Control device for human-powered vehicle

Abstract

The present application provides a human-powered vehicle control device capable of appropriately controlling a speed change device when the human-powered vehicle starts. The human-powered vehicle control device has a control unit that controls a speed change device for changing a ratio of a rotational speed of a wheel of the human-powered vehicle to a rotational speed of a crankshaft. The control unit is configured to control the speed change device in any one of a first control state, a second control state, and a third control state. When the human-powered vehicle starts, the speed change device is controlled in the first control state until a prescribed time required for a vehicle state of the human-powered vehicle to reach a prescribed state. If the vehicle state reaches the prescribed state, the control state is changed from the first control state to the second control state. If a human-powered driving force input to the human-powered vehicle is greater than a prescribed driving force within the prescribed time, the control state is changed from the first control state to the third control state. In the first control state, the ratio is changed more than in the second control state and the ratio is changed more than in the third control state.

Description

Technical Field

[0001] This disclosure relates to a control device for a human-powered vehicle. Background Technology

[0002] For example, the control device for a human-powered vehicle disclosed in Patent Document 1 controls the transmission device of the human-powered vehicle.

[0003] Existing technical documents

[0004] Patent documents

[0005] Patent Document 1: Japanese Patent Application Publication No. 2013-47085. Summary of the Invention

[0006] The problem that the invention aims to solve

[0007] One of the purposes of this disclosure is to provide a control device for a human-powered vehicle that can properly control the transmission when the vehicle is started by human power.

[0008] means for solving problems

[0009] The control device according to the first aspect of this disclosure is a control device for a manually driven vehicle, which includes a control unit that controls a transmission device for changing the ratio of the rotational speed of the wheels of the manually driven vehicle to the rotational speed of the crankshaft. The control unit is configured to control the transmission device in any of a first control state, a second control state, and a third control state. When the manually driven vehicle departs, the transmission device is controlled in the first control state until a predetermined time is required for the vehicle state of the manually driven vehicle to reach a predetermined state. If the vehicle state reaches the predetermined state, the control device transitions from the first control state to the second control state. If, within the predetermined time, the human driving force input to the manually driven vehicle is greater than a predetermined driving force, the control device transitions from the first control state to the third control state. In the first control state, the change in the ratio is more suppressed than in the second control state, and the change in the ratio is also more suppressed than in the third control state.

[0010] According to the control device of the first aspect, when the vehicle is started manually, changes in the gear ratio can be suppressed until the specified time, thus the rider is less likely to experience discomfort when the vehicle is started manually. Therefore, the gear shifting device can be appropriately controlled when the vehicle is started manually. According to the control device of the first aspect, even within the specified time, if the manual driving force is greater than the specified driving force when the vehicle is started manually, the gear ratio is easily changed, thus the gear shifting device can also be appropriately controlled.

[0011] In the control device according to the first aspect of the present disclosure, in the first control state, the change in the reduction of the ratio is more suppressed compared to the second control state.

[0012] According to the control device in the second aspect, when the vehicle is driven by human power, the rider is less likely to feel discomfort because the rate of decrease can be suppressed until the specified time.

[0013] In the control device according to the first aspect of the present disclosure, in the first control state, the change in the reduction of the ratio is more suppressed compared to the third control state.

[0014] According to the control device of the third aspect, when the vehicle is driven by human power, even within a specified time, if the human power is greater than the specified power, it is easy to make a change to reduce the ratio.

[0015] In the control device according to the fourth aspect of the first aspect of the present disclosure, in the first control state, the change in the reduction of the ratio is more suppressed compared to the second control state and the third control state.

[0016] According to the control device in the fourth aspect, when the vehicle is driven by human power, it can suppress the change of ratio reduction until a specified time. Even if the human power is greater than the specified power within the specified time, the change of ratio reduction can be easily made.

[0017] In the control device of the fifth aspect according to any one of the first to fourth aspects of this disclosure, the specified state includes a state in which the vehicle speed is above a first vehicle speed.

[0018] According to the control device in the fifth aspect, changes in the ratio can be suppressed until the vehicle speed is above the first vehicle speed.

[0019] In the control device according to the sixth aspect of any one of the first to fifth aspects of this disclosure, the specified state includes a state that generates an operational requirement for the transmission device.

[0020] According to the control device in the sixth aspect, changes in the ratio can be suppressed until the operation requirements of the transmission device are generated.

[0021] In the control device of the seventh aspect according to any one of the first to sixth aspects of this disclosure, the specified state includes a state in which the rotational speed of the crankshaft is above a first rotational speed.

[0022] According to the control device in the seventh aspect, changes in the ratio can be suppressed until the crankshaft speed is above the first speed.

[0023] In the control device of the eighth aspect according to any one of the first to seventh aspects of this disclosure, the predetermined state includes a state in which the travel distance of the human-powered vehicle initiated from the vehicle is more than a predetermined travel distance.

[0024] According to the control device in the eighth aspect, changes in the ratio can be suppressed until the travel distance of the manually driven vehicle initiated from the human-powered vehicle is more than the prescribed travel distance.

[0025] In the control device of the ninth aspect according to any one of the first to eighth aspects of this disclosure, the control unit is configured to enter the third control state from the first control state within the specified time when the human driving force is greater than the specified driving force and the vehicle speed is less than or equal to the second vehicle speed.

[0026] According to the control device in the ninth aspect, even within a specified time, if the human driving force is greater than the specified driving force and the vehicle speed is below the second vehicle speed, the ratio can be easily changed.

[0027] In the control device of the tenth aspect according to any one of the first to ninth aspects of this disclosure, the control unit is configured to enter the third control state from the first control state within the predetermined time period when the human-powered driving force is greater than the predetermined driving force and the acceleration value of the human-powered vehicle is less than or equal to a first acceleration value.

[0028] According to the control device in aspect ten, even within a specified time, if the human driving force is greater than the specified driving force and the acceleration value is below the first acceleration value, the ratio can be easily changed.

[0029] In the control device of the eleventh aspect according to any one of the first to tenth aspects of this disclosure, the control unit is configured to enter the third control state from the first control state within the predetermined time period when the human driving force is greater than the predetermined driving force and the rotational speed of the crankshaft is less than or equal to a second rotational speed.

[0030] According to the control device in the eleventh aspect, even within a specified time, if the manual driving force is greater than the specified driving force and the crankshaft speed is below the second speed, the ratio can be easily changed.

[0031] In the control device of the twelfth aspect according to any one of the first to eleventh aspects of this disclosure, the control unit is configured to enter the third control state from the first control state within the specified time period when the human driving force is greater than the specified driving force and the slope of the road on which the human-driven vehicle travels is greater than or equal to the specified slope.

[0032] According to the control device in the twelfth aspect, even within a specified time, if the human driving force is greater than the specified driving force and the gradient of the road is greater than the specified gradient, the ratio can be easily changed.

[0033] In the control device of the thirteenth aspect according to any one of the first to twelfth aspects of this disclosure, the control unit is configured to enter the third control state from the first control state within the predetermined time period when the human driving force is greater than a predetermined driving force and the ratio is greater than or equal to a predetermined ratio.

[0034] According to the control device in aspect thirteen, even within a specified time, if the human driving force is greater than the specified driving force and the ratio is above the specified ratio, the ratio can be easily changed.

[0035] The control device according to the fourteenth aspect of this disclosure is a control device for a manually driven vehicle, comprising a control unit that controls a transmission device for changing the ratio of the rotational speed of the wheels of the manually driven vehicle to the rotational speed of the crankshaft. The control unit is configured to control the transmission device in any of a first control state, a second control state, and a third control state. When the manually driven vehicle departs, the transmission device is controlled in the first control state until a predetermined time is required for the vehicle state of the manually driven vehicle to reach a first predetermined state. If the vehicle state reaches the first predetermined state, the system transitions from the first control state to the second control state. If, within the predetermined time, the vehicle state reaches the second predetermined state, the system transitions from the first control state to the third control state. In the first control state, the system is more suppressive than in the second control state. The change in the ratio is more suppressed than the change in the third control state. The first specified state includes at least one of the following: the vehicle speed is above a first vehicle speed; the operation requirement of the transmission device is generated; the rotational speed of the crankshaft is above a first rotational speed; and the travel distance of the manually driven vehicle from the start of the manually driven vehicle is above a specified travel distance. The second specified state includes the state where the human driving force input to the manually driven vehicle is greater than the specified driving force, and also includes at least one of the following: the vehicle speed is below a second vehicle speed lower than the first vehicle speed; the acceleration value of the manually driven vehicle is below a first acceleration value; the rotational speed of the crankshaft is below a second rotational speed lower than the first rotational speed; the gradient of the road traveled by the manually driven vehicle is above a specified gradient; and the ratio is above a specified ratio.

[0036] According to the control device of the fourteenth aspect, when the vehicle is started manually, changes in the gear ratio can be suppressed until a predetermined time is reached, thus the rider is less likely to experience discomfort when the vehicle is started manually. Therefore, the gear shifting device can be appropriately controlled when the vehicle is started manually. According to the control device of the fourteenth aspect, even if the vehicle reaches a second predetermined state within a predetermined time when the vehicle is started manually, the gear ratio is easily changed, thus the gear shifting device can also be appropriately controlled.

[0037] In the control device of the fifteenth aspect according to any one of the first to fourteenth aspects of this disclosure, the control unit is configured to control the transmission device according to the transmission conditions in the first control state, the second control state, and the third control state.

[0038] According to the control device of the fifteenth aspect, in any of the first control state, the second control state, and the third control state, the transmission device can be appropriately controlled according to the transmission conditions.

[0039] In the control device according to the fifteenth and sixteenth aspects of this disclosure, the speed change condition is related to at least one of the driving state of the manually driven vehicle and the driving environment.

[0040] According to the control device of the sixteenth aspect, in any of the first control state, the second control state, and the third control state, the transmission device can be appropriately controlled according to at least one of the driving state of the manually driven vehicle and the driving environment.

[0041] In the control device according to the fifteenth or sixteenth aspect of this disclosure, the speed change conditions include at least one of the rotational speed of the crankshaft, the human driving force, and the vehicle speed.

[0042] According to the control device of the seventeenth aspect, in any of the first control state, the second control state, and the third control state, the transmission device can be appropriately controlled according to at least one of the crankshaft rotation speed, human driving force, and vehicle speed.

[0043] In the control device of the eighteenth aspect according to any one of the fifteenth to seventeenth aspects of this disclosure, the speed change condition includes the rotational speed of the crankshaft, and the control unit is configured to control the speed change device to increase the ratio when the rotational speed of the crankshaft is greater than an upper limit threshold, and to control the speed change device to decrease the ratio when the rotational speed of the crankshaft is less than a lower limit threshold.

[0044] According to the control device of the eighteenth aspect, in any of the first control state, the second control state, and the third control state, the transmission device can be controlled to increase the ratio when the crankshaft speed is greater than the upper limit threshold, and the transmission device can be controlled to decrease the ratio when the crankshaft speed is less than the lower limit threshold.

[0045] In the control device of the nineteenth aspect according to any one of the first to eighteenth aspects of this disclosure, the control unit is configured to be able to select either a first mode or a second mode, wherein the prescribed driving force when the first mode is selected is different from the prescribed driving force when the second mode is selected.

[0046] According to the control device of the nineteenth aspect, by selecting either the first mode or the second mode, the transmission device can be controlled according to different specified driving forces.

[0047] Invention Effects

[0048] The control device for a human-powered vehicle disclosed herein can appropriately control the transmission device when the human-powered vehicle is started. Attached Figure Description

[0049] Figure 1 It is a side view of a human-powered vehicle including the control device for the human-powered vehicle in the embodiment;

[0050] Figure 2 It means Figure 1 A block diagram of the electrical structure of a human-powered vehicle;

[0051] Figure 3 It is by Figure 2 The flowchart of the process executed by the control department to control the transmission device;

[0052] Figure 4 It is by Figure 2 The flowchart of the change mode processing performed by the control department;

[0053] Figure 5 This is a flowchart of the process for controlling the speed change device, executed by the control unit of the modified example. Detailed Implementation

[0054] <Implementation Method>

[0055] Reference Figures 1 to 4The control device 60 for a human-powered vehicle will be described below. A human-powered vehicle is a means of transportation that has at least one wheel and can be driven by at least human power. Human-powered vehicles include various types of bicycles, such as mountain bikes, road bikes, city bikes, freight bikes, push bikes, and recumbent bikes. The number of wheels a human-powered vehicle has is not limited. For example, human-powered vehicles include unicycles and vehicles with two or more wheels. Human-powered vehicles are not limited to vehicles that can be driven solely by human power. Human-powered vehicles include electric bicycles (E-bikes) that are propelled not only by human power but also by the driving force of an electric motor. Electric bicycles (E-bikes) include electric-assisted bicycles that are propelled with the assistance of an electric motor. Hereinafter, in each embodiment, the human-powered vehicle will be described as a bicycle.

[0056] The human-powered vehicle 10 includes a crankshaft 12, a first rotating body 14, a wheel 16, a second rotating body 18, and a transmission body 20. The crankshaft 12 is configured to receive human driving force. The first rotating body 14 is connected to the crankshaft 12. The second rotating body 18 is connected to the wheel 16. The transmission body 20 is configured to engage with the first rotating body 14 and the second rotating body 18, and transmit driving force between the first rotating body 14 and the second rotating body 18.

[0057] For example, the human-powered vehicle 10 also includes a body 24. For example, the body 24 includes a frame 26. For example, the wheels 16 include a front wheel 16F and a rear wheel 16R. For example, the crankshaft 12 is rotatable relative to the frame 26. For example, the human-powered vehicle 10 includes a crank 28. The crank 28 includes the crankshaft 12 and two crank arms 28A and 28B. For example, crank arm 28A is located at a first axial end of the crankshaft 12, and crank arm 28B is located at a second axial end of the crankshaft 12. For example, the human-powered vehicle 10 includes two pedals 30. For example, crank arm 28A connects to one of the two pedals 30. Crank arm 28B connects to the other of the two pedals 30. For example, the rear wheel 16R is driven by rotation of the crankshaft 12. For example, the rear wheel 16R is supported on the frame 26.

[0058] The front wheel 16F is mounted to the frame 26 via the front fork 32. The handlebars 36 are connected to the front fork 32 via the stem 34.

[0059] For example, the human-powered vehicle 10 also includes a drive mechanism 38. For example, at least one of the front wheel 16F and the rear wheel 16R is connected to the crank 28 via the drive mechanism 38. In this embodiment, the rear wheel 16R is connected to the crank 28 via the drive mechanism 38.

[0060] For example, the drive mechanism 38 includes at least one first rotating body 14, at least one second rotating body 18, and a transmission body 20. At least one first rotating body 14 is connected to a crankshaft 12. At least one second rotating body 18 is connected to a wheel 16. The transmission body 20 is configured to engage with at least one first rotating body 14 and at least one second rotating body 18, and to transmit driving force between the at least one first rotating body 14 and at least one second rotating body 18. For example, the transmission body 20 transmits the rotational force of at least one first rotating body 14 to at least one second rotating body 18.

[0061] For example, at least one first rotating body 14 is coaxially configured with the crankshaft 12. At least one first rotating body 14 and the crankshaft 12 may also be non-coaxially configured. For example, in the case where at least one first rotating body 14 and the crankshaft 12 are not coaxially configured, at least one first rotating body 14 is connected to the crankshaft 12 via a first transmission mechanism. The first transmission mechanism may include multiple gears, may include sprockets and chains, may include pulleys and belts, and may include drive shafts and bevel gears. For example, at least one first rotating body 14 includes at least one first sprocket.

[0062] For example, at least one second rotating body 18 is coaxially configured with the rear wheel 16R. At least one second rotating body 18 and the rear wheel 16R may also be non-coaxially configured. For example, in the case where at least one second rotating body 18 and the rear wheel 16R are not coaxially configured, at least one second rotating body 18 is connected to the rear wheel 16R via a second transmission mechanism. The second transmission mechanism may include multiple gears, may include sprockets and chains, may include pulleys and belts, and may include drive shafts and bevel gears. For example, at least one second rotating body 18 includes at least one second sprocket.

[0063] At least one second rotating body 18 is connected to the rear wheel 16R via a third one-way clutch. For example, the third one-way clutch includes at least one of a roller clutch, a wedge clutch, and a ratchet clutch. The third one-way clutch is configured to transmit driving force from the second rotating body 18 to the rear wheel 16R when the second rotating body 18 rotates forward with the first rotating body 14, and to allow relative rotation between the rear wheel 16R and the second rotating body 18 when the rear wheel 16R rotates forward faster than the second rotating body 18 rotates forward.

[0064] For example, the human-powered vehicle 10 also includes a battery 40. The battery 40 includes one or more battery elements. The battery elements include rechargeable batteries. For example, the battery 40 is configured to supply power to the control unit 60 and the transmission unit 42. For example, the battery 40 is communicatively connected to the control unit 60 via wired or wireless means. For example, the battery 40 can communicate with the control unit 60 via power line communication (PLC), CAN (Controller Area Network), or UART (Universal Asynchronous Receiver / Transmitter).

[0065] For example, the human-powered vehicle 10 also includes a transmission device 42. The transmission device 42 changes the ratio R of the rotational speed of the wheels 16 of the human-powered vehicle 10 relative to the rotational speed of the crankshaft 12. For example, the transmission device 42 is configured to be located in the transmission path of the human-powered driving force of the human-powered vehicle 10 and changes the ratio R. For example, the ratio R is the ratio R of the rotational speed of the wheels 16 relative to the rotational speed of the crank 28. For example, the rotational speed of the wheels 16 includes the rotational speed of the drive wheels.

[0066] For example, the transmission 42 includes at least one of a derailleur 42A and an internal gearbox. The manually driven vehicle 10 in this embodiment also includes a derailleur 42A. The transmission 42 in this embodiment includes a derailleur 42A. The derailleur 42A is configured to operate the transmission 20 to change the ratio R of the rotational speed of the wheel 16 relative to the rotational speed of the crankshaft 12. For example, the derailleur 42A includes at least one of a front derailleur and a rear derailleur. When the derailleur 42A includes at least one of a front derailleur and a rear derailleur, the transmission 20 includes a chain.

[0067] For example, derailleur 42A moves the transmission body 20, which engages with one of the sprockets, to another sprocket. For example, in the case where the shifting device 42 includes an internal derailleur, the internal derailleur is located on the hub of the rear wheel 16R. The internal derailleur may include a CVT (Continuously Variable Transmission). For example, the shifting device 42 includes an electric actuator 42B. For example, the electric actuator 42B is configured to actuate the shifting device 42. For example, the electric actuator 42B is configured to actuate the derailleur 42A.

[0068] The derailleur 42A is configured to operate the transmission body 20 to change the ratio R of the rotational speed of the wheel 16 relative to the rotational speed of the crankshaft 12. For example, the derailleur 42A is configured to be installed in the transmission path of the human-powered drive force of the human-powered vehicle 10 and to change the ratio R. For example, the derailleur 42A changes the engagement state of at least one of the first rotating body 14 and at least one second rotating body 18 with the transmission body 20 by operating the transmission body 20, thereby changing the ratio R. The relationship between the ratio R, the rotational speed of the wheel 16, and the rotational speed of the crankshaft 12 is expressed by equation (1). In equation (1), R represents the ratio R. In equation (1), W represents the rotational speed of the wheel 16. In equation (1), C represents the rotational speed of the crankshaft 12.

[0069] Equation (1): R = W (rpm) / C (rpm)

[0070] For example, the derailleur 42A can change the ratio R according to at least one gear. For example, the derailleur 42A is configured to operate the transmission body 20 to change at least one gear. For example, the at least one gear is set according to at least one of at least one first rotating body 14 and at least one second rotating body 18. For example, in the case where the at least one gear includes multiple gears, each of the multiple gears is set with a different ratio R. For example, the higher the gear, the larger the ratio R.

[0071] For example, when at least one first rotating body 14 includes a plurality of first rotating bodies 14 and at least one second rotating body 18 includes a plurality of second rotating bodies 18, the gear shift is set according to a combination of one of the plurality of first rotating bodies 14 and one of the plurality of second rotating bodies 18. For example, when at least one first rotating body 14 includes a single first rotating body 14 and at least one second rotating body 18 includes a plurality of second rotating bodies 18, the gear shift is set according to the number of the plurality of second rotating bodies 18. For example, when at least one first rotating body 14 includes a plurality of first rotating bodies 14 and at least one second rotating body 18 includes a single second rotating body 18, the gear shift is set according to the number of the plurality of first rotating bodies 14.

[0072] For example, derailleur 42A moves the chain engaged with one of the sprockets to another sprocket. For example, the combination of the sprocket with the fewest teeth among the first sprockets and the sprocket with the most teeth among the second sprockets corresponds to the smallest gear that can be shifted using derailleur 42A. For example, the combination of the sprocket with the most teeth among the first sprockets and the sprocket with the fewest teeth among the second sprockets corresponds to the largest gear that can be shifted using derailleur 42A.

[0073] For example, in the case where the derailleur 42A includes a front derailleur, the plurality of first rotating bodies 14 include two or more but no more than three first sprockets. For example, the plurality of first rotating bodies 14 include two first sprockets.

[0074] For example, when the derailleur 42A includes a front derailleur, the derailleur 42A is configured to move the transmission body 20 from one of the plurality of first rotating bodies 14 to another of the plurality of first rotating bodies 14 during shifting. The front derailleur changes the engagement state of at least one first rotating body 14 with the transmission body 20 by operating the transmission body 20, thereby changing the ratio R. For example, the plurality of first rotating bodies 14 includes a plurality of first sprockets.

[0075] For example, in the case where the derailleur 42A includes a rear derailleur, at least one second rotating body 18 includes two or more but less than 20 second sprockets. For example, multiple second rotating bodies 18 may include 12 second sprockets.

[0076] For example, the human-powered vehicle 10 also includes a gear shifting device 44. For example, the gear shifting device 44 is located on the handlebars 36. For example, the gear shifting device 44 includes a first operating part for increasing the ratio R and a second operating part for decreasing the ratio R.

[0077] For example, the manually driven vehicle 10 also includes a speed detection unit 46. For example, the speed detection unit 46 is communicatively connected to the control unit 62 via wired or wireless means. For example, the speed detection unit 46 is configured to detect information related to the speed of the manually driven vehicle 10. For example, the speed detection unit 46 is configured to detect information related to the rotational speed of the wheels 16. For example, the speed detection unit 46 is configured to detect magnets located on at least one of the front wheels 16F and the rear wheels 16R.

[0078] For example, the vehicle speed detection unit 46 is configured to output a predetermined number of detection signals during one revolution of the wheel 16. For example, the predetermined number of times is 1. For example, the vehicle speed detection unit 46 outputs a signal corresponding to the rotational speed of the wheel 16. The control unit 62 can calculate the speed of the manually driven vehicle 10 based on the signal corresponding to the rotational speed of the wheel 16 and information related to the circumference of the wheel 16. For example, the storage unit 64 stores information related to the circumference of the wheel 16.

[0079] For example, the human-powered vehicle 10 also includes a human-powered driving force detection unit 48. The human-powered driving force detection unit 48 is communicatively connected to the control unit 62 via wired or wireless means. The human-powered driving force detection unit 48 is configured to output a signal corresponding to the torque applied to the crankshaft 12 by human-powered driving force. The signal corresponding to the torque applied to the crankshaft 12 by human-powered driving force includes information related to the human-powered driving force input to the human-powered vehicle 10.

[0080] For example, the human-powered drive force detection unit 48 is a component located near the human-powered drive force transmission path or a component included in the human-powered drive force transmission path. For example, the components included in the human-powered drive force transmission path include the crankshaft 12 and a component that transmits the human-powered drive force between the crankshaft 12 and at least one first rotating body 14. For example, the power transmission unit is located on the outer periphery of the crankshaft 12.

[0081] The human-driven force detection unit 48 includes a strain sensor, a magnetostrictive sensor, or a pressure sensor, etc. The strain sensor includes a strain gauge. The human-driven force detection unit 48 can have any structure as long as it can acquire information related to human-driven force.

[0082] For example, the human-powered force detection unit 48 may be located on at least one of the crank arms 28A, 28B, or the two pedals 30. For example, if the human-powered force detection unit 48 is located on at least one of the two pedals 30, it may include a sensor for detecting the pressure applied to at least one of the two pedals 30. For example, the human-powered force detection unit 48 may be located on the chain included in the transmission body 20. For example, if the human-powered force detection unit 48 is located on the chain, it may include a sensor for detecting the chain tension.

[0083] For example, the manually driven vehicle 10 also includes a crank rotation state detection unit 50. For example, the crank rotation state detection unit 50 is communicatively connected to the control unit 62 via wired or wireless means. The crank rotation state detection unit 50 detects the rotational amount of at least one of the crankshaft 12 and at least one first rotating body 14. For example, the crank rotation state detection unit 50 is configured to detect information corresponding to the rotational speed of the crankshaft 12. For example, the crank rotation state detection unit 50 is configured to detect information corresponding to the rotational speed of at least one first rotating body 14. The information corresponding to the rotational speed of the crankshaft 12 includes the angular acceleration of the crankshaft 12. The information corresponding to the rotational speed of the at least one first rotating body 14 includes the angular acceleration of the at least one first rotating body 14.

[0084] For example, the crank rotation state detection unit 50 includes a magnetic sensor for outputting a signal corresponding to the strength of the magnetic field. The crank rotation state detection unit 50 includes a ring magnet with a plurality of magnetic poles arranged circumferentially. The ring magnet is disposed between the crankshaft 12, at least one first rotating body 14, or the power transmission path from the crankshaft 12 to at least one first rotating body 14. For example, the ring magnet includes one S pole and one N pole. The S pole and the N pole extend continuously for 180° around the axis of the crankshaft 12.

[0085] For example, the crank rotation state detection unit 50 outputs a signal corresponding to at least one of the rotational speed of the crankshaft 12 and the rotational speed of at least one first rotating body 14. For example, the crank rotation state detection unit 50 is configured to output a detection signal corresponding to the rotation angle of the crankshaft 12 during one revolution of at least one of the crankshaft 12 and at least one first rotating body 14. The crank rotation state detection unit 50 may include an optical sensor, an accelerometer, a gyroscope sensor, or a torque sensor, etc., to replace a magnetic sensor.

[0086] For example, the crank rotation state detection unit 50 is provided on the frame 26 of the manually driven vehicle 10. For example, when the crank rotation state detection unit 50 is provided on the frame 26, the crank rotation state detection unit 50 may be configured to include a vehicle speed sensor. When the crank rotation state detection unit 50 includes a vehicle speed sensor, the control unit 62 may be configured to calculate the rotational speed of the crankshaft 12 based on the vehicle speed detected by the vehicle speed sensor and the ratio R.

[0087] The crank rotation state detection unit 50 can be configured to detect the rotational amount of at least one second rotating body 18. The crank rotation state detection unit 50 can be configured to detect information corresponding to the rotational speed of the at least one second rotating body 18. For example, the information corresponding to the rotational speed of the at least one second rotating body 18 includes the angular acceleration of the at least one second rotating body 18. For example, the crank rotation state detection unit 50 can output a signal corresponding to the rotational speed of the at least one second rotating body 18.

[0088] For example, the human-powered vehicle 10 also includes a slope detection unit 52. For example, the slope detection unit 52 includes at least one of a tilt sensor and a GPS (Global Positioning System) receiver. For example, the tilt sensor includes at least one of a gyroscope sensor and an accelerometer. When the slope detection unit 52 includes a GPS receiver, the storage unit 64 pre-stores map information including information related to the slope of the driving road, and the control unit 62 acquires the slope of the driving road at the current location of the human-powered vehicle 10.

[0089] The control device 60 for a manually operated vehicle includes a control unit 62. For example, the control unit 62 includes a calculation processing device that executes a predetermined control program. For example, the calculation processing device included in the control unit 62 includes a CPU (Central Processing Unit) or an MPU (Micro Processing Unit).

[0090] For example, the computing processing unit included in the control unit 62 can be located in multiple locations that are separate from each other. For example, one part of the computing processing unit can be located in the human-powered vehicle 10, and another part of the computing processing unit can be located in a server connected to the Internet. When the computing processing unit is located in multiple locations that are separate from each other, the parts of the computing processing unit can be communicatively connected to each other via a wireless communication device. The control unit 62 may include one or more microcomputers.

[0091] For example, the control device 60 also includes a storage unit 64. For example, the storage unit 64 is communicatively connected to the control unit 62 via a wired or wireless connection. For example, the storage unit 64 stores a control program and information for control processing. For example, the storage unit 64 includes, for example, non-volatile memory and volatile memory. For example, the non-volatile memory includes at least one of ROM (Read-Only Memory), EPROM (Erasable Programmable Read Only Memory), EEPROM (Electrically Erasable Programmable Read-Only Memory), and flash memory. For example, the volatile memory includes RAM (Random Access Memory).

[0092] The control unit 62 controls the transmission device 42. For example, the control unit 62 is configured to control the transmission device 42 according to the shift conditions. For example, if the shift conditions are met, the control unit 62 activates the transmission device 42 to change the ratio R.

[0093] For example, the gear shifting conditions are related to at least one of the driving state of the manually driven vehicle 10 and the driving environment. For example, the driving state includes at least one of the rotational speed of the crankshaft 12, the manual driving force, and the vehicle speed. For example, the driving environment includes the gradient of the road. For example, at least one of the driving state and the driving environment includes driving resistance. For example, driving resistance includes at least one of air resistance, rolling resistance, gradient resistance, and acceleration resistance.

[0094] For example, the shift conditions include at least one of the rotational speed of the crankshaft 12, the manual driving force, and the vehicle speed. In this embodiment, the shift conditions include the rotational speed of the crankshaft 12. For example, the control unit 62 is configured to control the transmission device 42 to increase the ratio R when the rotational speed of the crankshaft 12 is greater than an upper threshold, and to control the transmission device 42 to decrease the ratio R when the rotational speed of the crankshaft 12 is less than a lower threshold.

[0095] The gear shift condition is satisfied when the gear shift condition includes manual driving force, for example, when the manual driving force is outside a first range. The gear shift condition is also satisfied when the gear shift condition includes vehicle speed, for example, when the vehicle speed is outside a second range.

[0096] For example, the shift condition includes at least one of the gradient of the driving road and the driving resistance. When the shift condition includes the gradient of the driving road, for example, when the gradient of the driving road is outside a third range, the shift condition is satisfied. When the shift condition includes the driving resistance, for example, when the driving resistance is outside a fourth range, the shift condition is satisfied.

[0097] The control unit 62 is configured to control the transmission device 42 in any of the first control state, the second control state, and the third control state. For example, the control unit 62 is configured to control the transmission device 42 according to the shifting conditions in the first control state, the second control state, and the third control state. For example, the second control state and the third control state are the same. The second control state may be different from the third control state. For example, the control unit 62 can set the control state to any of the first control state, the second control state, and the third control state by changing the range included in the shifting conditions.

[0098] For example, when the shift conditions include the rotational speed of the crankshaft 12, the control unit 62 suppresses changes in the ratio R by decreasing the lower threshold. Conversely, when the shift conditions include the rotational speed of the crankshaft 12, the control unit 62 suppresses changes in the ratio R by increasing the upper threshold. By suppressing changes in the ratio R, the control unit 62 can prevent changes in the ratio R without altering the range included in the shift conditions.

[0099] For example, in the first control state, a speed change condition including a threshold adapted to the departure of the manually driven vehicle 10 is used. For example, in the second control state, a speed change condition including a threshold adapted to the stable driving of the manually driven vehicle 10 is used. For example, in the third control state, a speed change condition including a threshold adapted to the stable driving of the manually driven vehicle 10 is used.

[0100] The control unit 62 is configured to, when the manually driven vehicle 10 departs, control the transmission device 42 in a first control state until the vehicle state of the manually driven vehicle 10 reaches a predetermined state for a predetermined time. If the vehicle state reaches the predetermined state, the control unit 62 transitions from the first control state to a second control state. The control unit 62 is also configured to, within the predetermined time, transition from the first control state to a third control state if the human-powered driving force input to the manually driven vehicle 10 is greater than a predetermined driving force. In the first control state, changes in the ratio R are more suppressed than in the second control state, and changes in the ratio R are also more suppressed than in the third control state.

[0101] For example, in the first control state, changes in the ratio R decreasing are more suppressed compared to the second control state. For example, in the first control state, changes in the ratio R decreasing are more suppressed compared to the third control state. For example, in the first control state, changes in the ratio R decreasing are more suppressed compared to both the second and third control states. In the first control state, changes in the ratio R increasing are more suppressed compared to both the second and third control states. In the first control state, changes in both the ratio R decreasing and the ratio R increasing are more suppressed compared to both the second and third control states.

[0102] For example, the specified state corresponds to the stable driving state after the human-powered vehicle 10 departs. For example, the specified state corresponds to the state after the human-powered vehicle 10 departs, disengaging from a state where the shifting conditions of the second control state are easily met. For example, the specified state includes a speed of 10 km / h or higher than a first speed. For example, the first speed is 10 km / h or higher but less than 20 km / h. For example, the first speed is 15 km / h. For example, the specified state includes a state where a request for the operation of the shifting device 42 is generated. For example, the request for the operation of the shifting device 42 corresponds to the situation where the shifting operation device 44 is operated by the rider. For example, the specified state includes a crankshaft 12 rotation speed of 40 rpm or higher than a first rotation speed. For example, the first rotation speed is 40 rpm or higher but less than 60 rpm. For example, the first rotation speed is 50 rpm. For example, the specified state includes a state where the travel distance of the human-powered vehicle 10 since its departure is 10 or higher than a specified travel distance. For example, the specified travel distance can be a value obtained by multiplying the vehicle speed by a pre-stored tire diameter, or it can be the rotation angle of the wheel 16.

[0103] The control unit 62 may be configured to transition from a first control state to a third control state when the human-powered driving force is greater than the specified driving force and when a parameter related to the driving load other than the human-powered driving force is also large. For example, the parameters related to the driving load other than the human-powered driving force include at least one of the following: vehicle speed, acceleration value, crankshaft 12 rotation speed, gradient of the road on which the human-powered vehicle 10 travels, and ratio R.

[0104] For example, the control unit 62 is configured to transition from a first control state to a third control state within a specified time period when the human-driven force is greater than a specified driving force and the vehicle speed is below a second vehicle speed. For example, the second vehicle speed is lower than the first vehicle speed. The second vehicle speed can be higher than the first vehicle speed. For example, the second vehicle speed is 5 km / h or higher but less than 15 km / h. For example, the first vehicle speed is 10 km / h.

[0105] For example, the control unit 62 is configured to transition from a first control state to a third control state within a specified time period when the manual driving force is greater than a specified driving force and the acceleration value of the manually driven vehicle 10 is less than or equal to a first acceleration value. For example, the acceleration value is the increase in vehicle speed per unit time. For example, the unit time is the detection cycle of the vehicle speed detection unit 46. The acceleration value can be acceleration. For example, the first acceleration value is set to a value that allows determination that the manually driven vehicle 10 has started on an uphill road.

[0106] For example, the control unit 62 is configured to transition from a first control state to a third control state within a specified time period when the manual driving force is greater than a specified driving force and the rotational speed of the crankshaft 12 is less than or equal to a second rotational speed. For example, the second rotational speed is less than the first rotational speed. The second rotational speed can be greater than or equal to the first rotational speed. For example, the second rotational speed is 30 rpm or more but less than 50 rpm. For example, the first rotational speed is 40 rpm.

[0107] For example, the control unit 62 is configured to switch from the first control state to the third control state within a specified time when the human driving force is greater than the specified driving force and the slope of the road on which the human-driven vehicle 10 travels is greater than the specified slope.

[0108] For example, the control unit 62 is configured to enter the third control state from the first control state within a specified time when the human driving force is greater than the specified driving force and the ratio R is greater than or equal to the specified ratio R.

[0109] Reference Figure 3 The processing of the transmission device 42 by the control unit 62 will be explained. For example, if power is supplied to the control unit 62, the control unit 62 begins processing and enters... Figure 3 Step S11 of the flowchart shown. For example, if Figure 3 Once the flowchart ends, the control unit 62 will repeat the process starting from step S11 after a predetermined cycle until the power supply stops.

[0110] In step S11, the control unit 62 determines whether the manually driven vehicle 10 has departed. For example, if the speed of the manually driven vehicle 10 is higher than or equal to the departure determination speed, the control unit 62 determines that the manually driven vehicle 10 has departed. For example, if the rotational speed of the crankshaft 12 is higher than or equal to the departure determination speed, the control unit 62 determines that the manually driven vehicle 10 has departed. For example, if the manual driving force is higher than or equal to the departure determination driving force, the control unit 62 determines that the manually driven vehicle 10 has departed. If the manually driven vehicle 10 has not departed, the control unit 62 terminates the process. If the manually driven vehicle 10 has departed, the control unit 62 proceeds to step S12.

[0111] In step S12, the control unit 62 controls the transmission device 42 in the first control state, and then proceeds to step S13. In step S13, the control unit 62 determines whether a predetermined time has elapsed. For example, if the manually driven vehicle 10 is in a predetermined state, the control unit 62 determines that a predetermined time has elapsed. If the predetermined time has elapsed, the control unit 62 proceeds to step S14.

[0112] In step S14, the control unit 62 determines whether the manual driving force is greater than the specified driving force. If the manual driving force is not greater than the specified driving force, the control unit 62 proceeds to step S13. If the manual driving force is greater than the specified driving force, the control unit 62 proceeds to step S15.

[0113] In step S15, the control unit 62 determines whether the acceleration value is below the first acceleration value. If the acceleration value is not below the first acceleration value, the control unit 62 proceeds to step S13. If the acceleration value is below the first acceleration value, the control unit 62 proceeds to step S16.

[0114] In step S16, the control unit 62 determines whether the rotational speed of the crankshaft 12 is below the second rotational speed. If the rotational speed of the crankshaft 12 is not below the second rotational speed, the control unit 62 proceeds to step S13. If the rotational speed of the crankshaft 12 is below the second rotational speed, the control unit 62 proceeds to step S17.

[0115] In step S17, the control unit 62 determines whether the slope is above a specified slope. If the slope is not above the specified slope in step S17, the control unit 62 proceeds to step S13. If the slope is above the specified slope, the control unit 62 proceeds to step S18.

[0116] In step S18, the control unit 62 determines whether the ratio R is greater than or equal to a predetermined ratio R. If the ratio R is not greater than or equal to the predetermined ratio R, the control unit 62 proceeds to step S13. If the ratio R is greater than or equal to the predetermined ratio R, the control unit 62 proceeds to step S19.

[0117] In step S19, the control unit 62 controls the transmission device 42 in the third control state and ends the process. In step S13, if the predetermined time is not reached, the control unit 62 proceeds to step S20. In step S20, the control unit 62 controls the transmission device 42 in the second control state and ends the process.

[0118] If the third control state is the same as the second control state, step S19 is omitted. If the determination in step S18 is "yes", then the control unit 62 can proceed to step S20. The order of executing steps S14 to S18 can be interchanged. At least one of steps S15 to S18 can be omitted.

[0119] For example, when the shifting conditions include the rotational speed of the crankshaft 12 and the rotational speed of the crankshaft 12 is lower than the lower threshold, and the shifting device 42 is controlled to decrease the ratio R, the ratio R tends to decrease easily because the rotational speed of the crankshaft 12 is lower when the manually driven vehicle 10 starts. When the first control state suppresses the decrease in ratio R more than the second control state, the rider is less likely to experience discomfort because the decrease in ratio R is suppressed from the start of the manually driven vehicle 10 until a stable riding state is reached. When the first control state suppresses the decrease in ratio R more than the third control state, even after the manually driven vehicle 10 starts until a stable riding state is reached, entering the third control state will promote the decrease in ratio R, thus suppressing the increase in rider load.

[0120] For example, the control unit 62 is configured to select either a first mode or a second mode. The specified driving force when the first mode is selected is different from the specified driving force when the second mode is selected.

[0121] For example, the first mode is for driving on mountain roads. The second mode is for driving in the city. For example, the required driving force when selecting the first mode is less than the required driving force when selecting the second mode. The required driving force when selecting the first mode can be greater than the required driving force when selecting the second mode.

[0122] The parameters related to driving load other than manual driving force when selecting the first mode may differ from those related to driving load other than manual driving force when selecting the second mode. For example, if the parameter related to driving load other than manual driving force includes the ratio R, the specified ratio R for selecting the first mode may be smaller than the specified ratio R for selecting the second mode. The specified ratio R for selecting the first mode may be greater than the specified ratio R for selecting the second mode. The specified ratio R for selecting the first mode may be the minimum ratio R.

[0123] For example, the control unit 62 is configured to select either a first mode or a second mode based on a mode change request. For example, a mode change request is generated when an operating device is operated. For example, the operating device includes at least one of a speedometer and a smartphone. The control unit 62 can determine whether a mode change request exists based on the output of a sensor installed on the manually driven vehicle 10.

[0124] Reference Figure 4 The processing of the change mode of control unit 62 will be explained. For example, if power is supplied to control unit 62, control unit 62 will begin processing and enter... Figure 4 Step S21 of the flowchart shown. For example, if Figure 4 Once the flowchart ends, the control unit 62 will repeat the process starting from step S21 after a predetermined cycle until the power supply stops.

[0125] In step S21, the control unit 62 determines whether there is a mode change request. If there is no mode change request, the control unit 62 ends the process. If there is a mode change request, the control unit 62 proceeds to step S22.

[0126] In step S22, the control unit 62 determines whether it is in the first mode. If it is in the first mode, the control unit 62 proceeds to step S23. In step S23, the control unit 62 selects the second mode and then ends the process. If it is not in the first mode in step S22, the control unit 62 proceeds to step S24. In step S24, the control unit 62 selects the first mode and then ends the process.

[0127] <Variation Example>

[0128] The description of the embodiments is an example of the possible ways in which the control device for a manually driven vehicle according to the present disclosure can be adopted, and is not intended to limit the ways in which it can be adopted. For example, the control device for a manually driven vehicle according to the present disclosure can be adopted in the form of variations of the embodiments shown below, as well as combinations of at least two non-contradictory variations. In the following variations, for the parts that are common to the embodiments, the same reference numerals as in the embodiments are added and their descriptions are omitted.

[0129] • The control unit 62 can be configured to control the transmission device 42 in a first control state when the manually driven vehicle 10 starts moving, until the vehicle state of the manually driven vehicle 10 reaches a predetermined state within a predetermined time. If the vehicle state reaches the first predetermined state, the control unit enters a second control state. If the vehicle state reaches the second predetermined state within a predetermined time, the control unit enters a third control state. In the first control state, the change of ratio R is suppressed more than in the second control state, and the change of ratio R is suppressed more than in the third control state. The first specified state includes at least one of the following: a vehicle speed of 10 or higher; a state in which the operation requirement of the transmission device 42 is generated; a state in which the rotational speed of the crankshaft 12 is 10 or higher; and a state in which the travel distance of the human-powered vehicle 10 initiated from the human-powered vehicle 10 is 10 or higher. The second specified state includes at least one of the following: a state in which the human-powered driving force input to the human-powered vehicle 10 is greater than the specified driving force; a state in which the vehicle speed is 10 or lower than the first vehicle speed; a state in which the acceleration value of the human-powered vehicle 10 is 10 or lower than the first acceleration value; a state in which the rotational speed of the crankshaft 12 is 10 or lower than the first rotational speed; a state in which the gradient of the road traveled by the human-powered vehicle 10 is 10 or higher; and a state in which the ratio R is 10 or higher.

[0130] Reference Figure 5 The processing of the transmission device 42 by the control unit 62 will be explained. For example, if power is supplied to the control unit 62, the control unit 62 begins processing and enters... Figure 5 Step S31 of the flowchart shown. For example, if Figure 5 Once the flowchart ends, the control unit 62 will repeat the process starting from step S31 after a predetermined cycle until the power supply stops.

[0131] In step S31, the control unit 62 determines whether the manually driven vehicle 10 has departed. If the manually driven vehicle 10 has not departed, the control unit 62 terminates the process. If the manually driven vehicle 10 has departed, the control unit 62 proceeds to step S32.

[0132] In step S32, the control unit 62 controls the transmission device 42 in the first control state, and then proceeds to step S33. In step S33, the control unit 62 determines whether it is within a specified time. If it is within the specified time, the control unit 62 proceeds to step S34.

[0133] In step S34, the control unit 62 determines whether the vehicle state is in the second predetermined state. If the vehicle state is not in the second predetermined state, the control unit 62 proceeds to step S33. If the vehicle state is in the second predetermined state, the control unit 62 proceeds to step S35.

[0134] In step S35, the control unit 62 controls the transmission device 42 in the third control state, and then the process ends. In step S33, if the predetermined time is not reached, the control unit 62 proceeds to step S36. In step S36, the control unit 62 controls the transmission device 42 in the second control state, and then the process ends.

[0135] If the third control state is the same as the second control state, step S35 can be omitted. If the determination is "yes" in step S34, the control unit 62 can proceed to step S36.

[0136] As used in this specification, the term "at least one" refers to "more than one" of the desired options. For example, if there are two options, "at least one" as used in this specification means "only one option" or "both of the two options." As another example, if there are three or more options, "at least one" as used in this specification means "only one option" or "any combination of two or more options."

[0137] Symbol explanation:

[0138] 10…human-powered vehicle, 12…crankshaft, 16…wheel, 42…transmission, 60…control device, 62…control unit.

Claims

1. A control device for a manually operated vehicle, comprising: The control unit controls the transmission device for changing the ratio of the rotational speed of the wheels of the manually driven vehicle to the rotational speed of the crankshaft. The control unit is configured such that, The transmission device can be controlled in any of the first, second, and third control states. When the manually driven vehicle departs, the transmission device is controlled in the first control state until the vehicle's state reaches a predetermined state within a predetermined time. If the vehicle's state reaches the predetermined state, the system transitions from the first control state to the second control state. The specified state corresponds to the stable driving state of the human-powered vehicle after it departs. If, within the specified time period, the human driving force input to the human-powered vehicle is greater than the specified driving force, then the system transitions from the first control state to the third control state. The control unit is configured to control the transmission device according to shift conditions in the first control state, the second control state, and the third control state, and to suppress changes in the ratio by changing the range included in the shift conditions. In the first control state, the change in the ratio is suppressed more than in the second control state, and the change in the ratio is suppressed more than in the third control state.

2. The control device according to claim 1, wherein, In the first control state, the change in the reduction of the ratio is more suppressed compared to the second control state.

3. The control device according to claim 1, wherein, In the first control state, the change in the reduction of the ratio is suppressed more than in the third control state.

4. The control device according to claim 1, wherein, In the first control state, the reduction of the ratio is suppressed more than in the second and third control states.

5. The control device according to claim 1, wherein, The specified states include states where the vehicle speed is above the first vehicle speed.

6. The control device according to claim 1, wherein, The specified state includes the state in which the operation requirement of the transmission device is generated.

7. The control device according to claim 1, wherein, The specified state includes a state where the crankshaft rotates at a speed of more than a first speed.

8. The control device according to claim 1, wherein, The specified state includes a state in which the distance traveled by the human-powered vehicle from its origin exceeds a specified distance.

9. The control device according to claim 1, wherein, The control unit is configured to transition from the first control state to the third control state within the specified time period, when the human driving force is greater than the specified driving force and the vehicle speed is below the second vehicle speed.

10. The control device according to claim 1, wherein, The control unit is configured to, within the specified time period, when the human-powered driving force is greater than a specified driving force and the acceleration value of the human-powered vehicle is below a first acceleration value, transition from the first control state to the third control state.

11. The control device according to claim 1, wherein, The control unit is configured to transition from the first control state to the third control state within the specified time period, provided that the human driving force is greater than the specified driving force and the crankshaft speed is below the second speed.

12. The control device according to claim 1, wherein, The control unit is configured to transition from the first control state to the third control state within the specified time period, provided that the human-powered driving force is greater than a specified driving force and the gradient of the road traveled by the human-powered vehicle is greater than a specified gradient.

13. The control device according to claim 1, wherein, The control unit is configured to transition from the first control state to the third control state within the specified time period, provided that the human driving force is greater than a specified driving force and the ratio is greater than or equal to a specified ratio.

14. A control device for a manually operated vehicle, comprising: The control unit controls the transmission device for changing the ratio of the rotational speed of the wheels of the manually driven vehicle to the rotational speed of the crankshaft. The control unit is configured such that, The transmission device can be controlled in any of the first, second, and third control states. When the manually driven vehicle departs, the transmission device is controlled in the first control state until the vehicle state of the manually driven vehicle reaches the first predetermined state within a predetermined time. If the vehicle state reaches the first predetermined state, the system transitions from the first control state to the second control state. If the vehicle reaches a second predetermined state within the specified time, the system transitions from the first control state to the third control state. The control unit is configured to control the transmission device according to shift conditions in the first control state, the second control state, and the third control state, and to suppress changes in the ratio by changing the range included in the shift conditions. In the first control state, the change in the ratio is suppressed more than in the second control state, and the change in the ratio is suppressed more than in the third control state. The first specified state includes at least one of the following: a state where the vehicle speed is above a first vehicle speed; a state where the operation requirement of the transmission device is generated; a state where the rotational speed of the crankshaft is above a first rotational speed; and a state where the distance traveled by the manually driven vehicle since its departure is above a specified distance. The second specified state includes a state in which the human-powered driving force input to the human-powered vehicle is greater than a specified driving force, and also includes at least one of the following states: the vehicle speed is lower than the first vehicle speed; the acceleration value of the human-powered vehicle is lower than the first acceleration value; the rotational speed of the crankshaft is lower than the first rotational speed; the gradient of the road traveled by the human-powered vehicle is greater than a specified gradient; and the ratio is greater than a specified ratio.

15. The control device according to claim 1 or 14, wherein, The speed change conditions are related to at least one of the driving state of the manually driven vehicle and the driving environment.

16. The control device according to claim 1 or 14, wherein, The gear shift conditions include at least one of the crankshaft rotational speed, the human driving force, and the vehicle speed.

17. The control device according to claim 1 or 14, wherein, The speed change conditions include the rotational speed of the crankshaft. When the crankshaft speed is greater than the upper limit threshold, the control unit controls the transmission device to increase the ratio; when the crankshaft speed is less than the lower limit threshold, the control unit controls the transmission device to decrease the ratio.

18. The control device according to claim 1 or 14, wherein, The control unit is configured to be able to select either the first mode or the second mode. The specified driving force when the first mode is selected is different from the specified driving force when the second mode is selected.

Images