Control device for human-powered vehicle

Abstract

The present application provides a control device for a human-powered vehicle capable of appropriately controlling a transmission device. The control device for a human-powered vehicle includes a control section that controls a transmission device that changes a ratio of a rotational speed of a wheel of the human-powered vehicle to a rotational speed of a crankshaft according to a control state, and the control section is configured to be able to control the transmission device to change the ratio based on a transmission condition and an input from a transmission operation device that can be operated by a user, respectively, in a first control state, in a case where the transmission device is controlled to change the ratio based on the input from the transmission operation device, the control state is caused to shift from the first control state to a second control state, in the second control state, if a change amount of a parameter related to a vehicle state of the human-powered vehicle reaches a prescribed amount or more, the control state is caused to shift from the second control state to the first control state, and in the second control state, compared to the first control state, changing the ratio according to the transmission condition is suppressed.

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 manually driven vehicle that can properly control the transmission.

[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, comprising a control unit that controls a transmission device that changes the ratio of the rotational speed of the wheels of the manually driven vehicle to the rotational speed of the crankshaft according to a control state. The control unit is configured to select either a first control state or a second control state, and to control the transmission device to change the ratio based on a shift condition and an input from a user-operable transmission control device. In the first control state, when the transmission device is controlled to change the ratio based on an input from the transmission control device, the control state transitions from the first control state to the second control state. In the second control state, if the change in a parameter related to the vehicle state of the manually driven vehicle reaches a predetermined amount or more, the control state transitions from the second control state to the first control state. Compared to the first control state, in the second control state, changing the ratio according to the shift condition is suppressed.

[0010] According to the control device of the first aspect, if the transmission is controlled to change the ratio based on input from the transmission operating device, the change of the ratio is suppressed until the change in a parameter related to the vehicle state reaches a predetermined amount or more, thus the transmission can be appropriately controlled. According to the control device of the first aspect, when the transmission is controlled to change the ratio based on input from the transmission operating device, if the change in a parameter related to the vehicle state reaches a predetermined amount or more, the suppression of the ratio change is released, thus the transmission can be appropriately controlled according to the transmission conditions.

[0011] In the control device according to the first aspect of the present disclosure, the parameters include at least one of vehicle speed and the acceleration of the vehicle speed.

[0012] According to the control device of the second aspect, the change in ratio can be suppressed until the change in at least one of the vehicle speed and the acceleration of the vehicle speed reaches a specified amount.

[0013] In the control device according to the first, second, or third aspect of this disclosure, the parameter includes the amount of rotation of the crankshaft, and the specified amount includes a specified amount of rotation set according to the ratio.

[0014] According to the control device of the third aspect, the change of ratio can be suppressed until the rotation of the crankshaft reaches or exceeds the specified rotation.

[0015] In the control device of the fourth aspect according to any one of the first to third aspects of this disclosure, the parameters include the road surface slope of the road on which the human-powered vehicle travels.

[0016] According to the control device in the fourth aspect, changes in the ratio can be suppressed until the change in road slope reaches a specified amount.

[0017] In the control device of the fifth aspect according to any one of the first to fourth aspects of this disclosure, the parameters include the human driving force input to the human-powered vehicle.

[0018] According to the control device in the fifth aspect, changes in the ratio can be suppressed until the change in human driving force reaches a specified amount.

[0019] In the control device of the sixth aspect according to any one of the first to fifth aspects of this disclosure, the parameters include at least one of the rotation amount of the wheels of the human-powered vehicle and the travel distance of the human-powered vehicle.

[0020] According to the control device of the sixth aspect, the change in ratio can be suppressed until the change in at least one of the rotation of the wheels of the human-powered vehicle and the travel distance of the human-powered vehicle reaches a predetermined amount.

[0021] In the control device of the seventh aspect according to any one of the first to sixth aspects of this disclosure, the parameter includes the rotational speed of the crankshaft.

[0022] According to the control device in the seventh aspect, changes in the ratio can be suppressed until the change in the crankshaft speed reaches or exceeds a specified amount.

[0023] In the control device of the eighth aspect according to any one of the first to seventh aspects of the present disclosure, the control unit is configured to, in the second control state, in at least one of the following situations: the vehicle speed accelerates and exceeds the first vehicle speed, and the vehicle speed decelerates and is less than the second vehicle speed, switch the control state from the second control state to the first control state.

[0024] According to the control device of the eighth aspect, it is possible to suppress changes in the ratio until at least one of the following situations occurs: the vehicle speed accelerates and exceeds the first vehicle speed, or the vehicle speed decelerates and falls below the second vehicle speed.

[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 such that, in the second control state, if a predetermined speed change condition different from the speed change condition is met, the control state is changed from the second control state to the first control state.

[0026] According to the control device in the ninth aspect, changes in the ratio can be suppressed until the specified speed change conditions are met.

[0027] The control device according to the tenth aspect of this disclosure is a control device for a manually driven vehicle, comprising a control unit that controls a transmission device that changes the ratio of the rotational speed of the wheels of the manually driven vehicle to the rotational speed of the crankshaft according to a control state. The control unit is configured to be able to select either a first control state or a second control state, and to control the transmission device to change the ratio based on a shift condition and an input from a shift operation device operable by a user. In the first control state, when the transmission device is controlled to change the ratio based on an input from the shift operation device, the control state is switched from the first control state to the second control state. In the second control state, in at least one of the vehicle speed accelerating and exceeding a first vehicle speed and the vehicle speed decelerating and falling below a second vehicle speed, the control state is switched from the second control state to the first control state. Compared to the first control state, in the second control state, changing the ratio according to the shift condition is suppressed.

[0028] According to the control device of the tenth aspect, if the transmission device is controlled to change the ratio based on input from the transmission operating device, the change of ratio is suppressed until at least one of the following conditions is met: the vehicle speed accelerates and exceeds a first vehicle speed, or the vehicle speed decelerates and falls below a second vehicle speed. Therefore, the transmission device can be appropriately controlled. According to the control device of the tenth aspect, when the transmission device is controlled to change the ratio based on input from the transmission operating device, if at least one of the following conditions is met: the vehicle speed accelerates and exceeds a first vehicle speed, or the vehicle speed decelerates and falls below a second vehicle speed, the suppression of ratio change is released. Therefore, the transmission device can be appropriately controlled according to the transmission conditions.

[0029] In the control device of the eleventh aspect of any one of the first to tenth 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.

[0030] According to the control device in the eleventh aspect, the transmission device can be appropriately controlled based on at least one of the driving state of the manually driven vehicle and the driving environment.

[0031] In the control device of the twelfth aspect according to any one of the first to eleventh aspects of this disclosure, the speed change conditions include at least one of the rotational speed of the crankshaft, the human driving force input to the human-powered vehicle, and the vehicle speed.

[0032] According to the control device of the twelfth aspect, the transmission device can be appropriately controlled according to at least one of the crankshaft speed, human driving force, and vehicle speed.

[0033] In the control device of the thirteenth aspect according to any one of the first to twelfth aspects of this disclosure, the speed change condition includes the rotational speed of the crankshaft, and the control unit controls the speed change device to increase the ratio when the rotational speed of the crankshaft is greater than an upper threshold, and controls the speed change device to decrease the ratio when the rotational speed of the crankshaft is less than a lower threshold.

[0034] According to the control device of aspect thirteen, when the crankshaft speed is greater than the upper limit threshold, the transmission device can be controlled to increase the ratio, and when the crankshaft speed is less than the lower limit threshold, the transmission device can be controlled to decrease the ratio.

[0035] In the control device of the fourteenth aspect according to any one of the first to thirteenth aspects of this disclosure, the control unit is configured to, in the first control state, control the transmission device based on input from the transmission operation device to change the ratio to either increase or decrease, and in the second control state, suppress the change of the ratio to either increase or decrease according to the transmission condition.

[0036] According to the control device of the thirteenth aspect, compared with the first control state, in the second control state, it is possible to suppress the change of the ratio to the opposite direction of the speed change operated by the user based on the speed change conditions.

[0037] Invention Effects

[0038] The control device for a human-powered vehicle disclosed herein can appropriately control the transmission device. Attached Figure Description

[0039] Figure 1 This is a side view of a human-powered vehicle, including the control device for the human-powered vehicle according to the embodiments.

[0040] Figure 2 It means Figure 1 A block diagram of the electrical structure of a human-powered vehicle;

[0041] Figure 3 It is by Figure 2 The flowchart of the process executed by the control department to control the transmission device;

[0042] Figure 4 It is by Figure 2 The flowchart of the process performed by the control department to change the control status;

[0043] Figure 5 This is a flowchart of the process for changing the control state, executed by the control unit of the modified example. Detailed Implementation

[0044] <Implementation Method>

[0045] 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.

[0046] 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.

[0047] 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.

[0048] 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.

[0049] 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.

[0050] 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.

[0051] 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 drive sprocket.

[0052] 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.

[0053] 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 forward rotation speed of the rear wheel 16R is higher than the forward rotation speed of the second rotating body 18.

[0054] 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).

[0055] For example, the manually driven 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 manually driven vehicle 10 relative to the rotational speed of the crankshaft 12 according to the control state. For example, the transmission device 42 is configured to be located in the transmission path of the human-powered drive force of the manually driven vehicle 10 and to change 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.

[0056] 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.

[0057] 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 shift mechanism 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 shift mechanism 42 includes an electric actuator 42B. For example, the electric actuator 42B is configured to actuate the shift mechanism 42. For example, the electric actuator 42B is configured to actuate the derailleur 42A.

[0058] 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 operates the transmission body 20 to change 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, 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.

[0059] Equation (1): R = W (rpm) / C (rpm)

[0060] 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.

[0061] 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.

[0062] For example, derailleur 42A moves a chain engaged with one of a plurality of sprockets to another sprocket. For example, the combination of the sprocket with the fewest teeth among the plurality of first sprockets and the sprocket with the most teeth among the plurality of 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 plurality of first sprockets and the sprocket with the fewest teeth among the plurality of second sprockets corresponds to the largest gear that can be shifted using derailleur 42A.

[0063] 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.

[0064] 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 operates the transmission body 20 to change the engagement state of at least one first rotating body 14 with the transmission body 20, thereby changing the ratio R. For example, the plurality of first rotating bodies 14 includes a plurality of first sprockets.

[0065] 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.

[0066] 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.

[0067] 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.

[0068] 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.

[0069] 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.

[0070] 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.

[0071] 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.

[0072] 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.

[0073] 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.

[0074] 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.

[0075] 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.

[0076] 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.

[0077] 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.

[0078] 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.

[0079] 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).

[0080] 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.

[0081] 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).

[0082] The control unit 62 controls the transmission device 42. The control unit 62 is configured to control the transmission device 42 to change the ratio R based on both the shift conditions and inputs from the user-operable transmission operation device 44. For example, if the shift conditions are met, the control unit 62 activates the transmission device 42 to change the ratio R. Similarly, if the transmission operation device 44 is activated, the control unit 62 activates the transmission device 42 to change the ratio R.

[0083] 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.

[0084] 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.

[0085] 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.

[0086] 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.

[0087] The control unit 62 is configured to select either a first control state or a second control state. In the first control state, if the transmission device 42 is controlled to change ratio R based on input from the transmission operating device 44, the control unit 62 switches from the first control state to the second control state. In the second control state, if the change in a parameter related to the vehicle state of the manually driven vehicle 10 reaches a predetermined amount or more, the control unit 62 switches from the second control state to the first control state. Compared to the first control state, in the second control state, the change ratio R based on the transmission conditions is suppressed.

[0088] The control unit 62 can have an automatic mode and a manual mode. When the automatic mode is selected, the control unit 62 controls the transmission device 42 based on both the input from the transmission operating device 44 and the transmission conditions. When the manual mode is selected, the control unit 62 controls the transmission device 42 based on the input from the transmission operating device 44, but not based on the transmission conditions. When the control unit 62 has both automatic and manual modes, the first control state and the second control state are the control states of the automatic mode.

[0089] For example, the control unit 62 is configured such that, in the first control state, if the transmission device 42 is controlled to change the ratio R to either increase or decrease based on the input from the transmission operation device 44, the control state transitions from the first control state to a second control state. For example, compared to the first control state, in the second control state, the possibility of the ratio R changing to either increase or decrease based on the transmission conditions is suppressed. For example, compared to the first control state, in the second control state, the possibility of the ratio R changing to either increase or decrease based on the transmission conditions is not suppressed. Alternatively, compared to the first control state, in the second control state, the possibility of the ratio R changing to either increase or decrease based on the transmission conditions is suppressed.

[0090] For example, in the first control state, when the control unit 62 controls the transmission device 42 to increase the ratio R based on the input from the transmission operating device 44, in the second control state, compared to the first control state, it suppresses the possibility that the ratio R will decrease based on the shift conditions. For example, in the first control state, when the control unit 62 controls the transmission device 42 to decrease the ratio R based on the input from the transmission operating device 44, in the second control state, compared to the first control state, it suppresses the possibility that the ratio R will increase based on the shift conditions.

[0091] For example, the control unit 62 suppresses changes in the ratio R by changing the shift conditions. For example, the control unit 62 suppresses changes in the ratio R by changing the range included in the shift conditions. When the shift conditions include the rotational speed of the crankshaft 12, the control unit 62, for example, suppresses a decrease in the ratio R by decreasing the lower threshold. When the shift conditions include the rotational speed of the crankshaft 12, the control unit 62, for example, suppresses an increase in the ratio R by increasing the upper threshold. The shift conditions include, for example, a first condition and a second condition. For example, in a first control state, the control unit 62 controls the shift device 42 based on the first condition. For example, in a second control state, the control unit 62 controls the shift device 42 based on the second condition. The second condition is more difficult to meet than the first condition. For example, since the range included in the second condition is wider than that of the first condition, the second condition is more difficult to meet than the first condition. When suppressing changes in the ratio R, the control unit 62 may also prohibit changes in the ratio R without changing the range included in the shift conditions.

[0092] For example, a parameter is a value that can determine the stability of the vehicle state as the ratio R changes. For example, the amount of change in the parameter is set based on the value from the change in ratio R until the vehicle state stabilizes.

[0093] For example, the parameters include at least one of vehicle speed and vehicle acceleration. When the parameter includes vehicle speed, for example, the specified value is 1 km / h or more and 10 km / h or less. When the parameter includes vehicle speed, for example, the specified value is 5 km / h. When the parameter includes acceleration, for example, the specified value is 1 km / h / s or more and 5 km / h / s or less. When the parameter includes acceleration, for example, the specified value is 2 km / h / s.

[0094] For example, parameters include the rotational amount of crankshaft 12, and specified amounts include specified rotational amounts set according to ratio R. The rotational amount of crankshaft 12 can be represented by the travel of pedal 30. Table 1 shows the relationship between specified amounts corresponding to pedal travel and gear shifting when the number of gears is 12.

[0095] (Table 1)

[0096]

[0097] For example, the parameter includes the road surface slope of the road on which the manually driven vehicle 10 travels. For example, the road surface slope is represented by an inclination angle. When the parameter includes the road surface slope, for example, the specified amount is 2% or more and 10% or less. When the parameter includes the road surface slope, for example, the specified amount is 5%. The control unit 62 may also be configured such that when the road surface slope is 10 degrees or more, regardless of the amount of change in the parameter, the control state is switched from the second control state to the first control state.

[0098] For example, the parameters include the manual driving force input to the manual-driven vehicle 10. When the parameters include the manual driving force, the specified amount can be different depending on whether the ratio R is increased or decreased by operating the transmission control device 44. The control unit 62 can also be configured such that when the ratio R is increased by operating the transmission control device 44, if the manual driving force is above the determined driving force, the control state changes from the second control state to the first control state regardless of the amount of parameter change. The determined driving force is, for example, 30 Nm or more and 50 Nm or less. The determined driving force is, for example, 40 Nm.

[0099] For example, the parameters include at least one of the rotation amount of the wheels 16 of the manually driven vehicle 10 and the travel distance of the manually driven vehicle 10.

[0100] For example, the parameter includes the rotational speed of the crankshaft 12. When the parameter includes the rotational speed of the crankshaft 12, for example, the specified value is 10 rpm or more and 30 rpm or less. When the parameter includes the rotational speed of the crankshaft 12, for example, the specified value is 20 rpm.

[0101] For example, the control unit 62 is configured to switch from the second control state to the first control state in at least one of the following situations: the vehicle speed accelerates and exceeds the first vehicle speed, or the vehicle speed decelerates and falls below the second vehicle speed. The first vehicle speed is, for example, 20 km / h or more and 40 km / h or less. The first vehicle speed is, for example, 30 km / h. The second vehicle speed is, for example, 0 km / h or more and 20 km / h or less. The second vehicle speed is, for example, 10 km / h. Alternatively, the control unit 62 may be configured to switch from the second control state to the first control state if the vehicle 10 is manually driven to a stop in the second control state.

[0102] 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.

[0103] In step S11, the control unit 62 determines whether the control state is the first control state. If the control state is the first control state, the control unit 62 proceeds to step S12. In step S12, the control unit 62 determines whether the first condition is met. If the first condition is not met, the control unit 62 terminates the process. If the first condition is met, the control unit 62 proceeds to step S13. In step S13, the control unit 62 controls the transmission device 42 to change the ratio R, and then terminates the process.

[0104] If, in step S11, the control state is not the first control state, the control unit 62 proceeds to step S14. In step S14, the control unit 62 determines whether the second condition is met. If the second condition is not met, the control unit 62 terminates the process. If the second condition is met, the control unit 62 proceeds to step S15. In step S15, the control unit 62 controls the transmission device 42 to change the ratio R, and then terminates the process.

[0105] Reference Figure 4 The processing of changes in control state by 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.

[0106] In step S21, the control unit 62 determines whether the control state is a first control state. If the control state is the first control state, the control unit 62 proceeds to step S22. In step S22, the control unit 62 determines whether the transmission device 42 was controlled to change the ratio R based on the input from the transmission operating device 44. If the ratio R was not changed based on the input from the transmission operating device 44, the control unit 62 terminates the process. If the ratio R was changed based on the input from the transmission operating device 44, the control unit 62 proceeds to step S23. In step S23, the control unit 62 changes the control state from the first control state to the second control state, and then terminates the process.

[0107] If, in step S21, the control state is not the first control state, the control unit 62 proceeds to step S24. In step S24, the control unit 62 determines whether the change in the parameter is greater than or equal to a predetermined change. If the change in the parameter is greater than or equal to the predetermined change, the control unit 62 proceeds to step S27. If the change in the parameter is less than or equal to the predetermined change, the control unit 62 proceeds to step S25.

[0108] In step S25, the control unit 62 determines whether the vehicle speed has accelerated and exceeded a first vehicle speed. If the vehicle speed has accelerated and exceeded the first vehicle speed, the control unit 62 proceeds to step S27. If the vehicle speed has not accelerated and exceeded the first vehicle speed, the control unit 62 proceeds to step S26. In step S26, the control unit 62 determines whether the vehicle speed has decelerated and fallen below a second vehicle speed. If the vehicle speed has not decelerated and fallen below the second vehicle speed, the control unit 62 terminates the process. If the vehicle speed has decelerated and fallen below the second vehicle speed, the control unit 62 proceeds to step S27. In step S27, the control unit 62 changes the control state from the second control state to the first control state, and then terminates the process.

[0109] <Variation Example>

[0110] 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.

[0111] For example, the control unit 62 is configured such that, in the second control state, if a predetermined shift condition different from the shift condition is met, the control state transitions from the second control state to the first control state. The predetermined shift condition is, for example, a condition more difficult to meet than the shift condition itself. The predetermined shift condition includes, for example, at least one of the crankshaft 12's rotational speed, manual driving force, and vehicle speed. In this embodiment, the predetermined shift condition includes the crankshaft 12's rotational speed. The predetermined shift condition is, for example, defined by a detection value of the same type as the shift condition, and the range included by the predetermined shift condition is different from the range included by the shift condition. When the predetermined shift condition is met, the control unit 62 may change the ratio R or not change the ratio R. For example, the control unit 62 executes... Figure 5 Step S31, to replace Figure 4 The processing of steps S25 and S26. In Figure 5 If the result in step S24 is "No", the process proceeds to step S31. In step S31, the control unit 62 determines whether the specified gear shifting condition is met. If the specified gear shifting condition is met, the control unit 62 proceeds to step S27. If the specified gear shifting condition is not met, the control unit 62 terminates the process. (Except for...) Figure 4 In addition to the processing in steps S25 and S26, the control unit 62 can also perform... Figure 5 The processing of step S31. For example, the control unit 62 is configured such that if the determination of any one of the steps S24, S25, S26 and S31 is "yes", the control state is changed from the second control state to the first control state.

[0112] The control unit 62 is configured such that, in the first control state, when the transmission device 42 is controlled to change ratio R based on input from the transmission operating device 44, the control state changes from the first control state to the second control state. Alternatively, it can be configured such that, in the second control state, the control state changes from the second control state to the first control state in at least one of the following situations: the vehicle speed accelerates and exceeds the first vehicle speed, or the vehicle speed decelerates and falls below the second vehicle speed. For example, it may omit... Figure 4 The processing of step S24. In Figure 4 In the case where step S24 is omitted, if step S21 is "No", the control unit 62 proceeds to step S25.

[0113] In a first control state, when the transmission device 42 is controlled to change the ratio R to either increase or decrease based on input from the transmission operating device 44, the control unit 62, in a second control state, suppresses the situation where the ratio R changes to either increase or decrease based on the shift conditions. For example, in the first control state, when the transmission device 42 is controlled to increase the ratio R based on input from the transmission operating device 44, the control unit 62, in the second control state, suppresses the situation where the ratio R increases based on the shift conditions. Similarly, in the first control state, when the transmission device 42 is controlled to decrease the ratio R based on input from the transmission operating device 44, the control unit 62, in the second control state, suppresses the situation where the ratio R decreases based on the shift conditions. In this variation, since the ratio R is changed to either increase or decrease based on the input from the shifting operation device 44, the change of the ratio R to either increase or decrease according to the shifting conditions is suppressed, thus making it easier to achieve the rider's desired ratio R. Therefore, the shifting device 42 can be properly controlled.

[0114] 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."

[0115] Symbol explanation:

[0116] 10…human-powered vehicle, 12…crankshaft, 16…wheel, 42…gear transmission, 44…gear transmission operating device, 60…control device, 62…control unit.

Claims

1. A control device for a manually operated vehicle, comprising: The control unit controls a transmission device that changes the ratio of the wheel speed to the crankshaft speed of the manually driven vehicle according to the control state. The control unit is configured such that, The control state can be selected as either a first control state or a second control state. The transmission can be controlled to change the ratio based on both the transmission conditions and input from a user-operable transmission control device. In the first control state, when the transmission device is controlled to change the ratio based on input from the transmission operating device, the control state transitions from the first control state to the second control state. In the second control state, if the change in a parameter related to the vehicle state of the manually driven vehicle reaches a predetermined amount, the control state is switched from the second control state to the first control state, wherein... The parameter is a stable value that can determine the vehicle state as the ratio changes, and the amount of change in the parameter is set based on the value from the change in the ratio until the vehicle state stabilizes. Compared to the first control state, in the second control state, the change of the ratio to either increase or decrease based on the speed change condition is suppressed.

2. The control device according to claim 1, wherein, The parameters include at least one of vehicle speed and the acceleration of the vehicle speed.

3. The control device according to claim 1, wherein, The parameters include the amount of rotation of the crankshaft. The specified amount includes a specified rotation amount set according to the ratio.

4. The control device according to claim 1, wherein, The parameters include the road surface gradient of the road on which the human-powered vehicle travels.

5. The control device according to claim 1, wherein, The parameters include the human driving force input to the human-powered vehicle.

6. The control device according to claim 1, wherein, The parameters include at least one of the rotation of the wheels of the human-powered vehicle and the distance traveled by the human-powered vehicle.

7. The control device according to claim 1, wherein, The parameters include the rotational speed of the crankshaft.

8. The control device according to claim 1, wherein, The control unit is configured to, in the second control state, in at least one of the following situations: the vehicle speed accelerates and exceeds the first vehicle speed, or the vehicle speed decelerates and is less than the second vehicle speed, switch the control state from the second control state to the first control state.

9. The control device according to claim 1, wherein, The control unit is configured such that, in the second control state, if a predetermined shift condition different from the shift condition is met, the control state is switched from the second control state to the first control state.

10. A control device for a manually operated vehicle, comprising: The control unit controls a transmission device that changes the ratio of the wheel speed to the crankshaft speed of the manually driven vehicle according to the control state. The control unit is configured such that, The control state can be selected as either a first control state or a second control state. The transmission can be controlled to change the ratio based on both the transmission conditions and input from a user-operable transmission control device. In the first control state, when the transmission device is controlled to change the ratio based on input from the transmission operating device, the control state transitions from the first control state to the second control state. In the second control state, if at least one of the following situations occurs: the vehicle speed accelerates and exceeds the first vehicle speed, or the vehicle speed decelerates and falls below the second vehicle speed, the control state is switched from the second control state to the first control state. Compared to the first control state, in the second control state, the change of the ratio to either increase or decrease based on the speed change condition is suppressed.

11. The control device according to claim 1 or 10, wherein, The speed change conditions are related to at least one of the driving state of the manually driven vehicle and the driving environment.

12. The control device according to claim 1 or 10, wherein, The speed change conditions include at least one of the following: the rotational speed of the crankshaft, the human driving force input to the human-powered vehicle, and the vehicle speed.

13. The control device according to claim 1 or 10, 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.

14. The control device according to claim 1 or 10, wherein, The control unit is configured such that, in the first control state, when controlling the transmission device based on input from the transmission operating device to change the ratio to either an increase or a decrease, the control state transitions from the first control state to the second control state. Compared to the first control state, in the second control state, the change of the ratio to either increase or decrease is suppressed according to the speed change condition.

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