Control device for human-powered vehicle

Abstract

The present invention addresses the problem of providing a control device for a human-powered vehicle, the control device being capable of appropriately applying a propulsive force of a motor to the human-powered vehicle. The present invention is a control device for a human-powered vehicle, the control device being provided with a control unit configured to control a motor that applies a propulsive force to the human-powered vehicle, the control unit being configured to control the motor when a human-powered driving force input to the human-powered vehicle is equal to or less than a first human-powered driving force, and to control the motor when the human-powered driving force is equal to or less than a second human-powered driving force. When a parameter different from the manual driving force is equal to or greater than a predetermined value, the control state of the motor is set to a first control state, and when the manual driving force is equal to or greater than a second manual driving force that is greater than the first manual driving force in the first control state, the control state of the motor is set to a second control state. And a control unit that sets the control state of the motor to a second control state if the manual driving force is detected, controls the motor in the first control state so that the output of the motor becomes a predetermined output, and controls the motor in accordance with the manual driving force in the second control state.

Description

Technical Field

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

[0002] For example, Patent Document 1 discloses an assembly for a human-powered vehicle including a motor that assists in the propulsion of the human-powered vehicle.

[0003] Prior art literature

[0004] Patent Literature

[0005] Patent Document 1: Japanese Patent Application Laid-Open No. 2015-209159. 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 appropriately apply a propulsion force of a motor to the human-powered vehicle.

[0008] Means used to solve problems

[0009] According to the first aspect of the present disclosure, the control device is a control device for a human-powered vehicle and comprises: a control unit configured to control a motor that applies propulsion force to the human-powered vehicle, the control unit being configured to, when the human-powered force input to the human-powered vehicle is less than a first human-powered force, set the control state of the motor to a first control state if a parameter different from the human-powered force becomes greater than a specified value, and in the first control state, set the control state of the motor to a second control state if the human-powered force becomes greater than a second human-powered force that is greater than the first human-powered force, and in the first control state, control the motor so that the output of the motor becomes a specified output, and in the second control state, control the motor according to the human-powered force.

[0010] According to the control device of the first aspect, when the human driving force is less than the first human driving force, if a parameter different from the human driving force becomes greater than a specified value, the control unit can set the motor control state to the first control state, thereby enabling the motor output to become the specified output. Therefore, when the human driving force is less than the first human driving force, the control unit can appropriately apply the motor propulsion force to the human-powered vehicle. According to the control device of the first aspect, when the human driving force becomes greater than the second human driving force, the motor propulsion force can be appropriately applied to the human-powered vehicle based on the human driving force.

[0011] In the control device according to the second aspect of the first aspect of the present disclosure, the parameter is related to a rotation state of a crankshaft of the human-powered vehicle.

[0012] According to the control device according to the second aspect, when the human driving force is equal to or less than the first human driving force, the control unit can set the control state to the first control state according to the rotational state of the crankshaft.

[0013] In the control device according to the third aspect of the second aspect of the present disclosure, the parameter includes a rotation amount of the crankshaft, and the prescribed value is a value corresponding to the rotation amount and is greater than or equal to 0 degrees and less than or equal to 40 degrees.

[0014] According to the control device according to the third aspect, when the human driving force is equal to or less than the first human driving force, the control unit can set the control state to the first control state if the rotation amount of the crankshaft is equal to or greater than 0 degrees and equal to or less than 40 degrees.

[0015] In the control device according to the fourth aspect of the second or third aspect of the present disclosure, the parameter includes the rotational speed of the crankshaft, and the prescribed value is a value corresponding to the rotational speed and is greater than or equal to 0 rpm and less than or equal to 10 rpm.

[0016] According to the control device according to the fourth aspect, when the human driving force is equal to or less than the first human driving force, the control unit can set the control state to the first control state if the rotation speed of the crankshaft is equal to or greater than 0 rpm and equal to or less than 10 rpm.

[0017] In a fifth aspect of the control device according to any one of the second to fourth aspects of the present disclosure, the control device further includes a crank rotation angle detection unit for detecting a rotation angle of the crank shaft.

[0018] According to the control device according to the fifth aspect, the control unit can appropriately detect the rotation angle of the crank shaft using the crank rotation angle detection unit.

[0019] In the control device of a sixth aspect according to any one of the first to fifth aspects of the present disclosure, the human-powered vehicle includes a suspension, and the parameter is related to a displacement of the suspension.

[0020] According to the control device according to the sixth aspect, the control unit can set the control state to the first control state based on the parameter related to the displacement of the suspension.

[0021] In the control device according to the seventh aspect of the sixth aspect of the present disclosure, the control device also has a displacement detection unit for detecting the displacement amount of the suspension, and the displacement detection unit includes at least one of a stroke sensor, an air pressure sensor, a hydraulic pressure sensor, an acceleration sensor, and a torque sensor.

[0022] According to the control device of the seventh aspect, the control unit can appropriately detect the displacement amount of the suspension using the displacement detection unit.

[0023] In the control device of the eighth aspect according to any one of the first to seventh aspects of the present disclosure, the control unit is configured to control the motor so that the output of the motor is below an upper limit value in the second control state, and the prescribed output is equal to the upper limit value.

[0024] According to the control device according to the eighth aspect, the control unit can control the motor in the first control state so that the output of the motor becomes equal to or less than the upper limit value.

[0025] In the control device of aspect nine according to any one of aspects one to eight of the present disclosure, the control unit is configured to control the motor to stop the motor if, in the first control state, the human driving force is in a state below the first human driving force for more than a prescribed period of time.

[0026] According to the control device according to the ninth aspect, in the first control state, if the human driving force is less than or equal to the first human driving force for more than the predetermined period, the control unit stops the motor, thereby suppressing power consumption of the motor.

[0027] In the control device according to the tenth aspect of the ninth aspect of the present disclosure, the predetermined period is a predetermined time from the start of driving the motor in the first control state.

[0028] According to the control device according to the tenth aspect, in the first control state, if the human driving force is less than or equal to the first human driving force for a period of time or longer, the control unit can stop the motor.

[0029] In the control device according to the eleventh aspect of the ninth or tenth aspect of the present disclosure, the predetermined period is a period until the travel distance of the human-powered vehicle reaches a predetermined distance.

[0030] According to the control device according to claim 11, in the first control state, if the human driving force is less than or equal to the first human driving force continuously for a predetermined distance or longer, the control unit can stop the motor.

[0031] In the control device according to the twelfth aspect of the eleventh aspect of the present disclosure, the prescribed distance is greater than 0 m and is equal to or less than 4 m.

[0032] According to the control device of the twelfth aspect, in the first control state, if the human driving force is less than or equal to the first human driving force continuously for a predetermined distance greater than 0 m and less than or equal to 4 m, the control unit can stop the motor.

[0033] In the control device of aspect 13 according to any one of aspects 1 to 12 of the present disclosure, the control unit is configured to set the control state of the motor to the first control state and control the motor to start driving the motor if the parameter becomes above the specified value when the human-powered vehicle is stopped and the human-powered driving force is less than the first human-powered driving force.

[0034] According to the control device of the thirteenth aspect, when the human-powered vehicle is stopped and the human-powered force is less than the first human-powered force, the control unit can set the motor control state to the first control state if the parameter different from the human-powered force becomes greater than the specified value.

[0035] In the control device according to a fourteenth aspect of any one of the first to thirteenth aspects of the present disclosure, the control device further includes a human driving force detection unit for detecting the human driving force.

[0036] According to the control device of the fourteenth aspect, the control unit can appropriately detect the human driving force by the human driving force detection unit.

[0037] In the control device according to the fourteenth aspect and the fifteenth aspect of the present disclosure, the first human driving force is equal to or less than a lower limit value of the human driving force detectable by the human driving force detection portion.

[0038] According to the control device of the fifteenth aspect, when the human driving force is below the lower limit value of the human driving force that can be detected by the human driving force detection unit, that is, the first human driving force, if the parameter different from the human driving force becomes above the specified value, the control unit can set the control state of the motor to the first control state.

[0039] In the control device of a sixteenth aspect according to any one of the first to fourteenth aspects of the present disclosure, the first human driving force is 0 Nm or more and 2 Nm or less.

[0040] According to the control device of the sixteenth aspect, when the human driving force is greater than or equal to 0 Nm and less than or equal to 2 Nm, i.e., the first human driving force, if a parameter different from the human driving force becomes greater than or equal to a specified value, the control unit can set the motor control state to the first control state.

[0041] In the control device of aspect 17 according to any one of aspects 1 to 16 of the present disclosure, the control unit is configured to control the motor according to the motor output obtained by multiplying the human driving force by a prescribed assistance ratio in the second control state, and the second human driving force is set based on a value obtained by dividing the prescribed output by the prescribed assistance ratio.

[0042] According to the control device of claim 17, the second human power driving force is set based on a value obtained by dividing the predetermined output by the predetermined assist ratio. Therefore, when the control state is shifted from the first control state to the second control state, a reduction in the motor output is suppressed.

[0043] Effects of the Invention

[0044] The control device for a human-powered vehicle disclosed herein can appropriately apply the propulsion force of a motor to the human-powered vehicle. BRIEF DESCRIPTION OF THE DRAWINGS

[0045] Figure 1 is a side view of a human-powered vehicle including a control device for a human-powered vehicle according to an embodiment;

[0046] Figure 2 is a block diagram showing the electrical configuration of a control device for a human-powered vehicle according to an embodiment;

[0047] Figure 3 is Figure 2 Flowchart of a process for controlling a motor executed by a control unit. DETAILED DESCRIPTION

[0048] <Implementation Method>

[0049] Reference Figures 1 to 3 , the control device 60 for the human-powered vehicle according to the embodiment will be described.

[0050] The human-powered vehicle 10 is a vehicle having at least one wheel and capable of being driven at least by human-powered driving force. The human-powered vehicle 10 includes various types of bicycles such as mountain bikes, road bikes, city bikes, cargo bikes, push bikes, and recumbent bikes. The number of wheels that the human-powered vehicle 10 has is not limited. The human-powered vehicle 10 includes, for example, a unicycle and a vehicle having two or more wheels. The human-powered vehicle 10 is not limited to a vehicle that can be driven only by human-powered driving force. The human-powered vehicle 10 includes 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. Below, in each embodiment, the human-powered vehicle 10 is described as an electric-assisted bicycle.

[0051] In this specification, the following terms indicating directions such as "front", "rear", "front", "rearward", "left", "right", "lateral", "up" and "down", and terms indicating any other similar directions refer to these directions determined with reference to the rider facing the handlebars in a reference position of the human-powered vehicle (for example, on the seat or saddle).

[0052] like Figure 1 As shown, for example, a human-powered vehicle 10 includes a crank 12 for inputting human-powered driving force. For example, the human-powered vehicle 10 includes wheels 14 and a vehicle body 16. For example, the wheels 14 include a drive wheel 14A and a driven wheel 14B. For example, the drive wheel 14A is the rear wheel of the human-powered vehicle 10. For example, the driven wheel 14B is the front wheel of the human-powered vehicle 10. The drive wheel 14A can be the front wheel of the human-powered vehicle 10. If the drive wheel 14A is the front wheel, the driven wheel 14B is the rear wheel.

[0053] For example, vehicle body 16 includes frame 18. For example, crank 12 includes a crankshaft 12A that is rotatable relative to frame 18, and a pair of crank arms 12B and 12C, each provided at an axial end of crankshaft 12A. A pair of pedals 20A and 20B are coupled to each crank arm 12B and 12C. For example, drive wheel 14A is driven by the rotation of crank 12. For example, drive wheel 14A is supported by frame 18. For example, seat 18A is mounted on frame 18.

[0054] For example, the crank 12 is connected to the drive wheel 14A via a drive mechanism 22. For example, the drive mechanism 22 includes a first rotating body 24 connected to the crankshaft 12A. The crankshaft 12A can be connected to the first rotating body 24 so as to rotate integrally therewith, or it can be connected to the first rotating body 24 via a first one-way clutch. For example, the first one-way clutch is configured to cause the first rotating body 24 to rotate forward when the crank 12 rotates forward. For example, the first one-way clutch is configured to allow relative rotation between the crank 12 and the first rotating body 24 when the crank 12 rotates backward. For example, the first rotating body 24 includes a sprocket, a pulley, or a bevel gear.

[0055] For example, the driving mechanism 22 further includes a second rotating body 26 and a connecting member 28. The connecting member 28 transmits the rotational force of the first rotating body 24 to the second rotating body 26. For example, the connecting member 28 includes a chain, a belt, or a transmission shaft.

[0056] For example, the second rotating body 26 is coupled to the drive wheel 14A. For example, the second rotating body 26 includes a sprocket, a pulley, or a bevel gear. For example, a second one-way clutch is provided between the second rotating body 26 and the drive wheel 14A in the power transmission path of the human-driven force. For example, the second one-way clutch is configured to allow the drive wheel 14A to rotate forward when the second rotating body 26 rotates forward. For example, the second one-way clutch is configured to allow relative rotation between the second rotating body 26 and the drive wheel 14A when the second rotating body 26 rotates backward.

[0057] For example, the driven wheel 14B is mounted on the frame 18 via the front fork 30. The handlebar 34 is connected to the front fork 30 via the stem 32. In this embodiment, the driving wheel 14A is connected to the crank 12 via the drive mechanism 22. At least one of the driving wheel 14A and the driven wheel 14B can be connected to the crank 12 via the drive mechanism 22.

[0058] The human-powered vehicle 10 further includes a battery 36. The battery 36 includes one or more battery elements. For example, the battery elements include rechargeable batteries. For example, the battery 36 is configured to supply power to the control device 60. For example, the battery 36 is communicatively connected to the control unit 62 of the control device 60 via a cable or a wireless communication device. For example, the battery 36 can communicate with the control unit 62 via power line communication (PLC), CAN (Controller Area Network), or UART (Universal Asynchronous Receiver / Transmitter).

[0059] The human-powered vehicle 10 includes a motor 38 configured to apply propulsion to the human-powered vehicle 10. For example, the motor 38 includes one or more electric motors. For example, the electric motor is a brushless motor. The motor 38 is configured to transmit rotational force to at least one of the transmission path of the human-powered driving force from the pedals 20A and 20B to the drive wheel 14A and the driven wheel 14B. The power transmission path of the human-powered driving force from the pedals 20A and 20B to the drive wheel 14A also includes the drive wheel 14A. In the present embodiment, the motor 38 is configured to be provided on the frame 18 of the human-powered vehicle 10 and to transmit rotational force to the first rotating body 24.

[0060] For example, the motor 38 is mounted in a housing 40A. The housing 40A is mounted on the vehicle frame 18. For example, the housing 40A is detachably mounted on the vehicle frame 18. The transmission unit 40 includes the motor 38 and the housing 40A in which the motor 38 is mounted. A speed reducer connected to the output shaft of the motor 38 may be mounted in the transmission unit 40.

[0061] In this embodiment, the housing 40A rotatably supports the crankshaft 12A. For example, a third one-way clutch is provided on the power transmission path between the motor 38 and the crankshaft 12A. For example, when the crankshaft 12A is rotated in the direction in which the human-powered vehicle 10 is advanced, the third one-way clutch inhibits the transmission of the rotational force of the crankshaft 12A to the motor 38. The motor 38 can be provided on the hub of at least one of the drive wheel 14A and the driven wheel 14B. For example, when the motor 38 is provided on the hub of at least one of the drive wheel 14A and the driven wheel 14B, the motor 38 and the hub together constitute a hub motor.

[0062] For example, the human-powered vehicle 10 includes a suspension 42. For example, the suspension 42 is configured to absorb impacts applied to the drive wheel 14A and the driven wheel 14B. For example, the suspension 42 is provided on the vehicle frame 18. For example, the suspension 42 includes at least one of a front suspension and a rear suspension.

[0063] For example, the suspension 42 includes an electric suspension. The suspension 42 can be a coil suspension, a hydraulic suspension, or an air suspension. For example, the suspension 42 includes a first portion 42A and a second portion 42B. The second portion 42B is embedded in the first portion 42A and is capable of relative movement relative to the first portion 42A.

[0064] For example, first portion 42A of suspension 42 is connected to the axle of the front or rear wheels. For example, first portion 42A of suspension 42 may be connected to vehicle frame 18. For example, second portion 42B of suspension 42 is connected to vehicle frame 18. By allowing second portion 42B to move relative to first portion 42A, suspension 42 absorbs impacts applied to drive wheel 14A and driven wheel 14B.

[0065] For example, the suspension 42 includes an actuator that is operated by electricity. For example, the actuator of the suspension 42 is configured to change the range of relative movement of the second portion 42B relative to the first portion 42A. For example, the control unit 62 is configured to control the actuator of the suspension 42. For example, the control unit 62 is connected to the actuator of the suspension 42 via a wired or wireless connection.

[0066] For example, the human-powered vehicle 10 includes an adjustable seat post 44. For example, the adjustable seat post 44 is configured to be able to change the height of the seat 18A relative to the vehicle frame 18. For example, the adjustable seat post 44 is provided on the vehicle frame 18. For example, the adjustable seat post 44 includes an electrically adjustable seat post.

[0067] For example, the adjustable seat post 44 includes an actuator that is electrically actuated. For example, the actuator of the adjustable seat post 44 is configured to change the height of the seat 18A relative to the frame 18 in response to a predetermined signal. For example, the control unit 62 is configured to control the actuator of the adjustable seat post 44. For example, the control unit 62 is connected to the actuator of the adjustable seat post 44 via a wired or wireless connection.

[0068] For example, Figure 2 As shown, the control device 60 for the human-powered vehicle includes a control unit 62. For example, the control device 60 is provided in the housing 40A of the transmission unit 40. The control device 60 may be provided in the vehicle frame 18.

[0069] The control unit 62 includes an algorithm processing device that executes a predetermined control program. For example, the algorithm processing device included in the control unit 62 includes a CPU (Central Processing Unit) or an MPU (Micro Processing Unit). The algorithm processing device included in the control unit 62 can be located in multiple separate locations. When part of the algorithm processing device and other parts are located in multiple separate locations, the part of the algorithm processing device and other parts can be connected to each other in a communicative manner. The control unit 62 can include one or more microcomputers.

[0070] For example, the control device 60 further includes a storage unit 64. The storage unit 64 stores a control program and information used for control processing. For example, the storage unit 64 includes non-volatile memory and volatile memory. For example, the non-volatile memory includes at least one of ROM (Read-Only Memory), EPROM (Erasable Programmable Read Only Memory), EEPROM (Electrically Erasable Programmable Read-Only Memory), and flash memory. For example, the volatile memory includes RAM (Random Access Memory).

[0071] The control device 60 may also include a drive circuit for the motor 38. For example, the drive circuit is disposed in the housing 40A of the transmission unit 40. For example, the drive circuit and the control unit 62 are disposed on the same circuit board. The drive circuit includes an inverter circuit. The drive circuit controls the power supplied from the battery 36 to the motor 38. The drive circuit is connected to the control unit 62 via a conductive wire, cable, or wireless communication device. The drive circuit drives the motor 38 in response to a control signal from the control unit 62.

[0072] For example, the control device 60 further includes a vehicle speed detection unit 46. The vehicle speed detection unit 46 is configured to detect information related to the vehicle speed. For example, the vehicle speed detection unit 46 is configured to detect information related to the rotational speed of the wheels 14. For example, the vehicle speed detection unit 46 is connected to the control unit 62 wirelessly or by wire.

[0073] For example, the vehicle speed detector 46 is configured to detect a magnet provided on the wheel 14. For example, the vehicle speed detector 46 is configured to output a detection signal a predetermined number of times during one rotation of the wheel 14. For example, the vehicle speed detector 46 outputs a signal corresponding to the rotational speed of the wheel 14. For example, the control unit 62 is configured to calculate the vehicle speed based on the signal corresponding to the rotational speed of the wheel 14 and information related to the circumference of the wheel 14. For example, the storage unit 64 stores information related to the circumference of the wheel 14.

[0074] For example, the vehicle speed detector 46 includes a magnetic reed forming a reed switch, or a magnetic sensor such as a Hall effect element. For example, the vehicle speed detector 46 is configured to detect a magnet attached to the chain stay of the frame 18 and attached to the rear wheel. The vehicle speed detector 46 can also be configured to detect a magnet provided on the front fork 30 and attached to the front wheel.

[0075] The vehicle speed detection unit 46 may be of any structure as long as it can obtain information related to the vehicle speed. For example, the vehicle speed detection unit 46 includes a global navigation satellite system (GNSS; Global Navigation Satellite System) receiver. For example, the GNSS receiver includes a GPS (Global Positioning System) receiver. For example, when the vehicle speed detection unit 46 includes a GPS receiver, the control unit 62 is configured to calculate the vehicle speed based on time and travel distance. The GNSS receiver may include a receiver for a satellite navigation system other than GPS. For example, satellite navigation systems other than GPS include Quasi-Zenith Satellite System (QZSS), GLONASS (Global Navigation Satellite System), and Galileo Satellite Navigation System. The vehicle speed detection unit 46 may be configured to detect a slit provided in the disc brake, or may be configured to include an optical sensor, etc.

[0076] The vehicle speed detection unit 46 may include an acceleration sensor. If the vehicle speed detection unit 46 includes an acceleration sensor, the control unit 62 is configured to calculate the vehicle speed by integrating the detection value detected by the acceleration sensor. The vehicle speed detection unit 46 may include a geomagnetic sensor. For example, the geomagnetic sensor is attached to the hub shell or the wheel 14. For example, the geomagnetic sensor detects the rotation of the wheel 14. For example, if the vehicle speed detection unit 46 includes a geomagnetic sensor, the control unit 62 estimates the vehicle speed based on the rotation state of the wheel 14.

[0077] For example, the control device 60 further includes a crank rotation angle detection unit 48 for detecting the rotation angle of the crankshaft 12A. The crank rotation angle detection unit 48 includes a crank rotation sensor. The crank rotation sensor is configured to detect information related to the rotational speed of the crankshaft 12A. For example, the crank rotation sensor is mounted on the vehicle frame 18 or the transmission unit 40. The crank rotation sensor can be mounted on the housing 40A of the transmission unit 40.

[0078] The crank rotation angle detector 48 includes a magnetic sensor that outputs a signal corresponding to the strength of a magnetic field. The magnetic sensor detects an annular magnet whose magnetic field strength varies circumferentially. For example, the annular magnet may be located on the crankshaft 12A, a component that rotates in conjunction with the crankshaft 12A, or a portion of the power transmission path from the crankshaft 12A to the first rotating member 24. The component that rotates in conjunction with the crankshaft 12A may include the output shaft of the motor 38.

[0079] For example, the crank rotation angle detection unit 48 outputs a signal corresponding to the rotational speed of the crankshaft 12A. For example, when a first one-way clutch is not provided between the crankshaft 12A and the first rotating body 24, a magnet can be provided on the first rotating body 24. The crank rotation angle detection unit 48 can have any structure as long as it can obtain information related to the rotational speed of the crankshaft 12A. The crank rotation angle detection unit 48 can include an optical sensor, an acceleration sensor, a gyro sensor, or a torque sensor, etc., instead of a magnetic sensor. The crank rotation angle detection unit 48 is connected to the control unit 62 wirelessly or by wire.

[0080] For example, the control device 60 further includes a human-powered driving force detection unit 50 for detecting human-powered driving force. For example, the human-powered driving force detection unit 50 includes a torque sensor. The torque sensor is configured to detect information related to the human-powered driving force. For example, the torque sensor is disposed near the power transmission path or a component included in the power transmission path. For example, the components included in the power transmission path include the crankshaft 12A, a component that transmits human-powered driving force between the crankshaft 12A and the first rotating body 24, the crank arm 12B and the crank arm 12C, and at least one of the pedals 20A and the pedals 20B. The torque sensor can be disposed on at least one of the frame 18 and the transmission unit 40. The torque sensor is connected to the control unit 62 wirelessly or by wire.

[0081] For example, the human-powered driving force detector 50 is configured to output a signal corresponding to the torque applied to the crankshaft 12A by the human-powered driving force. For example, if a first one-way clutch is provided on the power transmission path, the human-powered driving force detector 50 is located on the power transmission path, closer to the input side of the human-powered driving force than the first one-way clutch. In other words, if a first one-way clutch is provided on the power transmission path, the human-powered driving force detector 50 is located on the power transmission path, closer to the crankshaft 12A than the first one-way clutch. The human-powered driving force detector 50 may include a strain sensor, a magnetostrictive sensor, or a pressure sensor. Strain sensors include strain gauges. The human-powered driving force detector 50 may have any configuration as long as it can obtain information related to the human-powered driving force. For example, it may include a sensor for detecting the pressure applied to the pedals 20A and 20B or a sensor for detecting chain tension.

[0082] For example, the control device 60 further includes a displacement detection unit 52 for detecting the displacement of the suspension 42. For example, the displacement detection unit 52 includes at least one of a stroke sensor, an air pressure sensor, a hydraulic pressure sensor, an acceleration sensor, and a torque sensor. For example, the control unit 62 obtains the displacement of the suspension 42 based on the detection value of at least one of the stroke sensor, air pressure sensor, hydraulic pressure sensor, acceleration sensor, and torque sensor.

[0083] For example, the displacement detection unit 52 detects at least one of the following: the movement of the second portion 42B relative to the first portion 42A, the relative movement of the second portion 42B relative to the first portion 42A, the fluid pressure within the suspension 42, the vibration of the suspension 42, and a force applied to the suspension 42 from outside the suspension 42. Fluid pressure includes at least one of air pressure and hydraulic pressure. For example, the displacement of the suspension 42 is the relative movement of the second portion 42B relative to the first portion 42A. The displacement detection unit 52 can be configured to determine whether the second portion 42B has moved relative to the first portion 42A. For example, the displacement detection unit 52 is connected to the control unit 62 wirelessly or by wire.

[0084] For example, the stroke sensor is configured to detect the stroke of the suspension 42. For example, the stroke includes the relative movement of the second portion 42B relative to the first portion 42A. For example, the stroke sensor includes a linear encoder. For example, the stroke sensor detects the position of one of the first portion 42A and the second portion 42B relative to the other of the first portion 42A and the second portion 42B.

[0085] For example, if the suspension 42 is a pneumatic suspension, the pneumatic pressure sensor is configured to detect the pneumatic pressure of the suspension 42. For example, the pneumatic pressure sensor detects the pneumatic pressure of a pressure chamber provided in at least one of the first portion 42A and the second portion 42B. For example, the control unit 62 is configured to estimate the relative movement of the second portion 42B relative to the first portion 42A based on the detection value of the pneumatic pressure sensor.

[0086] For example, if the suspension 42 is a hydraulic suspension, the hydraulic pressure sensor is configured to detect the hydraulic pressure of the suspension 42. For example, the hydraulic pressure sensor detects the hydraulic pressure of at least one of the pressure chambers provided between the first portion 42A and the second portion 42B. For example, the control unit 62 is configured to estimate the relative movement of the second portion 42B relative to the first portion 42A based on the detection value of the hydraulic pressure sensor.

[0087] For example, the acceleration sensor is configured to detect the acceleration of the suspension 42 in the vertical direction. The acceleration sensor may include a tilt sensor. For example, the acceleration sensor is provided on at least one of the first portion 42A and the second portion 42B. For example, the acceleration sensor is configured to detect the acceleration of at least one of the first portion 42A and the second portion 42B in the vertical direction. For example, the acceleration sensor may be configured to detect the acceleration of a force-applying member provided within the suspension 42. For example, the control unit 62 is configured to determine whether the first portion 42A and the second portion 42B have moved relative to each other based on the detection value of the acceleration sensor. The control unit 62 may be configured to estimate the relative movement of the second portion 42B relative to the first portion 42A based on the detection value of the acceleration sensor. The acceleration sensor may be configured to detect the acceleration of the suspension 42 in the left-right direction and the front-back direction.

[0088] For example, the torque sensor included in the displacement detection unit 52 is configured to detect a force applied to the suspension 42 via the vehicle frame 18. For example, the torque sensor included in the displacement detection unit 52 is configured to detect strain in at least one of the first portion 42A and the second portion 42B. The torque sensor included in the displacement detection unit 52 may be configured to detect a phase difference between one of the first portion 42A and the second portion 42B and the other of the first portion 42A and the second portion 42B.

[0089] For example, the control unit 62 is configured to determine whether the first portion 42A and the second portion 42B have moved relative to each other based on the detection value of the torque sensor included in the displacement detection unit 52. The control unit 62 may be configured to estimate the amount of relative movement of the second portion 42B relative to the first portion 42A based on the detection value of the torque sensor included in the displacement detection unit 52. The control unit 62 may be configured to estimate the amount of relative movement of the second portion 42B relative to the first portion 42A based on the amount of change in the detection value of the torque sensor included in the displacement detection unit 52.

[0090] For example, the torque sensor included in the displacement detecting unit 52 may be configured to detect strain of the frame 18. For example, when the torque sensor included in the displacement detecting unit 52 is configured to detect strain of the frame 18, the torque sensor included in the displacement detecting unit 52 is configured to detect the force applied by the rider to the frame 18, which presses the frame 18 toward the ground, via the handlebars 34 and at least one of the pedals 20A and 20B.

[0091] The displacement detection unit 52 may include a tire pressure sensor. The tire pressure sensor is configured to detect the air pressure of at least one of the front and rear wheels. For example, the tire pressure sensor is provided on a valve of at least one of the front and rear wheels. For example, the control unit 62 is configured to estimate the displacement of the suspension 42 based on the detection value of the tire pressure sensor.

[0092] The displacement detection unit 52 may include a load sensor. For example, the load sensor is configured to detect the load applied to at least one of the front wheel axle and the rear wheel axle. For example, the control unit 62 is configured to estimate the displacement of the suspension 42 based on the detection value of the load sensor.

[0093] The control device 60 may include a tilt detection unit. For example, the tilt detection unit is configured to detect information related to the tilt angle of the human-powered vehicle 10. For example, the tilt detection unit is configured to detect the slope of the road corresponding to the tilt angle of the human-powered vehicle 10. For example, the tilt angle of the human-powered vehicle 10 is the tilt angle of the human-powered vehicle 10 in the forward direction. For example, the tilt angle of the human-powered vehicle 10 corresponds to the pitch angle of the human-powered vehicle 10. For example, the tilt detection unit is connected to the control unit 62 wirelessly or via a wired connection.

[0094] For example, the tilt detection unit includes at least one of a gyro sensor and an acceleration sensor. The tilt detection unit may include a GNSS receiver. For example, the GNSS receiver includes a GPS receiver. For example, the control unit 62 is configured to obtain the slope of the current road on which the human-powered vehicle 10 is traveling based on position information determined based on GPS information acquired by the GPS receiver and the road slope included in map information pre-recorded in the storage unit 64. The GNSS receiver may include a receiver for a satellite navigation system other than GPS. For example, the control unit 62 may use the pitch angle as the value obtained by subtracting the road tilt angle from the pitch angle detected by the tilt detection unit.

[0095] For example, the control unit 62 is configured to control the motor 38 that applies propulsion force to the human-powered vehicle 10. For example, when the crankshaft 12A rotates in the direction in which the human-powered vehicle 10 moves forward, the control unit 62 is configured to control the motor 38 so as to apply assistive force to the human-powered vehicle 10. For example, when the crankshaft 12A rotates in the direction opposite to the direction in which the human-powered vehicle 10 moves forward, the control unit 62 is configured to control the motor 38 so as not to apply assistive force to the human-powered vehicle 10.

[0096] For example, the control unit 62 is configured to control the motor 38 so that the motor 38 stops applying the assist force if the human driving force input to the human-powered vehicle 10 falls below a predetermined human driving force while the motor 38 is applying the assist force. For example, the predetermined human driving force is set based on the rider stopping pedaling. For example, the predetermined human driving force is a value below the lower limit of the human driving force detectable by the human driving force detection unit 50. For example, the predetermined human driving force is 0 Nm.

[0097] For example, the control unit 62 is configured to set the control state of the motor 38 to the first control state if a parameter different from the human driving force becomes greater than a predetermined value while the human driving force input to the human-powered vehicle 10 is less than or equal to the first human driving force. For example, the control unit 62 is configured to control the motor 38 to set the control state of the motor 38 to the first control state and to start driving the motor 38 if the parameter becomes greater than the predetermined value while the human-powered vehicle 10 is stopped and the human driving force is less than or equal to the first human driving force.

[0098] For example, the first human-powered driving force is set based on the human-powered driving force when the rider stops pedaling. For example, the first human-powered driving force is below the lower limit of the human-powered driving force detectable by the human-powered driving force detection unit 50. For example, the first human-powered driving force is a value corresponding to the lower detection limit of the human-powered driving force detection unit 50. For example, the first human-powered driving force is greater than the human-powered driving force when the crank arms 12B and 12C are slightly swung. For example, the first human-powered driving force is equal to the prescribed human-powered driving force. The first human-powered driving force may be greater than the prescribed human-powered driving force. For example, the first human-powered driving force is greater than 0 Nm and less than 2 Nm.

[0099] The control unit 62 is configured to control the motor 38 in the first control state so that the output of the motor 38 reaches a predetermined output. For example, the predetermined output is a fixed value. For example, the predetermined output is pre-stored in the storage unit 64. For example, the predetermined output is equal to the upper limit of the output of the motor 38. The predetermined output may be lower than the upper limit of the output of the motor 38. The predetermined output may also be a value that increases over time.

[0100] For example, the parameter is a parameter that can be used to determine whether the rider intends to start traveling or whether the rider is boarding the human-powered vehicle 10. For example, the parameter is a parameter that changes due to the rider's actions.

[0101] For example, the parameter is related to the rotation state of the crankshaft 12A of the human-powered vehicle 10. For example, the parameter includes the rotation amount of the crankshaft 12A. For example, the specified value is a value corresponding to the rotation amount of the crankshaft 12A, and is greater than 0 degrees and less than 40 degrees. For example, the control unit 62 is configured to control the motor 38 so that the control state of the motor 38 is set to the first control state and the driving of the motor 38 is started when the rotation amount of the crankshaft 12A becomes greater than 30 degrees when the human-powered vehicle 10 is stopped and the human-powered driving force is less than the first human-powered driving force.

[0102] For example, the parameter includes the rotational speed of the crankshaft 12A. For example, the predetermined value corresponds to the rotational speed of the crankshaft 12A and is between 0 rpm and 10 rpm. For example, the control unit 62 is configured to control the motor 38 so that the control state of the motor 38 is set to the first control state and the motor 38 begins to operate if the rotational speed of the crankshaft 12A reaches 5 rpm or higher while the human-powered vehicle 10 is stopped and the human-powered driving force is less than or equal to the first human-powered driving force.

[0103] For example, the parameter is related to the displacement of the suspension 42. For example, the parameter includes at least one of the stroke of the suspension 42, the motion of the second portion 42B relative to the first portion 42A, the relative movement of the second portion 42B relative to the first portion 42A, the fluid pressure inside the suspension 42, the vibration of the suspension 42, and the force applied to the suspension 42 from the outside of the suspension 42.

[0104] For example, when the parameter includes the stroke of the suspension 42, the predetermined value is the first stroke. For example, the first stroke corresponds to a stroke that is 25% or more and 30% or less of the second stroke of the suspension 42. The second stroke corresponds to the maximum stroke of the suspension 42. When the parameter is related to the displacement of the suspension 42, the predetermined value may be a value that can be used to determine whether the first portion 42A and the second portion 42B have moved relative to each other.

[0105] For example, the control unit 62 is configured to control the motor 38 to set the control state of the motor 38 to the first control state and start driving the motor 38 if the parameter related to the displacement of the suspension 42 becomes greater than a specified value when the human driving force is less than the first human driving force.

[0106] For example, the control unit 62 is configured to set the control state of the motor 38 to the first control state if the parameter exceeds a predetermined value when the human driving force is less than the first human driving force when the crankshaft 12A is rotating in the first direction. For example, the control unit 62 is configured not to set the control state of the motor 38 to the first control state even if the parameter exceeds a predetermined value when the human driving force is less than the first human driving force when the crankshaft 12A is rotating in the second direction. For example, the first direction is the direction in which the human-powered vehicle 10 is moving forward. The second direction is the direction opposite to the first direction.

[0107] For example, the parameter includes at least one of the rotation amount of the crankshaft 12A, the rotation speed of the crankshaft 12A, and the displacement amount of the suspension 42. For example, when the parameter includes two or more of the rotation amount of the crankshaft 12A, the rotation speed of the crankshaft 12A, and the displacement amount of the suspension 42, the control unit 62 is configured to set the control state of the motor 38 to the first control state when one of the two or more of the rotation amount of the crankshaft 12A, the rotation speed of the crankshaft 12A, and the displacement amount of the suspension 42 becomes greater than or equal to a predetermined value.

[0108] For example, the control unit 62 is configured to control the motor 38 to stop the motor 38 if the human-powered driving force remains below the first human-powered driving force for a predetermined period or longer in the first control state. For example, the predetermined period is the period until the travel distance of the human-powered vehicle 10 reaches a predetermined distance. For example, the predetermined distance is greater than 0 m and less than 4 m. For example, the predetermined distance is 2 m.

[0109] The predetermined period may be a predetermined time period from the start of driving the motor 38 in the first control state. For example, the predetermined time period may be set based on a predetermined distance. For example, the predetermined time period may be a value obtained by dividing the predetermined distance by the vehicle speed. The control unit 62 may calculate the predetermined time period using the rotational speed of the crankshaft 12A and the gear ratio instead of the vehicle speed. For example, the predetermined time period may be a fixed value pre-stored in the storage unit 64.

[0110] For example, the control unit 62 is configured to set the control state of the motor 38 to the second control state if the human driving force becomes greater than or equal to a second human driving force that is greater than the first human driving force in the first control state. For example, the control unit 62 is configured to control the motor 38 in accordance with the human driving force in the second control state. For example, the second human driving force is set based on the resolution of the human driving force detection unit 50. For example, the second human driving force is set based on a human driving force that enables the human driving force detection unit 50 to detect the human driving force with high accuracy after the rider begins pedaling.

[0111] For example, the control unit 62 is configured to control the motor 38 so that the assist level of the motor 38 becomes a predetermined assist level in the second control state.

[0112] For example, the control unit 62 is configured to be able to change the predetermined assistance level. For example, the control unit 62 is configured to be able to select one of a plurality of predetermined assistance levels. For example, the number of the plurality of predetermined assistance levels is 3 or more and 9 or less.

[0113] For example, the assist level includes at least one of an assist ratio, which is a ratio of the output of the motor 38 to the human driving force input to the human-powered vehicle 10, an upper limit value of the output of the motor 38, and the output of the motor 38. The higher the assist level, the greater the assist ratio, the upper limit value of the output of the motor 38, and the output of the motor 38. The lower the assist level, the smaller the assist ratio, the upper limit value of the output of the motor 38, and the output of the motor 38.

[0114] For example, when the assist level includes an assist ratio, the control unit 62 is configured to control the motor 38 in the second control state based on the motor output obtained by multiplying the human driving force by the prescribed assist ratio. When the assist level includes the assist ratio, a plurality of prescribed assist levels are set with mutually different assist ratios. When the assist level includes an upper limit value for the output of the motor 38, a plurality of prescribed assist levels are set with mutually different upper limits for the output of the motor 38. When the assist level includes the output of the motor 38, a plurality of prescribed assist levels are set with mutually different outputs of the motor 38. When the assist level includes two or more elements of the assist ratio, the upper limit value for the output of the motor 38, and the output of the motor 38, each of the plurality of prescribed assist levels is set so that at least one of the elements included in the prescribed assist level is different from that of the other prescribed assist levels.

[0115] For example, the human-powered driving force corresponds to the propulsion force of the human-powered vehicle 10 generated by the user rotating the crankshaft 12A. For example, the human-powered driving force corresponds to the driving force input to the first rotating body 24 by the user rotating the crankshaft 12A. For example, the human-powered driving force is represented by torque. In the present embodiment, when the human-powered driving force is represented by torque, the human-powered driving force is recorded as human-power torque. The human-powered driving force can be represented by power. For example, the power of the human-powered driving force is the product of the torque applied to the crankshaft 12A and the rotational speed of the crankshaft 12A. In the present embodiment, when the human-powered driving force is represented by power, the human-powered driving force is recorded as human-power.

[0116] For example, if the assist level includes an upper limit for the output of the motor 38, the control unit 62 is configured to control the motor 38 in the second control state so that the output of the motor 38 is below the upper limit. For example, the control unit 62 is configured to control the motor 38 so that the assist force is below the maximum assist force. For example, the maximum assist force corresponds to the upper limit for the output of the motor 38. For example, the assist force includes the driving force input to the first rotating body 24 based on the output of the motor 38. For example, the assist force corresponds to the propulsion force of the human-powered vehicle 10 generated by the rotation of the motor 38. For example, if the transmission unit 40 includes a speed reducer, the assist force corresponds to the output of the speed reducer.

[0117] For example, the auxiliary force is represented by torque. In this embodiment, when the auxiliary force is represented by torque, the auxiliary force is recorded as auxiliary torque. The auxiliary force can be represented by power. In this embodiment, when the auxiliary force is represented by power, the auxiliary force is recorded as auxiliary power. For example, the auxiliary power is the product of the output torque of the reducer and the rotational speed of the output shaft of the reducer. The ratio of the auxiliary force to the human driving force can be the ratio of the auxiliary torque to the human torque, or the ratio of the auxiliary power to the human power.

[0118] For example, the control unit 62 is configured to control the motor 38 so that the assist torque is less than the maximum assist torque. The maximum assist torque corresponds to the upper limit of the output of the motor 38. For example, the maximum assist torque is a value within a range of 20 Nm to 200 Nm. For example, the maximum assist torque is determined by at least one of the output characteristics of the motor 38 and the control state. The control unit 62 may be configured to control the motor 38 so that the assist power is less than the maximum assist power. The maximum assist power corresponds to the upper limit of the output of the motor 38.

[0119] For example, the control unit 62 is configured to control the motor 38 so that the response speed of the assist torque relative to the human driving force becomes a predetermined value. For example, the control unit 62 is configured to control the motor 38 so that the response speed when the human driving force decreases is slower than the response speed when the human driving force increases. For example, when the human driving force decreases, the control unit 62 slows the response speed by performing filtering. For example, the filter includes a time constant. The assistance level may include the response speed. The slower the response speed when the human driving force decreases, the higher the assistance level. The faster the response speed when the human driving force increases, the higher the assistance level.

[0120] For example, when the assist level includes the assist ratio, the second human power driving force is set based on a value obtained by dividing a predetermined output by a predetermined assist ratio. For example, the second human power driving force is stored in advance in the storage unit 64.

[0121] Reference Figure 3 , the process of controlling the motor 38 by the control unit 62 will be described. For example, if power is supplied to the control unit 62, the control unit 62 starts Figure 3 The process of step S11 of the flowchart shown in FIG. Figure 3 When the flowchart ends, the control unit 62 repeats the process starting from step S11 at predetermined intervals until the power supply stops.

[0122] In step S11, the control unit 62 determines whether the human-powered vehicle 10 is stopped. For example, if the wheels 14 are not rotating, the control unit 62 determines that the human-powered vehicle 10 is stopped. If the human-powered vehicle 10 is stopped, the control unit 62 proceeds to step S12. If the human-powered vehicle 10 is not stopped, the control unit 62 terminates the process.

[0123] In step S12, the control unit 62 determines whether the human-powered driving force is less than or equal to the first human-powered driving force. If the human-powered driving force is less than or equal to the first human-powered driving force, the control unit 62 proceeds to step S13. If the human-powered driving force is greater than the first human-powered driving force, the control unit 62 terminates the process. In step S13, the control unit 62 determines whether a parameter different from the human-powered driving force is greater than or equal to a prescribed value. If the parameter different from the human-powered driving force is greater than or equal to the prescribed value, the control unit 62 proceeds to step S14. If the parameter different from the human-powered driving force is less than or equal to the prescribed value, the control unit 62 terminates the process.

[0124] In step S14, the control unit 62 sets the control state of the motor 38 to the first control state and then proceeds to step S15. In step S15, the control unit 62 controls the motor 38 so that the output of the motor 38 becomes a predetermined output and then proceeds to step S16.

[0125] In step S16, the control unit 62 determines whether the human driving force is greater than or equal to the second human driving force. If the human driving force is greater than or equal to the second human driving force, the control unit 62 proceeds to step S17. In step S17, the control unit 62 changes the control state of the motor 38 to the second control state and then proceeds to step S18. In step S18, the control unit 62 controls the motor 38 based on the human driving force and then terminates the process.

[0126] If the human-powered driving force is less than the second human-powered driving force in step S16, the control unit 62 proceeds to step S18. In step S19, the control unit 62 determines whether the human-powered driving force has remained below the first human-powered driving force for a period of time exceeding the prescribed period. If the human-powered driving force has not remained below the first human-powered driving force for a period of time exceeding the prescribed period, the control unit 62 proceeds to step S15. If the human-powered driving force has remained below the first human-powered driving force for a period of time exceeding the prescribed period, the control unit 62 proceeds to step S20. In step S20, the control unit 62 controls the motor 38 to stop the motor 38, and then terminates the process.

[0127] The processing of step S11 may be omitted. For example, when the processing of step S11 is omitted, if power is supplied to the control unit 62, the control unit 62 starts Figure 3 The process of step S12 of the flowchart shown.

[0128] When the human-powered vehicle 10 is stopped and the human-powered driving force is less than the first human-powered driving force, when the motor 38 is controlled based on the human-powered driving force to start driving the motor 38, a time delay may occur from the time the rider starts pedaling until the human-powered driving force detection unit 50 detects the human-powered driving force. For example, this time delay may be caused by the resolution of the human-powered driving force detection unit 50, the detection limit of the human-powered driving force detection unit 50, or the configuration of the human-powered driving force detection unit 50. For example, when the human-powered vehicle 10 is stopped and the human-powered driving force is less than the first human-powered driving force, if a parameter different from the human-powered driving force becomes greater than a specified value, the control unit 62 can start driving the motor 38. Therefore, when the human-powered vehicle 10 is stopped and the human-powered driving force is less than the first human-powered driving force, the human-powered vehicle 10 can be activated more quickly than when the motor 38 is started based on the human-powered driving force.

[0129] For example, if the parameter includes the displacement of the suspension 42, the control unit 62 can initiate driving of the motor 38 by the rider mounting the human-powered vehicle 10 or pressing the body 16 of the human-powered vehicle 10 against the ground. Therefore, since driving of the motor 38 is initiated by the displacement of the suspension 42 before the rider begins pedaling, the rider's load at the start of pedaling is reduced. If the parameter includes the displacement of the suspension 42, the rider can initiate driving of the motor 38 without having to operate a button, etc., thereby improving convenience.

[0130] Modifications

[0131] The descriptions of the embodiments are provided as examples of possible implementations of the human-powered vehicle control device of the present disclosure and are not intended to limit the implementations. For example, the human-powered vehicle control device of the present disclosure may adopt the following variations of the embodiment, as well as combinations of at least two non-inconsistent variations. In the following variations, portions common to the embodiment are assigned the same reference numerals as in the embodiment, and their descriptions are omitted.

[0132] The control unit 62 may be configured to set the control state to the first control state as long as the parameter is greater than a predetermined value even when the human-powered vehicle 10 is traveling and the human-powered driving force is less than the first human-powered driving force. Figure 3For example, in this modification, if power is supplied to the control unit 62, the process starts. Figure 3 For example, in this modification, the control unit 62 is configured to set the control state to the first control state if the parameter becomes equal to or greater than a predetermined value while the human-powered vehicle 10 is coasting.

[0133] The control unit 62 may determine whether the motor 38 is stopped instead of Figure 3 In this modification, if the motor 38 is stopped, the process proceeds to step S12. In this modification, if the motor 38 is not stopped, the process ends. Figure 3 processing.

[0134] The control unit 62 may be configured to control the motor 38 so as not to stop the motor 38 even if the human-powered driving force remains below the first human-powered driving force for a predetermined period or longer in the first control state. For example, in this variation, the control unit 62 may be configured to control the motor 38 so as to stop the motor 38 when the operating unit for stopping the motor 38 is operated.

[0135] When the parameter is correlated with the displacement of the suspension 42, the control unit 62 may be configured to set the control state of the motor 38 to the first control state when the parameter becomes equal to or greater than a predetermined value, and to control the motor 38 to stop when the parameter becomes less than the predetermined value.

[0136] The control device 60 may further include a notification unit for notifying the rider of a change in the control state. For example, the control unit 62 may be configured to control the notification unit to notify the rider of the change in the control state from the first control state to the second control state when the control state changes from the first control state to the second control state.

[0137] The parameter may include at least one of the steering angle of the steering unit of the human-powered vehicle 10, the displacement of the adjustable seat post 44, and the pitch angle, instead of at least one of the rotation amount of the crankshaft 12A, the rotation speed of the crankshaft 12A, and the displacement of the suspension 42. Alternatively, the parameter may include at least one of the steering angle of the steering unit of the human-powered vehicle 10, the displacement of the adjustable seat post 44, and the pitch angle, in addition to at least one of the rotation amount of the crankshaft 12A, the rotation speed of the crankshaft 12A, and the displacement of the suspension 42. For example, in this modified example, the control device 60 further includes a predetermined detection unit corresponding to the parameter including at least one of the steering angle of the steering unit of the human-powered vehicle 10, the displacement of the adjustable seat post 44, and the pitch angle.

[0138] The control unit 62 may be configured to select at least one of the following parameters: the amount of rotation of the crankshaft 12A, the rotational speed of the crankshaft 12A, and the displacement of the suspension 42. For example, the control unit 62 may change the selected parameter by a user operating an operating device connected to the control unit 62. For example, the control unit 62 may set the control state to the first control state based on the selected parameter.

[0139] As used herein, the expression "at least one" refers to "one or more" of the desired options. For example, if the number of options is two, the expression "at least one" as used herein 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" as used herein refers to "only one option" or "a combination of two or more options."

[0140] The ordinal numbers such as “first, second, and third” used in this specification are merely used to distinguish between multiple components with the same name and have no special meaning.

[0141] Explanation of symbols:

[0142] 10 ...human-powered vehicle, 12A ...crankshaft, 38 ...motor, 42 ...suspension, 48 ...crank rotation angle detection unit, 50 ...human-powered driving force detection unit, 52 ...displacement detection unit, 60 ...control device, 62 ...control unit.

Claims

1. A control device for a human-powered vehicle, comprising: a control unit configured to control a motor that applies a propulsion force to the human-powered vehicle; The control unit is configured as follows: When the human driving force input to the human-driven vehicle is less than or equal to the first human driving force, if a parameter different from the human driving force becomes greater than or equal to a predetermined value, the control state of the motor is set to the first control state. In the first control state, if the human driving force becomes equal to or greater than a second human driving force that is greater than the first human driving force, the control state of the motor is set to the second control state. In the first control state, the motor is controlled so that the output of the motor becomes a predetermined output. In the second control state, the motor is controlled according to the human driving force.

2. The control device according to claim 1, wherein: The parameter is related to the rotation state of the crankshaft of the human-powered vehicle.

3. The control device according to claim 2, wherein: The parameters include the amount of rotation of the crankshaft, The predetermined value is a value corresponding to the rotation amount and is greater than or equal to 0 degrees and less than or equal to 40 degrees.

4. The control device according to claim 2, wherein: The parameters include the rotational speed of the crankshaft, The predetermined value is a value corresponding to the rotation speed, and is greater than or equal to 0 rpm and less than or equal to 10 rpm.

5. The control device according to claim 2, wherein: The control device further includes a crank rotation angle detection unit for detecting a rotation angle of the crank shaft.

6. The control device according to claim 1, wherein: The human-powered vehicle includes a suspension, The parameter is related to the displacement of the suspension.

7. The control device according to claim 6, wherein: The control device further includes a displacement detection unit for detecting the displacement amount of the suspension. The displacement detecting portion includes at least one of a stroke sensor, an air pressure sensor, a hydraulic pressure sensor, an acceleration sensor, and a torque sensor.

8. The control device according to claim 1, wherein: The control unit is configured to control the motor so that the output of the motor becomes equal to or less than an upper limit value in the second control state. The prescribed output is equal to the upper limit value.

9. The control device according to claim 1, wherein: The control unit is configured to control the motor to stop the motor if the human driving force is less than or equal to the first human driving force for a predetermined period or longer in the first control state.

10. The control device according to claim 9, wherein: The predetermined period is a predetermined time from the start of driving the motor in the first control state.

11. The control device according to claim 9, wherein: The predetermined period is a period until the travel distance of the human-powered vehicle reaches a predetermined distance.

12. The control device according to claim 11, wherein: The predetermined distance is greater than 0 m and less than 4 m.

13. The control device according to claim 1, wherein: The control unit is configured to set the control state of the motor to the first control state and control the motor to start driving the motor if the parameter becomes greater than the specified value when the human-powered vehicle is stopped and the human-powered driving force is less than or equal to the first human-powered driving force.

14. The control device according to any one of claims 1 to 13, wherein: The control device further includes a human driving force detection unit for detecting the human driving force.

15. The control device according to claim 14, wherein: The first human driving force is equal to or smaller than a lower limit value of the human driving force detectable by the human driving force detection unit.

16. The control device according to claim 1, wherein: The first human driving force is greater than or equal to 0 Nm and less than or equal to 2 Nm.

17. The control device according to claim 1, wherein: The control unit is configured to control the motor in accordance with a motor output obtained by multiplying the human driving force by a predetermined assist ratio in the second control state. The second human power driving force is set based on a value obtained by dividing the predetermined output by the predetermined assist ratio.

Images