Control device for human-powered vehicle

Abstract

The invention provides a control device for a human-powered vehicle, which can properly control components of the human-powered vehicle. A control device for a human-powered vehicle includes a control unit configured to control a first component of the human-powered vehicle and a second component of the human-powered vehicle different from the first component, the control unit being configured to control the first component and the second component of the human-powered vehicle, the control unit being configured to control the first component and the second component of the human-powered vehicle. And a control unit that preferentially controls the other of the first unit and the second unit, and changes the priority of the first unit and the second unit in accordance with a parameter related to the exercise intensity of a rider of the human-powered vehicle.

Description

Technical Field

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

[0002] Patent document 1 discloses a control unit for controlling components of a human-powered vehicle.

[0003] Existing technical documents

[0004] Patent documents

[0005] Patent Document 1: Japanese Patent Application Publication No. 2019-119246. Summary of the Invention

[0006] The problem that the invention aims to solve

[0007] One of the objectives of this disclosure is to provide a control device for a human-powered vehicle that can appropriately control components of a human-powered vehicle.

[0008] means for solving problems

[0009] The control device of the first aspect of this disclosure is a control device for a human-powered vehicle. The control device includes a control unit configured to control a first component for the human-powered vehicle and a second component for the human-powered vehicle that is different from the first component. The control unit is configured to prioritize controlling one of the first component and the second component over the other, and to change the priority order of controlling the first component and the second component based on parameters related to the exercise intensity of the rider of the human-powered vehicle.

[0010] According to the control device of the first aspect, the priority order of the control of the first component and the second component can be changed based on the priority order of parameters related to the rider's exercise intensity. Therefore, the components for human-powered vehicles can be appropriately controlled according to the parameters related to the rider's exercise intensity.

[0011] In the control device according to the first aspect of the present disclosure, the first component includes a motor configured to impart propulsion to the human-powered vehicle, the second component includes a transmission configured to change the ratio of the rotational speed of the wheels of the human-powered vehicle to the rotational speed of the crankshaft of the human-powered vehicle, i.e., the gear ratio, and the control unit is configured to control the motor to change the motor's auxiliary level and control the transmission to change the gear ratio.

[0012] According to the control device in the second aspect, the motor and gearbox can be appropriately controlled based on parameters related to the rider's exercise intensity.

[0013] In the control device according to the second and third aspects of the present disclosure, the control unit is configured to control the motor and the transmission when the parameter is below a first value, so as to maintain the auxiliary level and the gear ratio.

[0014] According to the control device of the third aspect, when the parameter is below the first value, the auxiliary level and gear ratio can be maintained.

[0015] In the control device according to the second aspect of the present disclosure, the control unit is configured to change the priority order of controlling the motor and the transmission based on the parameters and the rotational speed of the crankshaft.

[0016] According to the control device in the fourth aspect, the priority order of controlling the motor and the transmission can be appropriately changed based on the parameters and the crankshaft speed.

[0017] In the control device according to the fourth aspect of the present disclosure, the control unit is configured to control the motor and the transmission to maintain the auxiliary level and the gear ratio when the parameter is below a first value and the rotational speed is less than a first rotational speed.

[0018] According to the control device in the fifth aspect, it is possible to maintain the auxiliary level and gear ratio when the parameter is below the first value and the speed is less than the first speed.

[0019] In the control device according to the fourth or fifth aspect of this disclosure, the control unit is configured to prioritize controlling the motor over the transmission when the parameter is below a second value and the rotational speed is above a second rotational speed.

[0020] According to the control device in the sixth aspect, the motor can be controlled preferentially over the transmission when the parameter is below the second value and the speed is above the second speed.

[0021] In the control device according to the sixth and seventh aspects of the present disclosure, the control unit is configured such that, when the parameter is below the second value and the rotational speed is above the second rotational speed, after controlling the motor to reduce the auxiliary level, it controls the transmission to change the gear ratio.

[0022] According to the control device in the seventh aspect, since the auxiliary level is preferentially reduced when the parameter is below the second value and the speed is above the second speed, compared with changing the gear ratio, the parameter can be appropriately increased and the speed is not easily changed.

[0023] In the control device according to the sixth or seventh aspect of this disclosure, the control unit is configured to prioritize controlling the transmission over the motor when the parameter is a third value or less and the rotational speed is a third speed or more that is greater than the second rotational speed.

[0024] According to the control device in the eighth aspect, when the parameter is below the third value and the speed is above the third speed, the transmission can be controlled preferentially compared with the motor.

[0025] In the control device of the ninth aspect of the eighth aspect of the present disclosure, the control unit is configured to control the transmission to increase the gear ratio and control the motor to maintain the auxiliary level when the parameter is below the third value and the rotational speed is above the third rotational speed.

[0026] According to the control device in the ninth aspect, since the gear ratio increases and the auxiliary level is maintained when the parameter is below the third value and the speed is above the third speed, it is possible to suppress the increase of speed and suppress the insufficiency of the auxiliary level.

[0027] In the control device of the tenth aspect according to any one of the fourth to ninth aspects of this disclosure, the control unit is configured to prioritize controlling the motor over the transmission when the parameter is a fourth value or higher and the rotational speed is less than a fourth rotational speed.

[0028] According to the control device in aspect ten, when the parameter is above the fourth value and the speed is less than the fourth speed, the motor can be controlled preferentially compared with the transmission.

[0029] In the control device according to the eleventh aspect of the tenth aspect of this disclosure, the control unit is configured to control the transmission to change the gear ratio after controlling the motor to increase the auxiliary level when the parameter is greater than or equal to the fourth value and the rotational speed is less than the fourth rotational speed.

[0030] According to the control device in the eleventh aspect, since the auxiliary level can be increased before changing the gear ratio when the parameter is above the fourth value and the speed is less than the fourth speed, the deficiency of the auxiliary level can be suppressed.

[0031] In the control device according to the tenth or eleventh aspect of this disclosure, the control unit is configured to prioritize controlling the motor over the transmission when the parameter is a fifth value or higher and the rotational speed is a fourth rotational speed or higher.

[0032] According to the control device in the twelfth aspect, when the parameter is at least the fifth value and the speed is at least the fourth speed, the motor can be controlled preferentially over the transmission.

[0033] In the control device according to the thirteenth aspect of the twelfth aspect of the present disclosure, the control unit is configured to control the motor to increase the auxiliary level and control the transmission to maintain the gear ratio when the parameter is a fifth value or higher and the rotational speed is a fourth rotational speed or higher.

[0034] According to the control device in aspect thirteen, since the auxiliary level is increased and the gear ratio is maintained when the parameter is at or above the fifth value and the speed is at or above the fourth speed, the parameter can be appropriately reduced and the speed can be made less prone to change.

[0035] In the control device according to the twelfth or thirteenth aspect of this disclosure, the control unit is configured to prioritize controlling the motor over the transmission when the parameter is a sixth value or higher and the rotational speed is a fifth rotational speed or higher than the fourth rotational speed.

[0036] According to the control device in the fourteenth aspect, when the parameter is at or above the sixth value and the speed is at or above the fifth speed, the motor can be controlled preferentially over the transmission.

[0037] In the control device according to the fourteenth and fifteenth aspects of this disclosure, the control unit is configured such that, when the parameter is a sixth value or higher and the rotational speed is a fifth rotational speed or higher, after controlling the motor to increase the auxiliary level, it controls the transmission to change the gear ratio.

[0038] According to the control device in the fifteenth aspect, since the auxiliary level can be increased before changing the gear ratio when the parameter is at the sixth value or above and the speed is at the fifth speed or above, the insufficiency of the auxiliary level can be suppressed.

[0039] In the control device of the sixteenth aspect according to any one of the fourth to fifteenth aspects of this disclosure, the control unit is configured to change the priority order of controlling the motor and the transmission when the parameter is a seventh value or less and the rotational speed of the wheel is greater than the value obtained by multiplying the rotational speed of the crankshaft by the gear ratio.

[0040] According to the control device of the sixteenth aspect, it is possible to change the priority order of controlling the motor and the transmission when the parameter is below the seventh value and the rotational speed of the manually driven wheel is greater than the value obtained by multiplying the rotational speed of the crankshaft by the gear ratio.

[0041] In the control device of the seventeenth aspect according to any one of the fourth to sixteenth aspects of this disclosure, the control unit is configured to control the motor to increase the assistance level when the parameter is an eighth value or above and the assistance level is less than a predetermined assistance level, and to control the transmission to maintain the gear ratio; when the parameter is an eighth value or above and the assistance level is a predetermined assistance level or above, the control unit controls the motor to maintain the assistance level, and to control the transmission to change the gear ratio based on the acceleration of the rotational speed.

[0042] According to the control device of the seventeenth aspect, it is possible to maintain the auxiliary level when the parameter is above the eighth value and the auxiliary level is above the specified auxiliary level, and to change the gear ratio based on the acceleration of the rotational speed.

[0043] In the control device according to the eighteenth aspect of the first aspect of this disclosure, the parameter is related to the energy consumption of the cyclist.

[0044] According to the control device in the eighteenth aspect, the components of the human-powered vehicle can be appropriately controlled according to the rider's energy consumption.

[0045] The nineteenth aspect of this disclosure is a control device for a human-powered vehicle, wherein the control device includes a control unit configured to control components of the human-powered vehicle, the control unit being configured to control the components based on parameters related to the exercise intensity of the rider of the human-powered vehicle, the parameters being related to the energy consumption of the rider.

[0046] According to the control device in the nineteenth aspect, it is possible to appropriately control the components of the human-powered vehicle based on parameters related to the rider's energy consumption.

[0047] In the control device according to the eighteenth or nineteenth aspect of this disclosure, the parameter is the ratio of the power of the human-powered vehicle to the energy consumption.

[0048] According to the control device of aspect 20, the components used in the human-powered vehicle can be appropriately controlled based on the ratio of the power of the human-powered vehicle to the energy consumption.

[0049] In the control device according to the twentieth aspect and the twenty-first aspect of the present disclosure, the control unit is configured to calculate the energy consumption based on the cyclist's resting heart rate.

[0050] According to the control device in aspect 21, it is possible to appropriately control the components of the human-powered vehicle based on the rider's resting heart rate.

[0051] Invention Effects

[0052] The control device for a human-powered vehicle disclosed herein can appropriately control the components of a human-powered vehicle. Attached Figure Description

[0053] Figure 1 This is a side view of a human-powered vehicle equipped with a control device for a human-powered vehicle according to the first embodiment;

[0054] Figure 2 It means Figure 1 A block diagram of the electrical structure of a human-powered vehicle;

[0055] Figure 3 It is by Figure 2 The first part of the flowchart of the process executed by the control unit to control the motor and transmission;

[0056] Figure 4 It is by Figure 2 The second part of the flowchart describes the processes performed by the control unit to control the motor and transmission;

[0057] Figure 5 It is a graph showing the relationship between parameters and rotational speed;

[0058] Figure 6 This is a flowchart of the process of controlling the motor and transmission executed by the control unit of the second embodiment;

[0059] Figure 7 This is a flowchart of the process executed by the control unit of the modified example to control the motor and transmission. Detailed Implementation

[0060] (First Implementation)

[0061] Reference Figures 1 to 5 The control device 60 for a manually driven vehicle according to the first embodiment will be described.

[0062] A human-powered vehicle is a means of transportation that has at least one wheel and can be propelled by at least human power. Human-powered vehicles include various types of bicycles, such as mountain bikes, road bikes, city bikes, freight bikes, push bikes, and recumbent bikes. The number of wheels a human-powered vehicle has is not limited. Human-powered vehicles include, for example, unicycles and vehicles with two or more wheels. Human-powered vehicles are not limited to vehicles that can be propelled solely by human power. Human-powered vehicles include electric bicycles (E-bikes) that are propelled not only by human power but also by the driving force of an electric motor. Electric bicycles (E-bikes) include electric-assisted bicycles that are propelled with the assistance of an electric motor. Hereinafter, in each embodiment, a human-powered vehicle will be described as a bicycle.

[0063] The human-powered vehicle 10 includes at least one wheel 12 and a body 14. For example, the at least one wheel 12 includes a front wheel 12F and a rear wheel 12R. The body 14 includes a frame 16. For example, the frame 16 is equipped with a saddle 16A.

[0064] For example, the human-powered vehicle 10 also includes a crank 18 for receiving human driving force. For example, the crank 18 includes crank arms 20 and a crankshaft 22. For example, the crankshaft 22 is rotatable relative to the frame 16. For example, the crank arms 20 are connected to pedals 24. For example, the crank arms 20 are respectively disposed at axial ends of the crankshaft 22.

[0065] A frame 16 is connected to a front fork 26. A front wheel 12F is mounted on the front fork 26. A handlebar 28 is connected to the front fork 26 via a stem 30. A rear wheel 12R is supported on the frame 16. In this embodiment, a crank 18 is connected to the rear wheel 12R via a drive mechanism 32. The rear wheel 12R is driven by rotation of a crankshaft 22. At least one of the front wheel 12F and the rear wheel 12R can be connected to the crank 18 via the drive mechanism 32.

[0066] The drive mechanism 32 includes at least one first rotating element 34 connected to the crankshaft 22. For example, at least one first rotating element 34 includes a front sprocket. At least one first rotating element 34 may include a pulley or a bevel gear. The crankshaft 22 may be connected to the front sprocket via a one-way clutch.

[0067] The drive mechanism 32 also includes at least one second rotating body 36 and a transmission component 38. The transmission component 38 is configured to transmit the rotational force of at least one first rotating body 34 to at least one second rotating body 36. For example, the transmission component 38 includes a chain. The transmission component 38 may include a belt or a drive shaft. For example, at least one second rotating body 36 includes a rear sprocket. At least one second rotating body 36 may include a pulley or a bevel gear. For example, a chain is wound around a front sprocket and a rear sprocket. For example, at least one second rotating body 36 is connected to a rear wheel 12R. For example, the rear wheel 12R is configured to rotate with the rotation of at least one second rotating body 36.

[0068] For example, the human-powered vehicle 10 is equipped with at least a portion of a control system 40 for human-powered vehicles. For example, the control system 40 includes a control device 60 for human-powered vehicles and components 50 for human-powered vehicles.

[0069] For example, the control system 40 also includes a detection unit 42. For example, the detection unit 42 includes at least one of a crank rotation state detection unit 42A, a wheel rotation state detection unit 42B, and a human drive force detection unit 42C.

[0070] For example, the crank rotation state detection unit 42A can be communicatively connected to the control unit 62 via wired or wireless means. For example, the crank rotation state detection unit 42A is configured to detect the rotational amount of the crankshaft 22 and the rotational amount of the first rotating body 34. For example, the first rotating body 34 includes a front sprocket or a front pulley. For example, the crank rotation state detection unit 42A is configured to detect at least one of information corresponding to the rotational speed N of the crankshaft 22 and information corresponding to the rotational speed of the first rotating body 34. For example, the information corresponding to the rotational speed N of the crankshaft 22 includes the angular acceleration of the crankshaft 22. For example, the information corresponding to the rotational speed of the first rotating body 34 includes the angular acceleration of the first rotating body 34.

[0071] For example, the crank rotation state detection unit 42A is configured to output at least one of a signal corresponding to the rotational speed N of the crankshaft 22 and a signal corresponding to the rotational speed of the first rotating body 34. For example, the crank rotation state detection unit 42A is configured to output at least one of a detection signal corresponding to the rotational angle of the crankshaft 22 and a detection signal corresponding to the rotational angle of the first rotating body 34 during one revolution of the crankshaft 22 and the first rotating body 34.

[0072] For example, the crank rotation state detection unit 42A includes a magnetic sensor for outputting a signal corresponding to the strength of the magnetic field. For example, the crank rotation state detection unit 42A includes a ring magnet with multiple magnetic poles arranged circumferentially. For example, the ring magnet is disposed on the crankshaft 22. For example, the ring magnet includes one S pole and one N pole. The S pole and the N pole extend continuously for 180° circumferentially from the rotation center axis of the crankshaft 22. The crank rotation state detection unit 42A may include an optical sensor, an accelerometer, a gyroscope sensor, or a torque sensor, etc., instead of a magnetic sensor.

[0073] The crank rotation state detection unit 42A can be configured to detect the rotational amount of the second rotating body 36. For example, the second rotating body 36 includes a rear sprocket or a rear belt pulley. The crank rotation state detection unit 42A can be configured to detect information corresponding to the rotational speed of the second rotating body 36. For example, the information corresponding to the rotational speed of the second rotating body 36 includes the angular acceleration of the second rotating body 36. The crank rotation state detection unit 42A can be configured to output a signal corresponding to the rotational speed of the second rotating body 36.

[0074] The crankshaft rotation state detection unit 42A can be configured to include a vehicle speed sensor. When the crankshaft rotation state detection unit 42A includes a vehicle speed sensor, the control unit 62 can be configured to calculate the rotational speed N of the crankshaft 22 based on the vehicle speed detected by the vehicle speed sensor and the gear ratio. The crankshaft rotation state detection unit 42A can include a wheel speed sensor. When the crankshaft rotation state detection unit 42A includes a wheel speed sensor, the control unit 62 can be configured to calculate the rotational speed N of the crankshaft 22 based on the rotational speed of the wheel 12 detected by the wheel speed sensor and the gear ratio. For example, the wheel speed sensor can be configured to be the same as that of the wheel rotation state detection unit 42B.

[0075] For example, the wheel rotation state detection unit 42B can be communicatively connected to the control unit 62 via wired or wireless means. For example, the wheel rotation state detection unit 42B is configured to detect information related to the speed of the manually driven vehicle 10. For example, the wheel rotation state detection unit 42B is configured to detect information related to the rotational speed of the wheel 12. For example, the wheel rotation state detection unit 42B is configured to detect magnets installed on at least one of the front wheel 12F and the rear wheel 12R.

[0076] For example, the wheel rotation state detection unit 42B includes a vehicle speed sensor. For example, the wheel rotation state detection unit 42B is configured to output a predetermined number of detection signals during one revolution of the wheel 12. For example, the predetermined number is 1. For example, the wheel rotation state detection unit 42B outputs a signal corresponding to the rotational speed of the wheel 12. The control unit 62 can calculate the speed of the manually driven vehicle 10 based on the signal corresponding to the rotational speed of the wheel 12 and information related to the circumference of the wheel 12. For example, the storage unit 64 stores information related to the circumference of the wheel 12.

[0077] For example, the human-powered force detection unit 42C is located in a component included in the transmission path of the human-powered force, or in a component near a component included in the transmission path of the human-powered force. The human-powered force detection unit 42C includes a strain gauge, a magnetostrictive sensor, or a pressure sensor, etc. The strain gauge includes a strain meter. The human-powered force detection unit 42C can have any structure as long as it can acquire information related to the human-powered force.

[0078] For example, the human-powered force detection unit 42C can be disposed in at least one of the crank arm 20 and the pedal 24. When the human-powered force detection unit 42C is disposed in the pedal 24, it may include a sensor for detecting the pressure applied to the pedal 24. The human-powered force detection unit 42C can also be disposed in the chain. When disposed in the chain, it may include a sensor for detecting the chain tension.

[0079] For example, component 50 includes a first component 52 for a manually operated vehicle and a second component 54 for a manually operated vehicle, different from the first component 52. For example, the first component 52 includes a motor 56 configured to provide propulsion to the manually operated vehicle 10. For example, the second component 54 includes a transmission 58 configured to change the ratio of the rotational speed of the wheels 12 of the manually operated vehicle 10 to the rotational speed N of the crankshaft 22 of the manually operated vehicle 10, i.e., the gear ratio.

[0080] Motor 56 is configured to drive transmission component 38. For example, motor 56 is configured to impart propulsion force to the human-powered vehicle 10 based on human driving force. For example, motor 56 includes one or more electric motors. For example, the electric motors included in motor 56 are brushless motors. For example, motor 56 is configured to transmit rotational force along the power transmission path of human driving force from the two pedals 24 to at least one second rotating body 36. For example, motor 56 drives transmission component 38 via at least one first rotating body 34. In this embodiment, motor 56 is configured to be disposed on the frame 16 of the human-powered vehicle 10 and transmit rotational force to the first rotating body 34. Motor 56 may include hub motors disposed on the wheels 12.

[0081] For example, the transmission 58 is configured to change the gear ratio in stages. The transmission 58 is configured to change the gear ratio of the manually driven vehicle 10 according to the number of gear levels. For example, the gear ratio of the manually driven vehicle 10 is the ratio of the rotational speed of the rear wheel 12R to the rotational speed N of the crankshaft 22. For example, the transmission 58 is disposed on the frame 16. For example, the transmission 58 includes at least one of a rear derailleur and a front derailleur. For example, the transmission 58 includes an external transmission. For example, the transmission 58 includes a rear derailleur. The transmission 58 may include a front derailleur. The transmission 58 may include an internal transmission. For example, the internal transmission is disposed on the hub of the rear wheel 12R. The transmission 58 may include a CVT (Continuously Variable Transmission).

[0082] For example, transmission 58 includes an electric transmission device. For example, transmission 58 includes an actuator that is operated by electricity. Driven by the actuator, the gear ratio is changed. For example, the actuator includes an electric motor.

[0083] The control device 60 for a manually operated vehicle includes a control unit 62. For example, the control unit 62 includes a calculation processing device that executes a predetermined control program. For example, the calculation processing device included in the control unit 62 may be a CPU (Central Processing Unit) or an MPU (Micro Processing Unit). The calculation processing device included in the control unit 62 can be located in multiple, mutually separate locations. When the calculation processing device is located in multiple, mutually separate locations, the various parts of the calculation processing device can be connected to each other via a wireless communication device in a manner capable of communication. The control unit 62 may include one or more microcomputers.

[0084] For example, the control device 60 also includes a storage unit 64. For example, the storage unit 64 is communicatively connected to the control unit 62 via a wired or wireless connection. For example, the storage unit 64 stores a control program and information for control processing. For example, the storage unit 64 includes 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).

[0085] For example, the control unit 62 is configured to control the motor 56 to change the assistance level of the motor 56. For example, the control unit 62 controls the motor 56 to change the assistance level of the motor 56 to a predetermined assistance level. For example, the assistance level includes at least one of the ratio of the assistance force of the motor 56 to the human driving force input to the human-powered vehicle 10, the upper limit of the output of the motor 56, and the response speed of the motor 56 to the change rate of the human driving force.

[0086] For example, the auxiliary force can be represented by at least one of torque and power. For example, when the auxiliary force is represented by torque, it is recorded as "auxiliary torque". For example, when the auxiliary force is represented by power, it is recorded as "auxiliary power". The ratio of the auxiliary force to the human driving force can be the ratio of the auxiliary torque to the human torque, or it can be the ratio of the auxiliary power to the human power.

[0087] For example, the control unit 62 is configured to control the transmission 58 to change the gear ratio. For example, the control unit 62 is configured to control the transmission 58 to change the gear ratio based on a gear shift signal. For example, a user operates the gear shift operation unit, thereby outputting a gear shift signal.

[0088] The control unit 62 is configured to control a first component 52 and a second component 54 for a manually driven vehicle. The control unit 62 is configured to prioritize controlling the other component between the first component 52 and the second component 54. The control unit 62 is configured to change the priority order of controlling the first component 52 and the second component 54 based on a parameter Y related to the exercise intensity of the rider of the manually driven vehicle 10. The control unit 62 is configured to prioritize controlling the other component between the motor 56 and the gearbox 58. The control unit 62 is configured to change the priority order of controlling the motor 56 and the gearbox 58 based on a parameter Y related to the exercise intensity of the rider of the manually driven vehicle 10.

[0089] For example, the control system 40 also includes a cyclist state acquisition unit 44. For example, the cyclist state acquisition unit 44 is configured to acquire information related to the cyclist's exercise intensity. For example, the control unit 62 is configured to calculate parameter Y based on the information related to the cyclist's exercise intensity acquired by the cyclist state acquisition unit 44.

[0090] For example, parameter Y is related to the cyclist's energy expenditure. For instance, parameter Y is the ratio of the power of the human-powered vehicle 10 to its energy expenditure. Parameter Y can be METs (Metabolic equivalents).

[0091] For example, a cyclist's energy expenditure is the total amount of energy consumed by the cyclist in a day. For example, a cyclist's energy expenditure is related to the amount of oxygen the cyclist needs in daily life. For example, a cyclist's energy expenditure is related to the cyclist's basal metabolic rate and physical activity level. For example, the cyclist's physical activity level corresponds to the physical activity level defined by METs. When the cyclist's energy expenditure is the same as their physical activity level, for example, the cyclist status acquisition unit 44 includes an input unit for the cyclist to input their physical activity level. When the cyclist's energy expenditure is the same as their physical activity level, the cyclist status acquisition unit 44 may include a communication unit for acquiring the cyclist's physical activity level from an external device.

[0092] For example, the control unit 62 is configured to calculate energy consumption based on the rider's resting heart rate. For example, the rider's energy consumption is related to their resting heart rate. The slower the rider's resting heart rate, the higher their energy consumption tends to be. The slower the rider's resting heart rate, the higher their physical activity level tends to be. When the control unit 62 is configured to calculate energy consumption based on the rider's resting heart rate, for example, the rider status acquisition unit 44 includes a heart rate sensor. For example, the heart rate sensor can be a heart rate sensor mounted on the rider's body, such as a watch, or a heart rate sensor installed on the handlebars 28. When the control unit 62 is configured to calculate energy consumption based on the rider's resting heart rate, the rider status acquisition unit 44 may include a communication unit for acquiring the rider's resting heart rate from an external device.

[0093] For example, the control unit 62 is configured to control at least one of the first component 52 and the second component 54 in any of the first to third examples, based on parameter Y. For example, the control unit 62 is configured to control at least one of the first component 52 and the second component 54 if one of a plurality of predetermined conditions is met, based on any of the first to third examples.

[0094] In the first example, for instance, when the specified conditions related to parameter Y are met, the control unit 62 controls the one with higher priority among the first component 52 and the second component 54, and does not control the one with lower priority among the first component 52 and the second component 54.

[0095] In the second example, for instance, under certain conditions, the control unit 62 controls the one with the higher priority among the first component 52 and the second component 54, after controlling the one with the higher priority among the first component 52 and the second component 54.

[0096] In the third example, for instance, if a predetermined condition is met, the control unit 62 controls the component with the higher priority among the first component 52 and the second component 54; if an additional condition is met, it controls the component with the lower priority among the first component 52 and the second component 54. In the third example, for instance, if a predetermined condition is met, the control unit 62 controls the component with the higher priority among the first component 52 and the second component 54; if the additional condition is not met, it does not control the component with the lower priority among the first component 52 and the second component 54. The additional condition can be a condition related to parameter Y, or it can be a different condition. The predetermined condition can be one of multiple predetermined conditions.

[0097] For example, the control unit 62 is configured to change the priority order of controlling the motor 56 and the transmission 58 based on the parameter Y and the rotational speed N of the crankshaft 22. For example, the rotational speed N of the crankshaft 22 is represented by the number of revolutions of the crankshaft 22 per predetermined time interval. The rotational speed N of the crankshaft 22 can also be represented by the angular velocity of the crankshaft 22.

[0098] For example, the control unit 62 is configured to control at least one of the motor 56 and the transmission 58 to bring the parameter Y within the specified range when the parameter Y is outside the specified range. For example, the specified range is preset through experiments, etc. For example, the specified range is the range of parameter Y that enables comfortable driving of the manually driven vehicle 10. For example, the specified range is defined as satisfying equation (1). aX-b corresponds to the lower limit value YA of parameter Y in the specified range. aX+b corresponds to the upper limit value YB of parameter Y in the specified range.

[0099] aX-b<Y<aX+b…(1)

[0100] Y represents the parameter Y.

[0101] 'a' represents a constant.

[0102] b represents a constant.

[0103] X represents the number of revolutions per minute (rpm) of crankshaft 22.

[0104] For example, the specified range is defined as satisfying both equation (1) and equation (2). For example, the specified range that satisfies equation (1) and... Figure 5 The domains include regions RX, RY, and RZ. For example, the domains that satisfy both equation (1) and equation (2) are defined as follows: Figure 5 The region RX corresponds to in the text.

[0105] X1<X<X2…(2)

[0106] For example, the control unit 62 is configured to control the motor 56 and the transmission 58 to maintain the assist level and gear ratio when the parameter Y is less than or equal to a first value Y1. For example, the first value Y1 varies according to the rotational speed N. For example, the first value Y1 is a value represented by aX-b. For example, the first value Y1 is a lower limit value YA. For example, the control unit 62 is configured to control the motor 56 and the transmission 58 to maintain the assist level and gear ratio when the parameter Y is less than or equal to the first value Y1 and the rotational speed N is less than the first rotational speed N1. For example, when the parameter Y is less than or equal to the first value Y1 and the rotational speed N is less than the first rotational speed N1, the control unit 62 controls the motor 56 and the transmission 58 to maintain the assist level and gear ratio. Figure 5 The region includes the region corresponding to region RY and region R1. For example, the case where parameter Y is below the first value Y1 and the rotational speed N is smaller than the first rotational speed N1 includes the case where the manually driven vehicle 10 is traveling on a congested road.

[0107] For example, when parameter Y is less than or equal to the second value Y2 and speed N is greater than or equal to the second speed N2, control unit 62 is configured to prioritize controlling motor 56 over transmission 58. For example, the second value Y2 varies depending on speed N. For example, the second value Y2 is a value represented by aX-b. For example, the second value Y2 is a lower limit value YA. For example, the second speed N2 is a value greater than or equal to the first speed N1. For example, the second speed N2 is equal to the first speed N1. The second speed N2 may be different from the first speed N1. For example, when parameter Y is less than or equal to the second value Y2 and speed N is greater than or equal to the second speed N2, control unit 62 to control transmission 58 to change the gear ratio after controlling motor 56 to lower the assist level. For example, the case where parameter Y is less than or equal to the second value Y2 and speed N is greater than or equal to the second speed N2 is... Figure 5 The region R2 in the diagram corresponds to this.

[0108] For example, the control unit 62 is configured to prioritize controlling the transmission 58 over the motor 56 when the parameter Y is below the third value Y3 and the rotational speed N is above the third rotational speed N3, which is greater than the second rotational speed N2. For example, the third value Y3 varies according to the rotational speed N. For example, the third value Y3 is a value represented by aX-b. For example, the third value Y3 is a lower limit value YA. For example, the control unit 62 is configured to control the transmission 58 to increase the gear ratio and control the motor 56 to maintain the auxiliary level when the parameter Y is below the third value Y3 and the rotational speed N is above the third rotational speed N3. For example, the situation where the parameter Y is below the third value Y3 and the rotational speed N is above the third rotational speed N3 is... Figure 5 Region R3 corresponds to this. For example, the case where parameter Y is below the third value Y3 and rotational speed N is above the third rotational speed N3 includes the case where the rotational resistance of crankshaft 22 decreases sharply.

[0109] For example, the control unit 62 is configured to change the priority order of controlling the motor 56 and the transmission 58 when parameter Y is the seventh value Y7 or less and the rotational speed of the wheel 12 is greater than the value obtained by multiplying the rotational speed N of the crankshaft 22 by the gear ratio. For example, the seventh value Y7 is equal to the third value Y3. For example, the control unit 62 is configured to prioritize controlling the transmission 58 over the motor 56 when parameter Y is the seventh value Y7 or less, when the rotational speed of the wheel 12 of the manually driven vehicle 10 is greater than the value obtained by multiplying the rotational speed N of the crankshaft 22 by the gear ratio, and when the rotational speed N is greater than the third rotational speed N3. For example, the seventh value Y7 varies according to the rotational speed N. For example, the seventh value Y7 is a value represented by aX-b. For example, the seventh value Y7 is a lower limit value YA.

[0110] For example, when parameter Y is a fourth value Y4 or higher and the rotational speed N is less than the fourth rotational speed N4, the control unit 62 is configured to prioritize controlling the motor 56 over the transmission 58. For example, the fourth value Y4 varies depending on the rotational speed N. For example, the fourth value Y4 is a value represented by aX+b. For example, the fourth value Y4 is an upper limit value YB. For example, the fourth rotational speed N4 is equal to the first rotational speed N1. The fourth rotational speed N4 may be different from the first rotational speed N1. For example, when parameter Y is a fourth value Y4 or higher and the rotational speed N is less than the fourth rotational speed N4, the control unit 62 controls the transmission 58 to change the gear ratio after controlling the motor 56 to increase the assist level. For example, the case where parameter Y is a fourth value Y4 or higher and the rotational speed N is less than the fourth rotational speed N4 is... Figure 5 The region R4 corresponds to this. For example, the case where parameter Y is above the fourth value Y4 and the rotational speed N is less than the fourth rotational speed N4 corresponds to the start of the manually driven vehicle 10 and when going uphill.

[0111] For example, the control unit 62 is configured to prioritize controlling the motor 56 over the transmission 58 when parameter Y is a fifth value Y5 or higher and the rotational speed N is a fourth rotational speed N4 or higher. For example, the control unit 62 is configured to prioritize controlling the motor 56 over the transmission 58 when parameter Y is a fifth value Y5 or higher, rotational speed N is a fourth rotational speed N4 or higher, and rotational speed N is less than a fifth rotational speed N5, which is greater than the fourth rotational speed N4. For example, the fifth value Y5 varies depending on the rotational speed N. For example, the fifth value Y5 is a value represented by aX+b. For example, the fifth value Y5 is an upper limit value YB. For example, the fifth rotational speed N5 is equal to the third rotational speed N3. The fifth rotational speed N5 may be different from the third rotational speed N3. For example, the control unit 62 is configured to control the motor 56 to increase the assist level and control the transmission 58 to maintain the gear ratio when parameter Y is a fifth value Y5 or higher and rotational speed N is a fourth rotational speed N4 or higher. For example, the control unit 62 is configured to control the motor 56 to increase the assist level and control the transmission 58 to maintain the gear ratio when parameter Y is a fifth value Y5 or higher, the rotational speed N is a fourth rotational speed N4 or higher, and the rotational speed N is less than a fifth rotational speed N5. For example, the cases where parameter Y is a fifth value Y5 or higher, the rotational speed N is a fourth rotational speed N4 or higher, and the rotational speed N is less than a fifth rotational speed N5 are... Figure 5 The region R5 corresponds to this.

[0112] For example, the control unit 62 is configured to prioritize controlling the motor 56 over the transmission 58 when parameter Y is a sixth value Y6 or higher and the rotational speed N is a fifth rotational speed N5 or higher, which is greater than the fourth rotational speed N4. For example, the sixth value Y6 varies depending on the rotational speed N. For example, the sixth value Y6 is a value represented by aX+b. For example, the sixth value Y6 is an upper limit value YB. For example, the control unit 62 is configured to control the transmission 58 to change the gear ratio after controlling the motor 56 to increase the assist level when parameter Y is a sixth value Y6 or higher and the rotational speed N is a fifth rotational speed N5 or higher. For example, the case where parameter Y is a fifth value Y5 or higher and the rotational speed N is a fifth rotational speed N5 or higher... Figure 5 The region R6 corresponds to this.

[0113] For example, the control unit 62 is configured to control the motor 56 to increase the assistance level and control the transmission 58 to maintain the gear ratio when the parameter Y is the eighth value Y8 or higher and the assistance level is lower than a predetermined assistance level. For example, the eighth value Y8 is equal to the sixth value Y6. For example, the eighth value Y8 varies according to the rotational speed N. For example, the eighth value Y8 is a value represented by aX+b. For example, the eighth value Y8 is the upper limit value YB. For example, the control unit 62 is configured to control the motor 56 to maintain the assistance level when the parameter Y is the eighth value Y8 or higher and the assistance level is higher than a predetermined assistance level, and to control the transmission 58 to change the gear ratio based on the acceleration of the rotational speed N. For example, the control unit 62 is configured to control the motor 56 to maintain the assistance level when the parameter Y is the eighth value Y8 and the assistance level is higher than a predetermined assistance level, and to control the transmission 58 to decrease the gear ratio when the acceleration of the rotational speed N is lower than a predetermined acceleration.

[0114] For example, the control unit 62 is configured to control the motor 56 and the transmission 58 to maintain the auxiliary level and gear ratio when the parameter Y is greater than the lower limit YA and less than the upper limit YB, and the rotational speed N is the fifth rotational speed N5 or higher. For example, the situation where the parameter Y is greater than the lower limit YA and less than the upper limit YB, and the rotational speed N is the fifth rotational speed N5 or higher... Figure 5 The region RZ corresponds to this. For example, the case where parameter Y is greater than the lower limit YA and less than the upper limit YB, and the rotational speed N is above the fifth rotational speed N5, corresponds to the case where the rider is accelerating the human-powered vehicle 10. In region RZ, the rider can comfortably accelerate the human-powered vehicle 10.

[0115] Reference Figure 3 and Figure 4 The processing of the control unit 62 in controlling the motor 56 and the transmission 58 will be explained. For example, if power is supplied to the control unit 62, the control unit 62 begins processing and enters... Figure 3 and Figure 4 Step S11 of the flowchart shown. For example, if Figure 3 and Figure 4 Once the flowchart ends, the control unit 62 will repeat the process starting from step S11 after a predetermined cycle until the power supply stops.

[0116] In step S11, the control unit 62 determines whether parameter Y is above the upper limit value YB. If parameter Y is above the upper limit value YB, the control unit 62 proceeds to step S12. In step S12, the control unit 62 determines whether the assistance level is less than the maximum assistance level. If the assistance level is less than the maximum assistance level, the control unit 62 proceeds to step S13.

[0117] In step S13, the control unit 62 controls the motor 56 to increase the assistance level, and then the process ends. In step S13, for example, the control unit 62 may control the motor 56 to increase the assistance level by only one level. In step S13, for example, the control unit 62 may control the motor 56 to make the assistance level reach or exceed the first assistance level. The first assistance level can be the maximum assistance level or an assistance level lower than the maximum assistance level.

[0118] In step S12, if the auxiliary level is not less than the maximum auxiliary level, the control unit 62 proceeds to step S14. In step S14, the control unit 62 determines whether the acceleration of the crankshaft 22's rotational speed N is less than a predetermined acceleration. If the acceleration of the crankshaft 22's rotational speed N is not less than the predetermined acceleration, the control unit 62 terminates the process. If the acceleration of the crankshaft 22's rotational speed N is less than the predetermined acceleration, the control unit 62 proceeds to step S15.

[0119] In step S15, the control unit 62 controls the transmission 58 to reduce the gear ratio, and then the process ends. In step S15, for example, the control unit 62 controls the transmission 58 to reduce the gear ratio by only one level. In step S15, the control unit 62 can control the transmission 58 to make the gear ratio less than or equal to a first gear ratio. The first gear ratio can be the minimum gear ratio or a gear ratio larger than the minimum gear ratio.

[0120] In step S11, if parameter Y is not above the upper limit value YB, the control unit 62 proceeds to step S16. In step S16, the control unit 62 determines whether parameter Y is below the lower limit value YA. If parameter Y is not below the lower limit value YA, the control unit 62 terminates the process. If parameter Y is below the lower limit value YA, the control unit 62 proceeds to step S17.

[0121] In step S17, the control unit 62 determines whether the estimated rotational speed of the crankshaft 22 is greater than the rotational speed N of the crankshaft 22. For example, the estimated rotational speed of the crankshaft 22 is the value obtained by dividing the rotational speed of the wheel 12 by the gear ratio. The case where the estimated rotational speed of the crankshaft 22 is greater than the rotational speed N of the crankshaft 22 corresponds to the case where the rotational speed of the wheel 12 is greater than the value obtained by multiplying the rotational speed N of the crankshaft 22 by the gear ratio. In step S17, the control unit 62 can determine whether the rotational speed of the wheel 12 is greater than the value obtained by multiplying the rotational speed N of the crankshaft 22 by the gear ratio. If the estimated rotational speed of the crankshaft 22 is greater than the rotational speed N of the crankshaft 22, the control unit 62 proceeds to step S19.

[0122] In step S19, the control unit 62 controls the transmission 59 to increase the gear ratio, and then the process ends. For example, in step S19, the control unit 62 controls the transmission 58 to increase the gear ratio by only one level. In step S19, the control unit 62 can control the transmission 58 to make the gear ratio reach a second gear ratio or higher. The second gear ratio can be the maximum gear ratio or a gear ratio smaller than the maximum gear ratio.

[0123] In step S17, if the estimated rotational speed of crankshaft 22 is not greater than the rotational speed N of crankshaft 22, control unit 62 proceeds to step S18. In step S18, control unit 62 determines whether auxiliary shutdown is enabled. For example, if motor 56 does not provide propulsion to manually driven vehicle 10, control unit 62 determines that auxiliary shutdown is enabled. If auxiliary shutdown is enabled, control unit 62 proceeds to step S19. If auxiliary shutdown is not enabled, control unit 62 proceeds to step S20.

[0124] In step S20, the control unit 62 controls the motor 56 to reduce the assistance level, and then the process ends. For example, in step S20, the control unit 62 may control the motor 56 to reduce the assistance level by only one level. When the assistance level is the minimum assistance level, the control unit 62 may control the motor 56 to turn off the assistance. For example, in step S20, the control unit 62 may control the motor 56 to make the assistance level below the second assistance level. The second assistance level may be the minimum assistance level or an assistance level higher than the minimum assistance level.

[0125] Figure 5This represents the region defined by the relationship between parameter Y and the rotational speed N of crankshaft 22. In this embodiment, the control unit 62 is configured to control at least one of the motor 56 and the transmission 58 so that parameter Y is above the lower limit YA and below the upper limit YB. The range within which a rider feels comfortable riding the human-powered bicycle 10 varies depending on the rider, whether using human torque, human power, vehicle speed, or the rotational speed N of crankshaft 22. The inventors have discovered that by using parameter Y, which is related to exercise intensity, the range within which a rider feels comfortable riding the human-powered bicycle 10 is less likely to vary from rider to rider. In this embodiment, since the control unit 62 controls at least one of the motor 56 and the transmission 58 to keep parameter Y within the region RX, it is possible to contribute to the comfortable riding of the human-powered bicycle 10.

[0126] <Second Implementation>

[0127] Reference Figure 6 The control device 60 for a manually driven vehicle according to the second embodiment will be described. For the control device 60 for a manually driven vehicle according to the second embodiment, the same reference numerals as in the first embodiment will be used for structures common to the first embodiment, and repeated descriptions will be omitted.

[0128] In this embodiment, the control unit 62 is configured to control the first component 52 and the second component 54 under control states including a first priority control state and a second priority control state. In the first priority control state, the first component 52 has a higher priority than the second component 54. In the second priority control state, the second component 54 has a higher priority than the first component 52. In this embodiment, the first component 52 is a motor 56 and the second component 54 is a transmission 58. Alternatively, the first component 52 could be a transmission 58 and the second component 54 could be a motor 56.

[0129] For example, the control unit 62 is configured to switch the control state between a first priority control state and a second priority control state based on the parameter Y. For example, when the parameter Y is above the upper limit value YB, the control unit 62 sets the control state to the first priority control state. For example, when the parameter Y is below the lower limit value YA, the control unit 62 sets the control state to the second priority control state.

[0130] For example, the control unit 62 is configured to control the first component 52 in a first priority control state, and if a first control condition is met, then control the second component 54. Alternatively, the control unit 62 is configured to control the first component 52 in a first priority control state, and if the first control condition is not met, then not control the second component 54.

[0131] For example, the control unit 62 is configured to control the second component 54 in a second priority control state, and to control the first component 52 if the second control condition is met. Alternatively, the control unit 62 is configured to not control the first component 52 if the second priority control state is not met.

[0132] Reference Figure 6 The processing of the control unit 62 in controlling the motor 56 and the transmission 58 will be explained. For example, if power is supplied to the control unit 62, the control unit 62 begins processing and enters... Figure 6 Step S31 of the flowchart shown. For example, if Figure 6 Once the flowchart ends, the control unit 62 will repeat the process starting from step S31 after a predetermined cycle until the power supply stops.

[0133] In step S31, the control unit 62 determines whether it is in a first priority control state. If it is in a first priority control state, the control unit 62 proceeds to step S32. In step S32, the control unit 62 determines whether a first control condition is met. For example, the first control condition is related to at least one of the crankshaft 22 rotational speed N, vehicle speed, vehicle speed acceleration, manual driving force, and driving resistance. If the first control condition is not met, the control unit 62 terminates the process. If the first control condition is met, the control unit 62 proceeds to step S33.

[0134] In step S33, the control unit 62 controls the first component 52, and then proceeds to step S34. In step S34, the control unit 62 determines whether the first control condition is met. If the first control condition is not met, the control unit 62 terminates the process. If the first control condition is met, the control unit 62 proceeds to step S35. In step S35, the control unit 62 controls the second component 54, and then terminates the process. According to steps S32 to S35, if the state of meeting the first control condition continues after controlling the first component 52 in step S33, then the second component 54 is also controlled.

[0135] In step S31, if the control unit 62 is not in the first priority control state, it proceeds to step S36. In step S36, the control unit 62 determines whether the control state is the second priority control state. If the control unit 62 is not in the second priority control state, it terminates the process. If the control unit 62 is in the second priority control state, it proceeds to step S37.

[0136] In step S37, the control unit 62 determines whether the second control condition is met. For example, the second control condition is related to at least one of the crankshaft 22 rotational speed N, vehicle speed, vehicle speed acceleration, manual driving force, and driving resistance. If the second control condition is not met, the control unit 62 terminates the process. If the second control condition is met, the control unit 62 proceeds to step S38.

[0137] In step S38, the control unit 62 controls the second component 54, and then proceeds to step S39. In step S39, the control unit 62 determines whether the second control condition is met. If the second control condition is not met, the control unit 62 terminates the process. If the second control condition is met, the control unit 62 proceeds to step S40. In step S40, the control unit 62 controls the first component 52, and then terminates the process. According to steps S37 to S40, if the state of meeting the second control condition continues after controlling the second component 54 in step S38, then the first component 52 is also controlled.

[0138] If the control states only include the first priority control state and the second priority control state, step S36 can be omitted. If step S36 is omitted, and the control unit 62 is "No" in step S31, then proceed to step S37.

[0139] (Modified Example)

[0140] The descriptions relating to each embodiment are examples of possible approaches for a control device for a manually operated vehicle and are not intended to limit the scope of such approaches. For example, the control device for a manually operated vehicle of this disclosure may take the form of variations of the embodiments shown below, as well as combinations of at least two mutually consistent variations. In the following variations, the same reference numerals as in the embodiments are used for parts common to the embodiments, and their descriptions are omitted.

[0141] • As long as the control unit 62 is configured to control the component 50 for a human-powered vehicle, and the component 50 is controlled according to a parameter Y related to the rider's exercise intensity, and the parameter Y is related to the rider's energy consumption, other structures can be omitted. In this variation, the component 50 may include only one of the first component 52 and the second component 54.

[0142] Reference Figure 7 The processing of a modified example of the control unit 62 controlling the motor 56 and the transmission 58 will be explained. For example, if power is supplied to the control unit 62, the control unit 62 begins processing and performs... Figure 7 Step S51 of the flowchart shown. For example, if Figure 7 Once the flowchart ends, the control unit 62 will repeat the processing that started from step S51 after a predetermined cycle until the power supply stops.

[0143] In step S51, the control unit 62 determines whether parameter Y meets the specified conditions. If parameter Y does not meet the specified conditions, the control unit 62 terminates the process. If parameter Y meets the specified conditions, the control unit 62 proceeds to step S52. In step S52, the control unit 62 controls component 50 and then terminates the process.

[0144] In the first embodiment, the first component 52 may be a transmission 58 and the second component 54 may be a motor 56.

[0145] • The types of the first component 52 and the second component 54 can be changed appropriately. The first component 52 and the second component 54 can be any one of the following: motor 56, transmission 58, rear suspension device, front suspension device, adjustable seat bar, rear braking device, and front braking device.

[0146] • Other structures can be omitted as long as the control unit 62 is configured to control at least one of the motor 56 and the transmission 58 so that the parameter Y is within the first range and the rotational speed N of the crankshaft 22 is within the second range when the parameter Y is outside the first range or the rotational speed N of the crankshaft 22 is outside the second range.

[0147] As used in this specification, the term "at least one" refers to "more than one" of the desired options. For example, if there are two options, the term "at least one" as used in this specification refers to "only one option" or "both of the two options." As another example, if there are three or more options, the term "at least one" as used in this specification refers to "only one option" or "any combination of two or more options."

[0148] The ordinal numbers “first,” “second,” and “third,” etc., used in this specification are only for distinguishing multiple parts with the same name and have no special meaning.

[0149] Symbol explanation:

[0150] 10…human-powered vehicle, 12…wheel, 22…crankshaft, 52…first component, 54…second component, 56…motor, 58…gearbox, 60…control device, 62…control unit.

Claims

1. A control device for a human-powered vehicle, wherein the control device includes a control unit configured to control a first component for the human-powered vehicle and a second component for the human-powered vehicle different from the first component, the control unit is configured to give priority to one of the first component and the second component over the other of the first component and the second component, change an order of priority in controlling the first component and the second component in accordance with a parameter related to an exercise intensity of a rider of the human-powered vehicle.

2. The control device according to claim 1, wherein the first component includes a motor configured to impart a propulsive force to the human-powered vehicle, the second component includes a transmission configured to change a ratio of a rotational speed of a wheel of the human-powered vehicle to a rotational speed of a crankshaft of the human-powered vehicle, that is, a gear ratio, the control unit is configured to control the motor to change an assist level of the motor, control the transmission to change the gear ratio.

3. The control device according to claim 2, wherein the control unit is configured to, in a case where the parameter is equal to or less than a first value, control the motor and the transmission to maintain the assist level and the gear ratio.

4. The control device according to claim 2, wherein the control unit is configured to change an order of priority in controlling the motor and the transmission based on the parameter and the rotational speed of the crankshaft.

5. The control device according to claim 4, wherein the control unit is configured to, in a case where the parameter is equal to or less than the first value and the rotational speed is less than a first rotational speed, control the motor and the transmission to maintain the assist level and the gear ratio.

6. The control device according to claim 4, wherein the control unit is configured to, in a case where the parameter is equal to or less than a second value and the rotational speed is equal to or more than a second rotational speed, give priority to the motor over the transmission.

7. The control device according to claim 6, wherein the control unit is configured to, in a case where the parameter is equal to or less than the second value and the rotational speed is equal to or more than the second rotational speed, control the transmission to change the gear ratio after controlling the motor to reduce the assist level.

8. The control device according to claim 6, wherein the control unit is configured to, in a case where the parameter is equal to or less than a third value and the rotational speed is equal to or more than a third rotational speed greater than the second rotational speed, give priority to the transmission over the motor.

9. The control device according to claim 8, wherein the control unit is configured to, in a case where the parameter is equal to or less than the third value and the rotational speed is equal to or more than the third rotational speed, control the transmission to increase the gear ratio and control the motor to maintain the assist level.

10. The control device according to claim 4, wherein the control unit is configured to, in a case where the parameter is equal to or more than a fourth value and the rotational speed is less than a fourth rotational speed, give priority to the motor over the transmission. ​ 11. The control device according to claim 10, wherein the control section is configured to, in a case where the parameter is the fourth value or more and the rotation speed is less than the fourth rotation speed, control the transmission to change the speed ratio after controlling the motor to increase the assist level.

12. The control device according to claim 10, wherein the control section is configured to, in a case where the parameter is a fifth value or more and the rotation speed is the fourth rotation speed or more, preferentially control the motor compared to the transmission.

13. The control device according to claim 12, wherein the control section is configured to, in a case where the parameter is the fifth value or more and the rotation speed is the fourth rotation speed or more, control the motor to increase the assist level and control the transmission to maintain the speed ratio.

14. The control device according to claim 12, wherein the control section is configured to, in a case where the parameter is a sixth value or more and the rotation speed is a fifth rotation speed or more that is greater than the fourth rotation speed, preferentially control the motor compared to the transmission.

15. The control device according to claim 14, wherein the control section is configured to, in a case where the parameter is the sixth value or more and the rotation speed is the fifth rotation speed or more, control the transmission to change the speed ratio after controlling the motor to increase the assist level.

16. The control device according to claim 4, wherein the control section is configured to, in a case where the parameter is a seventh value or less and the rotation speed of the wheel is greater than a value obtained by multiplying the rotation speed of the crankshaft by the speed ratio, change the order of preference of controlling the motor and the transmission.

17. The control device according to claim 4, wherein the control section is configured to, in a case where the parameter is an eighth value or more and the assist level is less than a prescribed assist level, control the motor to increase the assist level and control the transmission to maintain the speed ratio, in a case where the parameter is the eighth value or more and the assist level is the prescribed assist level or more, control the motor to maintain the assist level and control the transmission to change the speed ratio based on an acceleration of the rotation speed.

18. The control device according to claim 1, wherein the parameter is related to an energy consumption amount of the rider.

19. A control device for a human-powered vehicle, wherein the control device has a control section configured to control components of the human-powered vehicle, the control section is configured to control the components based on a parameter related to an exercise intensity of a rider of the human-powered vehicle, the parameter is related to an energy consumption amount of the rider.

20. The control device according to claim 18 or 19, wherein the parameter is a ratio of a power of the human-powered vehicle with respect to the energy consumption amount.

21. The control device according to claim 20, wherein the control section is configured to calculate the energy consumption amount based on a resting heart rate of the rider.

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