Control device for human-powered vehicle

Abstract

The invention provides a control device for a human-powered vehicle, which can help the human-powered vehicle to travel comfortably. The control device is a control device for a human-powered vehicle, and is provided with: a control unit that is capable of controlling a motor that imparts an assist force to the human-powered vehicle in one of a plurality of assist modes having different assist levels, the control unit being configured so as to control the motor in the one of the plurality of assist modes; when a driving condition related to a driving state of the human-powered vehicle is satisfied, the current assistance mode is changed to a target change assistance mode different from the current assistance mode according to the current assistance mode.

Description

Technical Field

[0001] The present disclosure relates to a technology of a control device for a human-powered vehicle. Background Art

[0002] For example, Patent Document 1 discloses a control device that controls a motor that applies assist force to a human-powered vehicle in accordance with human-powered driving force.

[0003] Prior art literature

[0004] Patent Literature

[0005] Patent document 1: Japanese Patent Application Laid-Open No. 7-323880. Summary of the invention

[0006] Problems to be solved by the invention

[0007] One of the objects of the present disclosure is to provide a control device for a human-powered vehicle that can help the human-powered vehicle to travel comfortably.

[0008] Means used to solve problems

[0009] According to the first aspect of the present disclosure, a control device for a human-powered vehicle is a control device for a human-powered vehicle and comprises: a control unit capable of controlling a motor in one of a plurality of assist modes having different assist levels, wherein the motor provides an assist force to the human-powered vehicle, and the control unit is configured to change a current assist mode to a target change assist mode different from the current assist mode according to the current assist mode when a driving condition related to the driving state of the human-powered vehicle is satisfied.

[0010] According to the control device for a human-powered vehicle according to the first aspect, it is possible to contribute to comfortable driving of the human-powered vehicle.

[0011] In the control device for a human-powered vehicle of the second aspect according to the first aspect, the assist level includes a maximum ratio of the output of the motor to the human-powered driving force input to the human-powered vehicle.

[0012] According to the control device for a human-powered vehicle according to the second aspect, since the maximum ratio of the motor output can be changed according to the current assist mode, it further contributes to comfortable driving of the human-powered vehicle.

[0013] In the human-powered vehicle control device of a third aspect according to the first aspect or the second aspect, the control unit is configured to change the current assist mode to the target change assist mode based on the information on the current assist mode and the mode determination information.

[0014] According to the control device for a human-powered vehicle according to the third aspect, since the assist mode can be changed based on the information related to the current assist mode and the mode determination information, it is possible to further contribute to comfortable driving of the human-powered vehicle.

[0015] In the control device for a human-powered vehicle according to a fourth aspect of the third aspect, the mode determination information includes level increase information for determining the target change assist mode so that the assist level is increased.

[0016] According to the control device for a human-powered vehicle of the fourth aspect, since the assist level can be increased according to the current assist mode, it is possible to further contribute to comfortable driving of the human-powered vehicle.

[0017] In the control device for a human-powered vehicle according to the fifth aspect of the fourth aspect, the driving conditions include a first driving condition, wherein the first driving condition is satisfied when at least one of the conditions related to the human-powered driving force input to the human-powered vehicle, the conditions related to the driving state of the human-powered vehicle, and the conditions related to the driving environment of the human-powered vehicle is satisfied, and when the first driving condition is satisfied, the control unit changes the current assistance mode to a target change assistance mode determined based on the level increase information.

[0018] According to the control device for a human-powered vehicle of the fifth aspect, the assistance level can be increased when at least one of the conditions related to the human-powered driving force, the conditions related to the driving state of the human-powered vehicle, and the conditions related to the driving environment of the human-powered vehicle is met, thereby further contributing to the comfortable driving of the human-powered vehicle.

[0019] In the control device for a human-powered vehicle of the sixth aspect according to either the fourth aspect or the fifth aspect, the level increase information includes: at least one of: first information related to the human-powered driving force input to the human-powered vehicle, second information related to the driving state of the human-powered vehicle, and third information related to the driving environment of the human-powered vehicle; and fourth information related to the increase in the assistance level.

[0020] According to the control device for a human-powered vehicle of the sixth aspect, the assist level can be increased based on at least one of the first information, the second information, and the third information and the fourth information, thereby further contributing to comfortable driving of the human-powered vehicle.

[0021] In a control device for a human-powered vehicle according to the seventh aspect of the sixth aspect, the first information includes at least one of information related to an average value of the human-powered driving force when the crank of the human-powered vehicle rotates a predetermined number of times, and information related to a maximum value of the human-powered driving force when the crank of the human-powered vehicle rotates a predetermined number of times.

[0022] According to the control device for a human-powered vehicle of the seventh aspect, the assist level can be increased based on at least one of the information on the average value of the human power and the information on the maximum value of the human power, thereby further contributing to comfortable driving of the human-powered vehicle.

[0023] In the control device for a human-powered vehicle of an eighth aspect according to the sixth aspect or the seventh aspect, the second information includes information related to the inclination of the human-powered vehicle.

[0024] According to the control device for a human-powered vehicle of the eighth aspect, the assist level can be increased based on information on the inclination of the human-powered vehicle, thereby further contributing to comfortable driving of the human-powered vehicle.

[0025] In the control device for a human-powered vehicle of a ninth aspect according to any one of the sixth aspect to the eighth aspect, the third information includes information on an inclination angle of a traveling road of the human-powered vehicle.

[0026] According to the control device for a human-powered vehicle of the ninth aspect, the assist level can be increased based on information on the inclination angle of the road on which the human-powered vehicle is traveling, thereby further contributing to comfortable traveling of the human-powered vehicle.

[0027] In the human-powered vehicle control device of a tenth aspect according to any one of the fourth to ninth aspects, when increasing the assist level, the control unit directly changes from the current assist mode to the target change assist mode without going through other assist modes.

[0028] According to the control device for a human-powered vehicle of the tenth aspect, since it is possible to respond to the urgency of the user, it is possible to further contribute to comfortable driving of the human-powered vehicle.

[0029] In the control device for a human-powered vehicle according to an eleventh aspect of any one of the fourth to tenth aspects, the control unit is configured to change the level increase information based on input from at least one of an operation unit of an external device and an operation unit provided in the human-powered vehicle.

[0030] According to the control device for a human-powered vehicle of the eleventh aspect, convenience can be improved.

[0031] In the control device for a human-powered vehicle according to the twelfth aspect, when the vehicle speed of the human-powered vehicle does not exceed the predetermined first threshold value for a predetermined time, the control unit does not change the assist mode to increase the assist level.

[0032] According to the control device for a human-powered vehicle of the twelfth aspect, since the assist mode can be maintained when the human-powered vehicle continues to travel at a low speed, it is possible to further contribute to comfortable travel of the human-powered vehicle.

[0033] In the control device for a human-powered vehicle according to the thirteenth aspect of any one of the fourth aspect to the twelfth aspect, the human-powered vehicle is provided with a speed transmission device, which is controlled in a manner to change the speed ratio of the human-powered vehicle according to the driving state of the human-powered vehicle, and the control unit controls the speed transmission device to maintain the speed ratio when changing the assist mode in a manner to increase the assist level.

[0034] According to the control device for a human-powered vehicle according to the thirteenth aspect, it is easy to maintain the speed of the human-powered vehicle, and this can further contribute to comfortable driving of the human-powered vehicle.

[0035] In the control device for a human-powered vehicle of a fourteenth aspect according to any one of the fifth aspect to the thirteenth aspect, the mode determination information further includes level reduction information for determining the target change assist mode so that the assist level is reduced.

[0036] According to the control device for a human-powered vehicle of the fourteenth aspect, since the assist level can be reduced according to the current assist mode, it is possible to further contribute to comfortable driving of the human-powered vehicle.

[0037] In the control device for a human-powered vehicle according to the fifteenth aspect of the fourteenth aspect, the driving condition includes a second driving condition different from the first driving condition. When the second driving condition is met after the assist mode is changed by increasing the assist level, the control unit changes the current assist mode to a target change assist mode determined based on the level reduction information.

[0038] According to the control device for a human-powered vehicle of the fifteenth aspect, since the assist level increased according to the level increase information can be reduced when the second travel condition is satisfied, it is possible to further contribute to comfortable travel of the human-powered vehicle.

[0039] In the control device for a human-powered vehicle according to the sixteenth aspect of the fifteenth aspect, the second driving condition is satisfied when the conditions related to the human-powered driving force input to the human-powered vehicle and one of the conditions related to the driving state of the human-powered vehicle and the driving environment of the human-powered vehicle are satisfied.

[0040] According to the control device for a human-powered vehicle according to the sixteenth aspect, since the assistance level can be reduced when the conditions related to the human-powered driving force and at least one of the conditions related to the driving state of the human-powered vehicle and the driving environment of the human-powered vehicle are met, it can further contribute to the comfortable driving of the human-powered vehicle.

[0041] In the control device for a human-powered vehicle of aspect 17 according to any one of aspects 14 to 16, the level reduction information includes: at least one of first information related to the human-powered driving force input to the human-powered vehicle, second information related to the driving state of the human-powered vehicle, and third information related to the driving environment of the human-powered vehicle; and fifth information related to the amount of reduction in the assistance level.

[0042] According to the control device for a human-powered vehicle of the seventeenth aspect, since the assist level can be reduced based on at least one of the first information, the second information, and the third information and the fifth information, it is possible to further contribute to comfortable driving of the human-powered vehicle.

[0043] In the control device for a human-powered vehicle according to the seventeenth aspect or the eighteenth aspect, the first information includes at least one of information related to an average value of the human-powered driving force when the crank of the human-powered vehicle rotates a predetermined number of times, and information related to a maximum value of the human-powered driving force when the crank of the human-powered vehicle rotates a predetermined number of times.

[0044] According to the control device for a human-powered vehicle of the eighteenth aspect, the assist level can be reduced based on at least one of information on the average value of the human power and information on the maximum value of the human power, thereby further contributing to comfortable driving of the human-powered vehicle.

[0045] In the control device for a human-powered vehicle of a nineteenth aspect according to the seventeenth aspect or the eighteenth aspect, the second information includes information related to the inclination of the human-powered vehicle.

[0046] According to the control device for a human-powered vehicle of the nineteenth aspect, since the assist level can be reduced based on information on the inclination of the human-powered vehicle, it is possible to further contribute to comfortable driving of the human-powered vehicle.

[0047] In the control device for a human-powered vehicle of a twentieth aspect according to any one of the seventeenth aspect to the nineteenth aspect, the third information includes information related to an inclination angle of a traveling road of the human-powered vehicle.

[0048] According to the control device for a human-powered vehicle of the twentieth aspect, since the assist level can be reduced based on information on the inclination angle of the road on which the human-powered vehicle is traveling, it is possible to further contribute to comfortable traveling of the human-powered vehicle.

[0049] In the control device for a human-powered vehicle of aspect 21 according to any one of aspects 14 to 20, when there is at least one other assistance mode having an assistance level lower than the assistance level of the current assistance mode and higher than the assistance level of the target change assistance mode determined based on the level reduction information, the control unit changes from the current assistance mode to the target change assistance mode via at least one other assistance mode.

[0050] According to the control device for a human-powered vehicle according to the twenty-first aspect, since the assist level can be lowered in stages, it is possible to further contribute to comfortable driving of the human-powered vehicle.

[0051] In the control device for a human-powered vehicle according to the twenty-second aspect of any one of the fourteenth to twenty-first aspects, the control unit is configured to change the level reduction information based on input from at least one of an operation unit of an external device and an operation unit provided in the human-powered vehicle.

[0052] According to the control device for a human-powered vehicle according to the twenty-second aspect, convenience can be improved.

[0053] In the control device for a human-powered vehicle according to a twenty-third aspect of any one of the first to twenty-second aspects, when at least one of a handlebar angle and a roll angle of the human-powered vehicle exceeds a predetermined second threshold value, the control unit does not change the assist mode.

[0054] According to the control device for a human-powered vehicle according to the twenty-third aspect, it is possible to suppress a decrease in operability of the human-powered vehicle.

[0055] In the control device for a human-powered vehicle according to the twenty-fourth aspect of the first aspect, the human-powered vehicle has a speed change device capable of changing the speed ratio, and when a pedaling start condition related to the start of pedaling and a speed change condition related to the speed ratio are met, the control unit performs a change process to change the current assist mode to a predetermined assist mode.

[0056] According to the control device for a human-powered vehicle according to the twenty-fourth aspect, since the assist mode can be changed when the pedaling start condition and the speed change condition are satisfied, it is possible to further contribute to comfortable driving of the human-powered vehicle.

[0057] In the control device for a human-powered vehicle according to the twenty-fifth aspect of the twenty-fourth aspect, the speed change condition is satisfied when the speed ratio is equal to or greater than a predetermined speed ratio.

[0058] According to the control device for a human-powered vehicle according to the twenty-fifth aspect, since the assist mode can be changed when the speed ratio is high, it is possible to further contribute to comfortable driving of the human-powered vehicle.

[0059] In the control device for a human-powered vehicle according to the twenty-sixth aspect of the twenty-fifth aspect, the predetermined speed ratio is 2.5 or more.

[0060] According to the control device for a human-powered vehicle according to the twenty-sixth aspect, since the assist mode can be changed when the speed ratio is 2.5 or more, it is possible to further contribute to comfortable driving of the human-powered vehicle.

[0061] In the control device for a human-powered vehicle of aspect 27 according to any one of aspects 24 to 26, the pedaling start condition is satisfied when at least one of the conditions related to the human-powered force input to the human-powered vehicle, the conditions related to the rotation of the crank of the human-powered vehicle, and the conditions related to the vehicle speed of the human-powered vehicle is satisfied.

[0062] According to the control device for a human-powered vehicle according to the twenty-seventh aspect, since the assist mode can be changed when at least one of the conditions related to the human-powered force input to the human-powered vehicle, the conditions related to the rotation of the crank of the human-powered vehicle, and the conditions related to the vehicle speed of the human-powered vehicle is satisfied, it can further contribute to the comfortable driving of the human-powered vehicle.

[0063] In the control device for a human-powered vehicle according to aspect 28 of any one of aspects 24 to 27, when a predetermined condition is satisfied in a predetermined assist mode, the control unit changes the assist mode to return to the assist mode before the change process.

[0064] According to the control device for a human-powered vehicle of the twenty-eighth aspect, since it is possible to return to the assist mode before the change process is performed when a predetermined condition is satisfied, it is possible to further contribute to comfortable driving of the human-powered vehicle.

[0065] In the control device for a human-powered vehicle according to the twenty-eighth aspect of the twenty-ninth aspect, the predetermined condition is satisfied when the crank of the human-powered vehicle rotates a predetermined number of times.

[0066] According to the control device for a human-powered vehicle of the twenty-ninth aspect, since the assist mode before the change process is returned when the crank rotates a predetermined number of times, it is possible to further contribute to comfortable driving of the human-powered vehicle.

[0067] In the control device for a human-powered vehicle of the thirtieth aspect according to the twenty-ninth aspect, the predetermined number of rotations is two rotations.

[0068] According to the control device for a human-powered vehicle of the thirtieth aspect, since the crank can be rotated two turns in advance to return to the assist mode before the change process is performed, it is possible to further contribute to comfortable driving of the human-powered vehicle.

[0069] In the control device for a human-powered vehicle according to the thirty-first aspect of any one of the twenty-fourth to thirtieth aspects, the assist force given to the human-powered vehicle in the assist mode after the change processing is performed is greater than the assist force given to the human-powered vehicle in the assist mode before the change processing is performed.

[0070] According to the control device for a human-powered vehicle according to the thirty-first aspect, since the assist force can be increased when the pedaling start condition and the speed change condition are satisfied, it is possible to further contribute to comfortable driving of the human-powered vehicle.

[0071] Effects of the Invention

[0072] According to the control device for a human-powered vehicle of the present disclosure, it is possible to contribute to comfortable driving of the human-powered vehicle. BRIEF DESCRIPTION OF THE DRAWINGS

[0073] Figure 1 is a side view showing a human-powered vehicle equipped with a control device according to a first embodiment;

[0074] Figure 2 is a block diagram showing the electrical structure of a human-powered vehicle having a control device;

[0075] Figure 3 is a diagram showing an example of a plurality of assist modes;

[0076] Figure 4 It is the state transition diagram of the transmission unit;

[0077] Figure 5 is a diagram showing an example of level increase information for increasing the assist level;

[0078] Figure 6 is a diagram showing an example of level reduction information for reducing the assistance level;

[0079] Figure 7This is a diagram showing an example of the relationship between the change of the assist mode and time;

[0080] Figure 8 is a flowchart showing a control flow in the first embodiment;

[0081] Fig. 9 is a flowchart showing a subroutine of a process for determining whether to change the assist level;

[0082] Fig.10 is a diagram showing a specific example of level increase information in the second embodiment;

[0083] Fig.11 is a flowchart showing a subroutine of a process for determining whether to change the assist level in the second embodiment;

[0084] Fig.12 is a flowchart showing a subroutine of a process for determining whether to change the assist level in the third embodiment;

[0085] Fig.13 is a flowchart showing a control flow in a fourth embodiment;

[0086] Fig.14 is a state transition diagram related to the state of the human-powered vehicle detected by the control unit in the fifth embodiment;

[0087] Fig.15 : is a flowchart showing the control flow in the fifth embodiment. DETAILED DESCRIPTION

[0088] (First Embodiment)

[0089] A human-powered vehicle 1 including the control device 19b for a human-powered vehicle according to the first embodiment will be described. Figures 1 to 3 , a human-powered vehicle 1 according to a first embodiment will be described.

[0090] The human-powered vehicle 1 is a vehicle having at least one wheel 15 and capable of being driven at least by human-powered driving force. The human-powered vehicle 1 includes various bicycles such as mountain bikes, road bikes, city bikes, cargo bikes, push bikes, and recumbent bikes. The number of wheels 15 possessed by the human-powered vehicle 1 is not limited. For example, the human-powered vehicle 1 includes a unicycle and a vehicle having two or more wheels 15. The human-powered vehicle 1 is not limited to a vehicle capable of being driven only by human-powered driving force. The human-powered vehicle 1 is an electric bicycle (E-bike) that is propelled not only by human-powered driving force but also by the driving force of an electric motor. The electric bicycle (E-bike) includes an electric-assisted bicycle that is propelled with the assistance of an electric motor. Hereinafter, in the embodiments, the human-powered vehicle 1 will be described as an electric-assisted bicycle.

[0091] The human-powered vehicle 1 includes a crank 10 , a frame 11 , a seat 12 , a handlebar 13 , a front fork 14 , wheels 15 , a drive mechanism 16 , an electric transmission 17 , a battery 18 , a transmission unit 19 , and an operation unit 20 . Figure 1 The crank 10 shown includes a crank axle 10a rotatable relative to a frame 11 and a pair of crank arms 10b provided at both ends of the crank axle 10a in the axial direction. Pedals 10c are connected to the pair of crank arms 10b, respectively.

[0092] The seat 12 is provided on the frame 11 via a seat post 12a. The frame 11 rotatably supports the handlebar 13 and the front fork 14. The handlebar 13 is configured to be grippable by a user. When the handlebar 13 rotates relative to the frame 11, the front fork 14 rotates, and the advancing direction of the human-powered vehicle 1 changes.

[0093] The wheels 15 include a front wheel 15a and a rear wheel 15b. The front wheel 15a is rotatably mounted on the front fork 14. The rear wheel 15b is rotatably mounted on the vehicle frame 11.

[0094] The drive mechanism 16 connects the crank 10 and the rear wheel 15b. The drive mechanism 16 includes a first rotating body 16a, a second rotating body 16b, and a driving force transmission unit 16c. In this embodiment, the first rotating body 16a includes one front sprocket. The first rotating body 16a may include a plurality of front sprockets.

[0095] The first rotating body 16a is configured to rotate with the rotation of the crankshaft 10a. If the crankshaft 10a rotates in the first rotation direction, the human driving force is transmitted to the rear wheel 15b, and the human-powered vehicle 1 moves forward. The first rotating body 16a allows the crankshaft 10a and the first rotating body 16a to rotate integrally when the crankshaft 10a rotates in the first rotation direction, and may include a one-way clutch that allows relative rotation between the crankshaft 10a and the first rotating body 16a when the crankshaft 10a rotates in the second rotation direction opposite to the first rotation direction.

[0096] In the present embodiment, the second rotating body 16b includes a plurality of rear sprockets. The second rotating body 16b may include a rear sprocket. The second rotating body 16b is connected to the rear wheel 15b. The driving force transmission part 16c transmits the rotational force of the first rotating body 16a to the second rotating body 16b. For example, the driving force transmission part 16c includes a chain. The first rotating body 16a and the second rotating body 16b may include pulleys, and the driving force transmission part 16c may include a belt. The first rotating body 16a and the second rotating body 16b may include bevel gears, and the driving force transmission part 16c may include a transmission shaft.

[0097] The electric transmission 17 includes at least one of an external transmission and an internal transmission. In the present embodiment, the electric transmission 17 includes an external transmission. For example, when the electric transmission 17 includes an external transmission, the gear ratio is calculated by dividing the number of teeth of the front sprocket engaged with the driving force transmission part 16c by the number of teeth of the rear sprocket engaged with the driving force transmission part 16c. The external transmission includes at least one of a front derailleur and a rear derailleur 17a. In the present embodiment, the external transmission includes the rear derailleur 17a.

[0098] For example, the battery 18 includes at least one of a non-rechargeable battery and a rechargeable battery. The rechargeable battery is configured to be rechargeable by electric power from an external power source. The battery 18 is provided on the vehicle frame 11.

[0099] The transmission unit 19 is configured to provide an auxiliary force to the human-powered vehicle 1 according to the human-powered driving force input to the pair of crank arms 10b. Figure 2 As shown, the transmission unit 19 includes a motor 19a and a control device 19b.

[0100] The motor 19a is configured to be driven by the power from the battery 18. The motor 19a is configured to transmit the driving force to the power transmission path of the human driving force from each pedal 10c to the rear wheel 15b, or to the front wheel 15a. In the present embodiment, the motor 19a is configured to transmit the driving force to the power transmission path of the human driving force. The motor 19a may be configured to transmit the driving force to the power transmission path via a speed reducer.

[0101] The control device 19b is a control device 19b for a human-powered vehicle and includes a control unit 19d capable of controlling the motor 19a in one of a plurality of assist modes M having different assist levels, wherein the motor 19a applies an assist force to the human-powered vehicle 1. The assist level includes information for calculating the assist force based on the human-powered driving force.

[0102] For example, the assistance level includes at least one of the maximum ratio of the output of the motor 19a to the human driving force input to the human-powered vehicle 1, the maximum value of the output of the motor 19a, and the response speed of the motor 19a. In the present embodiment, the assistance level includes the maximum ratio of the output of the motor 19a to the human driving force input to the human-powered vehicle 1. In this specification, the maximum ratio of the output of the motor 19a to the human driving force is described as the maximum output ratio.

[0103] Figure 3 An example of a plurality of assist modes M is shown. Figure 3 The assist ratio shown is the ratio of the output of the motor 19a to the human driving force. Figure 3 In the embodiment, the number of the plurality of assist modes M is 15. The number of the plurality of assist modes M is not limited to 15. In the present embodiment, the assist level further includes an increase rate of the assist ratio relative to the human driving force until the assist ratio reaches the maximum assist ratio from zero. In the plurality of assist modes M, at least one of the maximum output ratio and the increase rate of the assist ratio relative to the human driving force is different. In the plurality of assist modes M, at least one of the maximum value of the output of the motor 19a and the response speed of the motor 19a may also be different.

[0104] When the motor 19a is controlled in an assist mode with a high maximum output ratio among the plurality of assist modes M, it is easy to give a high assist force to the human-powered vehicle 1. When the motor 19a is controlled in an assist mode with a high assist ratio relative to the increase rate of the human-powered driving force among the plurality of assist modes M, it is easy to give a high assist force to the human-powered vehicle 1 as the human-powered driving force increases.

[0105] In this specification, the assist mode with the lowest assist level among the plurality of assist modes M is described as the first mode M1. A low assist level means that it is difficult to provide a high assist force to the human-powered vehicle 1. In this specification, an assist mode with the highest assist level N1 among the plurality of assist modes M is described as the N1th mode. In this specification, a high assist level means that it is easy to provide a high assist force to the human-powered vehicle 1.

[0106] like Figure 2As shown, in this embodiment, the control device 19b further includes a storage unit 19c and a wireless communication unit 19e. The storage unit 19c stores a control program and information for control processing. For example, the storage unit 19c includes at least one of a nonvolatile memory, a volatile memory, and a hard disk.

[0107] The control unit 19d is configured to perform control related to the transmission unit 19. The control unit 19d includes an arithmetic processing device that executes a predetermined control program. For example, the arithmetic processing device includes a CPU (Central Processing Unit) or an MPU (Micro Processing Unit). The control unit 19d may include one or more microcomputers. The control unit 19d also includes an inverter circuit connected to the motor 19a.

[0108] The control unit 19d has a timing function. For example, the control unit 19d may be timed by a CPU or an MPU, or may have a timer or a clock. The control unit 19d is configured to communicate with the first detection unit 21, the second detection unit 22, the third detection unit 23, and the fourth detection unit 24 via a cable or a wireless communication device.

[0109] The first detection unit 21 is configured to detect information related to the human-powered driving force input to the human-powered vehicle 1. The information related to the human-powered driving force is information that changes according to the human-powered driving force input to the human-powered vehicle 1. For example, the first detection unit 21 includes a torque sensor. The torque sensor is configured to detect information related to the torque input to the pair of crank arms 10b. For example, the torque sensor is provided in at least one of the transmission path of the driving force from the pedal 10c to the first rotating body 16a, and the transmission unit 19. For example, the torque sensor includes a strain sensor. The torque sensor may include a magnetostrictive sensor, an optical sensor, and a pressure sensor.

[0110] When the first detector 21 includes a torque sensor, the first detector 21 outputs a signal corresponding to the torque input to the pair of crank arms 10b to the control unit 19d. The control unit 19d can detect the human driving force based on the signal output from the first detector 21.

[0111] The second detection unit 22 is configured to detect information related to the running state of the human-powered vehicle 1. The information related to the running state is information that changes according to the running state of the human-powered vehicle 1. For example, the information related to the running state of the human-powered vehicle 1 includes information related to the tilt state of the human-powered vehicle 1. The information related to the tilt state of the human-powered vehicle 1 is information that changes according to the tilt of the frame 11 of the human-powered vehicle 1. For example, the information related to the tilt state of the human-powered vehicle 1 includes information related to the pitch angle of the human-powered vehicle 1.

[0112] For example, the second detection unit 22 includes a motion sensor. The motion sensor is configured to detect information related to the acceleration in the up-down direction when the human-powered vehicle 1 is placed on a horizontal plane. The motion sensor may include a three-axis acceleration sensor. The motion sensor may also include a six-axis gyroscope sensor. In the case where the second detection unit 22 includes the motion sensor, the second detection unit 22 outputs a signal to the control unit 19d, wherein the signal is a signal corresponding to the acceleration in the up-down direction when the human-powered vehicle 1 is placed on a horizontal plane. The control unit 19d can detect the pitch angle of the human-powered vehicle 1 based on the signal output from the second detection unit 22.

[0113] The second detection unit 22 may be configured to further detect information related to the roll angle of the human-powered vehicle 1 as information related to the tilt state of the human-powered vehicle 1. In the case of detecting information related to the roll angle, the second detection unit 22 may include a motion sensor that detects information related to the acceleration in the left and right directions when the human-powered vehicle 1 is placed on a horizontal plane. Since the handlebar angle of the human-powered vehicle 1 is related to the roll angle of the human-powered vehicle 1, the second detection unit 22 may be configured to further detect information related to the handlebar angle of the human-powered vehicle 1 as information related to the tilt state of the human-powered vehicle 1. In the case of detecting information related to the handlebar angle, for example, the second detection unit 22 may include a rotation sensor that detects at least one of the angle of the handlebar 13 relative to the frame 11 and the angle of the front fork 14 relative to the frame 11. The control unit 19d can detect at least one of the roll angle and the handlebar angle based on the signal output from the second detection unit 22.

[0114] The information related to the running state of the human-powered vehicle 1 may include information different from the information related to the tilting state of the human-powered vehicle 1. For example, the information related to the running state of the human-powered vehicle 1 may include information related to the cadence.

[0115] The third detection unit 23 is configured to detect information related to the driving environment of the human-powered vehicle 1. The information related to the driving environment is information that changes according to the driving environment of the human-powered vehicle 1. For example, the information related to the driving environment of the human-powered vehicle 1 includes information related to the inclination angle of the driving road of the human-powered vehicle 1. For example, the third detection unit 23 is configured to detect the inclination angle of the driving road based on the information related to the pitch angle of the human-powered vehicle 1 detected by the second detection unit 22. The third detection unit 23 outputs a signal corresponding to the inclination angle of the driving road to the control unit 19d. The control unit 19d can detect the inclination angle of the driving road based on the signal output from the third detection unit 23.

[0116] The third detection unit 23 can detect information related to the inclination angle of the traveling road based on information different from the pitch angle. For example, the third detection unit 23 can detect information related to the inclination angle of the traveling road based on the current position of the human-powered vehicle 1. For example, in the case of detecting information related to the inclination angle of the traveling road based on the current position of the human-powered vehicle 1, the third detection unit 23 may include a GPS receiving unit provided in the human-powered vehicle 1. The GPS receiving unit is configured to output a signal related to the current position of the human-powered vehicle 1 to the control unit 19d. The control unit 19d can detect the inclination angle of the road surface on which the human-powered vehicle 1 is traveling based on the signal output from the GPS receiving unit and the slope information included in the map information pre-stored in the storage unit 19c.

[0117] The information related to the driving environment of the human-powered vehicle 1 may include information different from the information related to the inclination angle of the driving road of the human-powered vehicle 1. For example, the information related to the driving state of the human-powered vehicle 1 may include information related to the type of the driving road. For example, the type of the driving road may include a highway road surface and an off-road road surface.

[0118] The fourth detection unit 24 is configured to detect information related to the rotation of the wheel 15. The information related to the rotation of the wheel 15 is information that changes according to the rotation of the wheel 15. For example, the fourth detection unit 24 includes a wheel rotation sensor. For example, the wheel rotation sensor is configured to detect the magnetic field of a magnet mounted on the wheel 15. In the case where the fourth detection unit 24 includes the wheel rotation sensor, the fourth detection unit 24 outputs a signal related to the magnetic field of the magnet to the control unit 19d. The control unit 19d can detect the speed of the human-powered vehicle 1 based on the signal output from the wheel rotation sensor. The fourth detection unit 24 is not particularly limited as long as it is configured to detect information related to the rotation of the wheel 15.

[0119] The control unit 19d is configured to communicate with the operating unit 20 and the electric transmission 17 through a cable or a wireless communication device. The operating unit 20 is provided in the human-powered vehicle 1. The operating unit 20 is configured to be operated by the user with his hands or fingers. In this embodiment, the operating unit 20 includes a speed change operating unit 20a and an auxiliary operating unit 20b.

[0120] The speed change operation unit 20a is configured to perform a speed change operation for changing the speed ratio of the human-powered vehicle 1. For example, the speed change operation unit 20a is provided on the handlebar 13. If the speed change operation unit 20a is operated, a signal related to the speed change operation is output to the control unit 19d. The control unit 19d is configured to detect the speed change operation based on the signal related to the speed change operation. The control unit 19d can control the electric transmission 17 to change the speed ratio by outputting a signal to the electric transmission 17 according to the speed change operation. For example, the control unit 19d can control the rear derailleur 17a so that the driving force transmission unit 16c is switched between a plurality of rear sprockets.

[0121] The auxiliary operation unit 20b is configured to perform an auxiliary operation for changing the auxiliary mode through the operation of the user. For example, the auxiliary operation unit 20b includes at least one auxiliary switch. If at least one auxiliary switch is operated, a signal related to the auxiliary operation is output to the control unit 19d. The control unit 19d is configured to detect the auxiliary operation based on the signal related to the auxiliary operation. For example, the at least one auxiliary switch includes two auxiliary switches. For example, the two auxiliary switches include: a first switch for increasing the auxiliary level; and a second switch for decreasing the auxiliary level.

[0122] The user can select an assist mode from among the plurality of assist modes M by operating at least one assist switch. The control unit 19d can control the motor 19a according to the assist mode selected by the user. In this specification, the assist mode selected by the user is described as the user-specified assist mode M0. In this specification, the assist level of the user-specified assist mode M0 is described as the user-specified assist level L0.

[0123] The wireless communication unit 19e is configured to perform wireless communication with a device different from the control device 19b. The wireless communication unit 19e may be configured to perform communication using existing communication standards such as Bluetooth (registered trademark) and ANT+ (registered trademark), or may be configured to perform wireless communication using a unique communication standard. For example, the wireless communication unit 19e includes a wireless communication circuit and an antenna. The control unit 19d is configured to perform wireless communication with the external device 30 via the wireless communication unit 19e.

[0124] For example, the external device 30 includes a device capable of changing the settings of the human-powered vehicle 1 from the outside. The external device 30 includes an operating unit 31, which is configured to be operated by a user with a hand or a finger. For example, the external device 30 includes a smartphone installed with a predetermined application. For example, when a predetermined application is started and a predetermined operation is performed, the external device 30 outputs a signal to the wireless communication unit 19e. The control unit 19d is configured to detect the user's operation on the external device 30 based on the signal from the external device 30 if a signal from the external device 30 is received via the wireless communication unit 19e. The control unit 19d can change the settings of the human-powered vehicle 1 according to the detected user's operation.

[0125] The external device 30 is not limited to a smartphone as long as it is a device capable of wireless communication with the wireless communication unit 19e. For example, the external device 30 may be a tablet computer on which a predetermined application is installed.

[0126] The control unit 19d is configured to change the assist mode according to the current assist mode and to change the current assist mode to a target mode different from the current assist mode when the driving conditions related to the driving state of the human-powered vehicle 1 are satisfied. The control unit 19d changes the assist mode according to the current assist mode, thereby being able to finely control the assist force based on the current assist mode, thereby being able to improve the driving comfort of the human-powered vehicle 1.

[0127] Figure 4 An example of a state transition diagram of the transmission unit 19 when the assist mode is changed by the control unit 19d is shown. When the driving condition is not satisfied, the control unit 19d controls the motor 19a in the user-specified assist mode M0. When the driving condition is satisfied in the user-specified assist mode M0, the control unit 19d changes the assist mode to any one of the user-specified assist level +3, the user-specified assist level +4, and the user-specified assist level +5.

[0128] Figure 4 The user-specified assistance level +3 is an assistance level of an assistance mode having an assistance level three levels higher than the user-specified assistance mode M0 among the plurality of assistance modes M. In this specification, the assistance mode having an assistance level three levels higher than the user-specified assistance mode M0 is described as a third increase mode M3. In this specification, the assistance level of the third increase mode M3 is described as a third increase level L3.

[0129] Figure 4The user-specified assistance level +4 is an assistance level of an assistance mode having an assistance level four levels higher than the user-specified assistance mode M0 among the plurality of assistance modes M. In this specification, the assistance mode having an assistance level four levels higher than the user-specified assistance mode M0 is described as a fourth increase mode M4. In this specification, the assistance level of the fourth increase mode M4 is described as a fourth increase level L4.

[0130] Figure 4 The user-specified assistance level +5 shown is an assistance level of an assistance mode having an assistance level five levels higher than the user-specified assistance mode M0 among the plurality of assistance modes M. In this specification, the assistance mode having an assistance level five levels higher than the user-specified assistance mode M0 is described as a fifth increase mode M5. In this specification, the assistance level of the fifth increase mode M5 is described as a fifth increase level L5.

[0131] use Figures 4 to 7 , a method for determining a target change assist mode is described. The control unit 19d is configured to change the current assist mode to the target change assist mode based on information related to the current assist mode and the mode determination information T. The information related to the current assist mode includes information that can determine the assist mode of the current control motor 19a among the plurality of assist modes M. In the present embodiment, the information related to the current assist mode includes information that can determine the user-specified assist mode M0, the third increase mode M3, the fourth increase mode M4, and the fifth increase mode M5.

[0132] The mode determination information T includes information for determining which assistance mode among the plurality of assistance modes M is to be set as the target change assistance mode. In the present embodiment, the mode determination information T includes level increase information T1 for determining the target change assistance mode in order to increase the assistance level. The level increase information T1 includes at least one of first information related to the human driving force input to the human-powered vehicle 1, second information related to the driving state of the human-powered vehicle 1, and third information related to the driving environment of the human-powered vehicle 1, and fourth information related to the increase amount of the assistance level.

[0133] The amount of increase in the assistance level is information that can determine how much the assistance level is increased from the current assistance level of the assistance mode. In the present embodiment, the amount of increase in the assistance level is a value indicating how much the assistance level is increased from the user-specified assistance level L0 in the plurality of assistance modes M.

[0134] The first information is information that changes according to the human-powered driving force. The first information includes at least one of information related to the average value of the human-powered driving force when the crank 10 of the human-powered vehicle 1 rotates a predetermined number of times, and information related to the maximum value of the human-powered driving force when the crank 10 of the human-powered vehicle 1 rotates a predetermined number of times. For example, the predetermined number of times can be in the range of 1 to 5, and is not particularly limited. For example, the first information may include at least one of information related to the average value of the human-powered driving force when the crank 10 rotates two times, and information related to the maximum value of the human-powered driving force when the crank 10 rotates two times. The control unit 19d is capable of acquiring the first information by detecting the human-powered driving force based on a signal from the first detection unit 21.

[0135] The second information is information that changes according to the driving state of the human-powered vehicle 1. The second information includes information related to the inclination of the human-powered vehicle 1. The control unit 19d can obtain the second information by detecting the inclination state of the human-powered vehicle 1 based on the signal from the second detection unit 22. For example, the control unit 19d can obtain the pitch angle of the human-powered vehicle 1 as the second information. The third information is information that changes according to the driving environment of the human-powered vehicle 1. The third information includes information related to the inclination angle of the driving road of the human-powered vehicle 1. The control unit 19d can obtain the inclination angle of the driving road based on the signal from the third detection unit 23. The fourth information includes information that can determine the increase in the assistance level.

[0136] In the present embodiment, the level increase information T1 includes first information related to the human driving force and fourth information related to the increase amount of the assist level. Figure 5 An example of the level increase information T1 is shown. Figure 5 The level increase information T1 shown is a table for determining the amount of increase of the assist level according to the human driving force.

[0137] Figure 5 The assist increasing direction shown is to increase the assist level based on the current assist mode. Figure 5 The threshold value of the auxiliary ascending direction shown is a threshold value of the human driving force for determining the increase in the auxiliary level. In this embodiment, the threshold value of the auxiliary ascending direction is set in stages according to the load of the user. The threshold value of the auxiliary ascending direction is set as an ultra-high load threshold, a high load threshold, a medium load threshold, a small load threshold, a normal threshold, a light load threshold, and a stop mode threshold. The stop mode is a state in which the human-powered vehicle 1 stops.

[0138] The extra-high load threshold is greater than the high load threshold. The high load threshold is greater than the medium load threshold. The medium load threshold is greater than the light load threshold. The light load threshold is greater than the normal threshold. The normal threshold is greater than the light load threshold. The stop mode threshold can be omitted.

[0139] A threshold value for assisting the ascending direction is defined for each of the plurality of groups G1. In the present embodiment, a threshold value for assisting the ascending direction is defined for each of the first group, the second group, the third group, the fourth group, and the fifth group. In the present embodiment, except for the light load threshold value, the threshold value for assisting the ascending direction increases in a stepwise manner from the first group to the fifth group.

[0140] For example, the super-high load threshold value X11 of the first group may be a value within the range of 50 Nm or more and 130 Nm or less. For example, the high load threshold value X12 of the first group may be a value within the range of 30 Nm or more and 80 Nm or less. For example, the medium load threshold value X13 of the first group may be a value within the range of 25 Nm or more and 70 Nm or less. For example, the small load threshold value X14 of the first group may be a value within the range of 20 Nm or more and 50 Nm or less. For example, the normal threshold value X15 of the first group may be a value within the range of 5 Nm or more and 30 Nm or less.

[0141] Each threshold value of the groups other than the first group may be defined based on each threshold value of the first group. For example, each threshold value of the groups other than the first group may be defined by adding a first variable whose value increases from the first group to the fifth group to each threshold value of the first group.

[0142] The first variable may be specified in a hierarchical manner according to the user's load. For example, the first variable may be specified so that the value becomes larger as the user's load becomes heavier. For example, the first variable added to the ultra-high load threshold may be a value larger than the first variable added to the high load threshold. The first variable added to the high load threshold may be a value larger than the first variable added to the medium load threshold. The first variable added to the medium load threshold may be a value larger than the first variable added to the small load threshold. The first variable added to the small load threshold may be a value larger than the first variable added to the normal threshold. The method of specifying the threshold of the auxiliary rising direction for each of a plurality of groups G is not limited to the present embodiment. For example, the first variable may not be specified in a hierarchical manner according to the user's load.

[0143] In the present embodiment, when the human-powered vehicle 1 is traveling on an uphill slope, each threshold value of the N1th group among the first to fifth groups is set to a value capable of appropriately controlling the assist level. Figure 5 An example of a threshold value is shown.

[0144] Figure 5 The threshold values ​​X11, X12, X13, X14, and X15 shown in the first group satisfy the relationship of X11>X12>X13>X14>X15. Figure 5 The threshold values ​​X21, X22, X23, X24, and X25 shown in the second group satisfy the relationship of X21>X22>X23>X24>X25. Figure 5 The threshold values ​​X31, X32, X33, X34, and X35 shown in the third group satisfy the relationship of X31>X32>X33>X34>X35. Figure 5 The threshold values ​​X41, X42, X43, X44, and X45 shown in the fourth group satisfy the relationship of X41>X42>X43>X44>X45. Figure 5 The threshold values ​​X51, X52, X53, X54, and X55 shown in the fifth group satisfy the relationship of X51>X52>X53>X54>X55.

[0145] Figure 5 The threshold values ​​X11, X21, X31, X41, and X51 indicated by "super high load" satisfy the relationship of X11<X21<X31<X41<X51. Figure 5 The threshold values ​​X12, X22, X32, X42, and X52 indicated by "high load" satisfy the relationship of X12<X22<X32<X42<X52. Figure 5 The threshold values ​​X13, X23, X33, X43, and X53 indicated by "medium load" satisfy the relationship of X13<X23<X33<X43<X53. Figure 5 The threshold values ​​X14, X24, X34, X44, and X54 shown in "small load" satisfy the relationship of X14<X24<X34<X44<X54. Figure 5 The threshold values ​​X15, X25, X35, X45, and X55 indicated by "normal" satisfy the relationship of X15<X25<X35<X45<X55.

[0146] For example, Figure 5 The threshold values ​​shown also satisfy the following relational expressions (1), (2), (3), (4), and (5). In relational expressions (1), (2), (3), (4), and (5), A1, A2, A3, A4, and A5 are numerical values ​​that satisfy the relationship A1<A2<A3<A4<A5.

[0147] X12-X11=X13-X12=X14-X13=X15-X14=A1…(1)

[0148] X22-X21=X23-X22=X24-X23=X25-X24=A2…(2)

[0149] X32-X31=X33-X32=X34-X33=X35-X34=A3…(3)

[0150] X42-X41=X43-X42=X44-X43=X45-X44=A4…(4)

[0151] X52-X51=X53-X52=X54-X53=X55-X54=A5…(5)

[0152] For example, Figure 5 The threshold values ​​shown also satisfy the following relational expressions (6), (7), (8), (9), and (10). In relational expressions (6), (7), (8), (9), and (10), B1, B2, B3, B4, and B5 are numerical values ​​that satisfy the relationship of B1>B2>B3>B4>B5.

[0153] X21-X11=X31-X21=X41-X31=X51-X41=B1…(6)

[0154] X22-X12=X32-X22=X42-X32=X52-X42=B2…(7)

[0155] X23-X13=X33-X23=X43-X33=X53-X43=B3…(8)

[0156] X24-X14=X34-X24=X44-X34=X54-X44=B4…(9)

[0157] X25-X15=X35-X25=X45-X35=X55-X45=B5…(10)

[0158] Figure 5 The assist increase range shown is the amount of increase in the assist level. The assist increase range is specified in stages according to an extremely high load threshold, a high load threshold, a medium load threshold, a low load threshold, a normal threshold, a light load threshold, and a stop mode threshold. Figure 5 The assist increase amplitude "+0" shown means that the assist level increase amount is 0. The assist increase amplitude "+0" is associated with the light load threshold, the normal threshold, and the small load threshold.

[0159] Figure 5 The assist increase of "+3" shown means that the assist level is increased by 3. The assist increase of "+3" is associated with the medium load threshold. The assist increase of "+4" means that the assist level is increased by 4. The assist increase of "+4" is associated with the high load threshold. The assist increase of "+5" means that the assist level is increased by 5. The assist increase of "+5" is associated with the extra-high load threshold.

[0160] The increase in the level of assistance is not limited to Figure 5The auxiliary increase range shown. The increase in the auxiliary level may not be set to the same value for the light load threshold, the normal threshold, and the low load threshold, but different values ​​may be set between the thresholds in the auxiliary increase direction from the light load threshold with the smallest value to the super high load threshold with the largest value. As the threshold increases step by step from the light load threshold, the increase in the auxiliary level may increase step by step. For example, the increase in the auxiliary level may increase step by step as the threshold increases step by step from the light load threshold.

[0161] The control unit 19d determines the amount of increase in the assistance level corresponding to the human driving force by comparing at least one threshold value of one group among the plurality of groups G1 with the human driving force. In the present embodiment, the control unit 19d determines the amount of increase in the assistance level corresponding to the human driving force by comparing an ultra-high load threshold value, a high load threshold value, and a medium load threshold value of one group with the human driving force.

[0162] For example, when the human driving force is greater than X31 Nm, the control unit 19d determines the increase in the assistance level to be 5 when comparing each threshold value of the third group with the human driving force. When the increase in the assistance level is determined to be 5, the control unit 19d determines the fifth increase mode M5 as the target change assistance mode.

[0163] The mode determination information T also includes level reduction information T2 for determining a target change assistance mode in order to reduce the assistance level. The level reduction information T2 includes at least one of first information related to the human driving force input to the human-driven vehicle 1, second information related to the driving state of the human-driven vehicle 1, and third information related to the driving environment of the human-driven vehicle 1, and fifth information related to the amount of reduction in the assistance level.

[0164] The amount of reduction of the assistance level is information that can determine how much the assistance level is reduced from the current assistance level of the assistance mode. In the present embodiment, the amount of reduction of the assistance level is a numerical value indicating how much the assistance level is reduced from the current assistance level in the plurality of assistance modes M.

[0165] The first information is information that changes according to the human-powered driving force. The first information includes at least one of information related to the average value of the human-powered driving force when the crank 10 of the human-powered vehicle 1 rotates a predetermined number of times, and information related to the maximum value of the human-powered driving force when the crank 10 of the human-powered vehicle 1 rotates a predetermined number of times. The first information in the level reduction information T2 may be the same as the first information in the level increase information T1. The first information in the level reduction information T2 may also be different from the first information in the level increase information T1. For example, the predetermined number of turns may be different between the level increase information T1 and the level reduction information T2.

[0166] The second information is information that changes according to the driving state of the human-powered vehicle 1. The second information includes information related to the inclination of the human-powered vehicle 1. The second information in the level reduction information T2 may be the same as the second information in the level increase information T1. The second information in the level reduction information T2 may also be different from the second information in the level increase information T1.

[0167] The third information is information that changes according to the driving environment of the human-powered vehicle 1. The third information includes information related to the inclination angle of the driving road of the human-powered vehicle 1. The third information in the level reduction information T2 may be the same as the third information in the level increase information T1. The third information in the level reduction information T2 may also be different from the third information in the level increase information T1. The fifth information includes information that can determine the amount of reduction in the assist level.

[0168] In the present embodiment, the level reduction information T2 includes first information related to the human driving force and fifth information related to the reduction amount of the assist level. Figure 6 An example of the level reduction information T2 is shown. Figure 6 The level reduction information T2 shown is a table for determining the amount of reduction of the assist level according to the human driving force.

[0169] Figure 6 The assist decreasing direction shown means that the assist level is reduced based on the current assist mode. Figure 6 The threshold value of the auxiliary descending direction shown is a threshold value of the human driving force for determining the amount of reduction of the auxiliary level. In the present embodiment, the threshold value of the auxiliary descending direction is respectively specified as seven, namely, an ultra-high load threshold value, a high load threshold value, a medium load threshold value, a small load threshold value, a normal threshold value, a light load threshold value, and a stop mode threshold value, similarly to the threshold value of the auxiliary ascending direction of the level increase information T1. Similar to the threshold value of the auxiliary ascending direction of the level increase information T1, the threshold value of the auxiliary descending direction is specified for each of the plurality of groups G2. The number of the plurality of groups G2 is the same as the number of the plurality of groups G1 of the level increase information T1.

[0170] The first group of the level-lowering information T2 corresponds to the first group of the level-increasing information T1. The second group of the level-lowering information T2 corresponds to the second group of the level-increasing information T1. The third group of the level-lowering information T2 corresponds to the third group of the level-increasing information T1. The fourth group of the level-lowering information T2 corresponds to the fourth group of the level-increasing information T1. The fifth group of the level-lowering information T2 corresponds to the fifth group of the level-increasing information T1. For example, the method of prescribing the threshold value of the auxiliary descending direction for each of the plurality of groups G2 may be the same as the method for prescribing the threshold value of the auxiliary ascending direction of the level-increasing information T1.

[0171] Figure 6 The threshold values ​​Y11, Y12, Y13, Y14, and Y15 shown in the first group satisfy the relationship of Y11>Y12>Y13>Y14>Y15. Figure 6 The threshold values ​​Y21, Y22, Y23, Y24, and Y25 shown in the second group satisfy the relationship of Y21>Y22>Y23>Y24>Y25. Figure 6 The threshold values ​​Y31, Y32, Y33, Y34, and Y35 shown in the third group satisfy the relationship of Y31>Y32>Y33>Y34>Y35. Figure 6 The threshold values ​​Y41, Y42, Y43, Y44, and Y45 shown in the fourth group satisfy the relationship of Y41>Y42>Y43>Y44>Y45. Figure 6 The threshold values ​​Y51, Y52, Y53, Y54, and Y55 shown in the fifth group satisfy the relationship of Y51>Y52>Y53>Y54>Y55.

[0172] Figure 6 The threshold values ​​Y11, Y21, Y31, Y41, and Y51 shown in the “super high load” satisfy the relationship of Y11<Y21<Y31<Y41<Y51. Figure 6 The threshold values ​​Y12, Y22, Y32, Y42, and Y52 indicated by "high load" satisfy the relationship of Y12<Y22<Y32<Y42<Y52. Figure 6 The threshold values ​​Y13, Y23, Y33, Y43, and Y53 indicated at "medium load" satisfy the relationship of Y13<Y23<Y33<Y43<Y53. Figure 6 The threshold values ​​Y14, Y24, Y34, Y44, and Y54 shown in "small load" satisfy the relationship of Y14<Y24<Y34<Y44<Y54. Figure 6 The threshold values ​​Y15, Y25, Y35, Y45, and Y55 indicated by "normal" satisfy the relationship of Y15<Y25<Y35<Y45<Y55.

[0173] For example, Figure 5 as well as Figure 6 The threshold values ​​shown also satisfy the following relational expressions (11), (12), (13), (14), and (15).

[0174] X11>Y11, X12>Y12, X13>Y13, X14>Y14, X15>Y15…(11)

[0175] X21>Y21, X22>Y22, X23>Y23, X24>Y24, X25>Y25…(12)

[0176] X31>Y31, X32>Y32, X33>Y33, X34>Y34, X35>Y35…(13)

[0177] X41>Y41, X42>Y42, X43>Y43, X44>Y44, X45>Y45…(14)

[0178] X51>Y51, X52>Y52, X53>Y53, X54>Y54, X55>Y55…(15)

[0179] The control unit 19d determines the amount of reduction of the assistance level corresponding to the human driving force by comparing at least one threshold value in one of the plurality of groups G2 with the human driving force. In the present embodiment, when the human driving force is below a normal threshold value in one of the groups, the control unit 19d determines the amount of reduction of the assistance level so that the assistance level returns to the user-specified assistance level L0.

[0180] If the amount of reduction in the assistance level is determined, the control unit 19d changes the current assistance mode to an assistance mode with an assistance level lower than the current assistance mode according to the determined amount of reduction in the assistance level. For example, when the control unit 19d compares the normal threshold value of the third group and the human driving force when the human driving force in the fifth increasing mode M5 is less than 10 Nm, the amount of reduction in the assistance level is determined to be 5. If the control unit 19d determines the amount of reduction in the assistance level to be 5, the fifth increasing mode M5 is changed to the user-specified assistance mode M0 with an assistance level five levels lower than the fifth increasing mode M5 according to the determined amount of reduction in the assistance level, i.e., 5.

[0181] The control of the control unit 19d for reducing the assist mode is not particularly limited. In the present embodiment, the control unit 19d does not directly change the assist mode from the fifth increase mode M5 to the user-specified assist mode M0, but changes the assist mode in a manner that the assist level is gradually reduced step by step. If the amount of reduction in the assist level is determined, the control unit 19d changes the current assist mode to an assist mode whose assist level is one level lower than the current one, regardless of the determined amount of reduction in the assist level. For example, if the amount of reduction in the assist level is determined to be 5 in the fifth increase mode M5, the control unit 19d does not change the assist mode from the fifth increase mode M5 to the user-specified assist mode M0 whose assist level is five levels lower than the fifth increase mode M5, but changes it to the fourth increase mode M4 whose assist level is one level lower than the fifth increase mode M5. In the case of changing the assist mode in a manner that the assist level is gradually reduced step by step, the control unit 19d may determine the amount of reduction in the assist level to be 1 regardless of the magnitude of the human driving force.

[0182] The control unit 19d is configured to change the level increase information T1 based on the input of at least one of the operation unit 31 of the external device 30 and the operation unit 20 provided in the human-powered vehicle 1. The control unit 19d is configured to change the level decrease information T2 based on the input of at least one of the operation unit 31 of the external device 30 and the operation unit 31 provided in the human-powered vehicle 1.

[0183] In the present embodiment, the control unit 19d changes the level increase information T1 and the level decrease information T2 by changing the group of the first to fifth groups that is compared with the human driving force according to the input of at least one of the operation unit 31 of the external device 30 and the operation unit 20 provided in the human-powered vehicle 1. Since the user can change the level increase information T1 and the level decrease information T2 by operating at least one of the operation unit 31 of the external device 30 and the operation unit 20 provided in the human-powered vehicle 1, the convenience can be improved.

[0184] The method of changing the level increase information T1 and the level decrease information T2 is not limited to the present embodiment. For example, the control unit 19d can change the level increase information T1 and the level decrease information T2 by changing the magnitude of each threshold value specified by the level increase information T1 and the level decrease information T2 according to the input of at least one of the operation unit 31 of the external device 30 and the operation unit 20 provided in the human-powered vehicle 1, thereby changing the level increase information T1 and the level decrease information T2.

[0185] The driving conditions for changing the assist mode are described. The driving conditions include a first driving condition, wherein the first driving condition is satisfied when at least one of a condition related to the human driving force input to the human-powered vehicle 1, a condition related to the driving state of the human-powered vehicle 1, and a condition related to the driving environment of the human-powered vehicle 1 is satisfied. The first driving condition is a condition for increasing the assist level by changing the assist mode. The first driving condition is satisfied when the load of the user is heavy while the human-powered vehicle 1 is driving.

[0186] For example, when the human driving force is greater than a predetermined threshold, the condition related to the human driving force is satisfied. For example, the predetermined threshold may be specified based on the level increase information T1. The predetermined threshold may vary according to the current assist mode.

[0187] For example, when the human driving force is greater than or equal to the medium load threshold of a group selected by the user from the first group to the fifth group of the level increase information T1 in the user-specified assist mode M0, the condition related to the human driving force is satisfied. In this specification, the group selected by the user is recorded as a selected group. The selected group is common to the level increase information T1 and the level decrease information T2.

[0188] For example, when the human driving force is above the high load threshold of the selected group of the level increase information T1 in the third increase mode M3, the condition related to the human driving force is satisfied. For example, when the human driving force is above the super high load threshold of the selected group of the level increase information T1 in the fourth increase mode M4, the condition related to the human driving force is satisfied.

[0189] For example, when the pitch angle of the human-powered vehicle 1 is equal to or greater than a predetermined threshold, the condition related to the travel state of the human-powered vehicle 1 is satisfied. The predetermined threshold may vary depending on the current assist mode.

[0190] For example, when the inclination angle of the road on which the human-powered vehicle 1 is traveling is equal to or larger than a predetermined threshold, the condition related to the traveling environment of the human-powered vehicle 1 is satisfied. The predetermined threshold may vary depending on the current assist mode.

[0191] In the present embodiment, when the condition related to the human driving force is satisfied, the first running condition is satisfied. When the first running condition is satisfied, the control unit 19d changes the current assist mode to the target change assist mode determined based on the level increase information T1.

[0192] The driving condition also includes a second driving condition different from the first driving condition. The second driving condition is a condition for reducing the assistance level by changing the assistance level. When the human-powered vehicle 1 is driving, the second driving condition is satisfied when the user's load is light. The second driving condition is satisfied when at least one of the conditions related to the human-powered driving force input to the human-powered vehicle 1, the conditions related to the driving state of the human-powered vehicle 1, and the information related to the driving environment of the human-powered vehicle 1 is satisfied.

[0193] For example, when the human driving force is less than a predetermined threshold, the condition related to the human driving force is satisfied. For example, the predetermined threshold may be specified based on the level reduction information T2. ​​The predetermined threshold may vary according to the current assist mode.

[0194] For example, in the third increase mode M3 , the fourth increase mode M4 , and the fifth increase mode M5 , when the human driving force is equal to or less than the normal threshold value of the selected group of the level reduction information T2 , the condition related to the human driving force is satisfied.

[0195] For example, when the pitch angle of the human-powered vehicle 1 is equal to or smaller than a predetermined threshold, the condition related to the travel state of the human-powered vehicle 1 is satisfied. The predetermined threshold may vary depending on the current assist mode.

[0196] For example, when the inclination angle of the road on which the human-powered vehicle 1 is traveling is equal to or smaller than a predetermined threshold, the condition related to the traveling environment of the human-powered vehicle 1 is satisfied. The predetermined threshold may vary depending on the current assist mode.

[0197] In this embodiment, the second driving condition is satisfied when the condition related to the human driving force is satisfied. After the assist mode is changed so as to increase the assist level, if the second driving condition is satisfied, the control unit 19d changes the current assist mode to the target changed assist mode determined based on the level reduction information T2.

[0198] use Figure 4 and Figure 7 A specific example of the state transition of the transmission unit 19 when the assist mode is changed by the control unit 19d will be described. Figure 4 The torque level shown is a condition of the human driving force for switching the state of the transmission unit 19. In this embodiment, the torque level indicates the relationship between each threshold value of the selected group of the level increase information T1 or each threshold value of the selected group of the level decrease information T2 and the human driving force.

[0199] The torque level 3 indicated by the arrow A1 starting from the user specified assist level L0 and returning to the user specified assist level L0 means that the human driving force is less than the medium load threshold value of the selection group of the level increase information T1. When the torque level 3 is reached in the user specified assist mode M0, the control unit 19d determines the increase amount of the assist level to zero based on the level increase information T1, and maintains the user specified assist mode M0.

[0200] The torque level 4 indicated by the arrow A2 from the user-specified assist level L0 toward the third increase level L3 means that the human driving force is less than the high load threshold of the selection group of the level increase information T1, and the human driving force is greater than the medium load threshold of the selection group of the level increase information T1. When the torque level 4 is reached in the user-specified assist mode M0, the control unit 19d determines the increase amount of the assist level to 3 based on the level increase information T1, and changes the assist mode to the third increase mode M3.

[0201] The control unit 19d can increase the assistance level from the user-specified assistance level L0 to the third increase level L3 by changing the assistance mode to the third increase mode M3. Since the assistance level can be increased, the load on the user can be reduced during the travel of the human-powered vehicle 1, and thus the control unit 19d can contribute to the comfortable travel of the human-powered vehicle 1.

[0202] The torque level 5 indicated by the arrow A3 from the user-specified assist level L0 toward the fourth increase level L4 and the arrow A4 from the third increase level L3 toward the fourth increase level L4 means that the human driving force is less than the super-high load threshold of the selected group of the level increase information T1 and is above the high load threshold of the selected group of the level increase information T1. When the torque level 5 is reached in the user-specified assist mode M0 and the third increase mode M3, the control unit 19d changes the assist mode to the fourth increase mode M4.

[0203] The torque level 6 indicated by the arrow A5 from the user-specified assist level L0 toward the fifth increase level L5, the arrow A6 from the third increase level L3 toward the fifth increase level L5, and the arrow A7 from the fourth increase level L4 toward the fifth increase level L5 means that the human driving force is above the ultra-high load threshold of the selection group of the level increase information T1. When the torque level 6 is reached in the user-specified assist mode M0, the third increase mode M3, and the fourth increase mode M4, the control unit 19d changes the assist mode to the fifth increase mode M5.

[0204] When increasing the assistance level, the control unit 19d directly changes from the current assistance mode to the target change assistance mode without passing through other assistance modes. Figure 7 At the time TM1 shown, when the torque level 5 is reached in the user-specified assist mode M0, the control unit 19d changes the assist mode to the fifth increase mode M5 without passing through the third increase mode M3 and the fourth increase mode M4. The control unit 19d changes the assist mode to the fifth increase mode M5 without passing through the third increase mode M3 and the fourth increase mode M4, thereby being able to quickly increase the assist level and, therefore, being able to respond to the user's urgency.

[0205] from Figure 4 The torque level 2 or less indicated by the arrow A8 from the fifth increase level L5 toward the fourth increase level L4, the arrow A9 and the arrow A10 from the fourth increase level L4 toward the third increase level L3, and the arrow A11 and the arrow A12 from the third increase level L3 toward the user-specified assist level L0 means that the human driving force is below the normal threshold value of the selected group of the level reduction information T2. ​​When the human driving force is below the normal threshold value at the fifth increase level L5, the control unit 19d determines the reduction amount of the assist level to be 5.

[0206] In this embodiment, regardless of the determined reduction amount of the assistance level, the control unit 19d changes the current assistance mode to an assistance mode one level lower than the current assistance mode. Figure 4As shown in the fourth increase mode M4, the control unit 19d is in a standby state until the crank 10 rotates two strokes, and then changes the assist mode from the fifth increase mode M5 to the fourth increase mode M4. For example, the control unit 19d detects the rotation of the crank 10 based on the signal from the fourth detection unit 24, so that it can be in a standby state until the crank 10 rotates two strokes.

[0207] As shown by arrow A9, when the torque level is less than 2 in the rotation of the last four strokes of the crank 10, the control unit 19d changes the assist mode from the fourth increase mode M4 to the third increase mode M3. When the rotation of the last four strokes of the crank 10 includes the rotation of the crank 10 in the fifth increase mode M5, the control unit 19d excludes the rotation of the crank 10 in the fifth increase mode M5 to determine whether the torque level is less than 2.

[0208] For example, the control unit 19d is in a standby state until the crank 10 rotates two strokes, then changes the assist mode from the fifth increase mode M5 to the fourth increase mode M4, and determines whether the torque level is below 2 in the rotation of the two most recent strokes of the crank 10 when the crank 10 rotates two strokes. As shown by arrow A10, when the torque level is below 2 in the two most recent strokes of the crank 10, the control unit 19d changes the assist mode from the fourth increase mode M4 to the third increase mode M3, thereby being able to change the assist mode based on the human driving force in the fourth increase mode M4.

[0209] As indicated by arrows A11 and A12 , the control unit 19 d changes the assist mode from the third increasing mode M3 to the user designated assist mode M0 , similarly to the case of changing the assist mode from the fourth increasing mode M4 to the third increasing mode M3 .

[0210] If there is at least one other assistance mode having an assistance level lower than the assistance level of the current assistance mode and higher than the assistance level of the target change assistance mode determined based on the level reduction information T2, the control unit 19d changes from the current assistance mode to the target change assistance mode via the at least one other assistance mode. Figure 7 When the state of torque level 2 or less continues from time TM2 to time TM4 later than time TM1 shown, the control unit 19d changes the assist mode to the user designated assist mode M0 via the fourth increase mode M4 and the third increase mode M3.

[0211] In this embodiment, the control unit 19d changes the assist mode from the fourth increase mode M4 to the third increase mode M3 after the crank 10 rotates at least two strokes. The control unit 19d changes the assist mode from the third increase mode M3 to the user-specified assist mode M0 after the crank 10 rotates at least two strokes.

[0212] The control unit 19d can reduce the assistance level in stages by changing the assistance mode to the user-specified assistance mode M0 via the fourth increase mode M4 and the third increase mode M3, so that the user can hardly notice the change of the assistance mode. By making the user hardly notice the change of the assistance mode, the control unit 19d can alleviate the discomfort brought to the user, so that the human-powered vehicle 1 can be helped to travel comfortably.

[0213] An example of control performed by the control unit 19d is described below. Figure 8 and Fig. 9 , an example of the control performed by the control unit 19d is described. When the predetermined conditions are met, the control unit 19d starts to Figure 8 The first control process of the flowchart shown in FIG. 1 is a first control process. In the present embodiment, when power starts to be supplied from a predetermined power source to the control device 19b, the control unit 19d starts the first control process. If the first control process ends, the control unit 19d repeatedly executes the first control process at predetermined intervals until a predetermined condition is satisfied. In the present embodiment, the control unit 19d repeatedly executes the first control process until power is no longer supplied from a predetermined power source to the control device 19b.

[0214] In step S11, the control unit 19d monitors information related to the speed of the human-powered vehicle 1. For example, the control unit 19d detects the speed of the human-powered vehicle 1 based on the signal from the fourth detection unit 24. The control unit 19d detects the state of transition from the state of the human-powered vehicle 1 running to the state of the human-powered vehicle 1 stopping based on the speed of the human-powered vehicle 1. For example, the state of the human-powered vehicle 1 running is a state in which the speed of the human-powered vehicle 1 is faster than a predetermined speed. For example, the state in which the human-powered vehicle 1 is stopped is a state in which the speed of the human-powered vehicle 1 is less than a predetermined speed.

[0215] For example, when the speed of the human-powered vehicle 1 changes from a state faster than zero kilometers per hour to zero kilometers per hour, the control unit 19d detects that the human-powered vehicle 1 is switched from a state of running to a state of stopping. For example, when the speed of the human-powered vehicle 1 does not change from a state faster than zero kilometers per hour to zero kilometers per hour, the control unit 19d does not detect that the human-powered vehicle 1 is switched from a state of running to a state of stopping. After performing the processing of step S11, the control unit 19d proceeds to step S12.

[0216] In step S12, the control unit 19d performs start control. The start control is a control to increase the assistance level when the human-powered vehicle 1 stops in a state where at least one of the speed ratio of the human-powered vehicle 1 and the number of gear stages of the human-powered vehicle 1 is high. In step S11, when it is detected that the state of the human-powered vehicle 1 is converted from the state of driving to the state of stopping the human-powered vehicle 1, the control unit 19d monitors at least one of the speed ratio of the human-powered vehicle 1 and the number of gear stages of the human-powered vehicle 1. When at least one of the speed ratio and the number of gear stages of the human-powered vehicle 1 is above a predetermined threshold, the control unit 19d changes the assistance mode in a manner that increases the assistance level. For example, the control unit 19d changes the assistance mode in a manner that does not exceed the range of the increase in the assistance level specified by the level increase information T1.

[0217] In step S12, when at least one of the gear ratio and the number of gear stages of the human-powered vehicle 1 is less than a predetermined threshold value, the control unit 19d does not change the assist mode. In step S11, when the state of the human-powered vehicle 1 being driven is not detected to be converted to the state of the human-powered vehicle 1 being stopped, the control unit 19d does not change the assist mode. After processing step S12, the control unit 19d proceeds to step S13.

[0218] In step S13, the control unit 19d monitors information related to the vehicle state. The information related to the vehicle state includes information that can determine whether the first driving condition and the second driving condition are satisfied. For example, the control unit 19d detects the human driving force based on the signal from the first detection unit 21. For example, the control unit 19d detects at least one of the average value of the human driving force when the crank 10 rotates a predetermined number of times and the maximum value of the human driving force when the crank 10 rotates a predetermined number of times. After processing step S13, the control unit 19d proceeds to step S14.

[0219] In step S14, the control unit 19d determines whether to control the assist level so as to increase or decrease the assist level based on the human driving force detected in step S13. Fig. 9 The subroutine of step S14 is described in . When the control unit 19d performs the process of step S14, it proceeds to step S21.

[0220] In step S21, when the current assistance level is higher than the third increase level L3 and the human driving force detected in step S13 is lower than the normal threshold of the selected group of the level reduction information T2, the control unit 19d proceeds to step S26. When at least one of the following conditions is satisfied: the current assistance level is lower than the third increase level L3 and the human driving force detected in step S13 is higher than the normal threshold, the control unit 19d proceeds to step S22.

[0221] In step S22, when the current assistance level is the user-specified assistance level L0 and the human driving force detected in step S13 is greater than the medium load threshold of the selection group of the level increase information T1, the control unit 19d proceeds to step S26. When at least one of the following conditions is satisfied: the current assistance level is not the user-specified assistance level L0 and the human driving force detected in step S13 is less than the medium load threshold, the control unit 19d proceeds to step S23.

[0222] In step S23, when the current assistance level is the third increase level L3 and the human driving force detected in step S13 is greater than the high load threshold of the selection group of the level increase information T1, the control unit 19d proceeds to step S26. When at least one of the following conditions is satisfied: the current assistance level is not the third increase level L3 and the human driving force detected in step S13 is less than the high load threshold, the control unit 19d proceeds to step S24.

[0223] In step S24, when the current assistance level is the fourth increase level L4 and the human driving force detected in step S13 is greater than the super-high load threshold of the selection group of the level increase information T1, the control unit 19d proceeds to step S26. When at least one of the following conditions is satisfied: the current assistance level is not the fourth increase level L4 and the human driving force detected in step S13 is less than the super-high load threshold, the control unit 19d proceeds to step S25.

[0224] In step S25, the control unit 19d determines that the assistance level is not to be changed. If it is determined in step S25 that the assistance level is not to be changed, the control unit 19d changes Figure 8 Step S14 shown proceeds to step S13.

[0225] exist Fig. 9 In step S26 shown in FIG. 1 , the control unit 19d determines to change the assistance level. If it is determined in step S26 that the assistance level should be changed, the control unit 19d changes the Figure 8 The step S14 shown proceeds to step S15.

[0226] In step S15, the control unit 19d controls the assistance level so as to increase or decrease the assistance level. Fig. 9In the case of the condition of step S21 shown in the figure, the control unit 19d determines the amount of reduction of the assistance level so that the assistance level returns to the user-specified assistance level L0, and changes the assistance level so that the assistance level is reduced. In the case of satisfying any of the conditions of steps S22 to S24, the control unit 19d determines the amount of increase of the assistance level based on the level increase information T1, and changes the assistance level so that the assistance level is increased. After performing the processing of step S15, the control unit 19d ends the first control flow.

[0227] The control unit 19d executes the first control flow, thereby being able to Figure 4 In this way, the state transition diagram shown changes the assistance level among the user-specified assistance level L0, the third increase level L3, the fourth increase level L4, and the fifth increase level L5.

[0228] The assist level can be changed between the user-specified assist level L0, the third increase level L3, the fourth increase level L4, and the fifth increase level L5, so that the control unit 19d can change the range of the assist level to be changed according to the assist mode selected by the user, thereby finely controlling the assist level. For example, the assist level can be finely controlled, so that the most appropriate assist force can be given to the human-powered vehicle 1 when the human-powered vehicle 1 travels uphill, so that the control unit 19d can improve the travel comfort of the human-powered vehicle 1.

[0229] Depending on the state of the human-powered vehicle 1, the change in the assistance level may cause discomfort to the user, so the control unit 19d may not change the assistance mode in step S15 depending on the state of the human-powered vehicle 1. For example, when the human-powered vehicle 1 continues to travel at a low speed, the control unit 19d may not change the assistance mode. For example, when the state in which the speed of the human-powered vehicle 1 does not exceed the predetermined first threshold value continues for a predetermined time, the control unit 19d may not change the assistance mode in a manner that the assistance level increases.

[0230] In order to avoid causing discomfort to the user, the control unit 19d may be configured not to change the assist mode when the human-powered vehicle 1 makes a sharp turn. For example, the control unit 19d may be configured not to change the assist mode when at least one of the handlebar angle and the roll angle of the human-powered vehicle 1 exceeds a predetermined second threshold value. For example, when at least one of the handlebar angle and the roll angle detected based on the signal from the second detection unit 22 exceeds the second threshold value, the control unit 19d may not change the assist mode in a manner that increases the assist level.

[0231] When at least one of the handlebar angle and the roll angle of the human-powered vehicle 1 exceeds the second threshold value, the assist mode is not changed so that the assist level increases, so that the control unit 19d can suppress the increase of the assist level when the human-powered vehicle 1 makes a sharp turn. When the human-powered vehicle 1 makes a sharp turn, the increase of the assist level can be suppressed, so that the control unit 19d can suppress the reduction of the operability of the human-powered vehicle 1, and thus it is less likely to cause discomfort to the user.

[0232] There is no particular limitation on the control of at least one of the handlebar angle and the roll angle of the human-powered vehicle 1 by the control unit 19d. For example, when at least one of the handlebar angle and the roll angle exceeds the second threshold, the control unit 19d may not change the assist level to reduce the assist level.

[0233] (Second Embodiment)

[0234] The control device 19b of the second embodiment will be described. Figure 8 , Fig.10 as well as Fig.11 The control device 19b of the second embodiment will be described. The same reference numerals as those of the first embodiment are given to the same structures as those of the first embodiment, and duplicate descriptions are omitted.

[0235] In the present embodiment, the control unit 19d is configured to control the assistance level when the human-powered vehicle 1 is traveling uphill, rather than when the human-powered driving force is large. The control unit 19d is configured to control the assistance level according to the inclination angle of the road on which the human-powered vehicle 1 is traveling. For example, when the control unit 19d controls the assistance level according to the inclination angle of the road on which the human-powered vehicle 1 is traveling, the level increase information T3 includes third information related to the traveling environment of the human-powered vehicle 1 and fourth information related to the increase amount of the assistance level. Fig.10 A specific example of the rank increase information T3 is shown. Fig.10 The level increase information T3 shown is a table for determining the increase amount of the assist level according to the inclination angle of the traveling road.

[0236] exist Fig.10 In the embodiment, the threshold value of the auxiliary ascending direction is defined in a hierarchical manner according to the load of the user. The threshold values ​​of the auxiliary ascending direction are defined as seven threshold values, namely, an ultra-steep slope threshold value, a steep slope threshold value, a medium slope threshold value, a slight uphill threshold value, a flat threshold value, a downhill threshold value, and a stop mode threshold value. The ultra-steep slope threshold value is greater than the steep slope threshold value. The steep slope threshold value is greater than the medium slope threshold value. The medium slope threshold value is greater than the slight uphill threshold value. The slight uphill threshold value is greater than the flat threshold value. The flat threshold value is greater than the downhill threshold value. The stop mode threshold value may be omitted.

[0237] A threshold value for assisting the ascending direction is defined for each of the plurality of groups G3. In the present embodiment, a threshold value for assisting the ascending direction is defined for each of the first group, the second group, and the third group. The threshold values ​​for assisting the ascending direction increase in a stepwise manner from the first group to the third group, except for a slight uphill threshold value, a flat threshold value, and a downhill threshold value.

[0238] Fig.10 The auxiliary ascending range shown is specified hierarchically according to the super steep slope threshold, steep slope threshold, medium slope threshold, slight uphill threshold, flat threshold, downhill threshold, and stop mode threshold. Fig.10 In , the auxiliary rise amplitude of +0 is associated with the downhill threshold, the flat threshold, and the slight uphill threshold. Fig.10 In , +3 of the assist rise is associated with the medium grade threshold. Fig.10 In , the +4 auxiliary rise is associated with the steepness threshold. Fig.10 In the example above, +5 of the auxiliary ascent is associated with the ultra-steep slope threshold.

[0239] The increase in the level of assistance is not limited to Fig.10 The amount of increase in the assistance level may not be set to the same value for the downhill threshold, the flat threshold, and the slightly uphill threshold, but may be set to different values ​​between the thresholds of the assisting ascending direction from the downhill threshold with the smallest value to the super steep slope threshold with the largest value. The amount of increase in the assistance level may increase step by step as the threshold increases step by step from the downhill threshold. For example, the amount of increase in the assistance level may increase step by step as the threshold increases step by step from the downhill threshold.

[0240] For example, the level reduction information for reducing the assistance level includes third information related to the driving environment of the human-driven vehicle 1 and fifth information related to the amount of reduction of the assistance level. The level reduction information of this embodiment specifies the threshold value of the assistance decreasing direction for each of the plurality of groups in a manner corresponding to the plurality of groups G3 of the level increase information T3. The threshold value of the assistance decreasing direction is the same as the threshold value of the assistance increasing direction of the level increase information T3, so the illustration of the level reduction information is omitted.

[0241] As in the first embodiment, the user can select a group to be compared with the inclination angle of the traveling road from the first to third groups by operating at least one of the operation unit 31 of the external device 30 and the operation unit 20 provided in the human-powered vehicle 1. In the present embodiment, when the human-powered vehicle 1 is traveling uphill, each threshold value of the N1th group among the first to third groups is set to a value that can appropriately control the assist level.

[0242] The first driving condition for increasing the assistance level is satisfied when the condition related to the driving environment of the human-powered vehicle 1 is satisfied. For example, when the inclination angle of the driving road is greater than the medium gradient threshold of the selection group selected by the user in the level increase information T3 in the user-specified assistance mode M0, the condition related to the driving environment of the human-powered vehicle 1 is satisfied.

[0243] For example, when the inclination angle of the driving road is greater than the steep slope threshold of the selection group of the level increase information T1 in the third increase mode M3, the condition related to the driving environment of the human-driven vehicle 1 is satisfied. For example, when the inclination angle of the driving road is greater than the super-steep slope threshold of the selection group of the level increase information T1 in the fourth increase mode M4, the condition related to the driving environment of the human-driven vehicle 1 is satisfied.

[0244] The second driving condition for reducing the assist level is satisfied when the condition related to the driving environment of the human-powered vehicle 1 is satisfied. For example, when the inclination angle of the driving road is below the flat threshold value of the selection group of the level reduction information in the third increase mode M3, the fourth increase mode M4, and the fifth increase mode M5, the condition related to the driving environment of the human-powered vehicle 1 is satisfied.

[0245] For example, the control unit 19d executes Figure 8 1. The assist mode is changed by the second control flow corresponding to the first control flow shown in FIG. 1. In the second control flow, the control unit 19d performs the processing of step S11 and step S12 in the same manner as the first control flow. In step S13, the control unit 19d detects the inclination angle of the driving road. In step S14, the control unit 19d determines whether to control the assist level to increase or decrease the assist level based on the inclination angle of the driving road.

[0246] Fig.11 An example of a subroutine of step S14 is described below, which is performed based on the inclination angle of the traveling road. Fig.11 , the control unit 19d enters step S31.

[0247] In step S31, when the current assistance level is greater than or equal to the third increase level L3 and the inclination angle of the traveling road detected in step S13 is less than the flat threshold value of the selection group of the level reduction information, the control unit 19d proceeds to step S36. When at least one of the current assistance level is less than the third increase level L3 and the inclination angle of the traveling road detected in step S13 is greater than the flat threshold value is satisfied, the control unit 19d proceeds to step S32.

[0248] In step S32, when the current assistance level is the user-specified assistance level L0 and the inclination angle of the traveling road detected in step S13 is greater than the medium gradient threshold of the selection group of the level increase information T3, the control unit 19d proceeds to step S36. When at least one of the following conditions is satisfied: the current assistance level is not the user-specified assistance level L0 and the inclination angle of the traveling road detected in step S13 is less than the medium gradient threshold, the control unit 19d proceeds to step S33.

[0249] In step S33, when the current assistance level is the third increase level L3 and the inclination angle of the traveling road detected in step S13 is greater than the steep gradient threshold of the selection group of the level increase information T3, the control unit 19d proceeds to step S36. When at least one of the following conditions is satisfied: the current assistance level is not the third increase level L3 and the inclination angle of the traveling road detected in step S13 is less than the steep gradient threshold, the control unit 19d proceeds to step S34.

[0250] In step S34, when the current assistance level is the fourth increase level L4 and the inclination angle of the traveling road detected in step S13 is greater than the super steep gradient threshold of the selection group of the level increase information T3, the control unit 19d proceeds to step S36. When at least one of the following conditions is satisfied: the current assistance level is not the fourth increase level L4 and the inclination angle of the traveling road detected in step S13 is less than the super high load threshold, the control unit 19d proceeds to step S35.

[0251] In step S35, the control unit 19d determines not to change the assistance level. In step S36, the control unit 19d determines to change the assistance level. If it is determined in step S36 that the assistance level is to be changed, the control unit 19d Figure 8 In step S15 shown, the assistance level is controlled based on the inclination angle of the traveling road detected in step S13 so as to increase or decrease the assistance level.

[0252] For example, in meeting Fig.11 In the case of the condition of step S31 shown in FIG. 1 , the control unit 19d determines the amount of reduction of the assistance level so that the assistance level returns to the user-specified assistance level L0, and changes the assistance level so that the assistance level is reduced. In the case of satisfying any of the conditions of steps S32 to S34, the control unit 19d determines the amount of increase of the assistance level by comparing the super steep slope threshold, steep slope threshold, and medium slope threshold of the selected group of the level increase information T3 with the inclination angle of the driving road, and changes the assistance level so that the assistance level is increased. After controlling the assistance level, the control unit 19d ends the second control flow.

[0253] The control unit 19d can make the assistance level less likely to be reduced when the human-powered vehicle 1 is traveling uphill by executing the second control process, thereby improving the comfort of the human-powered vehicle 1. The control unit 19d can control the assistance level based on information related to the inclination angle of the traveling road. For example, the control unit 19d can control the assistance level based on the pitch angle of the human-powered vehicle 1. The control unit 19d can control the assistance level based on both the inclination angle and the pitch angle of the traveling road.

[0254] (Third Embodiment)

[0255] The control device 19b of the third embodiment will be described. Figure 5 , Figure 8 as well as Fig.12 The control device 19b of the third embodiment will be described. The same reference numerals as those of the first and second embodiments are given to the same structures as those of the first and second embodiments, and duplicate descriptions are omitted.

[0256] In this embodiment, the control unit 19d is configured to control the assistance level in the two cases where the human driving force is large and the human-powered vehicle 1 is traveling uphill. The control unit 19d is configured to control the assistance level based on both the human driving force and the inclination angle of the traveling road. The control unit 19d can be configured to control the assistance level based on the human driving force and the pitch angle of the human-powered vehicle 1.

[0257] For example, when the control unit 19d controls the assistance level based on both the human driving force and the inclination angle of the driving road, the level increase information includes first information related to the human driving force, third information related to the driving environment of the human-powered vehicle 1, and fourth information related to the increase amount of the assistance level.

[0258] For example, when the level increase information includes the first information, the third information, and the fourth information, the control unit 19d may Figure 5 The level increase information T1 of the first embodiment shown, and Fig.10 The level increase information T3 of the second embodiment shown is used to determine the amount of increase in the assist level.

[0259] For example, the control unit 19d controls the Figure 5 The control unit 19d calculates the increase in the assist level according to the human driving force based on the level increase information T1 shown in FIG. Fig.10The control unit 19d may calculate the increase in the assist level corresponding to the inclination angle of the traveling road based on the level increase information T3 shown in the figure. The control unit 19d may set the increase in the assist level, whichever is greater, the increase in the assist level corresponding to the human driving force or the increase in the assist level corresponding to the inclination angle of the traveling road as the increase in the assist level.

[0260] For example, the level reduction information includes first information related to the human driving force, third information related to the driving environment of the human-driven vehicle 1, and fifth information related to the reduction amount of the assist level. In the case where the level increase information includes the first information, the third information, and the fifth information, the control unit 19d may Figure 6 The amount of reduction of the assist level is determined based on the level reduction information T2 of the first embodiment and the level reduction information of the second embodiment shown.

[0261] The first driving condition for increasing the assist level is satisfied when at least one of the conditions related to the human driving force and the conditions related to the driving environment of the human-powered vehicle 1 is satisfied. For example, the conditions related to the human driving force are the same as the first driving condition of the first embodiment. For example, the conditions related to the driving environment of the human-powered vehicle 1 are the same as the first driving condition of the second embodiment.

[0262] The second driving condition for reducing the assist level is satisfied when at least one of the conditions related to the human-powered driving force input to the human-powered vehicle 1, the conditions related to the driving state of the human-powered vehicle 1, and the conditions related to the driving environment of the human-powered vehicle 1 is satisfied. In the present embodiment, the second driving condition is satisfied when both the conditions related to the human-powered driving force and the conditions related to the driving environment of the human-powered vehicle 1 are satisfied. For example, the conditions related to the human-powered driving force are the same as the second driving condition of the first embodiment. For example, the conditions related to the driving environment of the human-powered vehicle 1 are the same as the second driving condition of the second embodiment.

[0263] For example, the control unit 19d can execute Figure 8 The assist mode is changed by using the third control flow corresponding to the first control flow shown in FIG. 1 . In the third control flow, the control unit 19d performs the processing of step S11 and step S12 in the same manner as the first control flow. In step S13, the control unit 19d detects the human driving force and the inclination angle of the driving road. In step S14, the control unit 19d determines whether to control the assist level to increase or decrease the assist level based on the human driving force and the inclination angle of the driving road.

[0264] Fig.12An example of a subroutine of step S14 is described, which is performed based on the human driving force detected in step S13 and the inclination angle of the traveling road detected in step S13. Fig.12 , the control unit 19d enters step S41.

[0265] In step S41, when the human driving force detected in step S13 satisfies the condition for reducing the assist level, the control unit 19d proceeds to step S42. Fig. 9 In the case of the condition of step S21 of the first embodiment shown in FIG. 1 , the condition for reducing the assistance level is satisfied. Fig.12 As shown, when the human driving force detected in step S13 does not satisfy the condition for reducing the assist level, the control unit 19d proceeds to step S43.

[0266] In step S42, when the inclination angle of the traveling road detected in step S13 satisfies the condition for reducing the assistance level, the control unit 19d proceeds to step S46. Fig.11 In the case of the condition of step S31 of the second embodiment shown in FIG. 1 , the condition for reducing the assistance level is satisfied. Fig.12 As shown, when the inclination angle of the traveling road detected in step S13 does not satisfy the condition for lowering the assistance level, the control unit 19d proceeds to step S43.

[0267] In step S43, when the human driving force detected in step S13 satisfies the condition for increasing the assist level, the control unit 19d proceeds to step S46. Fig. 9 In the first embodiment shown in FIG. 1 , when at least one of the conditions of step S22, step S23, and step S24 is satisfied, the condition for increasing the assistance level is satisfied. Fig.12 As shown, when the human driving force detected in step S13 does not satisfy the condition for increasing the assist level, the control unit 19d proceeds to step S44.

[0268] In step S44, when the inclination angle of the traveling road detected in step S13 satisfies the condition for increasing the assistance level, the control unit 19d proceeds to step S46. Fig.11 In the second embodiment shown in FIG. 1 , at least one of the conditions of step S32, step S33, and step S34 is satisfied, and the condition for increasing the assist level is satisfied. Fig.12 As shown, when the inclination angle of the traveling road detected in step S13 does not satisfy the condition for lowering the assistance level, the control unit 19d proceeds to step S45.

[0269] In step S45, the control unit 19d determines not to change the assistance level. In step S46, the control unit 19d determines to change the assistance level. If it is determined in step S46 that the assistance level is to be changed, the control unit 19d Figure 8 In step S15 shown, the assist level is controlled based on the human driving force detected in step S13 and the inclination angle of the traveling road detected in step S13 so that the assist level is increased or decreased.

[0270] For example, in meeting Fig.12 In the case of any of the conditions of step S41 and step S42 shown in the figure, the control unit 19d determines the amount of reduction of the assistance level so that the assistance level returns to the user-specified assistance level L0, and changes the assistance level so that the assistance level is reduced. In the case of any of the conditions of step S43 and step S44, the control unit 19d determines the amount of increase of the assistance level based on the human driving force detected in step S13 and the inclination angle of the driving road detected in step S13, and changes the assistance level so that the assistance level is increased. After controlling the assistance level, the control unit 19d ends the third control flow.

[0271] The control unit 19d can reduce the assistance level only when both the human driving force detected in step S13 and the inclination angle of the traveling road detected in step S13 satisfy the conditions for reducing the assistance level by executing the third control process. Since the assistance level can be reduced only when both the human driving force detected in step S13 and the inclination angle of the traveling road detected in step S13 satisfy the conditions for reducing the assistance level, it is easy to maintain a high assistance level until the load on the user is reduced, thereby improving the driving comfort of the human-powered vehicle 1.

[0272] (Fourth Embodiment)

[0273] The control device 19b of the fourth embodiment will be described. Figure 8 and Fig.13 , a control device 19b of a fourth embodiment will be described. The same reference numerals as those of the first to third embodiments are given to the same structures as those of the first to third embodiments, and duplicate descriptions are omitted.

[0274] In the present embodiment, the human-powered vehicle 1 is provided with a transmission device, and the transmission device is controlled to change the speed ratio of the human-powered vehicle 1 according to the driving state of the human-powered vehicle 1. The driving state of the human-powered vehicle 1 for changing the speed ratio may also be different from the driving state of the human-powered vehicle 1 in the driving condition for changing the assist mode. In the present embodiment, the electric transmission 17 included in the transmission device is controlled to change the speed ratio of the human-powered vehicle 1 according to the driving state of the human-powered vehicle 1. For example, the electric transmission 17 is controlled by the control unit 19d.

[0275] For example, the control unit 19d controls the electric transmission 17 according to the pedaling frequency. For example, when the pedaling frequency is equal to or greater than a predetermined threshold, the control unit 19d controls the electric transmission 17 to perform an upshift. In the present embodiment, the upshift is an action in which the driving force transmission unit 16c shifts between the plurality of rear sprockets to increase the speed ratio.

[0276] For example, when the pedaling frequency is less than a predetermined threshold, the control unit 19d controls the electric transmission 17 to perform a downshift. In the present embodiment, the downshift is an operation in which the driving force transmission unit 16c shifts between the plurality of rear sprockets to reduce the speed ratio.

[0277] The control unit 19 d can suppress excessive changes in the cadence by controlling the electric transmission 17 according to the cadence. The device that controls the electric transmission 17 is not limited to the control unit 19 d. The electric transmission 17 may be controlled by a control unit that is a component different from the transmission unit 19 .

[0278] In the present embodiment, the control unit 19d is configured to control the transmission device according to the change of the assist mode when the assist mode is changed according to the mode determination information T. When the assist mode is changed to increase the assist level, the control unit 19d controls the transmission device to maintain the gear ratio. In the present embodiment, the control unit 19d controls the electric transmission 17 to suppress upshifting and downshifting regardless of the pedaling frequency.

[0279] An example of control performed by the control unit 19d is described below. Fig.13 , an example of the control performed by the control unit 19d is described. When the predetermined conditions are met, the control unit 19d starts to Fig.13 When the fourth control process ends, the control unit 19d repeatedly executes the fourth control process at predetermined intervals until a predetermined condition is satisfied. For example, the conditions for starting the fourth control process and the conditions for repeating the fourth control process are the same as those of the first embodiment.

[0280] In the fourth control flow, Figure 8Similarly to the first control flow of the first embodiment shown, the control unit 19d performs the processing from step S11 to step S15. In step S15, the control unit 19d controls the assist level to increase or decrease the assist level according to the human driving force detected in step S13.

[0281] After performing the processes from step S11 to step S15, the control unit 19d proceeds to step S51. If the assist level is changed to increase the assist level in step S15, the control unit 19d proceeds from step S51 to step S52. If the assist level is changed to decrease the assist level in step S15, the control unit 19d proceeds from step S51 to step S53.

[0282] In step S52, the control unit 19d controls the electric transmission to maintain the gear ratio unchanged regardless of the pedaling frequency when the number of rotations of the wheel 15 is 1 to 5. For example, the control unit 19d controls the electric transmission 17 to maintain the gear ratio unchanged regardless of the pedaling frequency when the number of rotations of the wheel 15 is 3. After performing the processing of step S52, the control unit 19d ends the fourth control process.

[0283] In step S53, the control unit 19d does not control the electric transmission 17 so as to maintain the speed ratio regardless of the pedaling frequency. After performing the process of step S53, the control unit 19d ends the fourth control flow.

[0284] The control unit 19d can improve the climbing performance of the human-powered vehicle 1 by executing the fourth control process. For example, when the human-powered vehicle 1 is traveling up a steep slope, the control unit 19d increases the assist level in step S15 to increase the human-powered driving force. The pedaling frequency increases as the assist level increases.

[0285] Since the control unit 19d controls the electric transmission 17 to maintain the speed ratio unchanged when the assist level is increased, when the human-powered vehicle 1 is traveling on an upward steep slope, even if the pedaling frequency increases with the increase in the assist level, the upshift can be suppressed. The upshift can be suppressed, so that the user can easily step on the pedal 10c, and thus the control unit 19d can improve the climbing performance of the human-powered vehicle 1.

[0286] The control unit 19d can control the electric transmission 17 to change the speed ratio according to the cadence when the assist level is reduced by executing the process of step S53 of the fourth control flow. The control unit 19d changes the speed ratio according to the cadence when the assist level is reduced, so that the electric transmission 17 can be quickly operated according to the cadence when the user's load is light.

[0287] The method of controlling the electric transmission 17 according to the change of the assistance level is not limited to the present embodiment. If upshifting is performed, the load on the user may increase, so the control unit 19d may be configured to at least suppress upshifting when the assistance level is changed. For example, the control unit 19d may control the electric transmission 17 to suppress upshifting in at least one of the case where the assistance level is increased and the case where the assistance level is decreased.

[0288] (Fifth Embodiment)

[0289] The control device 19b of the fifth embodiment will be described. Figure 5 , Figure 8 , Fig.14 as well as Fig.15 , the control device 19b of the fifth embodiment will be described. The same reference numerals as those of the first to fourth embodiments are given to the common structures of the first to fourth embodiments, and duplicate descriptions are omitted.

[0290] In this embodiment, the human-powered vehicle 1 is provided with a transmission device capable of changing the speed ratio. The transmission device includes at least one of an external transmission device and an internal transmission device. The external transmission device includes at least one of a front derailleur and a rear derailleur 17a. In this embodiment, the transmission device includes the rear derailleur 17a.

[0291] The second detection unit 22 is configured to detect the angular velocity of the crank 10. The control unit 19d is configured to detect the speed of the human-powered vehicle 1 and the state of the human-powered vehicle 1 corresponding to the pedaling. In the present embodiment, the control unit 19d is configured to detect a stop state, a start state of pedaling, and a coasting state as the state of the human-powered vehicle 1. When a predetermined condition is satisfied, the control unit 19d repeatedly detects the state of the human-powered vehicle 1. For example, when power is supplied to the control device 19b from a predetermined power supply, the control unit 19d repeatedly detects the state of the human-powered vehicle 1.

[0292] use Fig.14 The state transition diagram shown in the figure illustrates the stop state, the start state of pedaling, and the coasting state. The stop state is a state in which the body of the human-powered vehicle 1 is stopped. For example, the body of the human-powered vehicle 1 includes a frame 11. The stop state is a state in which the speed of the human-powered vehicle 1 is below a predetermined speed. The predetermined speed is a speed that is slow enough to be regarded as the body of the vehicle being stopped. In the present embodiment, the predetermined speed is zero kilometers per hour. The speed of the predetermined speed is not limited to the present embodiment.

[0293] The pedaling start state is the state of the pedal 10c of the human-powered vehicle 1 starting to pedal the stopped state. In the present embodiment, the pedaling start refers to at least one of the following conditions: the vehicle speed of the human-powered vehicle 1 changes from a state of zero kilometers per hour to a state faster than zero kilometers per hour, the angular velocity of the crank 10 exceeds a predetermined value, and the torque involved in the crankshaft 10a is detected.

[0294] like Fig.14 As shown by arrow A21, in the stopped state, when the pedaling start condition related to the start of pedaling is met, the control unit 19d detects that the stopped state has been converted to the pedaling start state. In the stopped state, when the pedaling start condition is not met, the control unit 19d detects that the stopped state is maintained.

[0295] The pedaling start condition is a condition for detecting the start state of pedaling. The pedaling start condition is satisfied when at least one of the conditions related to the human power driving force input to the human power driving vehicle 1, the conditions related to the rotation of the crank 10 of the human power driving vehicle 1, and the conditions related to the vehicle speed of the human power driving vehicle 1 is satisfied. In the present embodiment, the pedaling start condition is satisfied when the conditions related to the vehicle speed of the human power driving vehicle 1 are satisfied, and at least one of the conditions related to the human power driving force and the conditions related to the rotation of the crank 10 is satisfied.

[0296] In the case where the speed of the human-powered vehicle 1 enters a state faster than a predetermined speed from a state below a predetermined speed, the condition related to the speed of the human-powered vehicle 1 is satisfied. In the present embodiment, the predetermined speed is zero kilometers per hour. For example, the control unit 19d can detect whether the condition related to the speed is satisfied by monitoring the speed based on a signal from the fourth detection unit 24. The condition related to the speed of the human-powered vehicle 1 is not limited to the present embodiment. For example, the condition related to the speed of the human-powered vehicle 1 can be specified based on the acceleration of the human-powered vehicle 1 in the forward direction. For example, in the case where the condition related to the speed is specified based on the acceleration of the human-powered vehicle 1 in the forward direction, the control unit 19d can detect that the condition related to the speed is satisfied when the acceleration of the human-powered vehicle 1 in the forward direction enters a state exceeding a predetermined value from a state below a predetermined value.

[0297] When the human driving force is greater than the predetermined threshold, the condition related to the human driving force is satisfied. The size of the predetermined threshold is not particularly limited. For example, the predetermined threshold may be greater than 5 Nm. For example, the predetermined threshold may be appropriately set within a range of greater than 5 Nm and less than 10 Nm. The predetermined threshold is preferably set to 7 Nm. The predetermined threshold is further preferably set to 5 Nm. In the present embodiment, the predetermined threshold is 5 Nm.

[0298] The predetermined threshold value can be changed while using the transmission unit 19. For example, the predetermined threshold value can be changed in a state where the auxiliary force is applied to the human-powered vehicle 1. For example, when the predetermined threshold value is changed while using the transmission unit 19, the predetermined threshold value can be changed according to the state of the human-powered driving force. Since the human-powered driving force is easily changed in the case where the gear ratio is changed, the human-powered vehicle 1 is traveling on an upward inclined road surface, and the human-powered vehicle 1 is traveling on a downward inclined road surface, the predetermined threshold value can be changed while using the transmission unit 19 according to the gear ratio, the slope of the upward inclined road surface, and the slope of the downward inclined road surface, etc.

[0299] The conditions related to the human driving force are not limited to the present embodiment. The conditions related to the human driving force are preferably looser than the driving conditions of the first embodiment. For example, when the human driving force is Figure 5 When the driving condition is satisfied when the vehicle is at a medium load or above in the selected group of the level increase information T1, the predetermined threshold is preferably smaller than the medium load in the selected group of the level increase information T1. For example, the control unit 19d can detect whether the condition related to the human driving force is satisfied by monitoring the human driving force based on the signal from the first detection unit 21.

[0300] In the present embodiment, when the angular velocity of the crank 10 exceeds a predetermined value, the condition related to the rotation of the crank 10 is satisfied. For example, the control unit 19d can detect whether the condition related to the rotation of the crank 10 is satisfied by monitoring the angular velocity based on the signal from the second detection unit 22. The condition related to the rotation of the crank 10 is not limited to the present embodiment. The condition related to the rotation of the crank 10 can be specified based on information different from the angular velocity as long as it is a condition that can detect the rotation of the crank 10. For example, the condition related to the rotation of the crank 10 can be specified based on the cadence. In the case where the condition related to the rotation of the crank 10 is specified based on the cadence, the control unit 19d can detect that the condition related to the rotation of the crank 10 is satisfied when the cadence exceeds a predetermined value.

[0301] like Fig.14 As shown by arrow A22, when the speed of the human-powered vehicle 1 is zero kilometers per hour in the pedaling start state, the control unit 19d detects the transition from the stop state to the pedaling start state. Fig.14 As shown by arrow A23, in the pedaling start state, when the crank 10 rotates a predetermined number of times and the speed of the human-powered vehicle 1 is faster than zero kilometers per hour, the control unit 19d detects that the pedaling start state is switched to the coasting state. In the pedaling start state, and in the state where the speed of the human-powered vehicle 1 is faster than zero kilometers per hour, until the crank 10 rotates a predetermined number of times, the control unit 19d detects that the pedaling start state is maintained. In this embodiment, the predetermined number of times is two times.

[0302] The sliding state is the state in which the human-powered vehicle 1 slides. Fig.14 As shown by arrow A24, when the speed of the human-powered vehicle 1 in the coasting state is zero kilometers per hour, the control unit 19d detects that the coasting state is switched to the stopped state. When the speed of the human-powered vehicle 1 in the coasting state is faster than zero kilometers per hour, the control unit 19d detects that the coasting state is maintained.

[0303] When the pedaling start condition related to the start of pedaling and the gear change condition related to the gear ratio are satisfied, the control unit 19d performs a change process to change the current assist mode to a predetermined assist mode. In the present embodiment, the current assist mode includes the user-specified assist mode M0.

[0304] The speed change condition is a condition for detecting a speed ratio at which it is difficult for the user to step on the pedal 10c with a light force when the user starts to step on the pedal 10c. The speed change condition is satisfied when the speed ratio is greater than a predetermined speed ratio. For example, a predetermined speed ratio is specified within a range of speed ratios that can be changed by a speed change device. Preferably, the predetermined speed ratio is greater than 2.5. A speed ratio of 2.5 means that the axle rotates 2.5 times when the crankshaft 10a rotates one time. The predetermined speed ratio is further preferably greater than 2.8.

[0305] The speed change condition is not limited to the present embodiment. For example, the speed change condition can be specified based on the sprocket engaged with the driving force transmission part 16c. For example, in the case where the speed change condition is specified based on the sprocket engaged with the driving force transmission part 16c, the control part 19d can detect that the speed change condition is satisfied when the driving force transmission part 16c is engaged with a predetermined sprocket among the multiple sprockets. For example, the predetermined sprocket includes at least one of a sprocket having a speed ratio greater than a predetermined speed ratio and a sprocket within a predetermined range on the top side. For example, the top side refers to a sprocket with fewer teeth among the multiple sprockets.

[0306] In the present embodiment, since the speed change device includes the rear derailleur 17a, the control unit 19d can detect that the speed change condition is satisfied when the driving force transmission unit 16c is engaged with the rear sprocket within a predetermined range on the top side. For example, the predetermined range may be a range that includes at least the first rear sprocket counted from the top side of the plurality of rear sprockets. For example, the predetermined range may be a range from the first to the third from the top side of the plurality of rear sprockets. In the case where the predetermined range is the range from the first to the third from the top side of the plurality of rear sprockets, the control unit 19d detects that the speed change condition is satisfied when the driving force transmission unit 16c is engaged with any one of the three rear sprockets on the top side of the plurality of rear sprockets.

[0307] The assist force given to the human-powered vehicle 1 in the assist mode after the change process is performed is greater than the assist force given to the human-powered vehicle 1 in the assist mode before the change process is performed. In the present embodiment, the assist mode before the change process includes the current assist mode before changing to the predetermined assist mode. In the present embodiment, since the current assist mode includes the user-specified assist mode M0, the assist mode before the change process includes the user-specified assist mode M0. The assist mode after the change process is performed includes the predetermined assist mode. In this specification, the assist mode after the change process is sometimes recorded as an added assist mode.

[0308] In the present embodiment, in both the assist mode before the change process and the increase assist mode, when the same magnitude of human power driving force is input to the human-powered vehicle 1, the assist force in the increase assist mode is larger than the assist force in the assist mode before the change process. By making the assist force in the increase assist mode larger than the assist force in the assist mode before the change process, when the user steps on the pedal 10c of the stopped human-powered vehicle 1 in a state where the speed ratio is greater than the predetermined speed ratio, the user can step on it with a lighter force. The user can step on it with a lighter force, thereby reducing the burden on the user at the start of stepping.

[0309] In the present embodiment, since the motor 19a may be controlled in the increased assist mode when the human driving force is greater than a predetermined threshold, for example, it is preferred that in the increased assist mode, the increase rate of the assist ratio relative to the human driving force from the assist ratio when the human driving force is a predetermined threshold to the maximum assist ratio is higher than the increase rate of the assist mode before the change process is performed.

[0310] Since the predetermined threshold value may be set within the range of 5 Nm to 10 Nm, it is preferred that the increase rate of the assistance ratio relative to the human driving force from the value within the range of 5 Nm to 10 Nm to the maximum assistance ratio in the increase assist mode is higher than the increase rate of the assist mode before the change process is performed. In the present embodiment, since the predetermined threshold value is 5 Nm, it is further preferred that the increase rate of the assistance ratio relative to the human driving force from 5 Nm to the maximum assistance ratio in the increase assist mode is higher than the increase rate of the assist mode before the change process is performed.

[0311] Preferably, the maximum output ratio of the assist mode is higher than the maximum output ratio of the assist mode before the change process is performed. By making the maximum output ratio of the assist mode higher than the maximum output ratio of the assist mode before the change process is performed, the user can pedal with a lighter force, thereby further reducing the burden on the user at the start of pedaling.

[0312] In the predetermined assist mode, when the predetermined condition is satisfied, the control unit 19d changes the assist mode to return to the assist mode before the change process. When the crank 10 of the human-powered vehicle 1 rotates a predetermined number of times, the predetermined condition is satisfied. The number of predetermined rotations is not particularly limited. The predetermined number of rotations is preferably any one of two, three, and four. In the present embodiment, the predetermined number of rotations is two.

[0313] The predetermined condition may be specified based on information different from the number of rotations of the crank 10. For example, the predetermined condition may be specified based on the elapsed time after the change process is performed. For example, when the predetermined condition is specified based on the elapsed time, the control unit 19d may detect that the predetermined condition is satisfied when the elapsed time exceeds the predetermined time.

[0314] An example of control performed by the control unit 19d is described below. Fig.15 , an example of the control performed by the control unit 19d is described. When the predetermined conditions are met, the control unit 19d starts to Fig.15 When the fifth control process ends, the control unit 19d repeatedly executes the fifth control process at predetermined intervals until a predetermined condition is satisfied. For example, the conditions for starting the fifth control process and the conditions for repeating the fifth control process are the same as those of the first embodiment.

[0315] In step S61, when the coasting state is detected, the control unit 19d proceeds to step S67. When the coasting state is not detected, the control unit 19d proceeds to step S62.

[0316] In step S62, when the start of pedaling is detected, the control unit 19d proceeds to step S64. When the start of pedaling is not detected, the control unit 19d proceeds to step S63. In the present embodiment, when the stop state is detected, the control unit 19d proceeds to step S63.

[0317] In step S63, when the assist mode is different from the assist mode before the change process is performed, the control unit 19d changes the assist mode to the assist mode before the change process is performed. For example, the control unit 19d changes the assist mode from the increase assist mode to the user-specified assist mode M0. In the fifth control flow, the change process is the process of step S66. When the assist mode is the assist mode before the change process is performed, the control unit 19d maintains the assist mode. After performing the process of step S63, the control unit 19d ends the fifth control flow.

[0318] In step S64, when the speed change condition is satisfied, the control unit 19d proceeds to step S66. When the speed change condition is not satisfied, the control unit 19d proceeds to step S65.

[0319] In step S65, the control unit 19d changes the assist mode to the assist mode before the change process is performed, similarly to step S63. After performing the process of step S65, the control unit 19d ends the fifth control flow.

[0320] In step S66, when the assist mode is different from the increase assist mode, the control unit 19d changes the assist mode to the increase assist mode. For example, the control unit 19d changes the assist mode from the user-specified assist mode M0 to the increase assist mode. When the assist mode is the increase assist mode, the control unit 19d maintains the assist mode. After performing the process of step S66, the control unit 19d ends the fifth control flow.

[0321] In step S67, if the assist mode is changed to the increase assist mode by the process of step S66 in the previous processing of the fifth control flow, the control unit 19d changes the assist mode to the assist mode before the change process. For example, the control unit 19d changes the assist mode from the increase assist mode to the user-specified assist mode M0. If the assist mode is not changed to the increase assist mode by the process of step S66 in the previous processing of the fifth control flow, the control unit 19d maintains the assist mode. After the control unit 19d performs the process of step S67, it proceeds to step S68.

[0322] In step S68, the control unit 19d controls the assist mode according to the driving conditions. Figure 8 The assist mode is controlled according to the running condition by performing the processing of step S13 to step S15 of the first control flow shown in FIG. After performing the processing of step S68, the control unit 19d ends the fifth control flow.

[0323] The control unit 19d executes the fifth control process, so that when the pedal 10c of the human-powered vehicle 1 in a stopped state is stepped on with a relatively high gear ratio, the assist mode is changed to the increased assist mode, so that the assist force given to the human-powered vehicle 1 becomes larger, thereby reducing the burden on the user. The control unit 19d can reduce the burden on the user, thereby improving the driving comfort of the human-powered vehicle 1.

[0324] The control unit 19d repeatedly executes the fifth control process, so that when the crank 10 rotates two turns in the start state of pedaling and the coasting state is detected, in step S67, the assist mode is returned from the increase assist mode to the assist mode before the change process. In this embodiment, the control unit 19d can return the assist mode to the user-specified assist mode M0. The control unit 19d returns the assist mode to the assist mode before the change process when the crank 10 rotates two turns, so that the user is less likely to feel the reduction of the assist force when controlling the assist mode according to the driving conditions in step S68. By making it difficult for the user to feel the reduction of the assist force, the control unit 19d can improve the driving comfort of the human-powered vehicle 1.

[0325] (Variation Example)

[0326] The description of each embodiment is an example of the possible modes of the present invention and is not intended to limit the present invention. For example, the present invention may be a combination of the modified examples of each embodiment shown below and at least two non-contradictory modified examples.

[0327] For example, the structure of the control device 19b in each embodiment is an example, and the control device 19b may include various devices not shown in each embodiment, or may be a structure that does not include a part of the various devices shown in each embodiment. Figure 2 The structure of the wireless communication unit 19e shown. In the case where the wireless communication unit 19e is not included, the control device 19b can be configured to communicate with the external device 30 via a cable. For example, the control unit 19d can be included in a component different from the transmission unit 19. For example, the control unit 19d can be included in the electric transmission 17.

[0328] For example, the control unit 19d may remove the high assist mode whose assist level exceeds the predetermined first level threshold value from the target change assist mode determined based on the mode determination information T. By removing the high assist mode, the control unit 19d can prevent the assist force from being excessively increased by changing the assist mode, thereby improving the driving comfort of the human-powered vehicle 1.

[0329] For example, the control unit 19d can remove a low assist mode whose assist level is less than a predetermined second level threshold value from the target change assist mode determined based on the mode determination information T. The second level threshold value is smaller than the first level threshold value. By removing the low assist mode, the control unit 19d can make it difficult for the assist force to be excessively reduced by changing the assist mode, thereby improving the driving comfort of the human-powered vehicle 1.

[0330] For example, when the control unit 19d changes the assist mode so that the assist level increases, the control unit 19d may increase the assist level in stages, similar to the case of decreasing the assist level.

[0331] For example, the control unit 19d may control the assistance level based on information other than the human driving force and the inclination angle of the traveling road. For example, the control unit 19d may control the assistance level based on at least one of the vehicle speed and pedaling frequency of the human-powered vehicle 1 and the strength of the wind facing the human-powered vehicle 1 when the human-powered vehicle 1 is traveling forward.

[0332] The various threshold values ​​used in the control exemplified in each embodiment can be set arbitrarily without limitation. The various threshold values ​​can be changed arbitrarily by operating a predetermined operating device or the like.

[0333] The structures illustrated in the various embodiments can be combined with each other within the range that they do not contradict each other. For example, when the structure illustrated in the first embodiment and the structure illustrated in the second embodiment are combined, and when at least one of the conditions of reducing the assistance level according to the human driving force and the conditions of reducing the assistance level according to the inclination angle of the driving road is satisfied, the control unit 19d can change the assistance mode to reduce the assistance level.

[0334] For example, when the configuration illustrated in the second embodiment and the configuration illustrated in the fourth embodiment are combined and the assist mode is changed to increase the assist level according to the inclination angle of the traveling road, the control unit 19d may control the electric transmission 17 to maintain the gear ratio.

[0335] For example, when the structure illustrated in the second embodiment, the structure illustrated in the third embodiment, and the structure illustrated in the fourth embodiment are combined, and the assist mode is changed according to the human driving force and the inclination angle of the driving road to increase the assist level, the control unit 19d can control the electric transmission 17 to maintain the gear ratio.

[0336] For example, the structure exemplified in the second embodiment and the structure exemplified in the fifth embodiment are combined, and Fig.15 When the coasting state is detected in step S61 of the fifth control flow shown, the assist mode may be changed in step S68 according to the inclination angle of the traveling road.

[0337] The processing contents and processing order of the flowcharts illustrated in the respective embodiments are merely examples, and the processing contents and processing order can be appropriately changed within the scope of the present invention.

[0338] The expression "at least one" used in this specification refers to "more than one" of the desired options. As an example, if the number of options is two, the expression "at least one" used in this specification refers to "only one option" or "both of the two options". As another example, if the number of options is three or more, the expression "at least one" used in this specification refers to "only one option" or "a combination of any two or more options".

[0339] Explanation of symbols:

[0340] 1 ... human-driven vehicle, 17 ... electric transmission, 19 ... transmission unit, 19a ... motor, 19d ... control unit, 20 ... operating unit, 31 ... operating unit, M ... a plurality of assist modes, T ... mode determination information, T1 ... level increase information, T2 ... level decrease information.

Claims

1. A control device, which is a control device for a human-powered vehicle and comprises: The control unit is capable of controlling the motor in one of a plurality of assist modes having different assist levels, wherein: The motor provides auxiliary force to the human-powered vehicle. The control unit is configured to change the current assist mode to a target change assist mode different from the current assist mode based on the current assist mode when a travel condition related to the travel state of the human-powered vehicle is satisfied.

2. The control device according to claim 1, wherein: The assist level includes a maximum ratio of the output of the motor to the human-powered driving force input to the human-powered vehicle.

3. The control device according to claim 1, wherein: The control unit is configured to change the current assist mode to the target change assist mode based on information related to the current assist mode and mode identification information.

4. The control device according to claim 3, wherein: The mode determination information includes level increase information for determining the target change assistance mode so that the assistance level is increased.

5. The control device according to claim 4, wherein: The driving condition includes a first driving condition, wherein the first driving condition is satisfied when at least one of a condition related to a human driving force input to the human driving vehicle, a condition related to a driving state of the human driving vehicle, and a condition related to a driving environment of the human driving vehicle is satisfied, The control unit changes the current assist mode to a target change assist mode determined based on the level increase information when the first travel condition is satisfied.

6. The control device according to claim 4, wherein: The level increase information includes: at least one of: first information related to the human driving force input to the human-powered vehicle, second information related to the driving state of the human-powered vehicle, and third information related to the driving environment of the human-powered vehicle; and fourth information related to the increase amount of the assistance level.

7. The control device according to claim 6, wherein: The first information includes at least one of information on an average value of the human driving force when the crank of the human-powered vehicle rotates a predetermined number of times and information on a maximum value of the human driving force when the crank of the human-powered vehicle rotates a predetermined number of times.

8. The control device according to claim 6, wherein: The second information includes information related to the inclination of the human-powered vehicle.

9. The control device according to claim 6, wherein: The third information includes information related to an inclination angle of a traveling road of the human-powered vehicle.

10. The control device according to claim 4, wherein: When increasing the assistance level, the control unit directly changes from the current assistance mode to the target change assistance mode without passing through another assistance mode.

11. The control device according to claim 4, wherein: The control unit is configured to change the level increase information based on an input from at least one of an operation unit of an external device and an operation unit provided in the human-powered vehicle.

12. The control device according to claim 4, wherein: The control unit does not change the assist mode so as to increase the assist level when the vehicle speed of the human-powered vehicle does not exceed a predetermined first threshold value for a predetermined period of time.

13. The control device according to claim 4, wherein: The human-powered vehicle includes a transmission device that is controlled to change a speed ratio of the human-powered vehicle according to a running state of the human-powered vehicle. The control unit controls the transmission to maintain the speed ratio when the assist mode is changed so as to increase the assist level.

14. The control device according to claim 5, wherein: The mode determination information further includes level reduction information for determining the target change assistance mode so that the assistance level is reduced.

15. The control device according to claim 14, wherein: The driving condition includes a second driving condition different from the first driving condition, After the assist mode is changed so as to increase the assist level, when the second travel condition is satisfied, the control unit changes the current assist mode to the target changed assist mode determined based on the level reduction information.

16. The control device according to claim 15, wherein: The second travel condition is satisfied when a condition related to human driving force input to the human driving vehicle is satisfied and one of a condition related to a travel state of the human driving vehicle and a condition related to a travel environment of the human driving vehicle is satisfied.

17. The control device according to claim 14, wherein: The level reduction information includes: at least one of: first information related to the human driving force input to the human-powered vehicle, second information related to the driving state of the human-powered vehicle, and third information related to the driving environment of the human-powered vehicle; and fifth information related to the amount of reduction in the assistance level.

18. The control device according to claim 17, wherein: The first information includes at least one of information on an average value of the human driving force when the crank of the human-powered vehicle rotates a predetermined number of times and information on a maximum value of the human driving force when the crank of the human-powered vehicle rotates a predetermined number of times.

19. The control device according to claim 17, wherein: The second information includes information related to the inclination of the human-powered vehicle.

20. The control device according to claim 17, wherein: The third information includes information related to an inclination angle of a traveling road of the human-powered vehicle.

21. The control device according to claim 14, wherein: When there is at least one other assistance mode whose assistance level is lower than the assistance level of the current assistance mode and higher than the assistance level of the target change assistance mode determined based on the level reduction information, the control unit changes from the current assistance mode to the target change assistance mode via the at least one other assistance mode.

22. The control device according to claim 14, wherein: The control unit is configured to change the level reduction information based on an input from at least one of an operation unit of an external device and an operation unit provided in the human-powered vehicle.

23. The control device according to claim 1, wherein: The control unit does not change the assist mode when at least one of a handlebar angle and a roll angle of the human-powered vehicle exceeds a predetermined second threshold value.

24. The control device according to claim 1, wherein: The human-powered vehicle is provided with a transmission device capable of changing a speed ratio. The control unit performs a change process of changing the current assist mode to a predetermined assist mode when a pedaling start condition related to the start of pedaling and a speed change condition related to the speed ratio are satisfied.

25. The control device according to claim 24, wherein: When the speed ratio is equal to or greater than a predetermined speed ratio, the speed change condition is satisfied.

26. The control device according to claim 25, wherein: The predetermined speed ratio is greater than 2.

5.

27. The control device according to claim 24, wherein: The pedaling start condition is satisfied when at least one of a condition related to human power input to the human power vehicle, a condition related to rotation of a crank of the human power vehicle, and a condition related to a vehicle speed of the human power vehicle is satisfied.

28. The control device according to claim 24, wherein: When a predetermined condition is satisfied in the predetermined assist mode, the control unit changes the assist mode so as to return to the assist mode before the change process is performed.

29. The control device according to claim 28, wherein: The predetermined condition is satisfied when the crank of the human-powered vehicle rotates a predetermined number of times.

30. The control device according to claim 29, wherein: The predetermined number of rotations is two.

31. The control device according to claim 24, wherein: The assist force applied to the human-powered vehicle in the assist mode after the change process is performed is greater than the assist force applied to the human-powered vehicle in the assist mode before the change process is performed.

Images