bicycle control device

Abstract

Bicycle control device (40), comprising: an automatic switching function for automatically switching an assistance ratio, which is a ratio of a manual drive force to a drive force of an electric assistance motor (12), based on a relationship between a stored threshold value and a reference value, which is a value indicating a driving environment or driving condition of a bicycle that includes an electric assistance motor (12), and a manual switching function to change the support ratio based on manual operation, characterized in that the threshold is updated based on the reference value when the support ratio is switched by the manual toggle function.

Description

[0001] The present invention relates to a bicycle steering device.

[0002] A bicycle incorporating an electric assist motor is known. A bicycle such as that described in JP 3 974 974 B2, which is such an example, includes a bicycle control device for switching the assist ratio, which is the ratio of the manual driving force to the driving force of the electric assist motor. The bicycle control device switches the assist ratio based on the gradient of the road surface, which is an example of a riding environment that is stored in advance.

[0003] JP 3 974 974 B2 discloses the preambles of claims 1 and 20. Further reference is made to the following prior art documents: JP 2000 - 344 176 A, JP 2011 - 178 341 A, DE 602 23 307 T2, DE 42 03 920 A1, DE 20 2011 004 525 U1 and EP 2 377 713 A1.

[0004] However, there are cases where the expected time for switching the assistance ratio will differ for each rider, even if the riding environment, etc., is the same. The bicycle control unit of the JP 3 974 974 B2 switches the assistance ratio according to a predetermined rule, without considering the rider's intentions. For this reason, there is room for improvement in making the bicycle's behavior reflect the rider's intentions. This goal is evaluated here by using a bicycle control unit that automatically switches, for example, the assistance ratio; however, the idea is that a similar problem exists with a bicycle control unit that automatically switches the gear ratio.

[0005] The object of the present invention is to provide a bicycle control device in which the rider's intention is simply reflected in the behavior of the bicycle.

[0006] To solve the problem, a bicycle control device according to claim 1 and a bicycle control device according to claim 20 are proposed.

[0007] According to a first aspect of the present invention, the bicycle control device according to claim 1 comprises an automatic switching function for automatically switching an assistance ratio, which is a ratio of the manual driving force to the driving force of an electric assistance motor, based on a relationship between a stored threshold value and a reference value, which is a value indicating a driving environment or driving condition of a bicycle comprising an electric assistance motor, and a manual switching function for switching the assistance ratio based on a manual actuation, wherein the threshold value is updated based on the reference value when the assistance ratio is switched by the manual switching function.

[0008] Advantageous embodiments are the subject of dependent claims 2 to 19.

[0009] Using the bicycle steering device as an example, the reference value is a value that indicates a road surface gradient.

[0010] Using the bicycle steering device as an example, the reference value is a value that indicates wind force.

[0011] Using the bicycle steering device as an example, the reference value is a value that indicates the resistance of the road surface.

[0012] Using the bicycle control device as an example, the reference value is a value that indicates the distance traveled by the bicycle.

[0013] Using the bicycle steering device as an example, the reference value is a value that indicates the weight of a load attached to the bicycle.

[0014] Using the bicycle steering device as an example, the reference value is a value that indicates the manual driving force.

[0015] Following an example of the bicycle steering device, the assistance ratio is automatically switched based on the relationship between a plurality of reference types and a plurality of thresholds corresponding to each of the references; the plurality of reference types includes at least two of the following: a value indicating the road surface gradient, a value indicating the wind force, a value indicating the road surface resistance, a value indicating the bicycle's travel distance, a value indicating the weight of the load attached to the bicycle, and a value indicating the manual driving force.

[0016] Following an example of the bicycle control device, an increase threshold value, which is the threshold for switching the support ratio, so that the driving force of the electric support motor increases in relation to the manual driving force, is updated based on the reference value when the support ratio is switched by the manual switching function; this increases the driving force of the electric support motor relative to the manual driving force;A reduction threshold, which is the threshold for switching the support ratio so that the driving force of the electric support motor decreases in relation to the manual driving force, is updated based on the reference value when the support ratio is switched by the manual switching function, so that the driving force of the electric support motor decreases in relation to the manual driving force.

[0017] For example, in the case of a bicycle control device, the reference value is stored each time the support ratio is switched by the manual switching function, and the threshold is updated based on the stored majority of reference values.

[0018] Following the example of the bicycle control device, the reference values, with the exception of individual points, are used in the stored majority of reference values ​​to update the threshold.

[0019] Following an example of the bicycle control device, a specific reference value, which is the reference value at which the support ratio is likely to be switched by the manual switching function, is specified based on the majority of reference values, and the threshold is updated based on the specific reference value.

[0020] Using the example of a bicycle control device, the increase threshold is set in a range where the load on the bicycle is low, which is within a range of the reference value specified by the specific reference value.

[0021] Following an example of the bicycle control device, the reduction threshold is set in a range where the load on the bicycle is high, which is within a range of the reference value specified by the specific reference value.

[0022] Following the example of the bicycle control device, there are a plurality of reference values; the reference value is stored each time the support ratio is switched by the manual switching function; a specific reference value, which is the reference value at which the support ratio is likely to be switched by the manual switching function, is determined based on the plurality of reference values ​​for each of the plurality of reference types; and the plurality of thresholds corresponding to each of the plurality of threshold types are updated based on the specific reference value corresponding to that type of reference.

[0023] Following an example of the bicycle control device, there are a plurality of reference types, and the support ratio is switched using the automatic switching function by using the threshold from the plurality of thresholds corresponding to each of the plurality of reference types, which allows the switching of the support ratio to be carried out most quickly.

[0024] Following the example of the bicycle control device, there are a plurality of reference types, a composite value is determined by combining the plurality of reference types, and the support ratio is toggled based on the relationship between a stored composite threshold and the composite value.

[0025] For example, in the case of a bicycle control device, the threshold is updated based on the reference value if the variability of the reference value is within a specified range over a period of time from when the support ratio is switched by the manual switching function until a specified time has elapsed.

[0026] For example, with a bicycle control device, the threshold is updated based on the reference value when the bicycle has traveled a predetermined distance.

[0027] According to a second aspect of the present invention, a bicycle control device according to claim 20 comprises an automatic switching function for automatically switching a gear ratio based on a relationship between a stored threshold value and a reference value, which is a value indicating a driving environment or driving condition of a bicycle comprising a gearbox;and a manual switching function for changing the gear ratio based on manual actuation, wherein the threshold is updated based on the reference value when the gear ratio is changed by the manual switching function, the reference value comprising at least one of the following: a value indicating a road surface gradient, a value indicating the wind force, a value indicating the resistance of the road surface, a value indicating the distance traveled by the bicycle, a value indicating the weight of a load attached to the bicycle, and a value indicating a manual driving force.

[0028] According to the bicycle control device described above, the rider's intention is simply reflected in the behavior of the bicycle. Brief description of the drawings Fig. Figure 1 is a side view of a bicycle according to a first embodiment. Fig. 2 is a block view of a bicycle in Fig. 1. Fig. 3 is a top view of an actuating unit and a display unit in Fig. 1. Fig. Figure 4 is an illustration showing an example of a mode switching condition. Fig. Figure 5 is a graph showing an example of a relationship between a mode switching frequency and a road surface gradient. Fig. Figure 6 is an illustration showing an example of a mode switching condition. Fig. Figure 7 is a graph showing an example of a relationship between a mode switching frequency and a road surface gradient. Fig. 8 is a flowchart for a control system, which is implemented by the control unit in Fig. 1 is carried out. Fig. Figure 9 is an illustration showing an example of a mode switching condition according to a second embodiment. Fig. Figure 10 is a block view of a bicycle according to a third embodiment. Embodiments for carrying out the invention (embodiment 1)

[0029] Fig. Figure 1 shows a bicycle 10, which is an electrically assisted bicycle. The bicycle 10 comprises an electric assist motor (hereinafter referred to as the "motor 12") that assists the manual propulsion of a rider, a frame 14 that forms a main body of the bicycle 10, and a front wheel 16 and a rear wheel 18 that are rotatably attached to the frame 14. The bicycle 10 further comprises a handlebar 20, which is operated to change the orientation of the front wheel 16, a drive mechanism 22 to transmit the propulsion force to the rear wheel 18, and a battery 24 to supply energy to the drive mechanism 22. The battery 24 is, for example, attached to the frame 14.

[0030] The drive mechanism 22 comprises a pair of crank arms 26, a crankshaft 28 to which the pair of crank arms 26 is coupled, a pair of pedals 30 rotatably attached to the crank arms 26, and a drive unit 32 detachably fixed and fastened to the frame 14. The crankshaft 28 is rotatably attached to the drive unit 32. A monitor 12 is arranged inside the drive unit 32.

[0031] The drive mechanism 22 further comprises a front pinion 34, which is coupled to the crankshaft 28 via a freewheel clutch (not shown in the diagram), a rear pinion 36, which is rotatably mounted around an axle shaft of the rear wheel 18, and a chain 38, which is wound around the front pinion 34 and the rear pinion 36. The drive mechanism 22 further comprises the motor 12. The motor 12 is, for example, an electric motor. An output shaft of the motor 12 is connected to a speed reduction mechanism (diagram omitted). The speed reduction mechanism is, for example, a plurality of gears.

[0032] When a manual driving force is applied to the pedal 30 to rotate the crank arm 26 forward, the crank arm 26 and the crankshaft 28 rotate forward simultaneously relative to the frame 14. The rotation of the crankshaft 28 is transmitted to the front sprocket 34, and the rotation of the front sprocket 34 is transmitted to the rear sprocket 36 and the rear wheel 18 via the chain 38. However, when the manual driving force is applied to the pedal 30 to rotate the crank arm 26 and the crankshaft 28 backward, the rotation of the crankshaft 28 is not transmitted to the front sprocket 34.

[0033] Motor 12 is driven by the manual drive force. When motor 12 is driven, its rotation is slowed by the speed reduction mechanism, and the output of the speed reduction mechanism is transmitted to the front pinion 34. Therefore, the rider's manual drive force for turning the crank arm 26 is assisted by the drive force of motor 12.

[0034] Fig. Figure 2 shows the structure of an electrical system of the bicycle 10 (see Fig. 1) The bicycle 10 further comprises a control unit 40, which is a bicycle control device for controlling various electric bicycle components, including the drive mechanism 22, and an actuation unit 42 for outputting an actuation signal to the control unit 40. The control unit 40 selects a support mode from a plurality of pre-prepared support modes, or an OFF mode, based on the riding environment and the riding condition of the bicycle 10, as well as manual actuation, etc., which is an actuation of the actuation unit 42. The control unit 40 consists of a microcomputer and software.

[0035] In assist mode, the assist ratio, which is the ratio of the manual drive force to the drive force of the motor 12, is determined by adjusting the drive force of the motor 12. In a bicycle 10 where the assist mode and the assist ratio are linked, the assist ratio is switched by switching the assist mode, and the drive force of the motor 12 is increased or decreased relative to the manual drive force. In OFF mode, the control unit 40 does not allow the motor 12 of the drive mechanism 22 to output any drive force.

[0036] The support levels corresponding to each support mode differ. Examples of the multiple support modes include a high mode, a normal mode, a low mode, and an eco mode. The motor's driving force relative to the manual driving force decreases in each support mode in the order high mode, normal mode, low mode, and eco mode.

[0037] The control unit 40 comprises a storage unit 44 for storing various data, a calculation unit 46 that performs calculations based on the data, etc., stored in the storage unit 44, and a determination unit 48 that determines whether a switching condition for switching the support mode (hereinafter referred to as the "mode switching condition") is met. The mode switching condition includes a first mode switching condition for increasing the drive force of the motor 12 with respect to the manual drive force (see Fig. 4) and a second mode switching condition to reduce the driving force of the motor 12 with respect to the manual driving force (see Fig. 6).

[0038] The control unit 40 includes an automatic switching function, consisting of the storage unit 44, the calculation unit 46, the determination unit 48, and a manual switching function. The automatic switching function automatically switches the support ratio based on the inclination of the bicycle 10; that is, it is a function for switching the support ratio independently of manual operation. The manual switching function switches the support ratio based on manual operation of the actuation unit 42.

[0039] Actuation of the control unit 40 based on the automatic switching function includes an actuation to switch the support ratio based on the relationship between a reference value, which is a value indicating the riding environment or the riding condition of the bicycle 10, and a threshold value stored in the memory unit 44. When the support ratio is switched based on manual actuation of the actuation unit 42, the control unit 40 stores the reference value in the memory unit 44, updates the threshold value stored in the memory unit 44 based on the stored reference value, and uses the updated threshold value in the automatic switching function.

[0040] The bicycle 10 further comprises a gradient detection sensor 50, which is connected to the control unit 40, and a display unit 52. The gradient detection sensor 50 and the display unit 52 are electrical components. An example of the gradient detection sensor 50 is an angle sensor that is attached to the frame 14 (see Fig. 1) An angle sensor is implemented, for example, by an accelerometer. The gradient detection sensor 50 is preferably attached to a section of the frame 14 that is not readily affected by the behavior of the bicycle 10. The gradient detection sensor 50 detects the road surface gradient, which is an example of a reference value. The gradient detection sensor 50 outputs gradient information, which is information regarding the detected gradient, to the control unit 40. The gradient information includes a value that indicates the gradient. The display unit 52 shows information corresponding to manual operation in response to a command signal from the control unit 40.

[0041] Fig. Figure 3 shows an example of the actuating unit 42 and the display unit 52. The actuating unit 42 and the display unit 52 are formed as a single piece and attached to the handlebar 20. For example, the actuating unit 42 can be a button comprising a first actuating switch 54 and a second actuating switch 56.

[0042] The first actuating switch 54 and the second actuating switch 56 send an actuating signal to the control unit 40 (see Fig. 2) whenever they are actuated. The control unit 40 switches the support mode so that the drive force of the motor 12 is increased relative to the manual drive force when it receives an actuation signal output by the first actuation switch 54. The control unit 40 switches the support mode so that the drive force of the motor 12 is decreased relative to the manual drive force when it receives an actuation signal output by the second actuation switch 56.

[0043] The display unit 52 comprises a plurality of lights that are switched on or off based on a command signal from the control unit 40. An example of the plurality of lights is an LED (light-emitting diode) light comprising a first light 58, a second light 60, a third light 62, a fourth light 64, and a fifth light 66. The first light 58 is switched on when a high mode is selected. The second light 60 is switched on when a normal mode is selected. The third light 62 is switched on when a low mode is selected. The fourth light 64 is switched on when an eco mode is selected. The fifth light 66 is switched on when an off mode is selected.

[0044] Fig. Figure 4 shows an example of a first mode switching condition. The first mode switching condition represents the relationship between the road surface gradient and an increase threshold, which is a threshold for increasing the driving force of the motor 12 relative to the manual driving force. The storage unit 44 (see Figure 4) Fig. 2) stores a plurality of increase thresholds. For example, multiple increase thresholds can include a first increase threshold TU1, a second increase threshold TU2, and a third increase threshold TU3. In Fig. 4 Each of the increase threshold values ​​TU1 - TU3 is represented by a double dashed line.

[0045] The unit of determination 48 (see Fig. 2) determines whether a first mode switching condition has been met, which is based on the relationship between the slope information provided by the slope detection sensor 50 (see Fig. 2) is entered, and each of the increase thresholds TU1 - TU3 is based on the values ​​described below.

[0046] When Eco mode is selected, and when the road surface gradient, as indicated by the gradient information, changes from a size less than the first gradient threshold TU1 to a size greater than or equal to the first gradient threshold TU1, the determining unit 48 determines that the first mode switching condition has been met, and the control unit 40 switches the support mode from Eco mode to Low mode.

[0047] When the low mode is selected, and when the road surface gradient, as indicated by the gradient information, changes from a size less than the second gradient threshold TU2 to a size greater than or equal to the second gradient threshold TU2, the determining unit 48 determines that the first mode switching condition has been met, and the control unit 40 switches the support mode from low mode to normal mode.

[0048] When Normal mode is selected, and when the road surface gradient, as indicated by the gradient information, changes from a value less than the third gradient threshold TU3 to a value greater than or equal to the third gradient threshold TU3, the determining unit 48 determines that the first mode switching condition has been met, and the control unit 40 switches the support mode from Normal mode to High mode.

[0049] The control unit 40 updates each of the increment thresholds TU1–TU3 based on the slope information. Here, a procedure for updating the second increment threshold TU2 to display the increment thresholds TU1–TU3 is described. The procedure for updating the first increment threshold TU1 and the third increment threshold TU3 is essentially the same as the procedure for updating the second increment threshold TU2.

[0050] Each time the support mode is activated based on an actuation of the first actuation switch 54 (see Fig. 3) When switching from low mode to normal mode, the control unit 40 stores data relating to the detected gradient information (hereinafter referred to as the “data at the time of mode switching”) in the storage unit 44 at that time. When the total amount of data at the time of mode switching reaches a predetermined amount, the calculation unit 46 updates (see Fig. 2) the second increase threshold TU2 according to the following procedure.

[0051] The calculation unit 46 first evaluates the relationship between the gradient information and the frequency at which the support mode is switched (here referred to as the "mode switching frequency"). Fig. Figure 5 shows an example of this. The computation unit 46 then removes the individual points from the relationship. Individual points are, for example, data points that fall within a predefined range of all referenced data. A predefined range could be, for example, the top few percent and the bottom few percent of all data points. The top few percent might be, for example, 1%, and the bottom few percent might also be, for example, 1%.

[0052] The calculation unit 46 next identifies a specific reference value, which is the slope information with the highest mode switching frequency. In the Fig. In example 5, the gradient information, which indicates a gradient of 5%, is the specific reference value. If the actual road surface gradient exceeds the specific reference value, the assistance mode will likely switch due to manual activation.

[0053] The calculation unit 46 (see Fig. 2) Next, a new second assistance threshold TU2 is set within a range less than or equal to the specific reference value. The new second assistance threshold TU2 is preferably set within a range where the pedaling load on the bicycle is less than the specific reference value, i.e., a range smaller than the specific reference value. Switching the assistance ratio slightly earlier than the rider intends is possible by setting the new second assistance threshold TU2 within a range smaller than the specific reference value. The new second assistance threshold TU2 is obtained, for example, by multiplying a predefined coefficient less than 1 by the specific reference value, or by subtracting a predefined value from the specific reference value.The new second increment threshold TU2 can be set within a range of maximum slope, within a range that is a predefined percentage of the lower end of the slope in the data at the time of mode switching, excluding individual points. A predefined percentage is, for example, 20%–30%. The lower limit of the second increment threshold TU2 is greater than the first increment threshold TU1. The storage unit 44 (see . Fig. 2) updates the stored second increase threshold value TU2 to the new second increase threshold value TU2. In this way, the control unit 40 updates (see Fig. 2) each of the increase thresholds TU1 - TU3 based on the gradient information.

[0054] Fig. Figure 6 shows an example of a second mode switching condition. The second mode switching condition represents the relationship between the road surface gradient and a reduction threshold, which is a threshold for reducing the driving force of the motor 12 relative to the manual driving force. The storage unit 44 (see Figure 6) Fig. 2) stores a plurality of reduction thresholds. For example, multiple reduction thresholds can include a first reduction threshold TD1, a second reduction threshold TD2, and a third reduction threshold TD3. In Fig. 6 Each of the reduction thresholds TD1 - TD3 is represented by a double dashed line.

[0055] The unit of determination 48 (see Fig. 2) determines whether a second mode switching condition has been met, which is based on the relationship between the slope information provided by the slope detection sensor 50 (see Fig. 2) is entered, and each of the reduction thresholds TD1 - TD3 is based on the values ​​described below.

[0056] When the High mode is selected, and when the road surface gradient, as indicated by the gradient information, changes from a value greater than or equal to the third reduction threshold TD3 to a value less than the third reduction threshold TD3, the determining unit 48 determines that the second mode switching condition has been met, and the control unit 40 switches the support mode from High mode to Normal mode.

[0057] When Normal mode is selected, and when the road surface gradient, as indicated by the gradient information, changes from a value greater than or equal to the second reduction threshold TD2 to a value less than the second reduction threshold TD2, the determining unit 48 determines that the second mode switching condition has been met, and the control unit 40 switches the support mode from Normal mode to Low mode.

[0058] When the low mode is selected, and when the road surface gradient, as indicated by the gradient information, changes from a size greater than or equal to the first reduction threshold TD1 to a size less than the first reduction threshold TD1, the determination unit 48 determines that the second mode switching condition has been met, and the control unit 40 switches the support mode from low mode to eco mode.

[0059] For example, if the support mode is based on an actuation of the actuation unit 42 (see Fig. 3) When switching, the control unit 40 does not automatically switch the support mode until a mode switching condition, either the first mode switching condition or the second mode switching condition, has been met.

[0060] The control unit 40 updates each of the reduction thresholds TD1–TD3 based on the slope information. Here, a procedure for updating the second reduction threshold TD2 to display the reduction thresholds TD1–TD3 is described. The procedure for updating the first reduction threshold TD1 and the third reduction threshold TD3 is essentially the same as the procedure for updating the second reduction threshold TD2.

[0061] Each time the support mode is activated based on an actuation of the second actuation switch 56 (see Fig. 3) When switching from normal mode to low mode, the control unit 40 stores data at the time of the mode switch in the storage unit 44. When the total amount of data at the time of the mode switch reaches a predetermined amount, the calculation unit 46 updates (see Fig. 2) the second reduction threshold TD2 according to the following procedure.

[0062] The calculation unit 46 first evaluates the relationship between the slope information and the mode switching frequency. Fig. Figure 7 shows an example of this. The calculation unit 46 then removes the individual points from the relationship. The calculation unit 46 subsequently identifies a specific reference value. In the Fig. In example 7, the gradient information, which indicates a gradient of 5%, is the specific reference value. If the actual road surface gradient decreases below the specific reference value, the assistance mode will likely switch based on a manual input.

[0063] The calculation unit 46 (see Fig. 2) Next, a new second reduction threshold TD2 is set within a range greater than or equal to the specific reference value. The new second reduction threshold TD2 is preferably set within a range where the pedaling load on the bicycle is 10 times higher than the specific reference value, that is, a range greater than the specific reference value. Switching the assist ratio slightly earlier than the rider intends is possible by setting the new second reduction threshold TD2 within a range greater than the specific reference value. The new second reduction threshold TD2 is obtained, for example, by multiplying a predefined coefficient greater than or equal to 1 and less than 2 by the specific reference value, or by adding a predefined value to the specific reference value.The new second reduction threshold TD2 can be set to a range of minimum slope that lies within a range that is a predefined percentage away from the higher end of the slope in the data at the time of the mode switch, excluding individual points. A predefined percentage is, for example, 20%–30%. The upper limit of the second reduction threshold TD2 is lower than the third reduction threshold TD3. The memory unit 44 (see . Fig. 2) updates the stored second reduction threshold TD2 to the new second reduction threshold TD2. In this way, the control unit 40 updates (see Fig. 2) each of the reduction thresholds TD1 - TD3 based on the gradient information.

[0064] Fig. Figure 8 is a flowchart for a control process carried out by the control unit 40. The control unit 40 begins the process of Fig. 8, when the support mode is switched from OFF mode to another mode, or when the support mode is set to another mode other than OFF mode, when the power is turned on and the control unit 40 is activated.

[0065] In step S11, the control unit 40 determines whether an actuation signal has been received from the first actuation switch 54 or the second actuation switch 56. If an actuation signal has been received, the actuation performed by the control unit 40 proceeds to step S12. If an actuation signal has not been received, the actuation performed by the control unit 40 proceeds to step S18.

[0066] In step S12, the control device 40 determines whether the support mode should be changed to OFF mode or not. If it is determined to change the support mode to OFF mode, the action performed by the control device 40 proceeds to step S19. If it is determined not to change the support mode to OFF mode, the action performed by the control device 40 proceeds to step S13.

[0067] In step S13, the control device 40 determines whether or not it is possible to switch the support mode. If it is determined that switching the support mode is possible, the operation performed by the control device 40 proceeds to step S14. If it is determined that switching the support mode is not possible, the operation performed by the control device 40 proceeds to step S11. In step S13, the control device 40 determines that it is not possible to switch the support mode if the first actuation switch 54 is actuated when the high mode is selected.

[0068] The control unit 40 switches the support mode based on an actuation signal and, in step S14, stores the data relating to the gradient information in the memory unit 44 at that time. The data relating to the gradient information is stored in the memory unit 44 every time the support mode is switched.

[0069] In step S15, the control unit 40 determines whether the total amount of data relating to the slope information has reached a predetermined amount or not.The total amount of gradient-related data includes the total amount of gradient-related data when switching from Eco mode to Low mode, the total amount of gradient-related data when switching from Low mode to Normal mode, the total amount of gradient-related data when switching from Normal mode to High mode, the total amount of gradient-related data when switching from High mode to Normal mode, the total amount of gradient-related data when switching from Normal mode to Low mode, and the total amount of gradient-related data when switching from Low mode to Eco mode; the control unit 40 counts the total amount of this data separately.In step S15, the control unit 40 determines whether the total amount of data for one of the data sets described above has reached a predetermined level. If the total amount of data relating to the gradient information has reached a predetermined level, the operation performed by the control unit 40 proceeds to step S16. If the total amount of data relating to the gradient information has not reached a predetermined level, the operation performed by the control unit 40 proceeds to step S19.

[0070] In step S16, the control unit 40 calculates a new increase threshold or a new decrease threshold based on data relating to the slope information, using the calculation unit 46. In step S17, the control unit 40 updates the increase threshold to a new increase threshold or a new decrease threshold calculated by the calculation unit 46 and stores it in the storage unit 44.

[0071] In step S18, the control device 40, together with the determination unit 48, determines whether the mode switching condition has been met. If the mode switching condition has been met, the operation performed by the control device 40 proceeds to step S19. If the mode switching condition has not been met, the operation performed by the control device 40 proceeds to step S11.

[0072] In step S19, the control unit 40 switches the support mode either manually or based on the mode switching condition. The control unit 40 repeats the actuations from step S11 to step S19 until, in step S12, it is determined that the support mode will be changed to OFF mode and the support mode is switched to OFF mode, or until the power is switched off.

[0073] The work of bicycle 10 is described with reference to Fig. 2 described.

[0074] When riding a bicycle 10 (see Fig. 1) When riding uphill, a rider changes the driving force of the motor 12 with respect to the manual driving force by manually actuating the first actuating switch 54 or the second actuating switch 56 depending on the pedal actuation load.

[0075] Although there is variability between riders, the timing at which the rider activates each of the actuation switches 54 and 56 while the bicycle is traveling uphill correlates with the gradient of the climb. This is related to the fact that the gradient of the climb correlates with the load on the rider.

[0076] For this reason, it can be assumed that the gradient of the incline for which the mode switching frequency of the first actuation switch 54 is highest is the gradient at which the rider expects an increase in the driving force of the motor 12 relative to the manual driving force when riding a bicycle 10 uphill. Furthermore, it can be assumed that the gradient of the incline for which the mode switching frequency of the second actuation switch 56 is highest is the gradient at which the rider expects a decrease in the driving force of the motor 12 relative to the manual driving force when riding a bicycle 10 uphill.

[0077] A control unit that takes these factors into account is integrated into the control device 40. This control unit specifies a specific reference value, which is gradient information with the highest mode switching frequency, and uses this reference value to predict the point at which the support mode is expected to switch, based on the mode switching condition. Since the threshold is updated with reference to the specific reference value, switching the support mode is facilitated at a time expected by the rider when the bicycle 10 is climbing. In this way, according to the control device 40, the rider's intention is simply reflected in the bicycle's behavior. This contributes to providing the rider with a comfortable riding environment.

[0078] The following effects can be achieved according to the first embodiment. (1) The control unit 40 updates the threshold based on a plurality of data relating to the gradient information. For this reason, the driver's intention is better reflected. (2) The control unit 40 updates the threshold based on data relating to the gradient information, excluding individual points. Even if, for example, an erroneous actuation of the actuating unit 42 is reflected in the data relating to the gradient information, it is unlikely that the updated threshold will deviate from the driver's intention. (3) The control unit 40 sets new increase threshold values ​​TU1 - TU3 in a range that is smaller than the specific reference value. For this reason, the assistance mode is switched so that the drive force of the motor 12 is increased relative to the manual drive force before the point at which the rider is likely to actuate the first activation switch 54, which accompanies an increase in the road surface gradient. That is, the assistance mode is switched before the rider is in a position to actuate the first activation switch 54. For this reason, the assistance mode is switched at approximately the expected time, even if the rider does not initiate the switch to assistance mode. Accordingly, a more comfortable riding environment is provided to the rider. (4) The control unit 40 sets new reduction thresholds TD1 - TD3 in a range that is larger than the specific reference value. For this reason, a similar effect to the effect described above in (3) can be achieved even if the road surface gradient decreases. (Version 2)

[0079] The bicycle steering device according to the second embodiment differs from the bicycle steering device according to the first embodiment in the points described below and comprises, in other points, features that are essentially the same as those of the bicycle steering device according to the first embodiment. In the description of the bicycle steering device according to the second embodiment, the same reference numerals are given to the features that it has in common with the bicycle steering device according to the first embodiment, and some or all of the descriptions for these features have been omitted.

[0080] The bicycle 10 also includes a wind force sensor (not shown in the diagram), which is an electrical component connected to the control unit 40. The wind force sensor is attached to the frame 14 or the handlebars 20. The wind force sensor detects the wind force, which is an example of a reference value. The wind force sensor outputs the wind force information, which is information regarding the detected wind force, to the control unit 40. The wind force information includes a value that indicates the wind force.

[0081] The control unit 40 determines a composite value by combining multiple types of reference values ​​and switches the support ratio based on the relationship between the stored composite threshold and the composite value. The control unit 40 calculates the composite value by combining, for example, the gradient information and the wind power information. The composite value is expressed as the load level of the bicycle 10.

[0082] The control device 40 causes the determination unit 48 to continue determining whether the mode switching condition has been met, which is based on the relationship between the composite value and the composite threshold. The mode switching condition further includes a third mode switching condition (see Fig. 9) to increase the driving force of the motor 12 with respect to the manual driving force, which is based on the relationship between the composite value and the composite threshold, as well as a fourth mode switching condition (not shown in the diagram) to decrease the driving force of the motor 12 with respect to the manual driving force, which is based on the relationship between the composite value and the composite threshold.

[0083] Fig. Figure 9 shows an example of a third mode switching condition. The third mode switching condition represents the relationship between the composite value and a composite increase threshold, which is a composite threshold for increasing the driving force of the motor 12 with respect to the manual driving force. The storage unit 44 (see Fig. 2) stores a plurality of composite increment thresholds. For example, multiple composite increment thresholds can include a first composite increment threshold TX1, a second composite increment threshold TX2, and a third composite increment threshold TX3. In Fig. 9 Each of the composite increase threshold values ​​TX1 - TX3 is represented by a double dashed line.

[0084] The unit of determination 48 (see Fig. 2) determines whether a third mode switching condition has been met, which is based on the relationship between a composite value provided by the control unit 40 (see Fig. 2) is calculated, and is based on each of the composite increase thresholds TX1 - TX3, as described below.

[0085] When Eco mode is selected, and when the calculated composite value changes from a size smaller than the first composite increase threshold TX1 to a size greater than or equal to the first composite increase threshold TX1, the determining unit 48 determines that the third mode switching condition has been met, and the control device 40 switches the support mode from Eco mode to Low mode.

[0086] When the low mode is selected, and when the calculated composite value changes from a size smaller than the second composite increase threshold TX2 to a size greater than or equal to the second composite increase threshold TX2, the determining unit 48 determines that the third mode switching condition has been met, and the control device 40 switches the support mode from low mode to normal mode.

[0087] When Normal mode is selected, and when the calculated composite value changes from a magnitude less than the third composite increase threshold TX3 to a magnitude greater than or equal to the third composite increase threshold TX3, the determining unit 48 determines that the third mode switching condition has been met, and the control unit 40 switches the support mode from Normal mode to High mode. The procedure for updating each of the composite increase thresholds TX1–TX3 is essentially the same as the procedure for updating each of the increase thresholds TU1–TU3.

[0088] The fourth mode switching condition represents the relationship between the composite value and a composite reduction threshold, which is a composite threshold for reducing the drive force of motor 12 with respect to the manual drive force. The storage unit 44 (see Fig. 2) stores a plurality of composite reduction thresholds. For example, multiple composite reduction thresholds may include a first composite reduction threshold, a second composite reduction threshold, and a third composite reduction threshold.

[0089] The determination unit 48 determines whether a fourth mode-switching condition has been met, based on the relationship between a composite value calculated by the control unit 40 and each of the composite reduction thresholds. The determination of whether the fourth mode-switching condition has been met and the procedure for updating each of the composite reduction thresholds are essentially the same as the determination of whether the second mode-switching condition has been met and the procedure for updating each of the reduction thresholds TD1–TD3.

[0090] The control unit 40 selectively uses the mode switching condition based on the relationship between the slope information and the threshold, and the mode switching condition based on the relationship between the composite value and the composite threshold, according to a predefined rule. For example, the support mode is switched based on the earliest mode switching condition that is met.

[0091] According to the second embodiment, the following effects can be achieved, in addition to the effects of (1) - (4) achieved according to the first embodiment.

[0092] (5) According to the bicycle control device, the assistance mode is switched based on the relationship between the composite value and the composite threshold, in addition to the relationship between the gradient information and the threshold. For this reason, compared to the case where the assistance mode is switched only on the basis of the relationship between the gradient information and the threshold, the rider's intention is better reflected in the behavior of the bicycle 10. (Version 3)

[0093] The bicycle steering device according to the third embodiment differs from the bicycle steering device according to the first embodiment in the points described below and comprises, in other points, features that are essentially the same as those of the bicycle steering device according to the first embodiment. In the description of the bicycle steering device according to the third embodiment, the same reference numerals are given to the features that it has in common with the bicycle steering device according to the first embodiment, and some or all of the descriptions for these features have been omitted.

[0094] Bicycle 10 also includes a gearbox (not shown in the diagram) in which the gear ratio can be changed. The gearbox can be, for example, an internal gearbox or an external gearbox that is integrated with a hub. As in Fig. As shown in Figure 10, the transmission comprises an actuator 68 for transmitting a driving force to change the gear ratio and a planetary gear mechanism (not shown in the diagram) controlled by the actuator 68. The actuator 68 is, for example, an electric motor that changes the gear ratio by controlling the rotation of the gears that form the planetary gear mechanism. The bicycle 10 (see Fig. 1) further comprises a gearshift actuation unit 70 which outputs an actuation signal relating to the switching of the transmission ratio to the control device 40.

[0095] The control unit 40 further includes an automatic switching function with respect to the gear ratio, which consists of a storage unit 44, a calculation unit 46, a determination unit 48, and a manual switching function. The automatic switching function related to the gear ratio is a function for automatically switching the gear ratio, that is, a function for switching the gear ratio independently of manual operation. The manual switching function is a function for switching the gear ratio based on manual operation.

[0096] Actuation of the control unit 40 based on the automatic switching function relating to the gear ratio includes an actuation to switch the gear ratio based on the relationship between a reference value and a threshold value stored in the memory unit 44. The actuation of this control unit 40 is essentially the same as the actuation to switch the support ratio. When the gear ratio is switched based on manual actuation of the gear-shift actuation unit 70, the control unit 40 stores the reference value in the memory unit 44, updates the threshold value stored in the memory unit 44 based on the stored reference value, and uses the updated threshold value in the automatic switching function relating to the gear ratio.

[0097] According to this type of training, switching the gear ratio at a time expected by the rider, when the bicycle 10 is traveling uphill, is facilitated. Therefore, according to a bicycle 10 equipped with the control device 40, the rider's intention is simply reflected in the behavior of the bicycle 10. This contributes to providing the rider with a comfortable riding environment. The effects (1) - (4) of the first embodiment can also be achieved according to the bicycle control device of the third embodiment. (Modified examples)

[0098] The descriptions relating to each embodiment are examples of forms that the bicycle steering device according to the present invention can take, and they are not intended to limit the possible forms. In addition to each of the embodiments described, the bicycle steering device according to the present invention can take the form of any modified example of the embodiments described below, as well as forms that combine at least two modified examples that do not contradict each other.

[0099] According to a modified example of the embodiment or the third embodiment, the bicycle 10 comprises a wind force sensor that detects the wind force, which is an example of the reference value, instead of the gradient detection sensor 50. The wind force sensor is, for example, attached to the frame 14 or the handlebars 12 and outputs the wind force information, which is information regarding the detected wind force, to the control unit 40. The wind force information includes a value that indicates the wind force.

[0100] The control unit 40 switches the support mode based on the relationship between the wind power information and the threshold value. When the support mode is switched based on a manual operation, the control unit 40 stores the data relating to the wind power information in the memory unit 44 and updates the threshold value according to a predefined update procedure based on the wind power information.

[0101] Following yet another example of the modified example described above, the bicycle 10 includes both a gradient detection sensor 50 and a wind force sensor. The control unit 40 selectively uses the mode switching condition based on the relationship between the gradient information and the threshold, as well as the mode switching condition based on the relationship between the wind force information and the threshold, according to a predefined rule. For example, the support mode is switched based on whichever mode switching condition is met first.

[0102] The bicycle 10 includes a magnetic sensor for detecting the rotation angle of the front wheel 16 or the rear wheel 18 instead of the gradient detection sensor 50. The bicycle 10 also includes a magnet attached to the spoke of the wheel. The magnetic sensor is mounted on the frame 14. The magnetic sensor outputs the angle information, which is information regarding the rotation angle of the front wheel 16 or the rear wheel 18, or the rotational speed information, which is information regarding the rotational speed of the front wheel 16 or the rear wheel 18, to the control unit 40.

[0103] The control unit 40 acquires the distance information, which is information regarding the distance traveled by the bicycle 10, based on the angle information or the rotational speed information. The distance information is an example of a reference value and includes a value indicating the distance traveled by the bicycle 10. The control unit 40 switches the support mode based on the relationship between the distance information and the threshold value. When the support mode is switched based on a manual operation, the control unit 40 stores the data regarding the distance information in the memory unit 44 and updates the threshold value according to a predefined update procedure, based on the distance information.

[0104] Following yet another example of the modified example described above, the bicycle 10 includes both a gradient detection sensor 50 and a magnetic sensor. The control unit 40 selectively uses the mode switching condition based on the relationship between the gradient information and the threshold, as well as the mode switching condition based on the relationship between the distance information and the threshold, according to a predefined rule. For example, the assist mode is switched based on whichever mode switching condition is met first.

[0105] The bicycle 10 includes a load sensor for detecting the weight of a load mounted on the bicycle 10, which is an example of the reference value, instead of the gradient detection sensor 50. The load sensor is attached, for example, to a basket or carrier of the bicycle 10 and outputs the weight information, which is information regarding the detected weight, to the control unit 40. The weight information includes a value that indicates the weight of the load.

[0106] The control unit 40 switches the support mode based on the relationship between the weight information and the threshold value. If the support mode is switched based on a manual operation, the control unit 40 stores the data regarding the weight information in the memory unit 44 and updates the threshold value according to a predefined update procedure based on the weight information.

[0107] Following yet another example of the modified example described above, the bicycle 10 includes both a gradient detection sensor 50 and a load sensor. The control unit 40 selectively uses the mode switching condition based on the relationship between the gradient information and the threshold, as well as the mode switching condition based on the relationship between the weight information and the threshold, according to a predefined rule. For example, the support mode is switched based on whichever mode switching condition is met first.

[0108] The bicycle 10 includes a load sensor for detecting the manual drive force, which is an example of the reference value, instead of the gradient detection sensor 50. The load sensor is attached, for example, to the pedal 30 or the crank arm 26 and outputs the manual force information, which is information regarding the detected manual drive force, to the control unit 40. The manual force information includes a value that indicates the manual drive force.

[0109] The control unit 40 switches the support mode based on the relationship between the manual force information and the threshold value. When the support mode is switched based on a manual actuation, the control unit 40 stores the data relating to the manual force information in the memory unit 44 and updates the threshold value according to a predefined update procedure based on the manual force information.

[0110] Following yet another example of the modified example described above, the bicycle 10 includes both a gradient detection sensor 50 and a load sensor. The control unit 40 selectively uses the mode switching condition based on the relationship between the gradient information and the threshold, as well as the mode switching condition based on the relationship between the manual force information and the threshold, according to a predefined rule. For example, the assist mode is switched based on whichever mode switching condition is met first.

[0111] The bicycle 10 includes a plurality of sensors for detecting information regarding the resistance of the road surface, which is an example of the reference value, instead of the gradient detection sensor 50. The plurality of sensors includes, for example, a load sensor for detecting the manual drive force and a speed sensor for detecting the speed of the crankshaft 28. The speed sensor outputs information regarding the speed of the crankshaft 28 to the control unit 40.

[0112] The control unit 40 acquires the resistance information, which is information regarding the resistance of the road surface, based on the information that can be obtained from each of the sensors described above. The resistance information is an example of a reference value and includes a value indicating the resistance of the road surface. The control unit 40 switches the assistance mode based on the relationship between the resistance information and the threshold value. When the assistance mode is switched based on a manual operation, the control unit 40 stores the data regarding the resistance information in the memory unit 44 and updates the threshold value according to a predefined update procedure based on the resistance information.

[0113] Following yet another example of the modified example described above, the bicycle 10 comprises a gradient detection sensor 50, a load sensor, and a speed sensor. The control unit 40 selectively uses the mode switching condition based on the relationship between the gradient information and the threshold, as well as the mode switching condition based on the relationship between the resistance information and the threshold, according to a predefined rule. For example, the assist mode is switched based on whichever mode switching condition is met first.

[0114] The bicycle 10 includes an accelerometer for detecting the acceleration of the bicycle 10 in the direction of travel, which is an example of the reference value, instead of the gradient detection sensor 50. The accelerometer is, for example, attached to the frame 14 and outputs acceleration information, which is information regarding the detected acceleration, to the control unit 40. The acceleration information includes a value that indicates the acceleration of the bicycle 10.

[0115] The control unit 40 switches the support mode based on the relationship between the acceleration information and the threshold value. When the support mode is switched based on a manual operation, the control unit 40 stores the data relating to the acceleration information in the memory unit 44 and updates the threshold value according to a predefined update procedure based on the acceleration information.

[0116] Following yet another example of the modified example described above, the bicycle 10 includes both a gradient detection sensor 50 and an acceleration sensor. The control unit 40 selectively uses the mode switching condition based on the relationship between the gradient information and the threshold, as well as the mode switching condition based on the relationship between the acceleration information and the threshold, according to a predefined rule. For example, the assist mode is switched based on whichever mode switching condition is met first.

[0117] According to a modified example of the second embodiment, the determining unit 48 determines whether a mode switching condition has been met, which is based only on the relationship between the level of a composite value and each of the composite increase thresholds TX1 - TX3 as well as each of the composite decrease thresholds.

[0118] According to a modified example of the second embodiment, the composite value is information that combines at least two of the following: the gradient information, the wind force information, the distance information, the weight information, the manual force information, the resistance information, and the acceleration information.

[0119] According to a modified example of the third embodiment, the control device 40 automatically switches only the translation ratio based on the relationship between the reference value and the stored threshold value.

[0120] According to the modified example of the third embodiment, the motor 12, the actuation unit 42 and the display unit 52 can be omitted from the bicycle 10.

[0121] The content of most support modes can be changed at will.

[0122] The control unit 40 switches the support mode based on the relationship between a plurality of reference values ​​and a plurality of threshold values ​​corresponding to each of the reference values. The plurality of reference values ​​consists of at least two of the reference values ​​corresponding to the following: gradient information, wind force information, distance information, weight information, manual force information, resistance information, and acceleration information. In this case, the control unit 40 switches the support mode using a threshold value that most quickly satisfies the mode switching condition.

[0123] The control unit 40 determines whether the gradient variation is within a predefined range when the assist mode is switched based on manual operation. If the gradient variation is within a predefined range, the control unit 40 stores the gradient information in the memory unit 44. If the gradient variation from when the assist mode is switched until a predefined time has elapsed is not within a predefined range, the control unit 40 does not store the gradient information in the memory unit 44 at the time of the assist mode switch. According to this design, if the gradient variation is large, the gradient information is less likely to be used to update the threshold.

[0124] The control unit 40 updates the threshold value based on the reference value when the bicycle 10's travel distance reaches a predefined distance, even if the total amount of data at the time of the mode switch has not reached a predefined amount. According to this setup, the gradient information is able to update the threshold value even if the number of times the rider has actuated the control unit 42 is small.

[0125] The control unit 40 sets the specific reference value for the new threshold.

[0126] The control unit 40 sets a new threshold based on data relating to a single gradient information when it switches the support mode based on a manual actuation.

[0127] The control unit 40 updates the threshold each time the support mode is switched based on a manual actuation.

[0128] The front sprocket 34 is coupled in such a way that it does not rotate relative to the crankshaft 28. In this case, the bicycle 10 can take a form that includes a coaster brake in a hub of the rear wheel 18.

Claims

[1] Bicycle control device (40), comprising: an automatic switching function for automatically switching an assistance ratio, which is a ratio of a manual drive force to a drive force of an electric assistance motor (12), based on a relationship between a stored threshold value and a reference value, which is a value indicating a driving environment or driving condition of a bicycle that includes an electric assistance motor (12), and a manual switching function to change the support ratio based on manual operation, characterized by , that the threshold is updated based on the reference value when the support ratio is switched by the manual toggle function. [2] Bicycle steering device (40) according to claim 1, wherein the reference value is a value indicating a road surface gradient. [3] Bicycle steering device (40) according to claim 1, wherein the reference value is a value indicating a wind force. [4] Bicycle steering device (40) according to claim 1, wherein the reference value is a value indicating a resistance of a road surface. [5] Bicycle control device (40) according to claim 1, wherein the reference value is a value indicating a travel distance of the bicycle. [6] Bicycle steering device (40) according to claim 1, wherein the reference value is a value indicating the weight of a load attached to the bicycle. [7] Bicycle steering device (40) according to claim 1, wherein the reference value is a value indicating the manual driving force. [8] Bicycle steering device (40) according to claim 1, wherein the support ratio is automatically switched based on a relationship between a plurality of reference types and a plurality of thresholds corresponding to each of the references, and the plurality of reference types comprises at least two of the following: a value indicating a road surface gradient, a value indicating wind force, a value indicating the resistance of the road surface, a value indicating the distance traveled by the bicycle, a value indicating the weight of a load attached to the bicycle, and a value indicating the manual driving force. [9] Bicycle control device (40) according to one of claims 1 to 8, wherein an increase threshold value (TU1-TU3), which is a threshold value for switching the support ratio, so that the drive force of the electric support motor (12) is increased in relation to the manual drive force, is updated based on the reference value when the support ratio is switched by the manual switching function, so that the drive force of the electric support motor (12) is increased in relation to the manual drive force;and a reduction threshold (TD1-TD3), which is the threshold for switching the support ratio, so that the drive force of the electric support motor (12) is reduced in relation to the manual drive force, is updated based on the reference value when the support ratio is switched by the manual switching function, so that the drive force of the electric support motor (12) is reduced in relation to the manual drive force. [10] Bicycle control device (40) according to any one of claims 1 to 9, wherein the reference value is stored each time the support ratio is switched by the manual switching function, and the threshold is updated based on the stored plurality of reference values. [11] Bicycle control device (40) according to claim 10, wherein the reference values, with the exception of individual points in the stored plurality of reference values, are used to update the threshold. [12] Bicycle control device (40) according to claim 10 or 11, wherein a specific reference value, which is the reference value at which the support ratio is likely to be switched by the manual switching function, is specified based on the plurality of reference values, and the threshold is updated based on the specific reference value. [13] Bicycle control device (40) according to claim 12, wherein the increase threshold value (TU1-TU3) is set in a range where a load on the bicycle is low, within a range of the reference value specified by the specific reference value. [14] Bicycle control device (40) according to claim 12 or 13, wherein the reduction threshold (TD1-TD3) is set in a range where the load on the bicycle is high, within a range of the reference value specified by the specific reference value. [15] Bicycle steering device (40) according to claim 1, wherein there is a plurality of reference values, and The reference value is saved each time the support ratio is switched using the manual toggle function. a specific reference value, which is the reference value at which the support ratio is likely to be switched by the manual toggle function, is determined based on the plurality of reference values ​​for each of the plurality of reference types, and The majority of thresholds corresponding to each of the majority of threshold types are updated based on the specific reference value that corresponds to that type of reference value. [16] Bicycle control device (40) according to claim 1, wherein there is a plurality of types of reference values, and the support ratio is switched with the automatic switching function by using the threshold value from the plurality of threshold values ​​corresponding to each of the plurality of types of reference values ​​with which the switching of the support ratio is possible most quickly. [17] Bicycle control device (40) according to claim 1, wherein there is a plurality of reference types, and a composite value is determined by combining the plurality of reference types, and the support ratio is switched based on the relationship between a stored composite threshold and the composite value. [18] Bicycle control device (40) according to one of claims 1 to 17, wherein the threshold is updated based on the reference value when a variability of the reference value is within a predetermined range over a period of time from when the support ratio is switched by the manual switching function until when a predetermined time has elapsed. [19] Bicycle control device (40) according to any one of claims 1 to 18, wherein the threshold is updated based on the reference value when the bicycle's travel distance reaches a predetermined travel distance. [20] Bicycle control device (40), comprising: an automatic switching function for automatically switching a translation ratio based on a relationship between a stored threshold and a reference value, which is a value, which specifies a driving environment or driving condition of a bicycle that includes a gearbox, and a manual switching function for changing the gear ratio based on manual operation, characterized by, that the threshold is updated based on the reference value when the gear ratio is switched by the manual switching function, and the reference value includes at least one of the following: a value indicating a road surface gradient, a value indicating wind force, a value indicating road surface resistance, a value indicating the bicycle's travel distance, a value indicating the weight of any load attached to the bicycle, and a value indicating manual driving force.

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