CONTROL DEVICE FOR A MUSCLE-POWERED VEHICLE

Abstract

A control device for a human-powered vehicle includes a control unit configured to control a first component of the human-powered vehicle and a second component of the human-powered vehicle that is distinct from the first component. The control unit is configured to prioritize the control of either the first or the second component over the control of the other. The control unit is configured to change the priority order for controlling the first and second components according to a parameter related to the training intensity of the human-powered vehicle's operator.

Description

TECHNICAL BACKGROUND

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

[0002] JP 2019-119246 A discloses a control device that controls a component of a muscle-powered vehicle. SUMMARY OF THE REVELATION

[0003] One objective of the present disclosure is to provide a control device for a muscle-powered vehicle that controls a component of the muscle-powered vehicle in a preferred manner.

[0004] A control device according to a first aspect of the present disclosure is provided for a human-powered vehicle. The control device comprises a control unit configured to control a first component of the human-powered vehicle and a second component of the human-powered vehicle that is distinct from the first component. The control unit is configured to give priority to the control of either the first or the second component over the control of the other component. The control unit is configured to change the priority order for controlling the first and second components according to a parameter relating to the training intensity of a driver of the human-powered vehicle.

[0005] The control device, as described in the first aspect, changes the priority order for controlling the first and second components based on the parameter relating to the rider's training intensity. Therefore, the component of the muscle-powered vehicle is appropriately controlled according to the parameter relating to the rider's training intensity.

[0006] According to a second aspect of the present disclosure, the control device according to the first aspect is configured such that the first component comprises a motor configured to exert a driving force on the human-powered vehicle. The second component comprises a transmission device configured to change a gear ratio, which is a ratio of the rotational speed of a wheel of the human-powered vehicle to the rotational speed of a crank axle of the human-powered vehicle. The control device is configured to control the motor to change the level of motor assistance. The control device is configured to control the transmission device to change the gear ratio.

[0007] The control device according to the second aspect controls the motor and the transmission device in a suitable manner according to the parameter relating to the training intensity of the driver.

[0008] According to a third aspect of the present disclosure, the control device according to the second aspect is configured such that, in a case where the parameter is less than or equal to a first value, the control device is configured to control the motor and the transmission device in such a way that the level of support and the transmission ratio are maintained.

[0009] The control device according to the third aspect maintains the level of support and the translation ratio when the parameter is less than or equal to the first value.

[0010] According to a fourth aspect of the present disclosure, the control device according to the second aspect is configured such that the control unit is configured to change the priority order for controlling the motor and the transmission device based on the parameter and the speed of the crankshaft.

[0011] The control device according to the fourth aspect changes the priority order for the control of the motor and the transmission device based on the parameter and speed of the crankshaft in a suitable manner.

[0012] According to a fifth aspect of the present disclosure, the control device according to the fourth aspect is configured such that, in a case where the parameter is less than or equal to a first value and the rotational speed is less than a first rotational speed, the control device is configured to control the motor and the transmission device in such a way that the level of support and the gear ratio are maintained.

[0013] The control device according to the fifth aspect maintains the level of support and the gear ratio when the parameter is less than or equal to the first value and the rotational speed is less than the first rotational speed.

[0014] According to a sixth aspect of the present disclosure, the control device according to the fourth or fifth aspect is configured such that, in a case where the parameter is less than or equal to a second value and the rotational speed is greater than or equal to a second rotational speed, the control device is configured to give priority to the control of the motor over the control of the transmission device.

[0015] The control device according to the sixth aspect gives priority to the control of the motor over the control of the transmission device in a case where the parameter is less than or equal to the second value and the rotational speed is greater than or equal to the second rotational speed.

[0016] According to a seventh aspect of the present disclosure, the control device according to the sixth aspect is configured such that, in a case where the parameter is less than or equal to the second value and the rotational speed is greater than or equal to the second rotational speed, the control device is configured to control the motor in such a way as to reduce the level of support, and then to control the transmission device in such a way as to change the gear ratio.

[0017] The control device, according to the seventh aspect, prioritizes reducing the level of support over changing the gear ratio in cases where the parameter is less than or equal to the second value and the rotational speed is greater than or equal to the second rotational speed. This appropriately increases the parameter and limits changes in rotational speed.

[0018] According to an eighth aspect of the present disclosure, the control device according to the sixth or seventh aspect is configured such that in a case where the parameter is less than or equal to a third value and the rotational speed is greater than or equal to a third rotational speed which is greater than the second rotational speed, the control device is configured such that it gives priority to the control of the transmission device over the control of the motor.

[0019] The control device according to the eighth aspect gives priority to the control of the transmission device over the control of the motor if the parameter is less than or equal to the third value and the rotational speed is greater than or equal to the third rotational speed.

[0020] According to a ninth aspect of the present disclosure, the control device according to the eighth aspect is configured such that, in a case where the parameter is less than or equal to the third value and the rotational speed is greater than or equal to the third rotational speed, the control device is configured to control the transmission device in such a way as to increase the gear ratio and to control the motor in such a way as to maintain the level of support.

[0021] The control device according to the ninth aspect increases the gear ratio and maintains the level of assistance when the parameter is less than or equal to the third value and the rotational speed is greater than or equal to the third rotational speed. This limits an increase in rotational speed and prevents the level of assistance from becoming insufficient.

[0022] According to a tenth aspect of the present disclosure, the control device according to one of aspects four to nine is configured such that in a case where the parameter is greater than or equal to a fourth value and the rotational speed is less than a fourth rotational speed, the control device is configured to give priority to the control of the motor over the control of the transmission device.

[0023] The control device according to the tenth aspect gives priority to the control of the motor over the control of the transmission device if the parameter is greater than or equal to the fourth value and the rotational speed is less than the fourth rotational speed.

[0024] According to an eleventh aspect of the present disclosure, the control device according to the tenth aspect is configured such that, in a case where the parameter is greater than or equal to the fourth value and the rotational speed is less than the fourth rotational speed, the control device is configured to control the motor in such a way as to increase the level of support, and then to control the transmission device in such a way as to change the gear ratio.

[0025] The control device, according to the eleventh aspect, increases the level of support before changing the gear ratio if the parameter is greater than or equal to the fourth value and the rotational speed is less than the fourth rotational speed. This prevents the level of support from becoming insufficient.

[0026] According to a twelfth aspect of the present disclosure, the control device according to the tenth or eleventh aspect is configured such that, in a case where the parameter is greater than or equal to a fifth value and the rotational speed is greater than or equal to the fourth rotational speed, the control device is configured to give priority to the control of the motor over the control of the transmission device.

[0027] The control device according to the twelfth aspect gives priority to the control of the transmission device over the control of the motor if the parameter is greater than or equal to the fifth value and the rotational speed is greater than or equal to the fourth rotational speed.

[0028] According to a thirteenth aspect of the present disclosure, the control device according to the twelfth aspect is configured such that, in a case where the parameter is greater than or equal to the fifth value and the rotational speed is greater than or equal to the fourth rotational speed, the control device is configured to control the motor in such a way as to increase the level of support and to control the transmission device in such a way as to maintain the gear ratio.

[0029] The control device, according to the thirteenth aspect, increases the level of support and maintains the gear ratio when the parameter is greater than or equal to the fifth value and the rotational speed is greater than or equal to the fourth value. This appropriately reduces the parameter and limits changes in rotational speed.

[0030] According to a fourteenth aspect of the present disclosure, the control device according to the twelfth or thirteenth aspect is configured such that in a case where the parameter is greater than or equal to a sixth value and the rotational speed is greater than or equal to a fifth rotational speed which is greater than the fourth rotational speed, the control device is configured such that it gives priority to the control of the motor over the control of the transmission device.

[0031] The control device according to the fourteenth aspect gives priority to the control of the transmission device over the control of the motor if the parameter is greater than or equal to the sixth value and the rotational speed is greater than or equal to the fifth rotational speed.

[0032] According to a fifteenth aspect of the present disclosure, the control device according to the fourteenth aspect is configured such that, in a case where the parameter is greater than or equal to the sixth value and the rotational speed is greater than or equal to the fifth rotational speed, the control device is configured to control the motor in such a way as to increase the level of support, and then to control the transmission device in such a way as to change the gear ratio.

[0033] The control device, according to the fifteenth aspect, increases the level of support before changing the gear ratio if the parameter is greater than or equal to the sixth value and the rotational speed is greater than or equal to the fifth value. This prevents the level of support from becoming insufficient.

[0034] According to a sixteenth aspect of the present disclosure, the control device according to one of aspects four to fifteen is configured such that in a case where the parameter is less than or equal to a seventh value and the rotational speed of the wheel is greater than a value obtained by multiplying the rotational speed of the crankshaft by the gear ratio, the control device is configured to change the priority order for controlling the motor and the transmission device.

[0035] The control device according to the sixteenth aspect changes the priority for the control of the motor and the transmission device in a case where the parameter is less than or equal to the seventh value and the rotational speed of the wheel of the muscle-powered vehicle is greater than a value obtained by multiplying the rotational speed of the crankshaft by the gear ratio.

[0036] According to a seventeenth aspect of the present disclosure, the control device according to one of aspects four to sixteen is configured such that, in a case where the parameter is greater than or equal to an eighth value and the level of support is less than a predetermined level of support, the control device is configured to control the motor in such a way as to increase the level of support and to control the transmission device in such a way as to maintain the gear ratio. In a case where the parameter is greater than or equal to the eighth value and the level of support is greater than or equal to the predetermined level of support, the control device is configured such that it controls the motor in such a way as to maintain the level of support and to control the transmission device in such a way that the gear ratio is changed based on an acceleration of the rotational speed.

[0037] The control device according to the seventeenth aspect maintains the level of support and changes the gear ratio based on the acceleration of the rotational speed in a case where the parameter is greater than or equal to the eighth value and the level of support is greater than or equal to the predetermined level of support.

[0038] According to an eighteenth aspect of the present disclosure, the control device according to the first aspect is configured such that the parameter is related to the driver's energy consumption.

[0039] The control device according to the eighteenth aspect controls the component of the muscle-powered vehicle in a suitable manner according to the energy consumption of the driver.

[0040] A control device according to a nineteenth aspect of the present disclosure is provided for a muscle-powered vehicle. The control device comprises a control unit configured to control a component of the muscle-powered vehicle. The control unit is configured to control the component according to a parameter related to the training intensity of a driver of the muscle-powered vehicle. This parameter is related to the driver's energy consumption.

[0041] The control device according to the nineteenth aspect controls the component of the muscle-powered vehicle in a suitable manner based on the parameter relating to the energy consumption of the driver.

[0042] According to a twentieth aspect of the present disclosure, the control device according to the eighteenth or nineteenth aspect is configured such that the parameter is a ratio of the power output of the muscle-powered vehicle to the energy consumption. The control device according to the twentieth aspect controls the component of the muscle-powered vehicle appropriately based on the ratio of the power output of the muscle-powered vehicle to the energy consumption.

[0043] According to a twenty-first aspect of the present disclosure, the control device is configured according to the twentieth aspect such that the control unit is configured to calculate energy consumption based on the driver's resting heart rate.

[0044] The control device according to the twenty-first aspect controls the component of the muscle-powered vehicle in a suitable manner based on the driver's resting heart rate.

[0045] The control device for the muscle-powered vehicle according to the present disclosure controls the component of the muscle-powered vehicle in a preferred manner. BRIEF DESCRIPTION OF THE DRAWINGS Fig. Figure 1 is a side view of a muscle-powered vehicle with a control device for a muscle-powered vehicle according to a first embodiment. Fig. 2 is a block diagram showing the electrical configuration of the Fig. 1 shows a muscle-powered vehicle. Fig. 3 is a flowchart illustrating the first part of a process, starting from a Fig. The control device shown in 2 is used to control a motor and a transmission device. Fig. 4 is a flowchart illustrating a second part of the process, which is carried out by the in Fig. The control device shown in 2 is used to control the motor and the transmission device. Fig. Figure 5 is a chart that illustrates a relationship between a parameter and a rotational speed. Fig. Figure 6 is a flowchart illustrating a process performed by a control device according to a second embodiment to control a motor and a transmission device. Fig. Figure 7 is a flowchart illustrating a process performed by a control device of a modified example to control a motor and transmission device. FORMS OF THE DISCLOSURE First version

[0046] A control device 60 for a muscle-powered vehicle according to a first embodiment is now described with reference to the Fig. 1 to 5 described.

[0047] A muscle-powered vehicle is a vehicle that includes at least one wheel and can be propelled by human effort. Examples of muscle-powered vehicles include various types of bicycles, such as mountain bikes, racing bikes, city bikes, cargo bikes, handcycles, recumbent bikes, and the like. The number of wheels on a muscle-powered vehicle is not limited. For example, unicycles or vehicles with two or more wheels also fall under the category of muscle-powered vehicles. The term "muscle-powered vehicle" is not limited to vehicles that can only be propelled by human effort. It also includes electric bicycles (e-bikes), which utilize the power of an electric motor in addition to human effort. An e-bike is a bicycle that uses an electric motor to assist its propulsion.In the following description, a muscle-powered vehicle refers to a bicycle.

[0048] A muscle-powered vehicle 10 comprises at least one wheel 12 and a vehicle body 14. The at least one wheel 12 comprises, for example, a front wheel 12F and a rear wheel 12R. The vehicle body 14 comprises a frame 16. A saddle 16A, for example, is attached to the frame 16.

[0049] The muscle-powered vehicle 10 further comprises, for example, a crank 18 that receives the driving force of the person. The crank 18 comprises, for example, a crank arm 20 and a crank axle 22. The crank axle 22 is, for example, rotatable relative to the frame 16. A pedal 24 is, for example, coupled to the crank arm 20. The crank arm 20 is, for example, provided at each axial end of the crank axle 22.

[0050] A front fork 26 is connected to the frame 16. The wheel 12F is attached to the front fork 26. A handlebar 28 is connected to the front fork 26 via a stem 30. The rear wheel 12R is supported by the frame 16. In the present embodiment, the crank 18 is connected to the rear wheel 12R via a drive mechanism 32. The rear wheel 12R is driven by the rotation of the crank axle 22. The front wheel 12F and / or the rear wheel 12R can be connected to the crank 18 via the drive mechanism 32.

[0051] The drive mechanism 32 comprises at least one first rotating body 34 connected to the crank axle 22. This first rotating body 34 may, for example, include a front sprocket. The first rotating body 34 may also include a pulley or a bevel gear. The crank axle 22 may be coupled to the front sprocket via a one-way coupling.

[0052] The drive mechanism 32 further comprises at least one second rotating body 36 and a transmission element 38. The transmission element 38 is configured to transmit the rotational force of the at least one first rotating body 34 to the at least one second rotating body 36. The transmission element 38 comprises, for example, a chain. The transmission element 38 may have a belt or a shaft. The at least one second rotating body 36 comprises, for example, a rear sprocket. The at least one second rotating body 36 may have a pulley or a bevel gear. The chain is, for example, wound around the front sprocket and the rear sprocket. The at least one second rotating body 36 is coupled, for example, to the rear wheel 12R. The rear wheel 12R is configured, for example, to rotate when the at least one second rotating body 36 rotates.

[0053] The muscle-powered vehicle 10, for example, comprises at least part of a control system 40 for muscle-powered vehicles. The control system 40 comprises, for example, the control device 60 for muscle-powered vehicles and a component 50 for muscle-powered vehicles.

[0054] The control system 40 further includes, for example, a detection device 42. The detection device 42 includes, for example, at least one device for detecting the crank rotation state 42A, one device for detecting the wheel rotation state 42B, and one device for detecting the human driving force 42C.

[0055] The crank rotation state detection device 42A is, for example, connected to a control device 62 in a manner that enables wired or wireless communication. The crank rotation state detection device 42A is, for example, configured to detect a rotation angle of the crank axis 22 and a rotation angle of the first rotating body 34. The first rotating body 34 comprises, for example, a front sprocket or a front pulley. The crank rotation state detection device 42A is, for example, configured to detect information corresponding to a rotational speed N of the crank axis 22 and / or information corresponding to a rotational speed of the first rotating body 34. The information corresponding to the rotational speed N of the crank axis 22 includes, for example, the angular acceleration of the crank axis 22.The information corresponding to the rotational speed of the first rotating body 34 includes, for example, the angular acceleration of the first rotating body 34.

[0056] The crank rotation state detection device 42A is configured, for example, to output a signal corresponding to the rotational speed N of the crank axis 22 and / or a signal corresponding to the rotational speed of the first rotating body 34. The crank rotation state detection device 42A is also configured, for example, to output a detection signal corresponding to a rotation angle of the crank axis 22 and / or a detection signal corresponding to a rotation angle of the first rotating body 34 during a period in which the crank axis 22 and the first rotating body 34 complete one revolution.

[0057] The crank rotation state detection device 42A includes, for example, a magnetic sensor that outputs a signal corresponding to the strength of a magnetic field. The crank rotation state detection device 42A includes, for example, a ring-shaped magnet in which magnetic poles are arranged circumferentially. The ring-shaped magnet is, for example, provided on the crank shaft 22. The ring-shaped magnet includes, for example, a single S-pole and a single N-pole. The single S-pole and the single N-pole each extend continuously by 180° around the central axis of rotation of the crank shaft 22 in the circumferential direction. Instead of the magnetic sensor, the crank rotation state detection device 42A can include an optical sensor, an accelerometer, a gyroscope, a torque sensor, or the like.

[0058] The crank rotation state detection device 42A can be configured to detect the rotation angle of the second rotating body 36. The second rotating body 36 comprises, for example, a rear sprocket or a rear pulley. The crank rotation state detection device 42A can be configured to detect information corresponding to the rotational speed of the second rotating body 36. Information corresponding to the rotational speed of the second rotating body 36 includes, for example, the angular acceleration of the second rotating body 36. The crank rotation state detection device 42A can be configured to output a signal corresponding to the rotational speed of the second rotating body 36.

[0059] The crank rotation state detection device 42A may include a vehicle speed sensor. In a case where the crank rotation state detection device 42A includes a vehicle speed sensor, the control device 62 may be configured to calculate the rotational speed N of the crank shaft 22 from the vehicle speed detected by the vehicle speed sensor and a gear ratio. The crank rotation state detection device 42A may also include a wheel speed sensor. In a case where the crank rotation state detection device 42A includes a wheel speed sensor, the control device 62 may be configured to calculate the rotational speed N of the crank shaft 22 from the rotational speed of the wheel 12 detected by the wheel speed sensor and a gear ratio.The wheel speed sensor can, for example, have the same configuration as the wheel rotation state detection device 42B.

[0060] The wheel rotation state detection device 42B is, for example, connected to the control unit 62 in such a way that wired or wireless communication is possible. The wheel rotation state detection device 42B is, for example, configured to detect information about the speed of the muscle-powered vehicle 10. The wheel rotation state detection device 42B is, for example, configured to detect information relating to the rotational speed of the wheel 12. The wheel rotation state detection device 42B is, for example, configured to detect a magnet provided on the front wheel 12F and / or the rear wheel 12R.

[0061] The wheel rotation state detection device 42B includes, for example, a vehicle speed sensor. The wheel rotation state detection device 42B is configured, for example, to output a predetermined number of detection signals during the period in which the wheel 12 completes one revolution. The predetermined number is, for example, one. The wheel rotation state detection device 42B outputs, for example, a signal corresponding to the rotational speed of the wheel 12. The control unit 62 can calculate the speed of the human-powered vehicle 10 based on the signal corresponding to the rotational speed of the wheel 12 and information about the circumferential length of the wheel 12. The information regarding the circumferential length of the wheel 12 is stored, for example, in a memory 64.

[0062] The human propulsion force detection device 42C is provided, for example, on an element contained in a human propulsion force transmission path or on an element located near an element contained in the human propulsion force transmission path. The human propulsion force detection device 42C comprises a strain sensor, a magnetostrictive sensor, a pressure sensor, or the like. The strain sensor comprises a strain gauge. The human propulsion force detection device 42C can have any configuration, provided that information regarding human propulsion force is obtained.

[0063] The human propulsion force detection device 42C can, for example, be located on the crank arm 20 and / or the pedal 24. If the human propulsion force detection device 42C is located on the pedal 24, it can include a sensor that detects the pressure exerted on the pedal 24. The human propulsion force detection device 42C can also be located on the chain. In this case, the human propulsion force detection device 42C can include a sensor that detects the tension on the chain.

[0064] Component 50 comprises, for example, a first component 52 of a human-powered vehicle and a second component 54 of a human-powered vehicle that differs from the first component 52. The first component 52 comprises, for example, a motor 56 configured to exert a driving force on the human-powered vehicle 10. The second component 54 comprises, for example, a transmission device 58 configured to change the gear ratio, which is the ratio of the rotational speed of the wheel 12 of the human-powered vehicle 10 to the rotational speed N of the crankshaft 22 of the human-powered vehicle 10.

[0065] The motor 56 is configured to drive the transmission element 38. For example, the motor 56 is configured to supply the muscle-powered vehicle 10 with a driving force corresponding to the human driving force. The motor 56 comprises, for example, one or more electric motors. The electric motor contained in the motor 56 is, for example, a brushless motor. The motor 56 is configured, for example, to transmit a rotational force to a power transmission path of the human driving force, extending from the two pedals 24 to the at least one second rotating body 36. The motor 56 drives the transmission element 38, for example, via the at least one first rotating body 34. In the present embodiment, the motor 56 is provided on the frame 16 of the muscle-powered vehicle 10 and is configured to transmit rotational force to the first rotating body 34.The motor 56 can have a hub motor provided on the wheel 12.

[0066] The transmission device 58 is configured, for example, to change the gear ratio in steps. The transmission device 58 is configured to change the gear ratio of the muscle-powered vehicle 10 according to a gear stage. The gear ratio of the muscle-powered vehicle 10 is, for example, a ratio of the rotational speed of the rear wheel 12R to the rotational speed N of the crank axle 22. The transmission device 58 is, for example, provided on the frame 16. The transmission device 58 comprises, for example, at least one rear-wheel transmission and one front-wheel transmission. The transmission device 58 comprises, for example, an external transmission device. The transmission device 58 comprises, for example, a rear derailleur. The transmission device 58 may have a front derailleur. The transmission device 58 may have an internal transmission device.The internal transmission device is, for example, provided in a hub of the rear wheel 12R. The transmission device 58 can have a continuously variable transmission (CVT).

[0067] The transmission device 58 includes, for example, an electric transmission. The transmission device 58 includes, for example, an electrically operated actuator. The actuator is driven to change the transmission ratio. The actuator includes, for example, an electric motor.

[0068] The control device 60 for the human-powered vehicle comprises the control unit 62. The control unit 62 includes, for example, a processor that executes predetermined control programs. The processor of the control unit 62 includes, for example, a central processing unit (CPU) or a microprocessor unit (MPU). The processor of the control unit 62 may be located in separate locations. In a case where the processor is located in separate locations, separate parts of the processor may be interconnected in such a way that communication via a wireless communication device is possible. The control unit 62 may include one or more microcomputers.

[0069] The control device 60 further comprises, for example, the memory 64. The memory 64 is connected, for example, to the control unit 62 in a manner that enables wired or wireless communication. The memory 64 stores, for example, control programs and information used for control processes. The memory 64 comprises, for example, non-volatile memory and volatile memory. The non-volatile memory comprises, for example, at least one of the following: a read-only memory (ROM), an erasable programmable read-only memory (EPROM), an electrically erasable programmable read-only memory (EEPROM), and flash memory. The volatile memory comprises, for example, a random-access memory (RAM).

[0070] The control unit 62 is configured, for example, to control the motor 56 in such a way that the level of assistance provided by the motor 56 changes. The control unit 62 is configured, for example, to control the motor 56 in such a way that the level of assistance provided by the motor 56 reaches a predetermined assistance level. The level of assistance includes, for example, at least one of the following: a ratio of the assistance force provided by the motor 56 to the human propulsive force exerted on the muscle-powered vehicle 10, an upper limit of the power output of the motor 56, and a response speed of the motor 56 to a rate of change in the human propulsive force.

[0071] The assisting force is expressed, for example, as torque and / or power. If the assisting force is expressed as torque, it is called assisting torque. If the assisting force is expressed as power, it is called assisting force-based power. The ratio of the assisting force to the human driving force can be the ratio of assisting torque to human torque or the ratio of assisting force-based power to human force-based power.

[0072] The control unit 62 is configured, for example, to control the transmission device 58 to change the gear ratio. The control unit 62 is configured to control the transmission device 58 to change the gear ratio, for example, in response to a transmission signal. The transmission signal is output, for example, when a user operates a gear lever.

[0073] The control unit 62 is configured to control the first component 52 and the second component 54 of the human-powered vehicle. The control unit 62 is configured to prioritize the control of either the first component 52 or the second component 54 over the control of the other component 52 or 54. The control unit 62 is configured to change the priority order for controlling the first component 52 and the second component 54 according to a parameter Y that relates to the training intensity of a driver of the human-powered vehicle 10. The control unit 62 is configured to prioritize the control of either the motor 56 or the transmission device 58 over the control of the other component, i.e., either the motor 56 or the transmission device 58.The control unit 62 is configured to change the priority order for the control of the motor 56 and the transmission device 58 according to the parameter Y, which relates to the training intensity of the driver of the muscle-powered vehicle 10.

[0074] The control system 40 further includes, for example, a driver state monitor 44. The driver state monitor 44 is configured, for example, to record information regarding the driver's training intensity. The control unit 62 is configured, for example, to calculate the parameter Y based on the information regarding the driver's training intensity recorded by the driver state monitor 44.

[0075] Parameter Y refers, for example, to the driver's energy consumption. Parameter Y is, for example, a ratio of the power output of the muscle-powered vehicle 10 to its energy consumption. Parameter Y can also be a MET value (Metabolic Equivalent of Task).

[0076] The driver's energy consumption is, for example, the amount of energy consumed by the driver per day. The driver's energy consumption is related, for example, to the amount of oxygen the driver requires daily. The driver's energy consumption is related, for example, to the driver's basal metabolic rate and physical activity level. The driver's physical activity level corresponds, for example, to a level of physical activity determined by METs. In a case where the driver's energy consumption is the driver's physical activity level, the driver state monitor 44 includes, for example, an input that receives the driver's physical activity level. In a case where the driver's energy consumption is the driver's physical activity level, the driver state monitor 44 may have a communicator for determining the driver's physical activity level from an external device.

[0077] The control unit 62 is configured, for example, to calculate energy consumption based on the rider's resting heart rate. The rider's energy consumption is related to the rider's resting heart rate. The rider's energy consumption tends to be higher when the rider's resting heart rate is lower. The level of physical activity tends to be higher when the rider's resting heart rate is lower. In a case where the control unit 62 is configured to calculate energy consumption based on the rider's resting heart rate, the rider state sensor 44 includes, for example, a heart rate sensor. The heart rate sensor can, for example, be in the form of a wristwatch or the like, configured to be worn by the rider. Alternatively, the heart rate sensor can be mounted on the handlebar 28.In a case where the control unit 62 is configured to calculate energy consumption based on the driver's resting heart rate, the driver state detector 44 may have a communication device for detecting the driver's resting heart rate from an external device.

[0078] The control unit 62 is configured, for example, to control the first component 52 and / or the second component 54 according to parameter Y in any one of the first to third examples. In a case where one of several predetermined conditions is met, the control unit 62 is configured, for example, to control the first component 52 and / or the second component 54 according to any one of the first to third examples.

[0079] In the first example, the control unit 62, for instance, in a case where a predetermined condition with respect to parameter Y is met, controls one of the first components 52 and the second component 54 with a higher priority and does not control the other of the first component 52 and the second component 54 with a lower priority.

[0080] In the second example, if the predetermined condition is met, the control unit 62 controls, for example, one of the first component 52 and the second component 54 with a higher priority, and then controls the other of the first component 52 and the second component 54 with a lower priority.

[0081] In the third example, if the predetermined condition is met, the control unit 62 controls, for example, one of the first component 52 and the second component 54 with a higher priority. If an additional condition is met, it then controls the other component of the first component 52 and the second component 54 with a lower priority. In the third example, if the predetermined condition is met, the control unit 62 controls, for example, one of the first component 52 and the second component 54 with a higher priority. If the additional condition is not met, it does not control the other component of the first component 52 and the second component 54 with a lower priority. The additional condition can be related to the parameter Y or be irrelevant. The predetermined condition can be one of several predetermined conditions.

[0082] The control unit 62 is configured, for example, to change the priority order for controlling the motor 56 and the transmission device 58 based on the parameter Y and the rotational speed N of the crankshaft 22. The rotational speed N of the crankshaft 22 is expressed, for example, as the number of revolutions of the crankshaft 22 per predetermined time. The rotational speed N of the crankshaft 22 can also be expressed as the angular velocity of the crankshaft 22.

[0083] In a case where the parameter Y lies, for example, outside a predetermined range, the control unit 62 is configured to control at least one of the motor 56 and the transmission device 58 such that the parameter Y lies within the predetermined range. The predetermined range is determined in advance, for example, by tests or the like. The predetermined range is, for example, a range of the parameter Y within which the driver can comfortably drive the muscle-powered vehicle 10. The predetermined range is defined, for example, such that it satisfies equation (1). The left side “aX - b” corresponds to a lower limit YA of the predetermined range of the parameter Y. The right side “aX + b” corresponds to an upper limit YB of the predetermined range of the parameter Y. aX−b <Y<aX+b “Y” stands for the parameter Y. “a” stands for a constant. "b" stands for a constant. “X” stands for the number of revolutions (rpm) of the crank axle 22 per minute.

[0084] The predetermined region is defined, for example, such that it satisfies equation (1) and equation (2). The predetermined region that satisfies expression (1) corresponds, for example, to a region that contains the value in Fig. The area RX shown in Figure 5 comprises the area RY and the area RZ. The predetermined area that satisfies expression (1) and expression (2) corresponds, for example, to the area shown in Figure 5. Fig. 5 shown area RX. X1 <X<X2

[0085] In a case where the parameter Y is less than or equal to a first value Y1, the control unit 62 is configured, for example, to control the motor 56 and the transmission device 58 in such a way that the level of assistance and the gear ratio are maintained. The first value Y1 changes, for example, according to the rotational speed N. The first value Y1 is, for example, a value expressed by "aX - b". The first value Y1 is, for example, the upper limit YB. In a case where the parameter Y is less than or equal to the first value Y1 and the rotational speed N is less than a first rotational speed N1, the control unit 62 is configured, for example, to control the motor 56 and the transmission device 58 in such a way that the level of assistance and the gear ratio are maintained.For example, a case in which the parameter Y is less than or equal to the first value Y1 and the rotational speed N is less than the first rotational speed N1 corresponds to a range that corresponds to the value in . Fig. The area shown in Figure 5 includes the range RY and the area R1. A case in which the parameter Y is less than or equal to the first value Y1 and the rotational speed N is less than the first rotational speed N1 includes, for example, a case in which the muscle-powered vehicle 10 is traveling on a congested road.

[0086] In a case where the parameter Y is less than or equal to a second value Y2 and the rotational speed N is greater than or equal to a second rotational speed N2, the control device 62 is configured, for example, to give priority to the control of the motor 56 over the control of the transmission device 58. The second value Y2 changes, for example, according to the rotational speed N. The second value Y2 is, for example, a value expressed by "aX - b". The second value Y2 is, for example, the lower limit YA. The second rotational speed N2 is, for example, a value greater than or equal to the first rotational speed N1. The second rotational speed N2 is, for example, equal to the first rotational speed N1. The second rotational speed N2 can differ from the first rotational speed N1.In a case where the parameter Y is less than or equal to the second value Y2 and the rotational speed N is greater than or equal to the second rotational speed N2, the control device 62 is configured, for example, to control the motor 56 in such a way that it reduces the level of assistance, and then to control the transmission device 58 in such a way that it changes the gear ratio. A case in which the parameter Y is less than or equal to the second value Y2 and the rotational speed N is greater than or equal to the second rotational speed N2 corresponds, for example, to the one in . Fig. 5 shown area R2.

[0087] In a case where the parameter Y is less than or equal to a third value Y3 and the rotational speed N is greater than or equal to a third rotational speed N3 that is greater than the second rotational speed N2, the control device 62 is configured, for example, to give priority to the control of the gear unit 58 over the control of the motor 56. The third value Y3 changes, for example, according to the rotational speed N. The third value Y3 is, for example, a value expressed by "aX - b". The third value Y3 is, for example, the lower limit YA. In a case where the parameter Y is less than or equal to the third value Y3 and the rotational speed N is greater than or equal to the third rotational speed N3, the control device 62 is configured, for example, to control the gear unit 58 in such a way as to increase the gear ratio and to control the motor 56 in such a way as to maintain the level of assistance.A case in which the parameter Y is less than or equal to the third value Y3 and the rotational speed N is greater than or equal to the third rotational speed N3 corresponds, for example, to the one in . Fig. 5 shown area R3. A case in which the parameter Y is less than or equal to the third value Y3 and the rotational speed N is greater than or equal to the third rotational speed N3 includes, for example, a case in which a rotational resistance of the crankshaft 22 decreases abruptly.

[0088] In a case where the parameter Y is less than or equal to a seventh value Y7 and the rotational speed of wheel 12 is greater than a value obtained by multiplying the rotational speed N of the crankshaft 22 by the gear ratio, the control device 62 is configured, for example, to change the priority for controlling the motor 56 and the transmission device 58. The seventh value Y7 is, for example, equal to the third value Y3. In a case where the parameter Y is less than or equal to the seventh value Y7, the rotational speed of wheel 12 of the muscle-powered vehicle 10 is greater than the value obtained by multiplying the rotational speed N of the crankshaft 22 by the gear ratio, and the rotational speed N is greater than or equal to the third rotational speed N3, the control device 62 is configured, for example, to give priority to controlling the transmission device 58 over controlling the motor 56.The seventh value Y7 changes, for example, according to the rotational speed N. The seventh value Y7 is, for example, a value expressed by "aX - b". The seventh value Y7 is, for example, the lower limit YA.

[0089] In a case where the parameter Y is greater than or equal to a fourth value Y4 and the rotational speed N is less than a fourth rotational speed N4, the control device 62 is configured, for example, to give priority to the control of the motor 56 over the control of the transmission device 58. The fourth value Y4 changes, for example, according to the rotational speed N. The fourth value Y4 is expressed, for example, by "aX + b". The fourth value Y4 is, for example, the upper limit YB. The fourth rotational speed N4 is, for example, equal to the first rotational speed N1. The fourth rotational speed N4 can differ from the first rotational speed N1.In a case where the parameter Y is greater than or equal to the fourth value Y4 and the rotational speed N is less than the fourth rotational speed N4, the control device 62 is configured, for example, to control the motor 56 to increase the level of assistance and then to control the transmission device 58 to change the gear ratio. A case where the parameter Y is greater than or equal to the fourth value Y4 and the rotational speed N is less than the fourth rotational speed N4 corresponds, for example, to the one in . Fig. 5 shown area R4. A case in which the parameter Y is greater than or equal to the fourth value Y4 and the rotational speed N is less than the fourth rotational speed N4 corresponds, for example, to a case in which the muscle-powered vehicle 10 starts moving, and to a case in which the muscle-powered vehicle 10 travels uphill.

[0090] In a case where the parameter Y is greater than or equal to a fifth value Y5 and the rotational speed N is greater than or equal to the fourth rotational speed N4, the control device 62 is configured, for example, to give priority to the control of the motor 56 over the control of the transmission device 58. Similarly, in a case where the parameter Y is greater than or equal to the fifth value Y5, the rotational speed N is greater than or equal to the fourth rotational speed N4, and the rotational speed N is less than a fifth rotational speed N5 that is greater than the fourth rotational speed N4, the control device 62 is configured, for example, to give priority to the control of the motor 56 over the control of the transmission device 58. The fifth value Y5 changes, for example, according to the rotational speed N. The fifth value Y5 is expressed, for example, by "aX + b". The fifth value Y5 is, for example, the upper limit YB. The fifth rotational speed N5 is, for example, equal to the third rotational speed N3.The fifth speed N5 can differ from the third speed N3. For example, if parameter Y is greater than or equal to the fifth value Y5 and speed N is greater than or equal to the fourth speed N4, the control unit 62 is configured to control the motor 56 to increase the level of assistance and the transmission device 58 to maintain the gear ratio. Conversely, if parameter Y is greater than or equal to the fifth value Y5, speed N is greater than or equal to the fourth speed N4, and speed N is less than the fifth speed N5, the control unit 62 is configured to control the motor 56 to increase the level of assistance and the transmission device 58 to maintain the gear ratio.A case in which the parameter Y is greater than or equal to the fifth value Y5, the rotational speed N is greater than or equal to the fourth rotational speed N4 and the rotational speed N is less than the fifth rotational speed N5 corresponds, for example, to the one in . Fig. 5 shown area R5.

[0091] In a case where the parameter Y is greater than or equal to a sixth value Y6 and the rotational speed N is greater than or equal to the fifth rotational speed N5, which is greater than the fourth rotational speed N4, the control device 62 is configured, for example, to give priority to the control of the motor 56 over the control of the transmission device 58. The sixth value Y6 changes, for example, according to the rotational speed N. The sixth value Y6 is expressed, for example, as "aX + b". The sixth value Y6 is, for example, the upper limit YB. In a case where the parameter Y is greater than or equal to the sixth value Y6 and the rotational speed N is greater than or equal to the fifth rotational speed N5, the control device 62 is configured, for example, to control the motor 56 to increase the level of assistance and then to control the transmission device 58 to change the gear ratio.A case in which the parameter Y is greater than or equal to the fifth value Y5 and the rotational speed N is greater than or equal to the fifth rotational speed N5 corresponds, for example, to the one in . Fig. 5 shown area R6.

[0092] In a case where the parameter Y is greater than or equal to an eighth value Y8 and the level of support is lower than a predetermined level of support, the control unit 62 is configured, for example, to control the motor 56 in such a way as to increase the level of support, and to control the transmission device 58 in such a way as to maintain the gear ratio. The eighth value Y8 is, for example, equal to the sixth value Y6. The eighth value Y8 changes, for example, according to the rotational speed N. The eighth value Y8 is expressed, for example, by "aX + b". The eighth value Y8 is, for example, the upper limit YB.In a case where parameter Y is greater than or equal to the eighth value Y8 and the level of support is greater than or equal to the predetermined support level, the control unit 62 is configured, for example, to control the motor 56 in such a way that the level of support is maintained, and to control the transmission device 58 in such a way that the gear ratio is changed based on the acceleration of the rotational speed N. In a case where parameter Y is the eighth value Y8 and the level of support is greater than or equal to the predetermined support level, the control unit 62 is configured, for example, to control the motor 56 in such a way that the level of support is maintained, and to control the transmission device 58 in such a way that the gear ratio is decreased when the acceleration of the rotational speed N is less than a predetermined acceleration.

[0093] In a case where the parameter Y is greater than the lower limit YA and less than the upper limit YB, and the rotational speed N is greater than or equal to the fifth rotational speed N5, the control device 62 is configured, for example, to control the motor 56 and the transmission device 58 in such a way that the level of assistance and the gear ratio are maintained. A case where the parameter Y is greater than the lower limit YA and less than the upper limit YB, and the rotational speed N is greater than or equal to the fifth rotational speed N5, corresponds, for example, to the case described in Fig. The area RZ shown in Figure 5 represents a case where the parameter Y is greater than the lower limit YA and less than the upper limit YB, and the rotational speed N is greater than or equal to the fifth rotational speed N5. This corresponds, for example, to a case where the driver accelerates the muscle-powered vehicle 10. Within the area RZ, the driver can comfortably accelerate the muscle-powered vehicle 10.

[0094] A process executed by the control unit 62 for controlling the motor 56 and the transmission device 58 is now described with reference to the Fig. 3 and Fig. 4 described. In a case where, for example, the control unit 62 is supplied with electrical energy, the control unit 62 starts the process of the in the Fig. 3 and Fig. The flowcharts shown in the 4 diagrams include step S11. For example, if the process is described in the Fig. 3 and Fig. As shown in the flowcharts 4, the control unit 62 repeats the process from step S11 in predetermined cycles until the power supply is interrupted.

[0095] In step S11, the control unit 62 determines whether the parameter Y is greater than or equal to the upper limit YB. If the parameter Y is greater than or equal to the upper limit YB, the control unit 62 proceeds to step S12. In step S12, the control unit 62 determines whether the support level is lower than a maximum support level. If the support level is lower than the maximum support level, the control unit 62 proceeds to step S13.

[0096] In step S13, the control unit 62 controls the motor 56 such that the level of assistance is increased and then terminates the process. For example, in step S13, the control unit 62 can control the motor 56 such that the level of assistance is increased by one level. In step S13, the control unit 62 can, for example, control the motor 56 such that the level of assistance becomes greater than or equal to the first assistance level. The level of assistance can be equal to or less than the maximum assistance level.

[0097] If the level of support in step S12 is not lower than the maximum support level, the control unit 62 proceeds to step S14. In step S14, the control unit 62 determines whether the acceleration of the rotational speed N of the crank axle 22 is less than the predetermined acceleration. If the acceleration of the rotational speed N of the crank axle 22 is not less than the predetermined acceleration, the control unit 62 terminates the process. If the acceleration of the rotational speed N of the crank axle 22 is less than the predetermined acceleration, the control unit 62 proceeds to step S15.

[0098] In step S15, the control unit 62 controls the gear unit 58 such that the gear ratio is reduced and then terminates the process. For example, in step S15, the control unit 62 controls the gear unit 58 such that the gear ratio is reduced by one step. In step S15, the control unit 62 can control the gear unit 58 such that the gear ratio becomes less than or equal to a first gear ratio. The first gear ratio can be equal to or greater than a minimum gear ratio.

[0099] If the parameter Y in step S11 is not greater than or equal to the upper limit YB, the control unit 62 proceeds to step S16. In step S16, the control unit 62 determines whether the parameter Y is less than or equal to the lower limit YA. If the parameter Y is not less than or equal to the lower limit YA, the control unit 62 terminates the process. If the parameter Y is less than or equal to the lower limit YA, the control unit 62 proceeds to step S17.

[0100] In step S17, the control unit 62 determines whether an estimated rotational speed of the crankshaft 22 is greater than the rotational speed N of the crankshaft 22. The estimated rotational speed of the crankshaft 22 is, for example, a value obtained by dividing the rotational speed of the wheel 12 by the gear ratio. A case in which the estimated rotational speed of the crankshaft 22 is greater than the rotational speed N of the crankshaft 22 corresponds to a case in which the rotational speed of the wheel 12 is greater than a value obtained by multiplying the rotational speed N of the crankshaft 22 by the gear ratio. In step S17, the control unit 62 can determine whether the rotational speed of the wheel 12 is greater than a value obtained by multiplying the rotational speed N of the crankshaft 22 by the gear ratio. If the estimated rotational speed of the crankshaft 22 is greater than the rotational speed N of the crankshaft 22, the control unit 62 proceeds to step S19.

[0101] In step S19, the control unit 62 controls the gear unit 58 such that the gear ratio is increased and then terminates the process. For example, in step S19, the control unit 62 controls the gear unit 58 such that the gear ratio is increased by one step. In step S19, the control unit 62 can control the gear unit 58 such that the gear ratio becomes greater than or equal to a second gear ratio. The second gear ratio can be equal to or less than the maximum gear ratio.

[0102] If the estimated rotational speed of the crankshaft 22 in step S17 is not greater than the rotational speed N of the crankshaft 22, the control unit 62 proceeds to step S18. In step S18, the control unit 62 determines whether the assistance is switched off. The control unit 62 determines that the assistance is switched off, for example, in a case where the motor 56 is not exerting any driving force on the muscle-powered vehicle 10. If the assistance is switched off, the control unit 62 proceeds to step S19. If the assistance is not switched off, the control unit 62 proceeds to step S20.

[0103] In step S20, the control unit 62 controls the motor 56 to reduce the level of assistance and then terminates the process. For example, in step S20, the control unit 62 can control the motor 56 to reduce the level of assistance by one level. If the level of assistance is at its minimum, the control unit 62 can control the motor 56 to deactivate the assistance. In step S20, the control unit 62 can also control the motor 56 to reduce the level of assistance to less than or equal to a second level of assistance. This second level of assistance can be equal to or greater than the minimum level of assistance.

[0104] Fig. Figure 5 shows the ranges defined by a relationship between the parameter Y and the rotational speed N of the crankshaft 22. The control device 62 of the present embodiment is configured to control at least one of the motors 56 and the transmission device 58 such that the parameter Y is greater than or equal to the lower limit YA and less than or equal to the upper limit YB. With respect to human torque, human-powered power, vehicle speed, or the rotational speed N of the crankshaft 22, the range in which a rider finds the muscle-powered vehicle 10 comfortable varies from rider to rider. The inventors have found that the range of the parameter Y relating to the training intensity at which a rider finds the muscle-powered vehicle 10 comfortable is less likely to vary from rider to rider.In the present embodiment, the control unit 62 controls the motor 56 and / or the transmission device 58 such that the parameter Y falls within the range RX. This improves the driving comfort of the muscle-powered vehicle 10. Second embodiment

[0105] A control device 60 for a muscle-powered vehicle according to a second embodiment is now described with reference to Fig. 6. The same reference numerals are used for those components of the control device 60 for a muscle-powered vehicle in the second embodiment that are identical to the corresponding components in the first embodiment. These components are not described in detail.

[0106] In the present embodiment, the control device 62 is configured to control the first component 52 and the second component 54 in a control state that includes a first-priority control state and a second-priority control state. In the first-priority control state, the first component 52 is assigned a higher priority than the second component 54. In the second-priority control state, the second component 54 is assigned a higher priority than the first component 52. In the present embodiment, the first component 52 is the motor 56 and the second component 54 is the transmission device 58. The first component 52 can be the transmission device 58 and the second component 54 can be the motor 56.

[0107] The control unit 62 is configured, for example, to switch the control state between the first-priority and second-priority control states according to the parameter Y. For example, if the parameter Y is greater than or equal to the upper limit YB, the control unit 62 sets the control state to the first-priority control state. If the parameter Y is less than or equal to the lower limit YA, the control unit 62 sets the control state to the second-priority control state.

[0108] In a case where the control unit 62 controls the first component 52 in the control state with first priority, the control unit 62 is configured, for example, to control the second component 54 when a first control condition is met. In a case where the control unit 62 controls the first component 52 in the first control state with priority, the control unit 62 is configured, for example, to not control the second component 54 when the first control condition is not met.

[0109] In a case where the control unit 62 controls the second component 54 in the second priority state, the control unit 62 is configured, for example, to control the first component 52 when a second control condition is met. In a case where the control unit 62 controls the second component 54 in the second priority control state, the control unit 62 is configured, for example, to not control the first component 52 when the second control condition is not met.

[0110] A process executed by the control unit 62 for controlling the motor 56 and the transmission device 58 is now described with reference to Fig. 6 described. In a case where, for example, electrical energy is supplied to the control unit 62, the control unit 62 starts the process of the in Fig. Flowchart 6 shown, starting from step S31. In a case where, for example, the process of the in Fig. As shown in the flowchart 6, the control unit 62 repeats the process from step S31 in predetermined cycles until the supply of electrical energy is stopped.

[0111] In step S31, the control unit 62 determines whether the control state is the first-priority control state. If the control state is the first-priority control state, the control unit 62 proceeds to step S32. In step S32, the control unit 62 determines whether the first control condition is met. The first control condition relates, for example, to the rotational speed N of the crankshaft 22 and / or the vehicle speed and / or the acceleration of the vehicle speed and / or human driving force and / or the driving resistance. If the first control condition is not met, the control unit 62 terminates the process. If the first control condition is met, the control unit 62 proceeds to step S33.

[0112] In step S33, the control unit 62 controls the first component 52 and then proceeds to step S34. In step S34, the control unit 62 determines whether the first control condition is met. If the first control condition is not met, the control unit 62 terminates the process. If the first control condition is met, the control unit 62 proceeds to step S35. In step S35, the control unit 62 controls the second component 54 and then terminates the process. The process of steps S32 to S35 also controls the second component 54 after the first component 52 has been controlled in step S33, provided the first control condition is still met.

[0113] If the control state in step S31 is not the first-priority control state, the control unit 62 proceeds to step S36. In step S36, the control unit 62 determines whether the control state is the second-priority control state. If the control state is not the second-priority control state, the control unit 62 terminates the process. If the control state is the second-priority control state, the control unit 62 proceeds to step S37.

[0114] In step S37, the control unit 62 determines whether the second control condition is met. The second control condition relates, for example, to the rotational speed N of the crankshaft 22 and / or the vehicle speed and / or the acceleration of the vehicle speed and / or the human driving force and / or the driving resistance. If the second control condition is not met, the control unit 62 terminates the process. If the second control condition is met, the control unit 62 proceeds to step S38.

[0115] In step S38, the control unit 62 controls the second component 54 and then proceeds to step S39. In step S39, the control unit 62 determines whether the second control condition is met. If the second control condition is not met, the control unit 62 terminates the process. If the second control condition is met, the control unit 62 proceeds to step S40. In step S40, the control unit 62 controls the first component 52 and then terminates the process. The process of steps S37 to S40 ensures that, even after the control of the second component 54 in step S38, the first component 52 is still controlled if the second control condition is still met.

[0116] In a case where the control state only includes the first priority control state and the second priority control state, step S36 can be omitted. In a case where step S36 is omitted and a negative determination is made in step S31, the control device 62 proceeds to step S37. Modified examples

[0117] The description relating to the embodiments mentioned above illustrates, without any limitation, applicable forms of a control device for a human-powered vehicle. In addition to the embodiments described above, the control device for a human-powered vehicle according to the present disclosure is applicable, for example, to modified examples of the embodiments described above, which are described below, as well as to combinations of at least two of the modified examples that do not contradict each other. In the modified examples described below, the same reference numerals are assigned to the same components, which are identical to the corresponding components of the embodiments described above. These components are not described in detail.

[0118] As long as the control unit 62 is configured as described below, any other configuration can be omitted. The control unit 62 is configured to control component 50 of the human-powered vehicle. The control unit 62 is configured to control component 50 according to parameter Y, which relates to the training intensity of a driver of the human-powered vehicle 10. Parameter Y relates to the driver's energy consumption. In the present modified example, component 50 can only have one of the first components 52 and one of the second components 54.

[0119] A modified example of the process carried out by the control unit 62 for controlling the motor 56 and the transmission device 58 is now described with reference to Fig. 7 described. In a case where, for example, the control unit 62 is supplied with electrical energy, the control unit 62 starts the in Fig. The process shown in section 7 starts at step S51. In a case where, for example, the process in Fig. When the flowchart shown in step 7 ends, the control unit 62 repeats the process from step S51 in predetermined cycles until the supply of electrical energy is interrupted.

[0120] In step S51, the control unit 62 determines whether parameter Y meets a predetermined condition. If parameter Y does not meet the predetermined condition, the control unit 62 terminates the process. If parameter Y meets the predetermined condition, the control unit 62 proceeds to step S52. In step S52, the control unit 62 controls component 50 and then terminates the process.

[0121] In the first embodiment, the first component 52 can be the transmission device 58 and the second component 54 can be the motor 56.

[0122] The types of the first component 52 and the second component 54 can be changed. The first component 52 and the second component 54 can each be the motor 56, the transmission device 58, the rear suspension device, the front suspension device, the adjustable seat post, the rear brake device, and the front brake device.

[0123] As long as the control device 62 is configured as described below, any other configuration can be omitted. The control device 62 is configured such that, in a case where the parameter Y is outside a first range or the rotational speed N of the crankshaft 22 is outside a second range, the control device 62 is configured to control at least one of the motor 56 and the transmission device 58 such that the parameter Y is within the first range and the rotational speed N of the crankshaft 22 is within the second range.

[0124] In this description, the phrase “at least one of,” as used in this revelation, means “one or more” of a desired choice. For example, the phrase “at least one of,” as used in this revelation, means “only a single choice” or “both of two choices” when the number of choices is two. As another example, the phrase “at least one of” in this revelation means “only a single choice” or “any combination of two or more choices” when the number of choices is three or more. Furthermore, the term “and / or,” as used in this revelation, means “either one of or both of.” For example, the phrase “at least one of A and B” includes (1) only A, (2) only B, and (3) both A and B.The expression “at least one of A, B, and C” includes (1) A alone, (2) B alone, (3) C alone, (4) both A and B, (5) both B and C, (6) both A and C, and (7) all A, B, and C. In other words, the expression “at least one of A and B” in this revelation does not mean “at least one of A and at least one of B”.

[0125] Ordinal numbers such as "first", "second" and "third" are used in this revelation only to distinguish elements with the same name from one another and have no special meaning. Reference symbol list

[0126] 10) muscle-powered vehicle, 12) wheel, 22) crank axle, 52) first component, 54) second component, 56) motor, 58) transmission device, 60) control device, 62) control unit. QUOTES INCLUDED IN THE DESCRIPTION

[0000] This list of documents cited by the applicant was automatically generated and is included solely for the reader's convenience. The list is not part of the German patent or utility model application. The DPMA accepts no liability for any errors or omissions. Cited patent literature

[0000] JP 2019-119246 A

[0002]

Claims

[1] Control device for a muscle-powered vehicle, wherein the control device comprises: a control device configured to control a first component of the muscle-powered vehicle and a second component of the muscle-powered vehicle that differs from the first component, wherein the control device is configured such that it gives priority to the control of the first component or the second component over the control of the other, of the first component and the second component, and The control unit is configured to change the priority order for controlling the first component and the second component according to a parameter relating to the training intensity of a driver of the muscle-powered vehicle. [2] Control device according to claim 1, wherein the first component comprises a motor configured to exert a driving force on the muscle-powered vehicle, the second component comprises a transmission device configured to change a transmission ratio which is a ratio of the rotational speed of a wheel of the muscle-powered vehicle to the rotational speed of a crank axle of the muscle-powered vehicle, the control unit is configured in such a way that it controls the motor in such a way that it changes the level of support of the motor, and the control device is configured in such a way that it controls the transmission device in such a way that it changes the transmission ratio. [3] Control device according to claim 2, wherein in a case where the parameter is less than or equal to a first value, the control device is configured to control the motor and the transmission device in such a way that the level of support and the transmission ratio are maintained. [4] Control device according to claim 2, wherein the control device is configured to change the priority order for controlling the motor and the transmission device based on the parameter and the rotational speed of the crankshaft. [5] Control device according to claim 4, wherein in a case where the parameter is less than or equal to a first value and the rotational speed is less than a first rotational speed, the control device is configured to control the motor and the transmission device in such a way that the level of support and the gear ratio are maintained. [6] Control device according to claim 4 or 5, wherein in a case where the parameter is less than or equal to a second value and the rotational speed is greater than or equal to a second rotational speed, the control device is configured such that it gives priority to the control of the motor over the control of the transmission device. [7] Control device according to claim 6, wherein in a case where the parameter is less than or equal to the second value and the rotational speed is greater than or equal to the second rotational speed, the control device is configured to control the motor in such a way as to reduce the level of support, and then to control the transmission device in such a way as to change the gear ratio. [8] Control device according to claim 6 or 7, wherein in a case where the parameter is less than or equal to a third value and the rotational speed is greater than or equal to a third rotational speed which is greater than the second rotational speed, the control device is configured such that it gives priority to the control of the transmission device over the control of the motor. [9] Control device according to claim 8, wherein in a case where the parameter is less than or equal to the third value and the rotational speed is greater than or equal to the third rotational speed, the control device is configured to control the transmission device in such a way as to increase the gear ratio and to control the motor in such a way as to maintain the level of support. [10] Control device according to any one of claims 4 to 9, wherein in a case where the parameter is greater than or equal to a fourth value and the rotational speed is less than a fourth rotational speed, the control device is configured such that it gives priority to the control of the motor over the control of the transmission device. [11] Control device according to claim 10, wherein in a case where the parameter is greater than or equal to the fourth value and the rotational speed is less than the fourth rotational speed, the control device is configured to control the motor in such a way as to increase the level of support, and then to control the transmission device in such a way as to change the gear ratio. [12] Control device according to claim 10 or 11, wherein in a case where the parameter is greater than or equal to a fifth value and the rotational speed is greater than or equal to the fourth rotational speed, the control device is configured such that it gives priority to the control of the motor over the control of the transmission device. [13] Control device according to claim 12, wherein in a case where the parameter is greater than or equal to the fifth value and the rotational speed is greater than or equal to the fourth rotational speed, the control device is configured to control the motor in such a way as to increase the level of support and to control the transmission device in such a way as to maintain the gear ratio. [14] Control device according to claim 12 or 13, wherein in a case where the parameter is greater than or equal to a sixth value and the rotational speed is greater than or equal to a fifth rotational speed which is greater than the fourth rotational speed, the control device is configured such that it gives priority to the control of the motor over the control of the transmission device. [15] Control device according to claim 14, wherein in a case where the parameter is greater than or equal to the sixth value and the rotational speed is greater than or equal to the fifth rotational speed, the control device is configured to control the motor in such a way as to increase the level of support, and then to control the transmission device in such a way as to change the gear ratio. [16] Control device according to one of claims 4 to 15, wherein in a case where the parameter is less than or equal to a seventh value and the rotational speed of the wheel is greater than a value obtained by multiplying the rotational speed of the crankshaft by the gear ratio, the control device is configured to change the priority order for controlling the motor and the transmission device. [17] Control device according to any one of claims 4 to 16, wherein: In a case where the parameter is greater than or equal to an eighth value and the level of assistance is less than a predetermined level of assistance, the control device is configured to control the motor in such a way as to increase the level of assistance, and to control the transmission device in such a way as to maintain the gear ratio; and In a case where the parameter is greater than or equal to the eighth value and the level of support is greater than or equal to the predetermined level of support, the control device is configured to control the motor in such a way as to maintain the level of support, and to control the transmission device in such a way that the gear ratio is changed based on an acceleration of the rotational speed. [18] Control device according to claim 1, wherein the parameter is related to the energy consumption of the driver. [19] Control device for a muscle-powered vehicle, wherein the control device comprises: a control device configured to control a component of the muscle-powered vehicle, wherein the control unit is configured to control the component according to a parameter related to the training intensity of a driver of the muscle-powered vehicle, and the parameter is related to the driver's energy consumption. [20] Control device according to claim 18 or 19, wherein the parameter is a ratio of the power of the muscle-powered vehicle to the energy consumption. [21] Control device according to claim 20, wherein the control device is configured to calculate the energy consumption based on the driver's resting heart rate.

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