Control device for human-powered vehicle

Abstract

The invention provides a control device for a human-powered vehicle, which can properly control a motor. A control device for a human-powered vehicle is provided with: a control unit configured to control a motor for applying a propulsive force to the human-powered vehicle, the control unit being configured to control the propulsive force to the human-powered vehicle from a prescribed time point at which a pedaling state related to pedaling changes to a prescribed pedaling state until a first period has elapsed; the motor is controlled to stop, and the first period is determined based on a parameter related to the human-powered vehicle different from a vehicle speed.

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 for assisting 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] One of the objects of the present disclosure is to provide a control device for a human-powered vehicle that can appropriately control a motor.

[0007] Means used to solve problems

[0008] According to the first aspect of the present disclosure, a control device is a control device for a human-powered vehicle and includes: a control unit configured to control a motor that provides propulsion force to the human-powered vehicle, the control unit configured to control the motor to stop the motor from a specified time point when a pedaling state related to pedaling changes to a specified pedaling state until a first period has passed, the first period being determined based on a parameter related to the human-powered vehicle other than the vehicle speed.

[0009] According to the control device of the first aspect, the control unit can stop the motor before the first period determined based on a parameter different from the vehicle speed has elapsed from the predetermined time point.

[0010] In the control device according to the second aspect of the first aspect of the present disclosure, the control unit is configured to control the motor to stop the motor when the first period has elapsed from the predetermined time point.

[0011] According to the control device according to the second aspect, the control unit stops the motor after the first period has elapsed. Therefore, the control unit can appropriately stop the motor.

[0012] In the control device according to the third aspect of the first aspect or the second aspect of the present disclosure, the control unit is configured to control the motor so that the output of the motor becomes the first output until a second period shorter than the first period has passed since the specified time point, control the motor so that the output of the motor decreases if the second period has passed since the specified time point, and control the motor so that the motor stops before the first period has passed since the specified time point.

[0013] According to the control device according to the third aspect, the control unit can set the output of the motor to the first output until the second period elapses, and can stop the motor before the first period elapses.

[0014] In the control device according to the fourth aspect of the first aspect or the second aspect of the present disclosure, the control unit is configured to set the control state of the motor to any one of a first control state and a second control state, in which, from the specified time point, the output of the motor is gradually reduced, and from the specified time point until the first period has passed, the motor is controlled to stop, and in the second control state, from the specified time point until a second period shorter than the first period has passed, the motor is controlled to change the output of the motor to the first output, and if the second period has passed since the specified time point, the motor is controlled to reduce the output of the motor, and from the specified time point until the first period has passed, the motor is controlled to stop.

[0015] According to the control device of the fourth aspect, in the first control state, the control unit can stop the motor from a predetermined time point until the first period has elapsed. According to the control device of the fourth aspect, in the second control state, the control unit can set the motor output to the first output until the second period has elapsed, and can stop the motor before the first period has elapsed.

[0016] In the control device according to the fifth aspect of the fourth aspect of the present disclosure, the control unit is configured to, in the second control state, control the motor so that the output of the motor gradually decreases if the second period has passed since the specified time point, and control the motor so that the motor stops from the specified time point until before the first period has passed.

[0017] According to the control device according to the fifth aspect, in the second control state, the control unit sets the motor output to the first output until the second period has elapsed, and gradually reduces the motor output after the second period has elapsed. Therefore, the motor can be stopped appropriately.

[0018] In the control device of a sixth aspect according to any one of the third to fifth aspects of the present disclosure, the first output is equal to an upper limit value of the output of the motor.

[0019] According to the control device of claim 6, the control unit can set the motor output to the upper limit value from the predetermined time point until the second period has passed. Therefore, the rider is less likely to notice that the motor assist force is insufficient until the second period has passed.

[0020] In the control device of a seventh aspect according to any one of the third to fifth aspects of the present disclosure, the first output is equal to the output of the motor at the prescribed time point.

[0021] According to the seventh aspect of the control device, the control unit can set the motor output to the motor output at the predetermined time from the predetermined time point until the second period has passed. Therefore, the rider is less likely to notice that the motor assist force is insufficient until the second period has passed.

[0022] In the control device according to the eighth aspect of the first aspect or the second aspect of the present disclosure, the control unit is configured to set the control state of the motor to either a first control state or a second control state, wherein in the first control state, the output of the motor is gradually reduced from the specified time point, and the motor is controlled to stop from the specified time point to the end of the first period, and in the second control state, the output of the motor is reduced from the specified time point to the end of a second period shorter than the first period in a manner different from that in the first control state, and the motor is controlled to stop from the specified time point to the end of the first period.

[0023] According to the control device of the eighth aspect, in the first control state, the control unit can stop the motor from a predetermined time point until the first period has elapsed. According to the control device of the eighth aspect, in the second control state, the control unit can reduce the motor output until the second period has elapsed, such that the degree of reduction in the motor output is different from the degree of reduction in the motor output in the first control state, and can stop the motor before the first period has elapsed.

[0024] In the control device according to the ninth aspect of the eighth aspect of the present disclosure, the control unit is configured to, in the second control state, reduce the output of the motor from the specified time point to the end of the second period in such a manner that the degree of reduction in the output of the motor is smaller than that in the first control state, and to control the motor to stop from the specified time point to the end of the first period.

[0025] According to the control device of the ninth aspect, in the second control state, the control unit can reduce the output of the motor in a manner that is less than the degree of reduction in the output of the motor in the first control state until the second period has passed, and stop the motor before the first period has passed.

[0026] In the control device of the tenth aspect according to any one of the first to ninth aspects of the present disclosure, the parameters are related to at least one of the following: the ratio of the rotational speed of the driving wheel of the human-powered vehicle to the rotational speed of the crankshaft of the human-powered vehicle, i.e., the gear ratio, the ratio of the output of the motor to the human-powered driving force input to the human-powered vehicle, i.e., the auxiliary ratio, the auxiliary mode, the tilt angle of the human-powered vehicle, the steering angle of the steering part of the human-powered vehicle, the rotation state of the crankshaft, and the human-powered driving force.

[0027] According to the control device of the tenth aspect, the control unit is capable of stopping the motor from a specified time point until a first period determined based on parameters related to at least one of the ratio of the rotational speed of the driving wheel of the human-powered vehicle to the rotational speed of the crankshaft of the human-powered vehicle, i.e., the gear ratio, the ratio of the output of the motor to the human-powered force input to the human-powered vehicle, i.e., the assist ratio, the assist mode, the tilt angle of the human-powered vehicle, the steering angle of the steering part of the human-powered vehicle, the rotational state of the crankshaft, and the human-powered force.

[0028] In the control device of the eleventh aspect according to any one of the fourth, fifth, eighth, and ninth aspects of the present disclosure, the parameters include the pitch angle of the human-powered vehicle, and the control unit is configured to set the control state to the first control state when the pitch angle is greater than the first pitch angle, and to set the control state to the second control state when the pitch angle is smaller than the first pitch angle, wherein the first pitch angle is an angle corresponding to the downhill slope.

[0029] According to the control device according to claim 11, the control unit can set the control state to either the first control state or the second control state according to the first pitch angle corresponding to the downhill gradient.

[0030] In the control device of aspect 12 according to any one of aspects 1 to 9 of the present disclosure, the parameters include the pitch angle of the human-powered vehicle, and the control unit is configured to determine the first period based on the pitch angle in such a manner that the first period when the pitch angle is the second pitch angle is longer than the first period when the pitch angle is the third pitch angle.

[0031] According to the control device according to the twelfth aspect, the control unit can extend the first period when the pitch angle is the second pitch angle, compared to when the pitch angle is the third pitch angle.

[0032] In the control device according to the thirteenth aspect of the twelfth aspect of the present disclosure, the second pitch angle is an angle corresponding to an uphill slope, and the third pitch angle is an angle corresponding to a downhill slope.

[0033] According to the control device of the thirteenth aspect, the control unit can extend the first period when the pitch angle is the second pitch angle corresponding to an uphill slope, compared to when the pitch angle is the third pitch angle corresponding to a downhill slope. Therefore, the control unit can delay stopping the motor when the human-powered vehicle is traveling uphill, compared to when the human-powered vehicle is traveling downhill.

[0034] In the control device of the fourteenth aspect according to any one of the fourth aspect, fifth aspect, eighth aspect, ninth aspect, and eleventh aspect of the present disclosure, the parameters include the roll angle of the human-powered vehicle, and the control unit is configured to set the control state to the first control state when the roll angle is greater than the specified roll angle, and to set the control state to the second control state when the roll angle is smaller than the specified roll angle.

[0035] According to the control device according to the fourteenth aspect, the control unit can set the control state to either the first control state or the second control state according to the roll angle.

[0036] In the control device of the fifteenth aspect according to any one of the fourth aspect, fifth aspect, eighth aspect, ninth aspect, eleventh aspect, and fourteenth aspect of the present disclosure, the parameters include the ratio of the rotational speed of the driving wheel of the human-powered vehicle to the rotational speed of the crankshaft of the human-powered vehicle, i.e., the speed ratio, and the control unit is configured to set the control state to the first control state when the speed ratio is greater than the first speed ratio, and to set the control state to the second control state when the speed ratio is less than the first speed ratio.

[0037] According to the control device of the fifteenth aspect, the control unit can set the control state to either the first control state or the second control state according to the speed ratio.

[0038] In the control device of the sixteenth aspect according to any one of the fourth aspect, fifth aspect, eighth aspect, ninth aspect, eleventh aspect, fourteenth aspect, and fifteenth aspect of the present disclosure, the control unit is configured to, in the first control state, from the specified time point, if the human driving force input to the human-powered vehicle becomes greater than the first human driving force, control the motor to provide propulsion force to the human-powered vehicle.

[0039] According to the control device of the sixteenth aspect, in the first control state, if the human driving force becomes equal to or greater than the first human driving force from a predetermined time point, the control unit can apply the propulsion force to the human-powered vehicle via the motor.

[0040] In the control device of aspect 17 according to any one of the fourth, fifth, eighth, ninth, eleventh, fourteenth, and fifteenth aspects of the present disclosure, the control unit is configured to, in the second control state, control the motor to provide propulsion force to the human-powered vehicle if the rotational speed of the crankshaft of the human-powered vehicle becomes greater than the first rotational speed from the specified time point.

[0041] According to the control device of the seventeenth aspect, in the second control state, if the rotation speed of the crankshaft becomes equal to or higher than the first rotation speed from a predetermined time point, the control unit can apply propulsion force to the human-powered vehicle via the motor.

[0042] In the control device of aspect 18 according to any one of aspects 1 to 9 of the present disclosure, the parameters include the ratio of the rotational speed of the driving wheel of the human-powered vehicle to the rotational speed of the crankshaft of the human-powered vehicle, i.e., the speed ratio, and the control unit is configured to determine the first period based on the speed ratio in a manner such that the first period when the speed ratio is below the second speed ratio is longer than the first period when the speed ratio is greater than the second speed ratio.

[0043] According to the control device according to the eighteenth aspect, the control unit can extend the first period when the speed ratio is equal to or less than the second speed ratio, compared to when the speed ratio is greater than the second speed ratio.

[0044] In the control device according to the eighteenth aspect and the nineteenth aspect of the present disclosure, the second speed ratio is greater than 1 and less than 1.2.

[0045] According to the control device of the nineteenth aspect, the control unit can extend the first period when the speed ratio is equal to or less than the second speed ratio, which is greater than 1 and less than 1.2, compared to when the speed ratio is greater than the second speed ratio.

[0046] In the control device of the twentieth aspect according to any one of the fourth aspect, fifth aspect, eighth aspect, ninth aspect, eleventh aspect, and fourteenth to seventeenth aspects of the present disclosure, the parameters include the steering angle of the steering part of the human-powered vehicle, and the control part is configured to set the control state to the first control state when the steering angle is larger than a specified angle, and to set the control state to the second control state when the steering angle is below the specified angle.

[0047] According to the control device of the twentieth aspect, the control unit can set the control state to either the first control state or the second control state according to the steering angle of the steering unit.

[0048] In the control device of aspect 21 according to any one of aspects 1 to 9 of the present disclosure, the parameters include the rotational speed of the crankshaft of the human-powered vehicle, and the control unit is configured to determine the first period based on the rotational speed of the crankshaft so that the first period when the rotational speed of the crankshaft is less than the second rotational speed when the pedaling state is the prescribed pedaling state is longer than the first period when the rotational speed of the crankshaft is greater than the second rotational speed when the pedaling state is the prescribed pedaling state.

[0049] According to the control device according to claim 21, when the pedaling state is the predetermined pedaling state, the control unit can extend the first period when the crankshaft rotation speed is lower than the second rotation speed compared to when the crankshaft rotation speed is higher than the second rotation speed.

[0050] In the control device of aspect 22 according to any one of aspects 1 to 9 of the present disclosure, the parameters include the human driving force input to the human-driven vehicle, and the control unit is configured to determine the first period based on the human driving force so that the first period when the human driving force is greater than the second human driving force when the pedaling state is the prescribed pedaling state is longer than the first period when the human driving force is less than the second human driving force when the pedaling state is the prescribed pedaling state.

[0051] According to the control device according to claim 22, when the pedaling state is the predetermined pedaling state, the control unit can extend the first period when the human driving force is equal to or greater than the second human driving force, compared to when the human driving force is smaller than the second human driving force.

[0052] In the control device of aspect 23 according to any one of aspects 3 to 5 of the present disclosure, the control unit is configured to control the motor so that the first output when the braking device of the human-powered vehicle is actuated is smaller than the first output when the braking device is not actuated.

[0053] According to the control device of claim 23, the control unit can make the first output when the brake device of the human-powered vehicle is actuated smaller than the first output when the brake device is not actuated, thereby suppressing the load applied to the brake device.

[0054] In the control device of aspect 24 according to any one of aspects 1 to 23 of the present disclosure, the control unit is configured to calculate an estimated time from the cessation of pedaling to the time when the travel distance of the human-powered vehicle becomes greater than a specified distance based on the parameters, and determine the first period based on the estimated time.

[0055] According to the control device according to claim 24, the control unit can determine the first period based on the estimated time until the travel distance becomes equal to or longer than the predetermined distance.

[0056] In the control device according to the twenty-fourth aspect and the twenty-fifth aspect of the present disclosure, the prescribed distance is greater than or equal to 1 m and less than or equal to 5 m.

[0057] According to the control device according to the twenty-fifth aspect, the control unit can determine the first period based on the estimated time until the travel distance becomes equal to or longer than the predetermined distance of 1 m to 5 m.

[0058] Effects of the Invention

[0059] The control device for a human-powered vehicle disclosed herein can appropriately control a motor. BRIEF DESCRIPTION OF THE DRAWINGS

[0060] Figure 1 A side view of a human-powered vehicle including the control device for the human-powered vehicle according to the first embodiment;

[0061] Figure 2 1 is a block diagram showing the electrical structure of a control device for a human-powered vehicle according to a first embodiment;

[0062] Figure 3 To indicate Figure 2 a flowchart of a first portion of a process for controlling a motor executed by a control unit;

[0063] Figure 4 To indicate Figure 2 a flowchart of a second part of the process of controlling the motor executed by the control unit;

[0064] Figure 5 for Figure 2 A timing chart showing an example of temporal changes in human torque and assist torque when a control unit controls a motor;

[0065] Figure 6 1 is a flowchart showing a process of controlling a motor executed by the control unit according to the second embodiment. DETAILED DESCRIPTION

[0066] <First embodiment>

[0067] Reference Figures 1 to 3 Next, the control device 70 for the human-powered vehicle according to the first embodiment will be described.

[0068] 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.

[0069] 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 saddle or seat).

[0070] 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.

[0071] For example, the vehicle body 16 includes a frame 18. For example, the crank 12 includes a crank axle 12A that is rotatable relative to the frame 18, and a pair of crank arms 12B and 12C, respectively provided at the axial ends of the crank axle 12A. A pair of pedals 20A and 20B are coupled to each crank arm 12B and 12C. For example, the drive wheel 14A is driven by the rotation of the crank 12. For example, the drive wheel 14A is supported by the frame 18.

[0072] 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.

[0073] 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.

[0074] 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.

[0075] 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.

[0076] like Figure 1 and Figure 2 As shown, the human-powered vehicle 10 further includes a battery 36. For example, 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 70. For example, the battery 36 is communicatively connected to the control unit 72 of the control device 70 via a cable or a wireless communication device. For example, the battery 36 can communicate with the control unit 72 via power line communication (PLC), CAN (Controller Area Network), or UART (Universal Asynchronous Receiver / Transmitter).

[0077] The human-powered vehicle 10 includes a motor 38 configured to impart 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 disposed on the frame 18 of the human-powered vehicle 10 and to transmit rotational force to the first rotating body 24.

[0078] 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.

[0079] 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.

[0080] The human-powered vehicle 10 includes a speed change device 42. For example, the speed change device 42 is configured to change the speed ratio of the human-powered vehicle 10. For example, the speed change device 42 is provided on the transmission path of the human-powered driving force in the human-powered vehicle 10. For example, the speed change ratio is the ratio of the rotational speed of the wheel 14 to the rotational speed of the crankshaft 12A. For example, the rotational speed of the wheel 14 includes the rotational speed of the drive wheel 14A. The rotational speed of the wheel 14 and the rotational speed of the crankshaft 12A can each be the number of rotations per unit time. In the speed change ratio, the rotational speed of the wheel 14 can be replaced by the number of teeth of one of the at least one first rotating body 24, and the rotational speed of the crankshaft 12A can be replaced by the number of teeth of one of the at least one second rotating body 26. The relationship between the speed change ratio, the rotational speed of the wheel 14, and the rotational speed of the crankshaft 12A is expressed by equation (1). In equation (1), R is the speed change ratio, C is the rotational speed of the crankshaft 12A, and W is the rotational speed of the wheel 14.

[0081] Formula (1): R = W / C

[0082] For example, the speed change device 42 includes a derailleur or an internal transmission. For example, a derailleur is used to move the connecting member 28, which is engaged with one of the plurality of sprockets, to another of the plurality of sprockets. For example, the internal transmission is provided on the hub of the rear wheel. The internal transmission may include a CVT (Continuously Variable Transmission).

[0083] The speed change device 42 includes an actuator. For example, the actuator is configured to operate the speed change device 42 to change the speed ratio. For example, the actuator includes a speed change motor. The actuator may be omitted. In the case where the actuator is omitted, the speed change device 42 is connected to the speed change operating device 44 via an electric wire or the like, for example.

[0084] For example, the human-powered vehicle 10 includes a speed shift operating device 44 configured to operate the speed shift device 42. For example, the speed shift operating device 44 includes an operating unit operated by a user. For example, the user's operation is input to the operating unit. For example, the operating unit includes at least one of a switch, an operating lever, and a dial switch.

[0085] For example, the human-powered vehicle 10 includes a brake device 46. For example, the brake device 46 includes at least one of a rim brake and a disc brake. For example, the rim brake brakes the wheel rim of the human-powered vehicle 10. For example, the disc brake brakes the disc brake rotor mounted on the human-powered vehicle 10.

[0086] For example, the brake device 46 includes two brake devices 46, one corresponding to the drive wheel 14A and the other corresponding to the driven wheel 14B. Both brake devices 46 may include rim brakes, or both brake devices 46 may include disc brakes. Alternatively, one of the two brake devices 46 may include a rim brake, and the other may include a disc brake. The brake devices 46 may be actuated by a mechanical cable, a hydraulic pressure, or an electric actuator.

[0087] For example, the human-powered vehicle 10 includes a brake operating device 48 configured to operate the brake device 46. For example, the brake operating device 48 includes an operating unit operated by a user. For example, the user's operation is input to the operating unit. For example, the operating unit includes at least one of a switch, an operating lever, and a disk switch.

[0088] For example, the brake device 46 is configured to brake the wheel 14 when the brake operating device 48 is operated. When the brake device 46 is operated by an electric actuator, for example, the brake operating device 48 is configured to transmit a brake operating signal to the brake device 46 when an operating portion is operated. When the brake device 46 is operated by an electric actuator, for example, the brake device 46 is operated based on the operating signal transmitted from the brake operating device 48.

[0089] For example, the control device 70 for a human-powered vehicle includes a control unit 72. The control unit 72 includes an algorithm processing device that executes a predetermined control program. For example, the algorithm processing device included in the control unit 72 includes a CPU (Central Processing Unit) or an MPU (Micro Processing Unit). The algorithm processing device included in the control unit 72 can be located in multiple locations separated from each other. In the case where a part of the algorithm processing device and another part are located in multiple locations separated from each other, a part of the algorithm processing device and another part can be connected in a manner that allows them to communicate with each other. The control unit 72 may include one or more microcomputers. For example, the control device 70 is located in the housing 40A of the transmission unit 40. The control device 70 can be located on the vehicle frame 18.

[0090] For example, the control device 70 further includes a storage unit 74. The storage unit 74 stores a control program and information used for control processing. For example, the storage unit 74 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).

[0091] The control device 70 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 72 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 72 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 72.

[0092] For example, the human-powered vehicle 10 includes a vehicle speed detection unit 50. The vehicle speed detection unit 50 is configured to detect information related to the vehicle speed. For example, the vehicle speed detection unit 50 is configured to detect information related to the rotational speed of the wheels 14. For example, the vehicle speed detection unit 50 is connected to the control unit 72 wirelessly or by wire.

[0093] For example, the vehicle speed detection unit 50 is configured to detect a magnet provided on the wheel 14. For example, the vehicle speed detection unit 50 is configured to output a detection signal a predetermined number of times during one rotation of the wheel 14. For example, the vehicle speed detection unit 50 outputs a signal corresponding to the rotational speed of the wheel 14. For example, the control unit 72 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 74 stores information related to the circumference of the wheel 14.

[0094] For example, the vehicle speed detector 50 includes a magnetic reed forming a reed switch or a magnetic sensor such as a Hall effect element. For example, the vehicle speed detector 50 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 50 can also be configured to detect a magnet provided on the front fork 30 and attached to the front wheel.

[0095] The vehicle speed detection unit 50 may be of any structure as long as it can obtain information related to the vehicle speed. For example, the vehicle speed detection unit 50 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, in the case where the vehicle speed detection unit 50 includes a GPS receiver, the control unit 72 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 50 may be configured to detect a slit provided in a disc brake, or may be configured to include an optical sensor, etc.

[0096] The vehicle speed detection unit 50 may include an acceleration sensor. If the vehicle speed detection unit 50 includes an acceleration sensor, the control unit 72 is configured to calculate the vehicle speed by integrating the detection value detected by the acceleration sensor. The vehicle speed detection unit 50 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 50 includes a geomagnetic sensor, the control unit 72 estimates the vehicle speed based on the rotation state of the wheel 14.

[0097] For example, the human-powered vehicle 10 includes a crank rotation state detector 52. For example, the crank rotation state detector 52 is configured to detect the rotation angle of the crankshaft 12A. The crank rotation state detector 52 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 provided on the vehicle frame 18 or the transmission unit 40. The crank rotation sensor can be provided on the housing 40A of the transmission unit 40.

[0098] The crank rotation state detector 52 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. The annular magnet is 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 body 24. The component that rotates in conjunction with the crankshaft 12A may include the output shaft of the motor 38.

[0099] For example, the crank rotation state detection unit 52 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 state detection unit 52 can have any structure as long as it can obtain information related to the rotational speed of the crankshaft 12A. The crank rotation state detection unit 52 can include an optical sensor, an acceleration sensor, a gyro sensor, or a torque sensor, etc., instead of a magnetic sensor. The crank rotation state detection unit 52 is connected to the control unit 72 wirelessly or by wire.

[0100] For example, the human-powered vehicle 10 includes a human-powered driving force detection unit 54 for detecting human-powered driving force. For example, the human-powered driving force detection unit 54 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 provided 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 provided on at least one of the vehicle frame 18 and the transmission unit 40. The torque sensor is connected to the control unit 72 wirelessly or by wire.

[0101] For example, the human driving force detection unit 54 is configured to output a signal corresponding to the torque applied to the crankshaft 12A by the human driving force. For example, if the first one-way clutch is provided in the power transmission path, the human driving force detection unit 54 is provided in the power transmission path on the human driving force input side relative to the first one-way clutch. In other words, if the first one-way clutch is provided in the power transmission path, the human driving force detection unit 54 is provided in the power transmission path on the crankshaft 12A side relative to the first one-way clutch.

[0102] The human-powered driving force detection unit 54 includes a strain sensor, a magnetostrictive sensor, or a pressure sensor. The strain sensor includes a strain gauge. The human-powered driving force detection unit 54 may be any structure 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 the tension of the chain.

[0103] For example, the human-powered vehicle 10 includes a tilt detector 56. For example, the tilt detector 56 is configured to detect information related to the tilt angle of the human-powered vehicle 10. For example, the tilt detector 56 is configured to detect at least one of the pitch angle of the human-powered vehicle 10, the roll angle of the human-powered vehicle 10, and the yaw angle of the human-powered vehicle 10.

[0104] For example, the tilt detection unit 56 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 in the direction of travel of the human-powered vehicle 10. 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 56 is connected to the control unit 72 wirelessly or by wire.

[0105] For example, the tilt detection unit 56 includes at least one of a gyro sensor and an acceleration sensor. The tilt detection unit 56 may include a GNSS receiver. For example, the GNSS receiver includes a GPS receiver. For example, the control unit 72 is configured to obtain the slope of the current road on which the human-powered vehicle 10 is traveling based on position information measured based on GPS information obtained by the GPS receiver and the road slope included in map information pre-recorded in the storage unit 74. The GNSS receiver may include a receiver for a satellite positioning system other than GPS. For example, the control unit 72 may use the pitch angle as a value calculated by subtracting the road tilt angle from the pitch angle detected by the tilt detection unit 56.

[0106] For example, the human-powered vehicle 10 includes a steering angle detection unit 58. For example, the steering angle detection unit 58 is configured to detect the steering angle of the steering unit 60 of the human-powered vehicle 10. For example, the steering angle of the steering unit 60 includes the steering angle of the steering unit 60 relative to the vehicle frame 18. For example, the steering unit 60 includes at least one of the handlebars 34, the wheels 14, and the front fork 30. For example, the steering angle detection unit 58 is configured to detect at least one of the angle of the handlebars 34 relative to the vehicle frame 18, the angle of the wheels 14 relative to the vehicle frame 18, and the angle of the front fork 30 relative to the vehicle frame 18. For example, the steering angle detection unit 58 is provided on the head tube 18A of the vehicle frame 18 and detects the rotation angle of the front fork 30 relative to the head tube 18A. For example, the steering angle detection unit 58 includes at least one of a rotary encoder and a rotary potentiometer.

[0107] For example, the control unit 72 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 72 is configured to control the motor 38 so as to apply assist 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 72 is configured to control the motor 38 so as not to apply assist force to the human-powered vehicle 10.

[0108] For example, the control unit 72 is configured to be able to change the predetermined assistance level. For example, the control unit 72 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.

[0109] 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.

[0110] When the assistance level includes an assistance ratio, the plurality of prescribed assistance levels are set with mutually different assistance ratios. When the assistance level includes an upper limit value for the output of the motor 38, the plurality of prescribed assistance levels are set with mutually different upper limits for the output of the motor 38. When the assistance level includes the output of the motor 38, the plurality of prescribed assistance levels are set with mutually different outputs of the motor 38. When the assistance level includes two or more elements of the assistance 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 assistance levels is set so that at least one of the elements included in the prescribed assistance level is different from that of the other prescribed assistance levels.

[0111] For example, the human driving force corresponds to the propulsion force of the human-driven vehicle 10 generated by the user rotating the crankshaft 12A. For example, the human driving force corresponds to the driving force input to the first rotating body 24 due to the user rotating the crankshaft 12A. For example, the human driving force is represented by torque. In the present embodiment, when the human driving force is represented by torque, the human driving force is recorded as "human torque HT". The human driving force can be represented by power. For example, the power of the human 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 driving force is represented by power, the human driving force is recorded as "human power".

[0112] For example, the control unit 72 is configured to control the motor 38 so that the assist force is less than the maximum assist force. For example, the maximum assist force corresponds to the upper limit of 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. If the transmission unit 40 includes a speed reducer, for example, the assist force corresponds to the output of the speed reducer.

[0113] For example, the auxiliary force is represented by torque. In the present embodiment, when the auxiliary force is represented by torque, the auxiliary force is recorded as "assistive torque AT". The auxiliary force can be represented by power. In the present embodiment, when the auxiliary force is represented by power, the auxiliary force is recorded as "assistive 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 AT to the human torque HT, or the ratio of the auxiliary power to the human power.

[0114] For example, the control unit 72 is configured to control the motor 38 so that the assist torque AT 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 based on at least one of the output characteristics of the motor 38 and the control state of the motor 38. The control unit 72 can 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.

[0115] For example, the control unit 72 is configured to control the motor 38 so that the response speed of the assist torque AT to the human driving force becomes a predetermined value. For example, the control unit 72 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 72 slows the response speed through 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.

[0116] For example, the control unit 72 is configured to control the motor 38 so as to stop the motor 38 when the state related to pedaling becomes a predetermined pedaling state while the motor 38 is being driven.

[0117] For example, the prescribed pedaling state includes a state in which the rider has stopped pedaling or a state in which the rider intends to stop pedaling. For example, the prescribed pedaling state includes a pedaling state in which the rotational speed of the crankshaft 12A is below a prescribed rotational speed. For example, the control unit 72 is configured to determine that the prescribed pedaling state is a state in which the rider has stopped pedaling or a state in which the rider intends to stop pedaling when the rotational speed of the crankshaft 12A is below the prescribed rotational speed.

[0118] For example, the prescribed rotational speed is greater than 0 rpm and less than 10 rpm. For example, the prescribed rotational speed is greater than 0 rpm. For example, the prescribed rotational speed is 5 rpm. The prescribed rotational speed may be 3 rpm. For example, the control unit 72 is configured to determine that the prescribed pedaling state is a state in which the rider has stopped pedaling when the rotational speed of the crankshaft 12A is 0 rpm. For example, the control unit 72 is configured to determine that the prescribed pedaling state is a state in which the rider is about to stop pedaling when the rotational speed of the crankshaft 12A is greater than 0 rpm and less than 10 rpm.

[0119] The predetermined rotational speed can be set based on the rotational speed when the crankshaft 12A oscillates while the rider stops pedaling. The control unit 72 can be configured to determine that the pedaling state is the predetermined pedaling state when the human power driving force is less than the stop determination driving force. For example, the stop determination driving force is a human power torque HT of 1 Nm or more and 5 Nm or less.

[0120] For example, the control unit 72 is configured to control the motor 38 to stop the motor 38 from a predetermined time point when the pedaling state related to pedaling changes to a predetermined pedaling state until a first period has elapsed. For example, the control unit 72 is configured to control the motor 38 to stop the motor 38 after the first period has elapsed from the predetermined time point. For example, the control unit 72 is configured to control the motor 38 to stop the motor 38 from the predetermined time point until within the first period.

[0121] For example, the control unit 72 is configured to control the motor 38 to stop the motor 38 at a time point after a first period has elapsed from a predetermined time point. The control unit 72 may be configured to control the motor 38 to stop the motor 38 at a time point before the first period has elapsed from the predetermined time point. For example, the control unit 72 is configured to control the motor 38 so that the motor 38 does not provide propulsion force to the human-powered vehicle 10 after the first period has elapsed from the predetermined time point. For example, the control unit 72 is configured to control the motor 38 to stop the motor 38 after the first period has elapsed from the predetermined time point.

[0122] For example, the predetermined time point is the time point when the rider stops pedaling. For example, the predetermined time point is the time point when the pedaling state changes to the predetermined pedaling state. The predetermined time point may not be the same as the time point when the pedaling state changes to the predetermined pedaling state.

[0123] The prescribed time point may be a first time point before the pedaling state changes to the prescribed pedaling state. For example, the first time point may be a time point of a calculation cycle of the control unit 72 N times before the time point when the control unit 72 determines that the pedaling state is the prescribed pedaling state. The prescribed time point may be a second time point after the pedaling state changes to the prescribed pedaling state. For example, the second time point may be a time point of a calculation cycle of the control unit 72 N times after the time point when the control unit 72 determines that the pedaling state is the prescribed pedaling. For example, N is a natural number greater than 1.

[0124] For example, the first period is set based on the time from the specified time point until the travel distance of the human-powered vehicle 10 reaches the specified distance. For example, the specified distance is 1 meter or more and 5 meters or less. For example, the specified distance is 2 meters. The first period is set based on the time from the specified time point until the travel distance of the human-powered vehicle 10 reaches the specified distance.

[0125] For example, the control unit 72 is configured to set the control state of the motor 38 to either a first control state or a second control state. For example, the control unit 72 is configured to set the control state to either the first control state or the second control state based on a control state setting condition. For example, the setting condition is satisfied based on a parameter. For example, the setting condition includes a first condition for setting the control state to the first control state and a second condition for setting the control state to the second control state. For example, the second condition and the first condition are mutually exclusive. The second condition may be independent of the first condition, rather than mutually exclusive with the first condition.

[0126] For example, the parameter used to set the control state includes the pitch angle of the human-powered vehicle 10. For example, when the pitch angle is greater than or equal to a first pitch angle, the first condition is satisfied. For example, the control unit 72 is configured to set the control state to the first control state when the pitch angle is greater than or equal to the first pitch angle.

[0127] For example, if the pitch angle is smaller than the first pitch angle, the second condition is satisfied. For example, the control unit 72 is configured to set the control state to the second control state if the pitch angle is smaller than the first pitch angle. For example, the first pitch angle is an angle corresponding to a downhill slope.

[0128] For example, the parameter used to set the control state includes the roll angle of the human-powered vehicle 10. For example, if the roll angle is greater than a predetermined roll angle, the first condition is satisfied. For example, the control unit 72 is configured to set the control state to the first control state when the roll angle is greater than the predetermined roll angle.

[0129] For example, when the roll angle is smaller than a predetermined roll angle, the second condition is satisfied. For example, the control unit 72 is configured to set the control state to the second control state when the roll angle is smaller than the predetermined roll angle.

[0130] For example, the parameters for setting the control state include the ratio of the rotational speed of the drive wheel 14A of the human-powered vehicle 10 to the rotational speed of the crankshaft 12A of the human-powered vehicle 10, i.e., the speed ratio. For example, when the speed ratio is greater than the first speed ratio, the first condition is satisfied. For example, the control unit 72 is configured to set the control state to the first control state when the speed ratio is greater than the first speed ratio. For example, when the speed ratio is less than the first speed ratio, the second condition is satisfied. For example, when the speed ratio is less than the first speed ratio, the control state is set to the second control state.

[0131] For example, the parameters used to set the control state include the steering angle of the steering unit 60 of the human-powered vehicle 10. For example, if the steering angle is greater than a predetermined angle, the first condition is satisfied. For example, if the steering angle is greater than the predetermined angle, the control unit 72 sets the control state to the first control state. For example, if the steering angle is less than a predetermined angle, the second condition is satisfied. For example, the control unit 72 is configured to set the control state to the second control state if the steering angle is less than the predetermined angle.

[0132] The parameters for setting the control state may include at least one of an assist ratio, an assist mode, the rotational state of the crankshaft 12A, the human driving force, the displacement of the suspension, and the displacement of the adjustable seat post, instead of or in addition to at least one of the pitch angle, roll angle, gear ratio, and steering angle. For example, the human-powered vehicle 10 further includes a predetermined detection unit that detects a parameter related to at least one of the suspension displacement and the displacement of the adjustable seat post.

[0133] For example, the control unit 72 is configured so that, in the first control state, if the pedaling state reaches a predetermined pedaling state, the output of the motor 38 is gradually reduced, and the motor 38 is controlled to stop from a predetermined time point until the first period has elapsed. For example, the control unit 72 is configured so that, in the first control state, if the pedaling state reaches a predetermined pedaling state, the output of the motor 38 is gradually reduced, and the motor 38 is controlled to stop from a predetermined time point until the first period has elapsed. For example, the control unit 72 is configured so that, in the first control state, if the pedaling state reaches a predetermined pedaling state, the output of the motor 38 is gradually reduced, and the motor 38 is controlled to stop from a predetermined time point until the first period has elapsed.

[0134] For example, the control unit 72 is configured to control the motor 38 so that the output of the motor 38 reaches the first output from a predetermined time point until a second period shorter than the first period has elapsed. For example, the control unit 72 is configured to control the motor 38 so that the output of the motor 38 decreases after the second period has elapsed from the predetermined time point. After the second period has elapsed, the control unit 72 is configured to control the motor 38 so that the motor 38 stops, for example, from the predetermined time point until before the first period has elapsed.

[0135] For example, the control unit 72 is configured to, in the second control state, control the motor 38 so that the output of the motor 38 becomes the first output from a predetermined time point until a second period shorter than the first period has elapsed, control the motor 38 so that the output of the motor 38 decreases after the second period has elapsed from the predetermined time point, and control the motor 38 so that the output of the motor 38 stops from the predetermined time point until the first period has elapsed. For example, the control unit 72 is configured to, in the second control state, control the motor 38 so that the output of the motor 38 becomes the first output from a predetermined time point until a second period has elapsed from the predetermined time point, control the motor 38 so that the output of the motor 38 decreases after the second period has elapsed from the predetermined time point, and control the motor 38 so that the motor 38 stops from the predetermined time point until within the first period.

[0136] For example, the second period is the period from a specified time point when the travel distance of the human-powered vehicle 10 becomes the first distance. The first distance is shorter than the specified distance. The second period can be the time from the specified time point to the time when the travel distance of the human-powered vehicle 10 becomes the first distance. For example, the second period is determined based on the output of the motor 38 from the specified time point. For example, the control unit 72 determines the second period in such a way that the second period when the output of the motor 38 is smaller is longer than the second period when the output of the motor 38 is larger. The second period can be determined based on the length of the first period. For example, the control unit 72 can determine the second period based on a table related to the first period and the second period. For example, the table related to the first period and the second period is stored in the storage unit 74.

[0137] For example, the first output may be equal to the upper limit of the output of the motor 38. If the first output is greater than the output of the motor 38 at a predetermined time, the control unit 72 is configured to control the motor 38 so that the output of the motor 38 increases when the pedaling state is the predetermined pedaling state. For example, the first output may be equal to the output of the motor 38 at a predetermined time. If the first output is equal to the output of the motor 38 at the predetermined time, the control unit 72 is configured to control the motor 38 so that the output of the motor 38 is maintained until the second period has elapsed.

[0138] For example, the control unit 72 is configured to control the motor 38 so that the first output when the brake device 46 of the human-powered vehicle 10 is actuated is smaller than the first output when the brake device 46 is not actuated. For example, the first output when the brake device 46 is actuated is the upper limit of the output of the motor 38 or the output of the motor 38 at a predetermined time. For example, the first output when the brake device 46 is not actuated is between 0 W and 1 W. For example, the control unit 72 determines whether the brake device 46 is actuated based on at least one of the actuation state of the brake device 46 and the operation state of the brake operating device 48.

[0139] For example, the control unit 72 is configured to control the motor 38 to begin reducing the output of the motor 38 when the second period has elapsed since a predetermined time point. For example, the control unit 72 is configured to control the motor 38 to begin reducing the output of the motor 38 when the second period has elapsed since a predetermined time point. For example, the control unit 72 is configured to control the motor 38 to gradually reduce the output of the motor 38 when the second period has elapsed since a predetermined time point, so that the motor 38 stops before the second period returns to the first period. For example, the control unit 72 may be configured to control the motor 38 to reduce the output of the motor 38 in proportion to the elapsed time when the second period has elapsed since a predetermined time point.

[0140] The control unit 72 can be configured to control the motor 38 so that the output of the motor 38 changes according to the human driving force until the second period has passed, and to control the motor 38 so that the response speed becomes a specified response speed when the human driving force decreases. If the pedaling state is the specified pedaling state, the output of the motor 38 gradually decreases according to the reduction of the human driving force. The control unit 72 can be configured to control the motor 38 so that if the second period has passed from a specified time point, the response speed of the motor 38 is accelerated, thereby reducing the output of the motor 38 earlier than if the second period has passed. For example, the control unit 72 delays the response speed by performing a filtering process. For example, the filter includes a time constant. For example, if the second period has passed from a specified time point, the control unit 72 accelerates the response speed of the motor 38 by reducing the time constant.

[0141] For example, the control unit 72 is configured to reduce the output of the motor 38 in the second control state from a predetermined time point until a second period shorter than the first period has elapsed, so that the degree of reduction in the output of the motor 38 is different from that in the first control state, and to control the motor 38 to stop the motor 38 from the predetermined time point until the first period has elapsed. For example, the control unit 72 is configured to reduce the output of the motor 38 in the second control state from a predetermined time point until the second period has elapsed, so that the degree of reduction in the output of the motor 38 is smaller than that in the first control state, and to control the motor 38 to stop the motor 38 from the predetermined time point until the first period has elapsed.

[0142] For example, the degree of reduction in the output of motor 38 varies depending on at least one of the voltage and current applied to motor 38. For example, the degree of reduction in the output of motor 38 may be a ratio of a second voltage applied to motor 38 after the output of motor 38 is reduced relative to a first voltage applied to motor 38 before the output of motor 38 is reduced. The degree of reduction in the output of motor 38 may also be a ratio of a second current applied to motor 38 after the output of motor 38 is reduced relative to the first current applied to motor 38 before the output of motor 38 is reduced.

[0143] For example, in the second control state, if the second period elapses from a predetermined time point, the control unit 72 controls the motor 38 so that the output of the motor 38 gradually decreases. For example, the control unit 72 is configured to control the motor 38 so that it stops from the predetermined time point until the first period elapses. For example, in the second control state, if the second period elapses from a predetermined time point, the control unit 72 controls the motor 38 so that the output of the motor 38 gradually decreases. For example, the control unit 72 is configured to control the motor 38 so that it stops from the predetermined time point until the first period elapses.

[0144] For example, the control unit 72 is configured to determine the first period based on a parameter related to the human-powered vehicle 10 that is different from the vehicle speed. For example, the control unit 72 is configured to determine the first period based on a parameter related to the human-powered vehicle 10 that is different from the vehicle speed in the second control state. The control unit 72 may be configured to calculate the first period based on the vehicle speed in the first control state.

[0145] The first period in the second control state may be different from the first period in the first control state. For example, the first period in the second control state may be longer than the first period in the first control state. The first period in the second control state may be shorter than the first period in the first control state.

[0146] For example, in the first control state, the control unit 72 calculates the time from the rider stopping pedaling until the travel distance of the human-powered vehicle 10 reaches the first distance as the first period. For example, in the second control state, the control unit 72 calculates the time from the rider stopping pedaling until the travel distance of the human-powered vehicle 10 reaches the second distance as the first period. The first distance and the second distance are both less than a predetermined distance. For example, the first distance is shorter than the second distance. The control unit 72 is configured to set the control state to either the first control state or the second control state based on the parameters used to set the control state, thereby determining the first period.

[0147] For example, the parameters used to determine the first period are related to at least one of the following: the ratio of the rotational speed of the drive wheel 14A of the human-powered vehicle 10 to the rotational speed of the crankshaft 12A of the human-powered vehicle 10, i.e., the gear ratio; the ratio of the output of the motor 38 to the human-powered driving force input to the human-powered vehicle 10, i.e., the assist ratio; the assist mode; the tilt angle of the human-powered vehicle 10; the steering angle of the steering unit 60 of the human-powered vehicle 10; the rotational state of the crankshaft 12A; and the human-powered driving force. For example, the rotational state of the crankshaft 12A includes at least one of the rotation amount of the crankshaft 12A and the rotational speed of the crankshaft 12A. For example, the parameters are parameters at a predetermined time point. For example, the control unit 72 is configured to determine the first period based on the parameters at the predetermined time point.

[0148] For example, the control unit 72 is configured to calculate, based on parameters, an estimated time from when the rider stops pedaling until the travel distance of the human-powered vehicle 10 reaches a predetermined distance or greater. For example, the control unit 72 is configured to calculate, based on parameters, an estimated time from a predetermined time point until the travel distance of the human-powered vehicle 10 reaches the predetermined distance. For example, the control unit 72 calculates the estimated time based on at least one of the gear ratio, assist ratio, assist mode, lean angle of the human-powered vehicle 10, steering angle of the steering unit 60 of the human-powered vehicle 10, rotational state of the crankshaft 12A, and human driving force. For example, the control unit 72 is configured to determine a first period based on the estimated time. For example, the first period is the estimated time. For example, the control unit 72 is configured to control the motor 38 to stop the pedaling state from the time the pedaling state reaches the predetermined pedaling state until the estimated period has elapsed. For example, the control unit 72 is configured to control the motor 38 to stop the pedaling state from the time the pedaling state reaches the predetermined pedaling state until the estimated period has elapsed.

[0149] For example, the control unit 72 calculates a first estimated time from the time the rider stops pedaling until the time the travel distance of the human-powered vehicle 10 becomes greater than a specified distance based on a travel distance correlation value related to the travel distance. For example, the control unit 72 calculates a second estimated time by correcting the first estimated time based on a parameter. For example, the control unit 72 is configured to control the motor 38 using the second estimated time to stop the motor 38. For example, the control unit 72 calculates the second estimated time such that the second estimated time when the parameter corresponds to a travel environment in which the rider's load is high is longer than the second estimated time when the parameter corresponds to a travel environment in which the rider's load is low. The control unit 72 is configured to calculate the second estimated time such that the motor 38 is not stopped after the rider stops pedaling until the travel distance of the human-powered vehicle 10 becomes greater than a specified distance.

[0150] For example, in the second control state, the control unit 72 calculates the first estimated time without using the detection value of the vehicle speed detection unit 50. For example, in the first control state, the control unit 72 may calculate the first estimated time using the detection value of the vehicle speed detection unit 50 and use the calculated first estimated time as the estimated time without correcting the calculated first estimated time based on the parameters.

[0151] For example, the control unit 72 calculates the first estimated time without using the detection value of the vehicle speed detection unit 50. For example, the control unit 72 calculates the first estimated time based on a predetermined gear ratio, a tire circumference, and the rotation speed of the motor 38.

[0152] For example, the prescribed speed ratio is the ratio of the rotational speed of the drive wheel 14A to the rotational speed of the motor 38. In the case where the transmission path from the motor 38 to the human-powered driving force includes a speed change device 42, the prescribed speed ratio includes the speed ratio of the speed change device 42. In the case where the transmission path from the motor 38 to the human-powered driving force includes a speed reducer, the prescribed speed ratio includes the reduction ratio of the speed reducer. The tire circumference is pre-stored in the storage unit 74. The control unit 72 can calculate the tire circumference based on the relationship between the rotational speed of the wheel 14 and the travel distance obtained from the acceleration sensor for detecting the acceleration of the human-powered vehicle 10 in the travel direction. The control unit 72 can calculate the rotational speed of the wheel 14 based on the output of the vehicle speed detection unit 50 or the rotational speed of the crankshaft 12A and the speed ratio. For example, the control device 70 is equipped with a sensor for detecting the rotational speed of the motor 38.

[0153] For example, the control unit 72 estimates the rotation speed (rpm) of the wheel 14 by multiplying the rotation speed (rpm) of the motor 38 by a predetermined gear ratio. For example, the control unit 72 calculates the estimated travel distance per unit time by multiplying the estimated rotation speed (rpm) of the wheel 14 by the tire circumference (m). For example, the control unit 72 calculates the estimated travel distance per second (m / sec) by dividing the value calculated by multiplying the estimated rotation speed (rpm) of the wheel 14 by the tire circumference (m) by 60. For example, the control unit 72 calculates the time (sec) required to travel the predetermined distance by dividing the predetermined distance (m) by the estimated travel distance per unit time (m / sec), and uses this as the first estimated time (sec). The SI prefixes of the first estimated time and the units used to calculate the first estimated time are examples and can be changed arbitrarily. The unit of the first estimated time can be msec. The order of the calculation steps for calculating the first estimated time in this example can be changed as appropriate. For example, the control unit 72 calculates the first estimated time based on equation (2).

[0154] Formula (2): TA = LA / [(MS × RA × LT) / 60]

[0155] TA is the first estimated time.

[0156] LA is the specified distance.

[0157] MS is the rotational speed of the motor 38 .

[0158] RA is the specified speed ratio.

[0159] LT is the tire circumference.

[0160] For example, the control unit 72 may calculate the first estimated time using the detection value of the vehicle speed detection unit 50. When the control unit 72 calculates the first estimated time using the detection value of the vehicle speed detection unit 50, for example, the control unit 72 uses the rotational speed of the wheel 14 obtained by the vehicle speed detection unit 50 instead of (MS×RA) in equation (2).

[0161] For example, the parameters used to determine the first period include the pitch angle of the human-powered vehicle 10. The pitch angle may be the inclination of the road on which the human-powered vehicle 10 is traveling. For example, when the wheels 14 are in contact with the horizontal ground, the pitch angle is zero degrees. When the human-powered vehicle 10 is traveling uphill, the pitch angle is greater than zero. When the human-powered vehicle 10 is traveling downhill, the pitch angle is less than zero.

[0162] For example, the control unit 72 is configured to determine the first period based on the pitch angle so that the first period when the pitch angle is a second pitch angle is longer than the first period when the pitch angle is a third pitch angle. For example, the second pitch angle may be an angle corresponding to an uphill slope. The second pitch angle may be an angle corresponding to a flat road. For example, the third pitch angle may be an angle corresponding to a downhill slope. For example, the control unit 72 is configured to shorten the first period as the pitch angle decreases. For example, the control unit 72 calculates the second estimated time by correcting the first estimated time based on the pitch angle.

[0163] For example, the parameters used to determine the first period include the ratio of the rotational speed of the drive wheels 14A of the human-powered vehicle 10 to the rotational speed of the crankshaft 12A of the human-powered vehicle 10, i.e., the speed ratio. For example, the control unit 72 is configured to determine the first period based on the speed ratio so that the first period when the speed ratio is less than or equal to the second speed ratio is longer than the first period when the speed ratio is greater than the second speed ratio. For example, the second speed ratio is greater than 1 and less than 1.2. For example, the control unit 72 calculates the second estimated time by correcting the first estimated time based on the speed ratio.

[0164] For example, the parameter used to determine the first period includes the rotational speed of the crankshaft 12A of the human-powered vehicle 10. For example, the control unit 72 is configured to determine the first period based on the rotational speed of the crankshaft 12A so that the first period when the rotational speed of the crankshaft 12A is less than a second rotational speed when the pedaling state is in a predetermined pedaling state is longer than the first period when the rotational speed of the crankshaft 12A is greater than the second rotational speed when the pedaling state is in the predetermined pedaling state. For example, the control unit 72 calculates the second estimated time by correcting the first estimated time based on the rotational speed of the crankshaft 12A.

[0165] For example, the parameters used to determine the first period include the human driving force input to the human-powered vehicle 10. For example, the control unit 72 is configured to determine the first period based on the human driving force so that the first period when the human driving force is greater than or equal to the second human driving force when the pedaling state is in a predetermined pedaling state is longer than the first period when the human driving force is less than the second human driving force when the pedaling state is in the predetermined pedaling state. For example, the control unit 72 calculates the second estimated time by correcting the first estimated time based on the human driving force.

[0166] The parameter used to determine the first period may include the torque of the motor 38. For example, the control unit 72 is configured to determine the first period based on the torque of the motor 38 when the pedaling state is a predetermined pedaling state. The control unit 72 may obtain the torque of the motor 38 based on the output of a current sensor for detecting the current of the motor 38, or may obtain the torque of the motor 38 based on the command value for supplying current to the motor 38. For example, the control unit 72 calculates the second estimated time by correcting the first estimated time based on the torque of the motor 38.

[0167] The parameters for determining the first period may include at least one of an assist ratio, an assist mode, a steering angle, a displacement of the suspension, and a displacement of the adjustable seat post, instead of at least one of the pitch angle, the gear ratio, the rotation speed of the crankshaft 12A, the human driving force, and the torque of the motor 38, or, on the basis of at least one of the pitch angle, the gear ratio, the rotation speed of the crankshaft 12A, the human driving force, and the torque of the motor 38, also include at least one of the assist ratio, the assist mode, the steering angle, the displacement of the suspension, and the displacement of the adjustable seat post.

[0168] Reference Figure 3 and Figure 4 , the control unit 72 controls the motor 38. For example, if power is supplied to the control unit 72, the control unit 72 starts Figure 3 The process of step S11 of the flowchart shown in FIG. Figure 3 and Figure 4When the flowchart ends, the control unit 72 repeats the process starting from step S11 at predetermined intervals until the supply of power stops.

[0169] During the processing of step S11, the control unit 72 determines whether the human-powered vehicle 10 is traveling. For example, if the wheels 14 are rotating, the control unit 72 determines that the human-powered vehicle 10 is traveling. If the human-powered vehicle 10 is traveling, the control unit 72 proceeds to the processing of step S12. If the human-powered vehicle 10 is not traveling, the control unit 72 terminates the processing. For example, if the human-powered vehicle 10 is stopped, the control unit 72 determines that the human-powered vehicle 10 is not traveling. For example, if the wheels 14 are not rotating, the control unit 72 determines that the human-powered vehicle 10 is stopped.

[0170] In step S12, the control unit 72 determines whether the pedaling state is in the prescribed pedaling state. For example, if the rotational speed of the crankshaft 12A is below the prescribed rotational speed, the control unit 72 determines that the pedaling state is in the prescribed pedaling state. If the pedaling state is in the prescribed pedaling state, the control unit 72 proceeds to step S13. If the pedaling state is not in the prescribed pedaling state, the control unit 72 terminates the process.

[0171] In step S13, the control unit 72 determines whether the first condition is met. If the first condition is met, the control unit 72 proceeds to step S14. In step S14, the control unit 72 determines the first period based on the vehicle speed and then proceeds to step S15. In step S15, the control unit 72 controls the motor 38 to gradually reduce its output and then proceeds to step S16. In step S16, the control unit 72 controls the motor 38 to stop before the first period has elapsed, and then the process ends.

[0172] The processing of steps S14, S15, and S16 corresponds to the first control state. The control unit 72 may be configured to set the control state to the first control state if the first condition is satisfied. In the processing of step S14, for example, the control unit 72 calculates a first estimated time using the detection value of the vehicle speed detection unit 50 and determines the calculated first estimated time as the first period. In the processing of step S14, the control unit 72 may determine the first estimated time calculated using equation (2) as the first period.

[0173] In the process of step S13, if the first condition is not met, the control unit 72 proceeds to the process of step S17. In this process, the first condition and the second condition are mutually exclusive. In this process, the case where the first condition is not met is the case where the second condition is met. In the process of step S17, the control unit 72 determines the first period based on the parameters and then proceeds to the process of step S18. In the process of step S18, the control unit 72 determines whether the brake device 46 is actuated. For example, if the user operates the brake operating device 48, the control unit 72 determines that the brake device 46 is actuated. If the brake device 46 is actuated, the control unit 72 proceeds to the process of step S19. If the brake device 46 is not actuated, the control unit 72 proceeds to the process of step S20.

[0174] In step S19, the control unit 72 sets the first output to a lower value than when the brake device 46 is not actuated, and then proceeds to step S20. In step S20, the control unit 72 controls the motor 38 so that the output of the motor 38 remains at the first output until the second period has elapsed, and then proceeds to step S21.

[0175] In step S21, the control unit 72 determines whether the second period has elapsed. If the second period has elapsed, the control unit 72 proceeds to step S22. If the second period has not elapsed, the control unit 72 proceeds to step S20. In step S22, the control unit 72 controls the motor 38 to gradually reduce its output, and then proceeds to step S23. In step S23, the control unit 72 controls the motor 38 to stop before the first period elapses, and then ends the process.

[0176] The processing in steps S17, S18, S19, S20, S21, S22, and S23 corresponds to the second control state. The control unit 72 may be configured to set the control state to the second control state if the second condition is satisfied. In step S17, for example, the control unit 72 determines the second estimated time, obtained by correcting the first estimated time calculated using equation (2), as the first period.

[0177] The processing of step S18 and the processing of step S19 may be omitted. When the processing of step S18 and the processing of step S19 are omitted, the control unit 72 proceeds to the processing of step S20 after the processing of step S17.

[0178] Reference Figure 5 , shows an example of a change in the assist torque AT from a predetermined time point until the first period has passed. Figure 5 The time t11 is the predetermined time point. Figure 5The time t15 is the time point when the first period has passed.

[0179] During the period up to time t11, the control unit 72 is configured to control the motor 38 so that the assist torque AT varies according to the human torque HT. For example, the control unit 72 calculates the assist torque AT by multiplying the human torque HT by the assist ratio. For example, when pedaling has begun, the control unit 72 accelerates the rate of increase of the assist torque AT relative to the rate of increase of the human torque HT, so that the assist torque AT increases as quickly as possible. During the period up to time t11, if the human torque HT decreases, for example, compared to when the human torque HT increases, the control unit 72 corrects the assist torque AT by slowing down the response speed.

[0180] Figure 5 The line representing assist torque ATX in FIG. 1 represents assist torque AT in an example of the first control state. In the example of the first control state, at time t11, the control unit 72 controls the motor 38 so that the output of the motor 38 decreases at a constant rate. At time t15, the control unit 72 controls the motor 38 so that the motor 38 stops.

[0181] Figure 5 The line representing assist torque AT1 in FIG1 represents assist torque AT in the first example of the second control state. The first example is an example of the second control state. In the first example, at time t11, the control unit 72 controls the motor 38 to increase its output so that the output of the motor 38 reaches the upper limit. At time t13, the control unit 72 controls the motor 38 to begin reducing its output. At time t15, the control unit 72 controls the motor 38 to stop.

[0182] Figure 5 The line representing assist torque AT2 in FIG. 1 represents assist torque AT in a second example of the second control state. The second example is an example of the second control state. In the second example, at time t11, the control unit 72 controls the motor 38 so that the output of the motor 38 reaches the output of the motor 38 at a predetermined time. At time t14, the control unit 72 controls the motor 38 to begin reducing the output of the motor 38. At time t15, the control unit 72 controls the motor 38 to stop the motor 38.

[0183] Figure 5The line representing assist torque AT3 in FIG3 represents assist torque AT in the third example of the second control state. The third example is an example in which the control state is the second control state. In the third example, the control unit 72 controls the motor 38 so that the degree of reduction in the output of the motor 38 from time t11 to time t12 is less than the degree of reduction in the output of the motor 38 from time t11 to time t14 when the control state is the first control state. At time t12, the control unit 72 controls the motor 38 so that the output of the motor 38 begins to decrease, thereby stopping the motor 38. At time t15, the control unit 72 controls the motor 38 to stop the motor 38.

[0184] For example, in an environment where the rider's load is heavy, such as in an uphill environment or in a competition, the control unit 72 can control the motor 38 so that the output of the motor 38 becomes the first output until the second period has passed. Therefore, the motor 38 can effectively provide propulsion force to the human-powered vehicle 10.

[0185] For example, in an environment where the rider's load is heavy, such as when riding uphill, or in a competition, the control unit 72 can extend the first period, so that the motor 38 can effectively apply propulsion force to the human-powered vehicle 10 .

[0186] For example, when the human-powered vehicle 10 is traveling in a dangerous area with a large steering angle or roll angle, the control unit 72 can control the motor 38 in the first control state, thereby enabling the motor 38 to be stopped appropriately before the first period has elapsed. For example, when the human-powered vehicle 10 is traveling in a dangerous area with a large steering angle or roll angle, the control unit 72 can shorten the first period, thereby enabling the motor 38 to be stopped sooner. This makes it easier for the rider to operate the body 16 of the human-powered vehicle 10.

[0187] <Second embodiment>

[0188] Reference Figure 6 A second embodiment of a human-powered vehicle control device 70 will be described. Configurations of the second embodiment of the human-powered vehicle control device 70 that are common to those of the first embodiment are denoted by the same reference numerals as those of the first embodiment, and duplicate descriptions are omitted.

[0189] For example, the control unit 72 is configured to control the motor 38 to impart propulsion to the human-driven vehicle 10 if the human-driven driving force input to the human-driven vehicle 10 becomes equal to or greater than the first human-driven driving force from a predetermined time point in the first control state. For example, the control unit 72 is configured to control the motor 38 to impart propulsion to the human-driven vehicle 10 if the human-driven driving force becomes equal to or greater than the first human-driven driving force after the pedaling state becomes equal to a predetermined pedaling state in the first control state. For example, the control unit 72 is configured to control the motor 38 based on at least one of the human-driven driving force, the rotational speed of the crankshaft 12A, and the rotation amount of the crankshaft 12A in the first control state if the human-driven driving force becomes equal to or greater than the first human-driven driving force after the pedaling state becomes equal to a predetermined pedaling state.

[0190] For example, in the first control state, if the human driving force becomes greater than the first human driving force after the motor 38 is stopped, the control unit 72 starts driving the motor 38. For example, in the first control state, if the human driving force becomes greater than the first human driving force before the first period elapses after the pedaling state reaches the predetermined pedaling state, the control unit 72 is configured to control the motor 38 based on at least one of the human driving force, the rotational speed of the crankshaft 12A, and the rotation amount of the crankshaft 12A, without stopping the motor 38.

[0191] For example, the control unit 72 is configured to control the motor 38 to provide propulsion to the human-powered vehicle 10 if the rotational speed of the crankshaft 12A becomes equal to or higher than the first rotational speed from a predetermined time point in the second control state. For example, the control unit 72 is configured to control the motor 38 to provide propulsion to the human-powered vehicle 10 if the rotational speed of the crankshaft 12A becomes equal to or higher than the first rotational speed after the pedaling state becomes a predetermined pedaling state in the second control state.

[0192] For example, in the second control state, if the rotation speed of the crankshaft 12A reaches or exceeds the first rotation speed, the control unit 72 sets the output of the motor 38 to a predetermined output. The predetermined output may be a fixed value or a value that increases according to the rotation speed of the crankshaft 12A. The predetermined output may be an upper limit for the output of the motor 38. For example, in the second control state, if the human driving force reaches or exceeds the second human driving force after the rotation speed of the crankshaft 12A reaches or exceeds the first rotation speed, the control unit 72 controls the motor 38 based on at least one of the human driving force, the rotation speed of the crankshaft 12A, and the rotation speed of the crankshaft 12A. For example, in the second control state, if the rotation speed of the crankshaft 12A reaches or exceeds the first rotation speed after the motor 38 stops, the control unit 72 starts driving the motor 38. For example, in the second control state, if the rotation speed of the crankshaft 12A reaches or exceeds the first rotation speed before the first period of time has elapsed after the pedaling state reaches the predetermined pedaling state, the control unit 72 sets the output of the motor 38 to the predetermined output without stopping the motor 38.

[0193] For example, the first human driving force and the first rotational speed are respectively set to the following values: values ​​that can start the assistance of the motor 38 earlier in the second control state compared to the situation in the first control state. For example, the first rotational speed is set based on the resolution of the crank rotation state detection unit 52. For example, the first human driving force is set based on the resolution of the human driving force detection unit 54. For example, the first human driving force is set based on the following human driving force: after the rider starts pedaling, the human driving force detection unit 54 can detect the human driving force with high precision. For example, the second human driving force is equal to the first human driving force. The first human driving force can be larger than the second human driving force, or smaller than the second human driving force.

[0194] Reference Figure 6 , the control unit 72 controls the motor 38. For example, if power is supplied to the control unit 72, the control unit 72 starts Figure 6 The process of step S31 of the flowchart shown in FIG. Figure 6 When the flowchart ends, the control unit 72 repeats the process starting from step S31 at predetermined intervals until the supply of power stops.

[0195] In step S31, the control unit 72 determines whether the human-powered vehicle 10 is traveling. If the human-powered vehicle 10 is traveling, the control unit 72 proceeds to step S32. If the human-powered vehicle 10 is not traveling, the control unit 72 terminates the process. In step S32, the control unit 72 determines whether the pedaling state is a predetermined pedaling state. If the pedaling state is a predetermined pedaling state, the control unit 72 proceeds to step S33. If the pedaling state is not a predetermined pedaling state, the control unit 72 terminates the process.

[0196] In step S33, the control unit 72 determines whether the speed ratio is greater than the first speed ratio. If the speed ratio is greater than the first speed ratio, the control unit 72 proceeds to step S34. In step S34, the control unit 72 begins stopping the motor 38 in the first control state and then proceeds to step S35.

[0197] In step S35, the control unit 72 determines whether the human-powered driving force is greater than or equal to the first human-powered driving force. If the human-powered driving force is greater than or equal to the first human-powered driving force, the control unit 72 proceeds to step S36. If the human-powered driving force is less than the first human-powered driving force, the control unit 72 terminates the process. In step S36, the control unit 72 controls the motor 38 to impart propulsion force to the human-powered vehicle 10, and then terminates the process.

[0198] The control unit 72 may execute the process of step S35 regardless of whether the first period has elapsed since the pedaling state reached the predetermined pedaling state or the first period has elapsed. If the determination in step S35 is "yes" before the first period has elapsed since the pedaling state reached the predetermined pedaling state, the control unit 72 does not stop the motor 38 even if the first period has elapsed.

[0199] In the process of step S33, when the speed ratio is less than the first speed ratio, the control unit 72 enters the process of step S37. In the process of step S37, the control unit 72 starts to stop the motor 38 in the second control state, and then enters the process of step S38. In the process of step S38, the control unit 72 determines whether the rotational speed of the crankshaft 12A is greater than the first rotational speed. In the case that the rotational speed of the crankshaft 12A is greater than the first rotational speed, the control unit 72 enters the process of step S39. In the case that the rotational speed of the crankshaft 12A is less than the first rotational speed, the control unit 72 ends the process. In the process of step S39, the control unit 72 controls the motor 38 to impart propulsion force to the human-powered vehicle 10, and then ends the process.

[0200] The control unit 72 may execute the process of step S38 regardless of whether the pedaling state changes to the predetermined pedaling state before the first period has elapsed or after the first period has elapsed. If the determination in step S38 is "YES" from the time the pedaling state changes to the predetermined pedaling state until the first period has elapsed, the control unit 72 does not stop the motor 38 even if the first period has elapsed.

[0201] Modifications

[0202] The descriptions of each embodiment 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 a variation of each embodiment shown below, or a combination of at least two non-incompatible variations. In the following variations, portions common to the respective embodiments are assigned the same reference numerals as in the embodiment, and their descriptions are omitted.

[0203] In the first embodiment, the control state does not need to include the first control state. In this modification, the control unit 72 is configured to control the motor 38 to stop the motor 38 in the second control state when the pedaling state is the predetermined pedaling state.

[0204] In the first embodiment, the control state does not necessarily include the second control state. In this modification, the control unit 72 is configured to control the motor 38 to stop the motor 38 in the first control state when the pedaling state is the predetermined pedaling state. Even in this modification, the motor 38 can be appropriately stopped by determining the first period based on a parameter.

[0205] In the first embodiment, the first period of the first control state may be the same as the first period of the second control state. In a modified example, for example, in the second control state, the control unit 72 can reduce the output of the motor 38 to a different degree than in the first control state from a predetermined time point until the second period has elapsed. Therefore, the output of the motor 38 until the motor stops can be appropriately changed based on the parameters used to set the control state.

[0206] In the first embodiment, the control unit 72 may also determine the period from when the rider stops pedaling until the distance traveled by the human-powered vehicle 10 exceeds the prescribed distance as the first period. The control unit 72 may be configured such that, in the second control state, the control unit 72 may also determine the period from when the rider stops pedaling until the distance traveled by the human-powered vehicle 10 exceeds the prescribed distance as the first period, and further, in the first control state, the control unit 72 may determine the period from when the rider stops pedaling until the distance traveled by the human-powered vehicle 10 is within the prescribed distance as the first period. In this modified example, for example, the control unit 72 may correct the first estimated time to a second estimated time based on a parameter, such that the second estimated time corresponds to the period exceeding the prescribed distance.

[0207] The control unit 72 may determine the first period without using a predetermined distance. In a modified example, for example, the control unit 72 determines the first period based on information that associates parameters with the first period. For example, the information that associates parameters with the first period is pre-stored in the storage unit 74.

[0208] The control unit 72 may be configured to change the first output in the second control state. For example, the control unit 72 may be configured to change Figure 5 Any one of the first to third examples shown is selected as the first output.

[0209] The control unit 72 may be configured to determine the first period based on a new parameter calculated by combining the vehicle speed and at least one parameter related to the human-powered vehicle 10 that is different from the vehicle speed. In a modified example, the control unit 72 is configured to calculate the new parameter by combining the vehicle speed and at least one parameter related to the human-powered vehicle 10 that is different from the vehicle speed.

[0210] The setting conditions may include conditions related to the operation of a switching operating unit that switches the control state. For example, the operating unit includes at least one of a switch, an operating lever, and a dial switch. In this variation, for example, the control unit 72 may perform the following process instead of step S13: if the control state set by the switching operating unit is the first control state, the control unit 72 proceeds to step S14; if the control state set by the switching operating unit is the second control state, the control unit 72 proceeds to step S17.

[0211] The control unit 72 may be configured to set the control state to the second control state when a stop operation unit for stopping the motor 38 is operated during travel of the human-powered vehicle 10. For example, the stop operation unit includes at least one of a switch, an operating lever, and a dial switch.

[0212] In the second embodiment, the control unit 72 may determine whether the pitch angle of the human-powered vehicle 10 is greater than or equal to the first pitch angle, instead of processing in step S33. In this modified example, if the pitch angle is greater than or equal to the first pitch angle, the control unit 72 proceeds to step S34. If the pitch angle is less than the first pitch angle, the control unit 72 proceeds to step S37.

[0213] In the second embodiment, the control unit 72 may determine whether the roll angle of the human-powered vehicle 10 is greater than or equal to a predetermined roll angle, instead of processing in step S33. In this modified example, if the roll angle is greater than or equal to the predetermined roll angle, the control unit 72 proceeds to step S34. If the roll angle is less than the predetermined roll angle, the control unit 72 proceeds to step S37.

[0214] In the second embodiment, the control unit 72 may determine whether the steering angle of the steering unit 60 is greater than a predetermined angle, instead of performing the process in step S33. In this modified example, if the steering angle of the steering unit 60 is greater than the predetermined angle, the control unit 72 proceeds to step S34. If the steering angle of the steering unit 60 is less than the predetermined angle, the control unit 72 proceeds to step S37.

[0215] The control device 70 may further include a notification unit for notifying the rider of a change in the control state. For example, the control unit 72 may be configured to control the notification unit to notify the rider of a change in the control state when the control state changes from the first control state to the second control state.

[0216] 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."

[0217] 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.

[0218] Explanation of symbols:

[0219] 10 ...human-powered vehicle, 12A ...crankshaft, 14A ...driving wheel, 38 ...motor, 46 ...brake device, 60 ...steering unit, 70 ...control device, 72 ...control unit.

Claims

1. A control device for a human-powered vehicle, comprising: a control unit configured to control the motor that provides propulsion to the human-powered vehicle; The control unit is configured as follows: controlling the motor to stop from a predetermined time point when the pedaling state related to pedaling changes to a predetermined pedaling state until a first period elapses; The first period is determined based on a parameter related to the human-powered vehicle other than the vehicle speed.

2. The control device according to claim 1, wherein: The control unit is configured to control the motor to stop the motor when the first period has elapsed from the predetermined time point.

3. The control device according to claim 1, wherein: The control unit is configured as follows: controlling the motor so that the output of the motor becomes the first output until a second period shorter than the first period elapses from the predetermined time point; When the second period has elapsed from the predetermined time point, the motor is controlled so that the output of the motor is reduced. The motor is controlled to stop before the first period elapses from the predetermined time point.

4. The control device according to claim 1, wherein: The control unit is configured as follows: setting the control state of the motor to any one of a first control state and a second control state, In the first control state, the output of the motor is gradually reduced from the predetermined time point, and the motor is controlled to stop from the predetermined time point until the first period elapses. In the second control state, the motor is controlled so that the output of the motor becomes the first output from the specified time point until a second period shorter than the first period has passed. If the second period has passed from the specified time point, the motor is controlled so that the output of the motor decreases. Moreover, from the specified time point until before the first period has passed, the motor is controlled so that the motor stops.

5. The control device according to claim 4, wherein: The control unit is configured as follows: In the second control state, when the second period has elapsed from the predetermined time point, the motor is controlled so that the output of the motor is gradually reduced. From the predetermined time point until the first period elapses, the motor is controlled to stop.

6. The control device according to claim 3, wherein: The first output is equal to an upper limit value of the output of the motor.

7. The control device according to claim 3, wherein: The first output is equal to the output of the motor at the predetermined time point.

8. The control device according to claim 1, wherein: The control unit is configured as follows: Setting the control state of the motor to either a first control state or a second control state, In the first control state, the output of the motor is gradually reduced from the predetermined time point, and the motor is controlled to stop from the predetermined time point until the first period elapses. In the second control state, the output of the motor is reduced from the specified time point to a second period shorter than the first period in a manner that is different from the first control state in that the degree of reduction in the output of the motor is different, and the motor is controlled to stop from the specified time point to before the first period is passed.

9. The control device according to claim 8, wherein: The control unit is configured to reduce the output of the motor in the second control state from the specified time point to the end of the second period so that the degree of reduction in the output of the motor is smaller than that in the first control state, and to control the motor so that the motor stops from the specified time point to the end of the first period.

10. The control device according to claim 1, wherein: The parameter is related to at least one of the following: the ratio of the rotational speed of the driving wheel of the human-powered vehicle to the rotational speed of the crankshaft of the human-powered vehicle, i.e., the gear ratio; the ratio of the output of the motor to the human-powered driving force input to the human-powered vehicle, i.e., the assist ratio; the assist mode; the tilt angle of the human-powered vehicle; the steering angle of the steering part of the human-powered vehicle; the rotation state of the crankshaft; and the human-powered driving force.

11. The control device according to claim 5 or 9, wherein: The parameters include the pitch angle of the human-powered vehicle, The control unit is configured as follows: When the pitch angle is greater than or equal to a first pitch angle, the control state is set to the first control state. When the pitch angle is smaller than the first pitch angle, the control state is set to the second control state; The first pitch angle is an angle corresponding to a downhill slope.

12. The control device according to claim 1, wherein: The parameters include the pitch angle of the human-powered vehicle, The control unit is configured to determine the first period based on the pitch angle so that the first period when the pitch angle is a second pitch angle is longer than the first period when the pitch angle is a third pitch angle.

13. The control device according to claim 12, wherein: The second pitch angle is an angle corresponding to an uphill slope, The third pitch angle is an angle corresponding to a downhill slope.

14. The control device according to claim 5 or 9, wherein: The parameters include the roll angle of the human-powered vehicle, The control unit is configured as follows: When the roll angle is greater than or equal to a predetermined roll angle, the control state is set to the first control state. When the roll angle is smaller than the predetermined roll angle, the control state is set to the second control state.

15. The control device according to claim 5 or 9, wherein: The parameters include the ratio of the rotational speed of the driving wheel of the human-powered vehicle to the rotational speed of the crankshaft of the human-powered vehicle, i.e., the gear ratio. The control unit is configured as follows: When the speed ratio is greater than the first speed ratio, the control state is set to the first control state. When the speed ratio is equal to or less than the first speed ratio, the control state is set to the second control state.

16. The control device according to claim 4, wherein: The control unit is configured to control the motor to apply propulsion force to the human-powered vehicle in the first control state if the human-powered driving force input to the human-powered vehicle becomes equal to or greater than a first human-powered driving force after the pedaling state becomes the predetermined pedaling state.

17. The control device according to claim 4, wherein: The control unit is configured to control the motor to apply propulsion force to the human-powered vehicle in the second control state if the rotational speed of the crankshaft of the human-powered vehicle becomes equal to or higher than a first rotational speed after the pedaling state becomes the predetermined pedaling state.

18. The control device according to claim 1, wherein: The parameters include the ratio of the rotational speed of the driving wheel of the human-powered vehicle to the rotational speed of the crankshaft of the human-powered vehicle, i.e., the gear ratio. The control unit is configured to determine the first period based on the speed ratio so that the first period when the speed ratio is equal to or less than a second speed ratio is longer than the first period when the speed ratio is greater than the second speed ratio.

19. The control device according to claim 18, wherein: The second speed ratio is greater than 1 and less than 1.

2.

20. The control device according to claim 5 or 9, wherein: The parameters include the steering angle of the steering part of the human-powered vehicle, The control unit is configured as follows: When the steering angle is larger than a predetermined angle, the control state is set to the first control state. When the steering angle is equal to or smaller than the predetermined angle, the control state is set to the second control state.

21. The control device according to claim 1, wherein: The parameters include the rotational speed of the crankshaft of the human-powered vehicle, The control unit is configured to determine the first period based on the rotational speed of the crankshaft in such a manner that the first period when the rotational speed of the crankshaft is less than the second rotational speed when the pedaling state is the specified pedaling state is longer than the first period when the rotational speed of the crankshaft is greater than the second rotational speed when the pedaling state is the specified pedaling state.

22. The control device according to claim 1, wherein: The parameters include the human driving force input to the human-driven vehicle, The control unit is configured to determine the first period based on the human driving force so that the first period when the human driving force is greater than or equal to the second human driving force when the pedaling state is the predetermined pedaling state is longer than the first period when the human driving force is less than the second human driving force when the pedaling state is the predetermined pedaling state.

23. The control device according to claim 3, wherein: The control unit is configured to control the motor so that the first output when a brake device of the human-powered vehicle is actuated is smaller than the first output when the brake device is not actuated.

24. The control device according to claim 1, wherein: The control unit is configured as follows: An estimated time from when pedaling stops until the travel distance of the human-powered vehicle becomes greater than or equal to a predetermined distance is calculated based on the parameters. The first period is determined based on the estimated time.

25. The control device according to claim 24, wherein: The predetermined distance is greater than or equal to 1 m and less than or equal to 5 m.

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