedal force change curve, i.e. the pedal force change rate, is calculated based on the pedal force collected in real time. The process of determining whether to adjust the E-bike's assist level based on the speed and pedaling force change curves, and then making the adjustment, includes: Based on vehicle speed, acceleration, pedaling force, and rate of change of pedaling force, determine the road conditions and whether it is necessary to adjust the power assist level. The process of judging the road conditions based on vehicle speed, acceleration, pedaling force, and rate of change of pedaling force, and then determining whether to adjust the power assist level based on the road conditions, includes: Based on vehicle speed, acceleration, pedal force, and rate of change of pedal force, if the road is judged to be uphill or rough, the power assist gear is increased; if the road is judged to be downhill or flat, the power assist gear is decreased. The real-time detection of the E-bike's speed and the pedaling force when the user pedals the E-bike includes: E-bike speed and pedaling force data are collected at the first fixed time interval. The method also includes maintaining four queues to cache data within a set time period. The four queues include a vehicle speed data queue, an acceleration data queue, a pedal force data queue, and a pedal force change rate data queue. The vehicle speed data queue is used to store vehicle speed data within a set time period. If the queue is full, the data at the head of the queue is popped out, and the collected vehicle speed data S[i] is added to the tail of the queue. S[i] represents the i-th vehicle speed data in the queue. An acceleration data queue is used to store acceleration data. When vehicle speed data S[i] is collected, the acceleration A[i] is calculated by combining it with the previous vehicle speed data S[i-1], i.e., A[i] = (S[i]–S[i-1]) / Δt, where Δt is a set duration. If the queue is full, the data at the head of the queue is popped and A[i] is added to the tail of the queue. The pedal force data queue is used to store pedal force data. If the queue is full, the data at the head of the queue is popped out, and the collected pedal force data T[i] is added to the tail of the queue. T[i] is the i-th pedal force data in the queue. The pedal force change rate data queue is used to store pedal force change rate data. When pedal force data T[i] is collected, the pedal force change rate R[i] is calculated by combining it with the previous pedal force data T[i-1], that is, R[i] = (T[i] – T[i-1]) / △t. If the queue is full, the data at the head of the queue is popped and R[i] is added to the tail of the queue. The process of judging the road conditions based on vehicle speed, acceleration, pedaling force, and rate of change of pedaling force, and then determining whether to adjust the power assist level based on the road conditions, includes: When the vehicle speed data queue, acceleration data queue, pedal force data queue, and pedal force change rate data queue are full, based on the vehicle speed data, acceleration data, pedal force data, and pedal force change rate data, it is determined once at a second fixed time interval whether the power assist level needs to be increased or decreased. If so, a new power assist level is set. After the power assist level is successfully modified, all four queues are cleared. After all four queues are cleared, the data within the set time period is cached again. Alternatively, the method of judging the road conditions based on vehicle speed, acceleration, pedaling force, and rate of change of pedaling force, and determining whether to adjust the power assist level based on the road conditions, includes: First, scan the first half of the pedal force data queue near the head to find the starting data point that is greater than the pedal force threshold for triggering assist. The position of this data point in the queue is offset by ib. If the data point cannot be found, or if there are fewer than 3 consecutive data points greater than the pedal force threshold starting from ib, then there is no need to adjust the assist level and the judgment stops. If, assuming the current assist level is not the highest, starting from the ib position, there are more than 5 consecutive data points where the rate of change of pedal force is not less than 0, and the acceleration is always less than the preset acceleration value, and the difference between the speed at the end of the pedal force data queue and the speed at the ib position is less than the preset speed difference, then the current riding surface is determined to be uphill or rough, and the assist level needs to be increased. If the current assist level is not the lowest level, starting from the ib position, if there are no more than two consecutive data points with a pedal force change rate not less than 0, and the acceleration is greater than the preset acceleration value for two consecutive data points, and the difference between the speed at the end of the pedal force data queue and the speed at the ib position is greater than the preset speed difference, then the current riding surface is determined to be a downhill or flat surface, and the assist level needs to be reduced. The assist level is reduced by one level at a time. In other cases, there is no need to adjust the power assist level.

2. The E-bike automatic power assist gear adjustment device according to claim 1, characterized in that, The preset acceleration value includes a low acceleration threshold and a high acceleration threshold, and the preset speed difference value includes a low speed difference threshold and a high speed difference threshold. When determining whether to increase the power assist level based on the difference between acceleration and speed, the following is also included: If the acceleration and speed difference are less than the low threshold for acceleration and the speed difference is less than the low threshold for speed difference, the power assist level will increase by two levels; otherwise, if the acceleration is greater than the low threshold for acceleration and less than the high threshold for acceleration, or if the speed difference is greater than the low threshold for speed difference and less than the high threshold for speed difference, the power assist level will increase by one level.

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