CONTROL DEVICE FOR A MUSCLE-POWERED VEHICLE

Abstract

A control device for a muscle-powered vehicle is provided, the control device comprising: a control unit configured to continuously drive a motor while a continue condition is met to continue driving the motor in a case where a stop condition is met to stop the motor in a support state where the muscle-powered vehicle is subjected to a support force by driving the motor; and a storage unit that modifiably stores a setting value included in the continue condition.

Description

[0001] This application claims priority over Japanese patent application JP 2023-130595, filed on August 10, 2023. The entire disclosure of Japanese patent application JP 2023-130595 is hereby incorporated by reference herein.

[0002] The present disclosure relates to a technology of a control device for a muscle-powered vehicle.

[0003] For example, JP H07 - 323 880 A discloses a control device that controls a motor to apply an assisting force to a muscle-powered vehicle in accordance with a muscle-driving force.

[0004] DE 10 2021 209 297 A1 describes a control system for an electric bicycle comprising a drive controller which is designed to provide drive control of the electric bicycle.

[0005] DE 10 2020 200 226 A1 describes a method for controlling a drive of a vehicle that is at least partially pedal-operated.

[0006] DE 10 2019 205 858 A1 describes a method and a device or a pedal-driven vehicle which recognizes a special driving situation and then operates the additional drive on the vehicle for a longer time compared to a normal driving situation.

[0007] US 2014 / 0 166 385 A1 describes a battery-powered bicycle with a drive unit that increases the support rate and enables smooth support control.

[0008] DE 10 2022 118 220 B3 describes a method for controlling an electric drive of a two-wheeler.

[0009] For a typical control device, it is desirable to improve the user-friendliness with regard to applying a supporting force.

[0010] The purpose of the present disclosure is to provide a control device that can improve user-friendliness. This purpose is achieved by a control device according to claim 1.

[0011] A control device according to the first aspect of the present disclosure provides a control device for a muscle-powered vehicle or a human-powered vehicle, wherein the control device comprises: a control unit configured to continuously drive or control a motor, while a continuation condition for continuing the drive or driving of the motor is satisfied in a case where a stop condition for stopping the motor is satisfied in a support state or assisted state in which the muscle-powered vehicle is subjected to a support force or assist force by driving the motor; and a storage unit that modifiably stores a setting value included in the continuation condition.The setting includes a first setting range for the driving distance of the human-powered vehicle, and the continuation condition is met if the driving distance of the human-powered vehicle, from the moment the stop condition is met, falls within the first setting range in the assisted state. The control unit calculates the driving time until the driving distance of the human-powered vehicle reaches the first setting range, based on the vehicle speed of the human-powered vehicle and the first setting range, and the control unit stops the motor before the elapsed time from the moment the stop condition is met exceeds the driving time in the assisted state.

[0012] With the control device described in the first aspect, it is possible to adjust the condition for continuous motor operation by changing the setting value when the stop condition is met in the assisted state. This improves user-friendliness regarding the application of the assist force. Furthermore, it is possible to adjust the driving distance during which the muscle-powered vehicle is continuously supplied with assist force when the stop condition is met in the assisted state. This also improves user-friendliness regarding the application of the assist force. Finally, it is possible to prevent an unnecessary increase in the driving distance during which the muscle-powered vehicle is continuously supplied with assist force when the stop condition is met in the assisted state.

[0013] In the control device of a second aspect according to the first aspect, the stop condition is fulfilled in a case where a cadence or pedaling frequency of the muscle-powered vehicle is equal to or less than a predetermined threshold.

[0014] With the control device according to the second aspect, it is possible to adjust the condition for continuous driving of the motor in a case where the cadence is equal to or less than the predetermined threshold in the support state.

[0015] In the control device of a third aspect according to the second aspect, the control unit gradually changes the first setting range of the storage unit in response to an actuation at an actuation unit.

[0016] With the control device according to the third aspect, a user can gradually or step by step change the first setting range by actuating the actuating unit, which makes it possible to improve user-friendliness.

[0017] In the control device of a fourth aspect according to the second or third aspect, the control unit stops the motor before a driving distance of the muscle-powered vehicle from the time at which the stop condition is met exceeds the first setting range in the assisted state.

[0018] The control device according to the fourth aspect makes it possible to suppress an unnecessary increase in the driving distance in which the muscle-powered vehicle is continuously supplied with a support force in a case in which the stop condition is met in the support state.

[0019] In the control device of a fifth aspect according to one of the second to fourth aspects, the first adjustment range includes a value that is equal to or less than 2 meters.

[0020] With the control device according to the fifth aspect, it is possible to adjust the driving distance in which the muscle-powered vehicle is continuously supplied with the support force in a case where the stopping condition is met in the support state, so that it falls into a range of 2 meters or less.

[0021] In the control device of a sixth aspect according to one of the first to fifth aspects, the setting value includes a second setting range with respect to time, and the continuation condition is satisfied in a case where an elapsed time from the time at which the stop condition is satisfied falls into the second setting range in the supported state.

[0022] The control device described in the sixth aspect makes it possible to adjust the duration during which the muscle-powered vehicle is continuously supplied with assist force when the stop condition is met in the assisted state. This improves user-friendliness with regard to the application of the assist force.

[0023] In the control device of a seventh aspect according to the sixth aspect, the control unit incrementally changes the second setting range of the storage unit in reaction or in response to an actuation on one / the actuation unit.

[0024] With the control device according to the seventh aspect, a user can gradually change the second setting range by actuating the actuating unit.

[0025] In the control device of an eighth aspect according to the sixth or seventh aspect, the control unit stops the motor before an elapsed time from the time at which the stop condition is met exceeds the second setting range in the support state.

[0026] The control device according to the eighth aspect makes it possible to suppress an unnecessary increase in the time period during which the muscle-powered vehicle is continuously subjected to the assisting force in a case where the stop condition is met in the assisted state.

[0027] In the control device of a ninth aspect according to one of the sixth to eighth aspects, the second adjustment range includes a value equal to or less than the time during which the human-powered vehicle travels 2 meters. With the control device according to the ninth aspect, it is possible to adjust, within a range of equal to or less than 2 meters, the travel distance during which the human-powered vehicle is continuously supplied with the assisting force, in a case where the stop condition is met in the assisted state.

[0028] In the control device of a tenth aspect according to one of the first to ninth aspects, the control unit is set up to gradually or stepwise reduce the output torque of the motor when the stop condition is met in the support state.

[0029] With the control device according to the tenth aspect, it is possible to improve the comfort and stability of driving the muscle-powered vehicle.

[0030] The control device of an eleventh aspect according to the third or seventh aspect further includes a radio communication unit or wireless communication unit connected to the control unit, wherein the control unit is configured to be connectable to the actuating unit by the radio communication unit.

[0031] With the control device according to the eleventh aspect, it is possible to communicate with the actuating unit via the radio communication unit.

[0032] With the control device according to the present disclosure, it is possible to improve the user-friendliness with regard to the application of the supporting force. BRIEF DESCRIPTION OF THE FIGURES Fig. Figure 1 is a side view showing a muscle-powered vehicle with a control device according to a first embodiment. Fig. Figure 2 is a block diagram that shows an example of an electrical configuration of a muscle-powered vehicle with a control device. Fig. Figure 3 is a flowchart that illustrates a control sequence in the first embodiment. Fig. Figure 4 is a diagram that shows an example of a settings screen. Fig. Figure 5 is a flowchart that illustrates a control sequence in a second embodiment. Fig. Figure 6 is a flowchart that illustrates a control process in a third embodiment. Fig. Figure 7 is a diagram that illustrates an example of a relationship between an input torque at a pedal and the support force in the third embodiment. Fig. Figure 8 is a flowchart that illustrates a control sequence in the fourth embodiment. Fig. Figure 9 is a flowchart that illustrates a control sequence in a fifth embodiment. DETAILED DESCRIPTION OF THE INVENTION First embodiment

[0033] A control device 22 according to a first embodiment is described. The description of the control device 22 according to the first embodiment is made with reference to the Fig. 1 to Fig. 6.

[0034] A muscle-powered vehicle 10 is a vehicle that includes at least one wheel 16 and can be propelled by muscle power or human power. Muscle-powered vehicles 10 include various types of bicycles, such as mountain bikes, racing bikes, city bikes, cargo bikes, handcycles, and recumbent bikes. The number of wheels 16 included in a muscle-powered vehicle 10 is not limited. Examples of muscle-powered vehicles 10 include unicycles and vehicles with two or more wheels 16. Muscle-powered vehicles 10 are not limited to vehicles that can be propelled solely by muscle power. They also include e-bikes, which use the power of an electric motor in addition to muscle power for propulsion.The e-bike comprises an electrically assisted bicycle, which is supported in its propulsion by the electric motor. The following describes embodiments assuming that the muscle-powered vehicle 10 is an electrically assisted bicycle.

[0035] The muscle-powered vehicle 10 includes a crank 11, a frame 12, a seat 13, a handlebar 14, a front fork or front wheel fork 15, the wheel 16, a drive mechanism 17, a gearbox 18, a battery 19, a drive unit 20, and a control system 21. The in Fig. The illustrated crank 11 includes a crankshaft 11a, which is rotatable relative to the frame 12, and a pair of crank arms 11b, each provided at a corresponding end section, in the axial direction, of the crankshaft 11a. A pedal 11c is coupled to each crank arm 11b of the pair of crank arms 11b.

[0036] The seat 13 is provided on the frame 12 via a seat post 13a. The frame 12 rotatably supports the handlebar 14 and the front fork 15. The handlebar 14 can be gripped by a user. The handlebar 14 is rotated relative to the frame 12 so that the front fork 15 rotates and the direction of travel of the muscle-powered vehicle 10 changes. A gear-operating device 14a is provided on the handlebar 14.

[0037] The wheels 16 comprise a front wheel 16a and a rear wheel 16b. The front wheel 16a is rotatably mounted on the front fork 15. The rear wheel 16b is rotatably mounted on the frame 12. The drive mechanism 17 connects the crank 11 and the rear wheel 16b. The drive mechanism 17 comprises a first rotating body 17a, a second rotating body 17b, and a first drive force transmission section 17c.

[0038] In the present embodiment, the first rotating body 17a includes a front sprocket. The first rotating body 17a can include a plurality of front sprockets. The first rotating body 17a is coupled to the crankshaft 11a via a second drive force transmission section 20b of the drive unit 20. The second drive force transmission section 20b is configured to rotate integrally with the crankshaft 11a. The first rotating body 17a rotates with the rotation of the second drive force transmission section 20b. When the crankshaft 11a rotates in a first direction and the muscle power is transmitted to the rear wheel 16b, the muscle-powered vehicle 10 moves forward.The second drive force transmission section 20b can include a one-way coupling that allows the crankshaft 11a and the first rotating body 17a to rotate integrally in a case where the crankshaft 11a rotates in the first direction of rotation, and allows the crankshaft 11a and the first rotating body 17a to rotate relative to each other in a case where the crankshaft 11a rotates in a second direction of rotation opposite to the first direction of rotation.

[0039] In the present embodiment, the second rotating body 17b includes a plurality of rear sprockets. The second rotating body 17b may include a front sprocket. The second rotating body 17b is coupled to the rear wheel 16b. The first drive force transmission section 17c transmits the rotational force from the first rotating body 17a to the second rotating body 17b. The first drive force transmission section 17c includes, for example, a chain. The first rotating body 17a and the second rotating body 17b may include a pulley, and the first drive force transmission section 17c may include a belt. The first rotating body 17a and the second rotating body 17b may include a bevel gear, and the first drive force transmission section 17c may include a shaft.

[0040] The transmission 18 changes the gear ratio of the muscle-powered vehicle 10. The gear ratio indicates the ratio of the rotational speed of the rear wheel 16b to the rotational speed of the crankshaft 11a. The transmission 18 includes at least one external transmission or an internal transmission. In the present embodiment, the transmission 18 includes an external transmission. In the case where the transmission 18 includes an external transmission, the gear ratio is calculated, for example, by dividing the number of teeth of the front sprocket with which the first drive force transmission section 17c engages by the number of teeth of the rear sprocket with which the first drive force transmission section 17c engages.The external transmission includes at least one front derailleur or rear derailleur 18a. In the present embodiment, the external transmission includes the rear derailleur 18a. The rear derailleur 18a is configured to shift the first drive force transmission section 17c between the plurality of rear sprockets when a user operates the transmission actuation device 14a.

[0041] The battery 19 supplies power to an electronic device. The electronic device includes components mounted on the human-powered vehicle 10. The electronic device includes, for example, a control device 22, a torque sensor 23, a vehicle speed sensor 24, and a cadence sensor 25. The battery 19 includes, for example, at least one non-rechargeable battery or one rechargeable battery. The rechargeable battery is designed to be recharged with energy from an external power supply. The battery 19 is provided on the frame 12. For example, at least part of the battery 19 is located inside a down tube of the frame 12.

[0042] The in the Fig. 1 and Fig. The drive unit 20 shown in the illustration is designed to provide the muscle-powered vehicle 10 with a supporting force in accordance with the muscle power applied to the pair of crank arms 11b. The drive unit 20 includes a motor 20a and the second drive force transmission section 20b.

[0043] The motor 20a is configured to be powered by energy from the battery 19. The motor 20a is configured to transmit the driving force to the front wheel 16a or a power transmission path for the muscle driving force from the pedal 11c to the rear wheel 16b. In the present embodiment, the motor 20a is configured to operate with the Fig. The second drive force transmission section 20b, as shown in Figure 1, is coupled to the motor 20a to transmit the drive force to the power transmission path for the muscle drive force. The motor 20a can be coupled to the second drive force transmission section 20b via a reduction gear.

[0044] The muscle power and the assist force from the motor 20a are transmitted to the second drive force transmission section 20b. When the muscle power and the assist force are transmitted through the drive mechanism 17 to the rear wheel 16b, the muscle-powered vehicle 10 moves.

[0045] The motor 20a of the drive unit 20 is controlled in a variety of control states. The control states of the motor 20a include a support state in which the muscle-powered vehicle 10 is provided with a support force by driving the motor 20a in a state in which the muscle-powered vehicle 10 travels with a muscle driving force, and also include a non-support state in which the motor 20a is stopped and the support force is not applied in the state in which the muscle-powered vehicle 10 travels with the muscle driving force.

[0046] The power output of motor 20a is controlled in accordance with the muscle driving force in cases where the vehicle speed of the muscle-powered vehicle 10 is less than a predetermined speed in the assisted state. When the power output of motor 20a is controlled, the magnitude of the assist force applied to the muscle-powered vehicle 10 changes. The assisted state can include a variety of assisted states, each with different maximum power ratios of motor 20a relative to the muscle driving force. Fig. The control system 21 shown in Figure 2 is configured to control the motor 20a. The control system 21 includes the control device 22, the torque sensor 23, the vehicle speed sensor 24, and the cadence sensor 25. The control device 22 comprises the control unit 22 for a human-powered vehicle. The control device 22 includes a control unit 22b, which is configured to continuously drive the motor 20a while a continue condition is met to continue driving the motor 20a in the event that a stop condition is met to stop the motor 20a in the assisted state, in which the human-powered vehicle 10 is supplied with an assisting force by driving the motor 20a; and a storage unit 22a, which modifiably stores a setting value included in the continue condition.

[0047] The stop condition is met when a user is assumed to have stopped pedaling. For example, the stop condition is met when at least one of the following is true: a case in which the cadence of the muscle-powered vehicle 10 is equal to or less than a predetermined threshold; or a case in which the muscle power is equal to or less than a predetermined threshold. In the present embodiment, the stop condition is met when the cadence of the muscle-powered vehicle 10 is equal to or less than a predetermined threshold. This threshold for the stop condition is 5 rpm. The size of the threshold is not limited to that in the present embodiment. For example, the threshold can be a value falling within a range of 0 rpm to 7 rpm. Preferably, the threshold is a value falling within a range of 0 rpm to 5 rpm.

[0048] The restart condition is met if the travel distance of the human-powered vehicle 10 from the moment the stop condition is met in the assisted state is relatively short. The restart condition is defined based on the setting value. In the present embodiment, the setting value includes a first setting range with respect to the travel distance of the human-powered vehicle 10. The restart condition is met if the travel distance of the human-powered vehicle 10 from the moment the stop condition is met falls within the first setting range in the assisted state. The first setting range includes a value equal to or less than 2 meters. The first setting range can include a plurality of values ​​and can also include only one value.

[0049] The control device 22 comprises the storage unit 22a and the control unit 22b. In the present embodiment, the control device 22 further comprises a radio communication unit 22c, which is connected to the control unit 22b. The storage unit 22a stores a control program and information used in a control process. For example, the storage unit 22a comprises at least one non-volatile memory, volatile memory, or hard disk.

[0050] The control unit 22b is configured to control the drive unit 20. The control unit 22b includes a computing processing device that executes a predetermined control program. This computing processing device may include, for example, a central processing unit (CPU) or a microprocessing unit (MPU). The control unit 22b may contain one or multiple microcomputers. The control unit 22b further includes an inverter circuit connected to the motor 20a.

[0051] The control unit 22b has a time-measuring function. For example, the control unit 22b may use a CPU or MPU to measure time, or it may include a timer or clock. The control unit 22b is configured to communicate with the torque sensor 23, the vehicle speed sensor 24, and the cadence sensor 25 using an electrical cable or a radio communication device. The control unit 22b may be included in the drive unit 20.

[0052] The torque sensor 23 is configured to detect or acquire information relating to a torque applied to the pair of crank arms 11b. For example, the torque sensor 23 is provided in the transmission path for a drive force from the pedal 11c to the first rotating body 17a. The torque sensor 23 includes, for example, a strain sensor. The torque sensor 23 may include a magnetostrictive sensor, an optical sensor, and a pressure sensor. The torque sensor 23 outputs a signal to the control unit 22b corresponding to a torque applied to the pair of crank arms 11b. The control unit 22b is configured to detect the muscle drive force based on the signal output by the torque sensor 23. The torque sensor 23 may be provided to the drive unit 20.

[0053] The vehicle speed sensor 24 is configured to detect information relating to the vehicle speed of the human-powered vehicle 10. For example, the vehicle speed sensor 24 detects the rotational speed of at least one wheel 16 of the human-powered vehicle 10. For example, the vehicle speed sensor 24 is mounted on the frame 12 or the front fork 15 of the human-powered vehicle 10 and is equipped with a magnetometric sensor that detects the magnetism of a magnet provided at least one wheel 16. The vehicle speed sensor 24 outputs the signal corresponding to the rotational speed of at least one wheel 16 to the control unit 22b. The control unit 22b is configured to detect the vehicle speed of the human-powered vehicle 10 based on the signal output by the vehicle speed sensor 24.

[0054] The cadence sensor 25 is configured to detect the cadence of the muscle-powered vehicle 10. The cadence is defined, for example, by the number of revolutions of the crankshaft 11a per unit of time. The unit of time is, for example, one minute. The cadence sensor 25 is provided, for example, to the transmission path for the drive force from the pedal 11c to the first rotating body 17a. The cadence sensor 25 includes, for example, a magnetic sensor that outputs a signal corresponding to the strength of the magnetic field. The cadence sensor 25 can include an optical sensor, an accelerometer, a gyroscope, a torque sensor, or the like. The cadence sensor 25 outputs a signal corresponding to the cadence to the control unit 22b. The control unit 22b is configured to detect the cadence based on the signal output by the cadence sensor 25. The cadence sensor 25 can be provided to the drive unit 20.

[0055] The radio communication unit 22c can receive a radio or wireless signal from an external device. The radio communication unit 22c can be configured to communicate in accordance with an existing communication standard, such as Bluetooth (registered trademark) or ANT+ (registered trademark), or it can be configured to communicate in accordance with a unique communication standard. The control unit 22b is configured to be connectable to the actuating unit 30 via the radio communication unit 22c.

[0056] The actuation unit 30 is designed to be operated by a user with a hand or finger. In the present embodiment, the actuation unit 30 includes a smartphone 31 in which a predetermined application is installed. For example, when the predetermined application is activated and a predetermined actuation is performed, the smartphone 31 sends a signal to the radio communication unit 22c. The control unit 22b is designed to detect an actuation by a user relative to the smartphone 31 based on the signal received from the smartphone 31 by the radio communication unit 22c. The actuation unit 30 can be a tablet computer in which the predetermined application is installed.

[0057] In the present embodiment, the control unit 22b is configured to change the rate of change of the power output of the motor 20a relative to the rate of change of the muscle driving force. The rate of change includes at least one of a first rate of change in a case where the muscle driving force increases, or a second rate of change in a case where the muscle driving force decreases.

[0058] For example, control unit 22b modifies the first rate of change using a first filter. The first filter includes, for example, a first time constant. Control unit 22b is configured to change the first rate of change by modifying the first time constant of the first filter. Control unit 22b can also be configured to change the first rate of change by modifying a gain used to calculate the power or output of motor 20a based on the muscle driving force. For example, the first filter is configured to execute predetermined software in the computing processing device.

[0059] For example, control unit 22b modifies the second rate of change using a second filter. The second filter includes, for example, a second time constant. Control unit 22b is configured to change the second rate of change by modifying the second time constant of the second filter. Control unit 22b can also be configured to change the second rate of change by modifying a gain used to calculate the power output of motor 20a based on the muscle driving force. For example, the second filter is configured to execute predetermined software in the computing processing device.For example, the control unit 22b changes the second rate of change to a value smaller than the first rate of change in a case where the muscle driving force decreases, and in a case where the muscle driving force increases, this makes it less likely that the assistance force will decrease, even if the muscle driving force decreases. Thus, even if the muscle driving force decreases, the assistance force is less likely to decrease, allowing a user to pedal the pedal 11c with ease.

[0060] An example of control performed by control unit 22b is described. A description of an example of control performed by control unit 22b is given using... Fig. 3. The control unit 22b is set up to perform an initial control sequence in accordance with a Fig. The first control sequence involves a process of controlling motor 20a so that motor 20a is continuously driven for a period of time in which the continuation condition is met in a case in which the stop condition is met in the support state.

[0061] In the present embodiment, a first condition for starting the first control sequence is met when electrical energy is supplied from battery 19 to the control device 22. After the first control sequence has finished, the control unit 22b repeatedly executes the first control sequence at predetermined intervals until a predetermined second condition is met. In the present embodiment, the second condition is met when no electrical energy is supplied from battery 19 to the control device 22. The first and second conditions are not limited to those in the present embodiment.

[0062] In step S11, the control unit 22b acquires information necessary to execute the first control sequence. In the present embodiment, the control unit 22b acquires the vehicle speed of the muscle propulsion force based on the signal from the vehicle speed sensor 24. The control unit 22b acquires the cadence of the muscle propulsion force based on the signal from the cadence sensor 25. After executing the process of step S11, the control unit 22b proceeds to step S12.

[0063] In step S12, if the control state of motor 20a is the assisted state, the control unit 22b proceeds to step S13. If the control state of motor 20a is the non-assisted state, the control unit 22b terminates the first control sequence.

[0064] In step S13, if the stop condition is met, the control unit 22b proceeds to step S14. In the present embodiment, if the cadence detected in step S11 is equal to or less than 5 rpm, the control unit 22b proceeds to step S14. If the stop condition is not met, the control unit 22b terminates the first control sequence. In the present embodiment, if the cadence detected in step S11 is greater than 5 rpm, the control unit 22b terminates the first control sequence.

[0065] In step S14, the control unit 22b calculates the distance traveled by the human-powered vehicle 10 from the moment the stop condition is met in the support state. In this description, the distance traveled by the human-powered vehicle 10 after the stop condition is met in the support state can also be referred to as the distance traveled M after the stop condition is met. For example, the control unit 22b calculates the distance traveled M after the stop condition is met based on the vehicle speed of the human-powered vehicle 10 at the moment the stop condition is met in the support state and the elapsed time after the stop condition is met in the support state. The control unit 22b can calculate the elapsed time after the stop condition is met in the support state using a clock function.

[0066] The method for calculating the driving distance M after the stop condition is met is not limited to that in the present embodiment. For example, the first control sequence is performed repeatedly, and the control unit 22b can calculate the driving distance M after the stop condition is met based on the vehicle speed of the human-powered vehicle 10, which was repeatedly recorded in step S11. After performing the process of step S14, the control unit 22b proceeds to step S15.

[0067] In step S15, if the continuation condition is met, the control unit 22b proceeds to step S17. In the present embodiment, the control unit 22b reads the first setting range stored in the memory unit 22a, and if the travel distance M, after the stop condition is met and calculated in step S14, falls within the first setting range, the control unit 22b proceeds to step S17. For example, if the travel distance M, after the stop condition is met, is equal to or less than 1.5 meters, and the first setting range is in the range of 0 meters to 1.5 meters, the control unit 22b proceeds to step S17.

[0068] In step S15, if the continuation condition is not met, the control unit 22b proceeds to step S16. In the present embodiment, if the travel distance M, after the stop condition is met, falls into a range that differs from the first setting range, the control unit 22b proceeds to step S16. For example, if the travel distance M, after the stop condition is met, is greater than 1.5 meters, and the first setting range is between 0 meters and 1.5 meters, the control unit 22b proceeds to step S16.

[0069] In step S16, control unit 22b controls motor 20a to stop motor 20a. After executing the process of step S16, control unit 22b terminates the first control sequence.

[0070] In step S17, the control unit 22b controls the motor 20a to continue driving the motor 20a. In step S17, if the driving of the motor 20a is continued, the magnitude of the output torque of the motor 20a during a period in which the continuation condition is met and the type of change are not particularly restricted. In step S17, the method of continuing the driving of the motor 20a is not restricted.

[0071] For example, the control unit 22b can control the motor 20a to output a predetermined torque. Specifically, the control unit 22b can modify the output torque of the motor 20a according to a predetermined parameter. The predetermined parameter includes, for example, at least one of the muscle-powered driving force of the human-powered vehicle 10, the driving distance M after the stop condition is met, or the elapsed time since the stop condition is met in the assisted state. By controlling the motor 20a in step S17, the control unit 22b can continuously apply the assist force to the human-powered vehicle 10, assuming that pedaling has stopped in the assisted state. After completing the process of step S17, the control unit 22b terminates the first control sequence.

[0072] The control unit 22b is configured to modify the first setting range used in step S15 in the first control sequence. By modifying the first setting range, it is possible to adjust the condition for continuing to drive the motor 20a in a case where the stop condition is met in the assisted state. This allows for improved usability with regard to the assist force. An example of the configuration for modifying the first setting range is given with reference to Fig. 4 described. In the present embodiment, the control unit 22b incrementally changes the first setting range in the storage unit 22a in response to an actuation at the actuating unit 30.

[0073] An application containing a settings screen 40, used to change the first settings area, is installed on the smartphone 31 of the actuation unit 30. The application containing the settings screen 40 is activated on the smartphone 31, and a predetermined actuation is performed on the smartphone 31 to display the settings screen 40. The settings screen 40 includes a first area 41 and a second area 42.

[0074] The first area 41 is configured to be able to change a rate of increase, which specifies the ratio of the rate of increase of the assisting force relative to the rate of increase of the muscle driving force. In the present embodiment, the rate of increase is indicated using a bar graph in the first area 41. By touching the bar graph in the first area 41, a user can instruct the smartphone 31 to change the rate of increase. The smartphone 31 can transmit a signal instructing the user to change the rate of increase to the control unit 22b via the radio communication unit 22c.

[0075] For example, if a predetermined button displayed on the settings screen 40 is touched, the smartphone 31 sends a signal via the radio communication unit 22c to the control unit 22b, instructing it to change the rate of change. The control unit 22b changes the rate of change in accordance with the signal from the smartphone 31. For example, the control unit 22b changes the second rate of change in accordance with the signal from the smartphone 31.

[0076] The second area 42 is configured to allow modification of the first setting area. In the present embodiment, a selection button 42a, which allows a user to select an option for modifying the first setting area, is displayed on the second area 42. When the selection button 42a is touched, a variety of options are displayed on the smartphone 31. In the present embodiment, options of "Low," "Medium," and "High" are displayed on the smartphone 31. By selecting an option from "Low," "Medium," and "High" on the setting screen 40, a user can instruct the smartphone 31 to modify the first setting area.

[0077] The smartphone 31 can transmit a signal to the control unit 22b via the radio communication unit 22c, instructing it to change the first setting range. The smartphone 31 transmits different signals to the control unit 22b via the radio communication unit 22c in the case where "Low" is selected in the second range 42, in the case where "Medium" is selected in the second range 42, and in the case where "High" is selected in the second range 42. The control unit 22b changes the first setting range at regular intervals in accordance with the signal from the smartphone 31. In the present embodiment, the control unit 22b also changes the upper limit of the setting range at regular intervals. For example, if "High" is selected in the second range 42, the control unit 22b changes the first setting range to a range of 0 meters to 1.5 meters.In a case where "Medium" is selected in the second area 42, the control unit 22b changes the first setting range to a range from 0 meters to 1.0 meter. In a case where "Low" is selected in the second area 42, the control unit 22b changes the first setting range to a range from 0 meters to 0.5 meters. The values ​​of the first setting range that correspond to an option selected in the second area 42 are not limited to those in the present embodiment.

[0078] For example, the control unit 22b can change the first setting range at unequal intervals in accordance with an option selected in the second range 42. For example, if "Medium" is selected in the second range 42, the control unit 22b can change the upper limit of the first setting range to 1.2 meters instead of 1.0 meter. Alternatively, if "Medium" is selected in the second range 42, the control unit 22b can change the upper limit of the first setting range to 0.8 meters instead of 1.0 meter.

[0079] The options for changing the first setting range are not limited to those in the present embodiment. For example, by touching the selection button 42a, two options of "Low" and "High" can be displayed on the smartphone 31. For example, by touching the selection button 42a, four or more options can be displayed on the smartphone 31.

[0080] By pressing the button in Fig. On setting screen 40, as shown in section 4, a user can adjust the timer for stopping motor 20a in a case where the stop condition is met in the assisted state. For example, a user can adjust the timer for stopping motor 20a to suit an environment in which the human-powered vehicle 10 is operating. For example, in a case where the human-powered vehicle 10 is operating off-road, a user selects "High" from the selection button 42a on setting screen 40, which allows the timer for stopping motor 20a to be delayed in a case where the stop condition is met in the assisted state.In the present embodiment, if “High” is selected on the selection button 42a, the motor 20a is driven, and the muscle-powered vehicle 10 is continuously supplied with the support force until the driving distance M reaches 1.5 meters after the stop condition is met.

[0081] Since, for example, the muscle-powered vehicle 10 is continuously supplied with the assisting force, it is less likely that the muscle-powered vehicle 10 will lose speed in a case where the crank 11 is stopped or reversed to avoid obstacles on the road surface while driving in a lane. This makes it possible to improve the ability to drive in lanes. Second embodiment

[0082] A control device 22 according to a second embodiment is described. The description of the control device 22 according to the second embodiment is made with reference to the Fig. 3 and Fig. 5. Configurations common to those of the first embodiment are designated by the same reference numerals as those of the first embodiment, and redundant descriptions thereof are omitted.

[0083] The control unit 22b is configured to gradually reduce the output torque of the motor 20a in a case where the stop condition is met in the support state. The control unit 22b executes a Fig. The second tax procedure, as shown in section 5, is carried out. Fig. In the second control sequence shown in section 5, the control unit 22b executes processes from step S11 to step S14 as described in the diagram. Fig. The first control sequence is shown in section 3. In the second control sequence, the control unit 22b carries out the process from step S14 and then carries out processes from step S25 to step S27.

[0084] In step S25, if the continuation condition is assumed to be met for a period of time from the current time until the next second control sequence is performed, the control unit 22b proceeds to step S27. For example, the driving distance M after the stop condition is met and when the next second control sequence is performed is calculated by the control unit 22b based on: the driving distance M calculated in step S14 after the stop condition is met; the vehicle speed of the human-powered vehicle 10 recorded in step S11; and the period of time during which the second control sequence is repeated. If the result of the calculation of the driving distance M after the stop condition is met does not exceed the upper limit of the first setting range, the control unit 22b proceeds to step S27.

[0085] In step S25, the control unit 22b proceeds to step S26 if it is assumed that the continuation condition is not met during a time interval from the current time until the next second control sequence is executed. For example, the control unit 22b proceeds to step S26 if the result of the calculation of the driving distance M, after the stop condition has been met and when the next second control sequence is executed, exceeds the upper limit of the first setting range.

[0086] In step S26, the control unit 22b controls the motor 20a to stop it. After executing the process of step S26, the control unit 22b completes the second control sequence.

[0087] In step S27, the control unit 22b gradually reduces the output torque of the motor 20a in accordance with the driving distance M after the stop condition is met, this driving distance M being calculated in step S14. For example, the control unit 22b reads the first setting range stored in the memory unit 22a and controls the output torque of the motor 20a so that the smaller the difference between the upper limit of the first setting range and the driving distance M after the stop condition is met, the lower the output torque of the motor 20a.

[0088] As the output torque of the motor 20a gradually decreases, the assist force applied to the muscle-powered vehicle 10 also gradually decreases, in the event that pedaling is stopped in the assisted state. This makes it possible to improve the comfort and stability of driving the muscle-powered vehicle 10.

[0089] By performing the process of step S25 in the second control sequence, the control unit 22b can stop the motor 20a before the driving distance M of the muscle-powered vehicle 10 exceeds the first setting range after the stop condition is met in the support state.

[0090] By stopping the motor 20a before the driving distance M exceeds the first setting range after the stop condition is met, the control unit 22b can suppress the driving of the muscle-powered vehicle 10 more than necessary in a case where the stop condition is met in the assisted state. For example, it is possible to suppress the driving of the muscle-powered vehicle 10 for more than 2 meters from the moment the stop condition is met in the assisted state. Third embodiment

[0091] A control device 22 according to a third embodiment is described. The description of the control device 22 according to the third embodiment is made with reference to the Fig. 3 to Fig. 7. Configurations common to those of the first embodiment and the second embodiment are designated by the same reference numerals as those of the first embodiment and the second embodiment, and redundant descriptions thereof are omitted.

[0092] The control unit 22b introduces a Fig. The third tax procedure, as shown in section 6, is carried out. In the section shown in Fig. In the third control sequence shown in section 6, the control unit 22b executes processes from step S11 to step S16 as described in the Fig. The first control sequence shown in Figure 3 is carried out. In step S15, if the continuation condition is met, the control unit 22b executes processes from step S37 to step S39.

[0093] In step S37, the control unit 22b calculates the travel time until the distance M of the human-powered vehicle 10 reaches the first setting range, based on the vehicle speed of the human-powered vehicle 10 and the first setting range. In the present embodiment, the control unit 22b reads the first setting range stored in the memory unit 22a and calculates the travel time until the distance M calculated in step S14, and after the stop condition is met, reaches the first setting range. In this description, the travel time until the distance M reaches the first setting range after the stop condition is met can also be referred to as an arrival travel time T0.

[0094] For example, the control unit 22b divides the upper limit of the first setting range by the vehicle speed when the stop condition is met and converts the result of the division into time to calculate the arrival travel time T0. The method for calculating the arrival travel time T0 is not limited to that in the present embodiment. After performing the process of step S37, the control unit 22b proceeds to step S38.

[0095] In step S38, the control unit 22b uses a time-measuring function to calculate an elapsed time T1 from the moment the stop condition is satisfied in the support state. In this description, the elapsed time T1 from the moment the stop condition is satisfied in the support state can also be referred to as an elapsed time T1 after the stop condition is satisfied. After executing the process of step S38, the control unit 22b proceeds to step S39.

[0096] In step S39, the control unit 22b gradually reduces the output torque of the motor 20a in accordance with the arrival time T0 calculated in step S37 and the elapsed time T1 calculated in step S38, and after the stop condition is met. For example, the control unit 22b controls the output torque of the motor 20a such that the smaller the difference between the arrival time T0 and the elapsed time T1 after the stop condition is met, the lower the output torque of the motor 20a.

[0097] Fig. Figure 7 presents an example of the muscle driving force and the supporting force in a case where the third control sequence is performed. Fig. 7. It is assumed that the control state of the motor 20a is the assisted state and that the vehicle speed of the muscle-powered vehicle 10 is 10 kilometers per hour during a period from 0 seconds to 6 seconds. Fig. 7 During a period of 0 seconds to 3 seconds, pedaling is performed by a user and the muscle-powered vehicle 10 is subjected to the support force.

[0098] In Fig. 7. Pedaling stops after 3 seconds. By stopping pedaling, the stop condition is fulfilled and the output torque of motor 20a gradually decreases. In Fig. Figure 7 of diagram Lv.1 shows a change in the output torque of motor 20a in a case where motor 20a stops when the muscle-powered vehicle travels 0.20833 m after pedaling has stopped. Fig. Figure 7 of diagram Lv.2 shows a change in the output torque of motor 20a in a case where motor 20a stops when the muscle-powered vehicle travels 0.75 m after pedaling has stopped. Fig. Figure 7 of diagram Lv.3 shows a change in the output torque of motor 20a in a case where motor 20a stops when the muscle-powered vehicle travels 1 m after pedaling has stopped. Fig. Figure 7 of diagram Lv.4 shows a change in the output torque of motor 20a in a case where motor 20a stops when the muscle-powered vehicle travels 1.25 m after pedaling has stopped. Fig. Figure 7 shows diagram Lv.3 a change in the output torque of motor 20a in a case where motor 20a stops when the muscle-powered vehicle travels 1.5 m after pedaling has stopped.

[0099] For example, in a case where "high" is on the in Fig. When setting screen 40 is selected, the upper limit of the first setting range is set to 1.5 meters. Since in Fig. 7. Given that the vehicle speed of the muscle-powered vehicle is 10 kilometers per hour, the control unit 22b calculates approximately 0.54 seconds as the arrival time T0. As in the Fig. In diagram 7 of Lv.5, the control unit 22b reduces the output torque of the motor 20a to 0 Nm after approximately 0.54 seconds have elapsed since pedaling stopped, in order to stop the motor 20a.

[0100] The control unit 22b can cause the motor 20a to stop before the elapsed time T1 from the moment the stop condition is met in the support state exceeds the travel time. The travel time includes the arrival travel time T0 until the travel distance M, after the stop condition is met, reaches the first setting range. For example, the control unit 22b performs the following in the Fig. The third control sequence shown in step 6 describes the process of step S25 in which... Fig. The second control sequence shown in Figure 5 is executed instead of step S15. This makes it possible to stop the motor 20a before the elapsed time T1 exceeds the travel time. By stopping the motor 20a before the elapsed time T1 exceeds the arrival travel time T0, it is possible to suppress the driving of the muscle-powered vehicle 10 more than necessary in a case where the stop condition is met in the assisted state.

[0101] In the third control sequence, the control unit 22b controls the motor 20a based on the travel time of the muscle-powered vehicle 10 instead of the travel distance M of the muscle-powered vehicle 10. By controlling the motor 20a based on the travel time, it is possible to easily perform computational processing for controlling the motor 20a using the time-measuring function. Fourth embodiment

[0102] A control device 22 according to a fourth embodiment is described. The description of the control device 22 according to the fourth embodiment is made with reference to the Fig. 3, Fig. 4, Fig. 6 and Fig. 8. Configurations common to those of the first to third embodiments are designated by the same reference numerals as those of the first to third embodiments, and redundant descriptions thereof are omitted.

[0103] The control unit 22b introduces a Fig. The fourth tax procedure, as shown in section 8, is carried out. In the section shown in Fig. In the fourth control sequence shown in Figure 8, the control unit 22b executes processes from step S11 to step S13 as described in the diagram. Fig. The first control sequence shown in step 3 is carried out. In a case where the stop condition is met in step S13, the control unit 22b executes processes from step S44 to step S47.

[0104] In step S44, the control unit 22b calculates the elapsed time T1 after the stop condition is met, through a process similar to step S38 in the Fig. The third control sequence is similar to the one shown in Figure 6. After step S44 is executed, control unit 22b proceeds to step S45.

[0105] In step S45, if the resume condition is met, the control unit 22b proceeds to step S47. In the present embodiment, the resume condition is met if the elapsed time since the stop condition is met in the assisted state is relatively short. The resume condition setting includes a second time-based adjustment range. The resume condition is met if the elapsed time since the stop condition is met in the assisted state falls within this second adjustment range. The elapsed time since the stop condition is met includes the elapsed time T1 calculated in step S44 and the time after the stop condition is met. The second adjustment range includes a value equal to or less than the time it takes for the human-powered vehicle to travel 10² meters.The second setting area can contain a variety of values ​​and can contain only one value.

[0106] The time it takes for the human-powered vehicle 10 to travel 2 meters varies depending on its speed. The human-powered vehicle 10 receives assistance when its speed is lower than a predetermined speed in the assisted state. The second setting range includes a value equal to or less than the time it takes for the human-powered vehicle 10 to travel 2 meters at a speed within which it receives assistance. For example, the second setting range includes a value equal to or less than the time it takes for the human-powered vehicle 10 to travel 2 meters at a speed of less than 25 kilometers per hour.

[0107] Memory unit 22a stores the second setting range in a changeable format. Control unit 22b is configured to change the second setting range. For example, control unit 22b incrementally changes the second setting range of memory unit 22a in response to an actuation at actuation unit 30. In a case where the second setting range is changed incrementally, control unit 22b can change the second setting range in response to an actuation at the second range 42 on the Fig. The process is carried out as shown on the 40-step setting screen.

[0108] In step S45, the control unit 22b reads the second setting range stored in the memory unit 22a and proceeds to step S47 if the elapsed time T1 calculated in step S44 falls within the second setting range after the stop condition has been met. For example, if the second setting range is from 0 seconds to 0.5 seconds, the control unit 22b proceeds to step S47 if the elapsed time T1 after the stop condition has been met is equal to or less than 0.5 seconds.

[0109] In a case where the continuation condition in step S45 is not met, the control unit 22b proceeds to step S46. In the present embodiment, the control unit 22b proceeds to step S46 if the elapsed time T1 after the stop condition is met falls outside the second setting range. For example, in a case where the second setting range is from 0 seconds to 0.5 seconds, the control unit 22b proceeds to step S46 if the elapsed time T1 after the stop condition is met is greater than 0.5 seconds.

[0110] In step S46, control unit 22b controls motor 20a to stop motor 20a. After executing the process of step S46, control unit 22b completes the fourth control sequence.

[0111] In step S47, the control unit 22b controls the motor 20a to continue driving the motor 20a. For example, the control unit 22b controls the motor 20a through a process that corresponds to step S17 in the Fig. The first control sequence is similar to the one shown in Figure 3. After executing the process of step S47, the control unit 22b completes the fourth control sequence. By executing the fourth control sequence, the control unit 22b can easily perform a computational process to control the motor 20a using the time-measuring function. Fifth embodiment

[0112] A control device 22 according to a fifth embodiment is described. The description of the control device 22 according to the fifth embodiment is made with reference to the Fig. 8 and Fig. 9. Configurations common to those of the first to fourth embodiments are designated by the same reference numerals as those of the first to fourth embodiments, and redundant descriptions thereof are omitted.

[0113] The control unit 22b introduces a Fig. The fifth tax procedure, as shown in section 9, is carried out. In the section shown in Fig. In the fifth control sequence shown in 9, the control unit 22b executes processes from step S11 to step S13 and a process from step S44 as in the Fig. The fourth control sequence shown in section 8 is carried out. In the fifth control sequence, after executing the process from step S44, the control unit 22b carries out processes from step S55 to step S57.

[0114] In step S55, if the continuation condition is assumed to be met for a period from the current time until the next fifth control sequence is executed, the control unit 22b proceeds to step S57. For example, the control unit 22b calculates the elapsed time T1 after the stop condition is met and when the next fifth control sequence is executed, based on: the elapsed time T1 calculated in step S44 after the stop condition is met; and the period during which the fifth control sequence is executed again. If the result of the calculation of the elapsed time T1 after the stop condition is met does not exceed the upper limit of the second setting range, the control unit 22b proceeds to step S57.

[0115] In step S55, control unit 22b proceeds to step S56 if it is assumed that the continuation condition is not met during a time interval from the current time until the next fifth control sequence is executed. For example, control unit 22b proceeds to step S56 if the result of the calculation of the elapsed time T1 after the stop condition is met and when the next fifth control sequence is executed exceeds the upper limit of the second setting range.

[0116] In step S56, control unit 22b controls motor 20a to stop motor 20a. After executing the process of step S56, control unit 22b completes the fifth control sequence.

[0117] In step S57, the control unit 22b gradually reduces the output torque of the motor 20a in accordance with the elapsed time T1 calculated in step S44 and after the stop condition has been met. For example, the control unit 22b reads the second setting range stored in the memory unit 22a and controls the output torque of the motor 20a so that the smaller the difference between the upper limit of the second setting range and the elapsed time T1 after the stop condition has been met, the lower the output torque of the motor 20a will be.

[0118] As the output torque of the motor 20a gradually decreases, the assist force applied to the muscle-powered vehicle 10 also gradually decreases, in the event that pedaling is stopped in the assisted state. This makes it possible to improve the comfort and stability of driving the muscle-powered vehicle 10.

[0119] By performing the process of step S55 in the fifth control sequence, the control unit 22b can stop the motor 20a before the elapsed time T1, after the stop condition is met in the support state, exceeds the second setting range. By stopping the motor 20a before the elapsed time T1, after the stop condition is met, exceeds the second setting range, the control unit 22b can suppress the driving of the human-powered vehicle 10 more than necessary in a case where the stop condition is met in the support state. Modified examples

[0120] The description relating to each embodiment illustrates applicable forms of the present invention without any intended limitation. The present invention is applicable, for example, to modified examples of each of the embodiments described below and to combinations of at least two modified examples that do not contradict each other. For example, the configuration of the control device 22 according to each embodiment is given as an example. The control device 22 may include various types of devices not provided in each embodiment, or it may have a configuration in which a section of various types of devices provided in each embodiment is not included. For example, the control device 22 may have a configuration in which the radio communication unit 22c is not included.In a case where the control device 22 does not include the radio communication unit 22c, the control unit 22b may be configured to communicate with the actuating unit 30 via an electrical cable.

[0121] The various threshold values ​​used in the control system, illustrated in each embodiment, are not limited and can be configured as desired. These threshold values ​​can be changed as desired by actuating a predetermined actuator or the like.

[0122] The configurations illustrated in each embodiment can be combined with one another, provided that the configurations do not contradict each other. The processing contents and the processing sequence of the flowcharts shown in each embodiment are examples, and the processing contents and the processing sequence can be modified as appropriate within the scope of the present invention.

[0123] For example, the control unit 22b can control the motor 20a based on the first setting range and the second setting range by combining the first control sequence, which is provided as an example in the first embodiment, and the fourth control sequence, which is provided as an example in the fourth embodiment. For example, the control unit 22b can continue driving the motor 20a in a case where the travel distance M, after the stop condition is met, falls into the first setting range and the elapsed time T1, after the stop condition is met, falls into the second setting range.For example, the control unit 22b can stop the motor 20a in a case where at least one of the following conditions is met: either the driving distance M, after the stopping condition is met, falls outside the first setting range, or the elapsed time T1, after the stopping condition is met, falls outside the second setting range.

[0124] For example, the control unit 22b can be used in the process of step S15, which is in Fig. 3 and Fig. As shown in Figure 6, the system determines whether the continuation condition is met or not based on a first setting value instead of the first setting range. The first setting value includes a numerical value that indicates the driving distance of the muscle-powered vehicle 10. In a case where the continuation condition is determined based on the first setting value, the control unit 22b can stop the motor 20a if the driving distance M after the stop condition is met is equal to the first setting value. In the process of step S25, which is shown in Figure 6, the control unit 22b determines whether the continuation condition is met or not. Fig. As shown in Figure 5, the control unit 22b can determine whether the continuation condition is met or not based on the first setting value instead of the first setting range, as in the process of step S15.

[0125] For example, the control unit 22b can be used in the process of step S45, which is in Fig. As shown in Figure 8, the second setting value, instead of the second setting range, is used to determine whether the continuation condition is met or not. The second setting value includes a numerical value that specifies a travel time of the muscle-powered vehicle 10. In a case where the continuation condition is determined based on the second setting value, the control unit 22b can stop the motor 20a if the elapsed time T1 after the stop condition is met is equal to the second setting value. In the process of step S55, which is shown in Fig. As shown in Figure 9, the control unit 22b can determine whether the continuation condition is met or not based on the second setting value instead of the second setting range, as in the process of step S45.

[0126] For example, the settings screen 40 for changing the first and second settings areas can be configured such that a numerical value is entered into the second area 42 in response to an action on the smartphone 31. By entering a numerical value into the second area 42, a user can fine-tune the first and second settings areas.

[0127] The control unit 22b can change the first setting range and the second setting range in response to an actuation on a device other than the smartphone 31. For example, the control unit 22b can change the first setting range and the second setting range in response to an actuation on an actuating device mounted on the human-powered vehicle 10. For example, the control unit 22b can change the first setting range and the second setting range in response to an actuation on the transmission actuating device 14a provided on the handlebar 14.In the event of a change in the first and second setting ranges in response to an actuation of the transmission actuation device 14a, the control unit 22b is configured to communicate, for example, with an actuation state detection unit that detects an actuation state of the transmission actuation device 14a. The control unit 22b is configured to detect at least one actuation state related to upshifting or one actuation state related to downshifting based on a signal output by the actuation state detection unit. The control unit 22b changes the first and second setting ranges stored in the memory unit 22a in accordance with at least one actuation state related to upshifting or one actuation state related to downshifting.

[0128] The phrase "at least one of," as used in this description, means "one or more" of the desired options. For example, in a case where the number of options is two, the phrase "at least one of," as used in this description, means "only one option" or "both of two options." Conversely, in a case where the number of options is three or more, the phrase "at least one of," as used in this description, means "only one option" or "any combination of two or more options." REFERENCE MARK LIST 10 ... muscle-powered vehicle 22 ... Control device 20a ... Motor 22a ... storage unit 22b ... Control unit 22c ... radio communication unit 30 ... Actuating unit M ... driving distance after the stop condition is met T0 ... Arrival time T1 ... elapsed time after the stop condition is met

Claims

[1] Control device (22) for a muscle-powered vehicle (10), the control device (22) comprising: a control unit (22b) configured to continuously drive a motor (20a) while a continuation condition to continue driving the motor (20a) is met in a case where a stop condition to stop the motor (20a) is met in a support state where the muscle-powered vehicle (10) is provided with a support force by driving the motor (20a); and a storage unit (22a) that modifiably stores a setting value included in the continuation condition; wherein the setting value includes a first setting range with respect to a driving distance of the muscle-powered vehicle (10); the continuation condition is met in a case in which a driving distance of the muscle-powered vehicle (10) from the time at which the stop condition is met falls into the first setting range in the assisted state; the control unit (22b) calculates a travel time until the distance traveled by the muscle-powered vehicle (10) reaches the first setting range, based on the vehicle speed of the muscle-powered vehicle (10) and the first setting range; and the control unit (22b) stops the motor (20a) before an elapsed time from the time at which the stop condition is met exceeds the driving time in the assisted state. [2] Control device (22) according to claim 1, wherein the stop condition is met in a case in which a cadence of the muscle-powered vehicle (10) is equal to or less than a predetermined threshold. [3] Control device (22) according to claim 1, in which the control unit (22b) incrementally changes the first setting range of the storage unit (22a) in response to an actuation on an actuation unit (30). [4] Control device (22) according to one of claims 1 to 3, wherein the control unit (22b) stops the motor (20a) before the driving distance of the muscle-powered vehicle (10) exceeds the first setting range in the assisted state from the time at which the stop condition is met. [5] Control device (22) according to any one of claims 1 to 4, wherein the first setting range includes a value that is equal to or less than 2 meters. [6] Control device (22) according to one of claims 1 to 5, wherein the setting value includes a second setting range with respect to time, and the continuation condition is fulfilled in a case in which an elapsed time from the time at which the stop condition is fulfilled falls into the second setting range in the support state. [7] Control device (22) according to claim 6, in which the control unit (22b) incrementally changes the second setting range of the storage unit (22a) in response to an actuation on one / the actuation unit (30). [8] Control device (22) according to claim 6 or 7, wherein the control unit (22b) stops the motor (20a) before an elapsed time from the time at which the stop condition is met exceeds the second setting range in the assisted state. [9] Control device (22) according to one of claims 6 to 8, wherein the second setting range includes a value that is equal to or less than the time during which the muscle-powered vehicle (10) travels 2 meters. [10] Control device (22) according to any one of claims 1 to 9, wherein the control unit (22b) is configured to gradually reduce the output torque of the motor (20a) when the stop condition is met in the support state. [11] Control device (22) according to any one of claims 3 to 6, if dependent on claim 3, 7, and 8 to 10, if dependent on at least one of claims 3 and 7, further comprising a radio communication unit (22c) connected to the control unit (22b), wherein the control unit (22b) is set up to be connectable to the actuating unit (30) via the radio communication unit (22c).

Images