CONTROL DEVICE FOR A HUMAN-PROPELLED VEHICLE

Abstract

A human-powered vehicle 10 comprises a transmission device 42 configured to change a transmission ratio that is a ratio of the rotational speed of a wheel 12 of the human-powered vehicle 10 to the rotational speed of a crank axle 22 of the human-powered vehicle 10. A control device 60 for the human-powered vehicle 10 comprises a controller 62 configured to control the transmission device 42. The controller 62 is configured to control the transmission device 42 to change the transmission ratio based on a switching condition. In a case where the switching condition is met and a switching restriction condition is met, the controller 62 is configured to control the transmission device 42 in a first control state in which switching that increases the transmission ratio is restricted.The control unit 62 is designed to change a stage to limit the shifting, which increases the gear ratio in the first control state, based on information about the human driving force applied to the crank axle 22.

Description

The present invention relates to a control device for a human-powered vehicle. An example of such a control device for a human-powered vehicle, which controls a transmission device of the human-powered vehicle, is disclosed in JP 2013 - 047 085 A. One objective of the present invention is to provide a control device for a human-powered vehicle that controls a transmission device in a preferred manner. A control device according to a first aspect of the present invention is provided for a human-powered vehicle. The human-powered vehicle comprises a transmission device configured to change a gear ratio, which is the 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 comprises a controller configured to control the transmission device. The controller is configured to control the transmission device such that the gear ratio is changed based on a switching condition.In a case where the switching condition and a switching restriction condition are met, the control device is configured to control the transmission device in a first control state in which shifting that increases the gear ratio is restricted. The control device is configured to modify a stage for restricting shifting that increases the gear ratio in the first control state based on information about the human driving force applied to the crank shaft. In the control device according to the first aspect, the stage for limiting the shifting, which increases the gear ratio, is changed based on information about the human driving force applied to the crank axle. In this way, the transmission device is controlled in a preferred manner. According to a second aspect of the present invention, the control device according to the first aspect is designed such that the switching limitation condition is met in a case where the human driving force increases. With the control device according to the second aspect, in a case where the human driving force increases, the switching that increases the transmission ratio is limited. According to a third aspect of the present invention, the control device according to the second aspect is configured such that the switching restriction condition is met when the increase in human driving force during a predetermined period is greater than or equal to a predetermined increase. With the control device according to the third aspect, in a case where the increase in human driving force is greater than or equal to the predetermined increase, the switching that increases the transmission ratio is restricted. According to a fourth aspect of the present invention, the control device according to one of the first to third aspects is configured such that the progress information includes the elapsed time of a state in which the human driving force is within a predetermined range. The control is configured such that it lowers the step for limiting the switching that increases the gear ratio in the first control state in a case where the elapsed time is greater than or equal to a predetermined elapsed time. In the control device according to the fourth aspect, in a case where the elapsed time of a state in which the human driving force is within the predetermined range is greater than or equal to the predetermined elapsed time, the step for limiting the switching that increases the gear ratio is lowered. According to a fifth aspect of the present invention, in the control device according to the fourth aspect, the control is configured to set the predetermined range based on the human driving force when the switching restriction condition is met. In the control device according to the fifth aspect, the switching restriction stage, which increases the gear ratio, is lowered according to the predetermined range set based on the human driving force when the switching restriction condition is met. According to a sixth aspect of the present invention, in the control device according to the fifth aspect, the control is configured to adjust the predetermined range based on the human driving force at a time when the switching restriction condition is met. In the control device according to the sixth aspect, the stage for limiting the switching, which increases the transmission ratio, is lowered according to the predetermined range based on the human driving force at a time when the switching restriction condition is met. According to a seventh aspect of the present invention, the control device according to the second or third aspect is configured such that the shift restriction condition is met when the human driving force increases and the rate of change of the gradient of the road on which the human-driven vehicle travels is less than or equal to a predetermined rate of change. In the control device according to the seventh aspect, in a case where the human driving force increases and the rate of change of the gradient of the road on which the human-driven vehicle travels is less than or equal to the predetermined rate of change, the shifting that increases the gear ratio is restricted. According to an eighth aspect of the present invention, the control device according to one of the second, third, and seventh aspects is configured such that the shift restriction condition is met when the human driving force increases and the gradient of a road on which the human-driven vehicle travels is less than or equal to a predetermined gradient. With the control device according to the eighth aspect, in a case where the human driving force increases and the gradient of the road on which the human-driven vehicle travels is less than or equal to the predetermined gradient, the shifting that increases the gear ratio is restricted. According to a ninth aspect of the present invention, the control device according to one of the second, third, seventh, and eighth aspects is configured such that the shift restriction condition is met when the human driving force increases and the decrease in the vehicle speed of the human-driven vehicle is less than or equal to a predetermined decrease. With the control device according to the ninth aspect, in a case where the decrease in the vehicle speed of the human-driven vehicle is less than or equal to the predetermined decrease, the shifting that increases the gear ratio is restricted. According to a tenth aspect of the present invention, in the control device according to any one of the first to ninth aspects, the control is configured such that the shift restriction condition is changed based on a driving condition of the human-driven vehicle. In the control device according to the tenth aspect, the shifting that increases the gear ratio is restricted based on the driving condition of the human-driven vehicle. According to an eleventh aspect of the present invention, the control device according to the tenth aspect is configured such that the driving condition includes at least a gradient of a road on which the human-powered vehicle is traveling, a rate of change of the gradient, a vibration of the human-powered vehicle, and a rate of change of the vibration. In the control device according to the eleventh aspect, the shifting that increases the gear ratio is limited based on the gradient of the road being traveled, the rate of change of the gradient, the vibration of the human-powered vehicle, and the rate of change of the vibration. According to a twelfth aspect of the present invention, in the control device according to the eleventh aspect, the control is configured to change the switching restriction condition based on an output signal from a tilt detector provided on the human-powered vehicle. In the control device according to the twelfth aspect, the switching, which increases the gear ratio, is restricted depending on an output from the tilt detector. According to a thirteenth aspect of the present invention, the control device according to the tenth aspect is configured such that the driving state comprises a first driving state in which the human-powered vehicle is traveling off-road and a second driving state in which the human-powered vehicle is traveling on a road. In the control device according to the thirteenth aspect, the shifting that increases the gear ratio is limited in both the off-road and on-road situations. According to a fourteenth aspect of the present invention, in the control device according to the thirteenth aspect, the control is configured to select the first driving state or the second driving state based on position information of the human-driven vehicle. In the control device according to the fourteenth aspect, one of the first driving states and the second driving state is appropriately selected based on position information of the human-driven vehicle. According to a fifteenth aspect of the present invention, the control device according to any of the first to fourteenth aspects is configured such that the switching condition includes a threshold value that relates to a predetermined parameter. In a case where the control device controls the transmission device to change the gear ratio based on the switching condition, the control device is configured to control the transmission device to increase the gear ratio when the predetermined parameter exceeds the threshold value. In the control device according to the fifteenth aspect, the gear ratio is increased when the predetermined parameter exceeds the threshold value. According to a sixteenth aspect of the present invention, the control device according to the fifteenth aspect is configured such that, in a case where the control unit controls the transmission device to change the gear ratio based on the switching condition, the control unit is configured to control the transmission device to increase the gear ratio when the predetermined parameter becomes greater than the threshold value. In the control device according to the sixteenth aspect, the gear ratio is increased in a case where the predetermined parameter becomes greater than the threshold value. According to a seventeenth aspect of the present invention, the control device according to the fifteenth or sixteenth aspect is configured such that the predetermined parameter is related to the rotational speed of the crankshaft. In the control device according to the seventeenth aspect, the transmission ratio is increased based on the predetermined parameter, which relates to the rotational speed of the crankshaft. According to an eighteenth aspect of the present invention, the control device according to one of the fifteenth to seventeenth aspects is designed such that the predetermined parameter includes the human driving force exerted on the crank shaft. In the control device according to the eighteenth aspect, the transmission ratio is increased based on the predetermined parameter relating to the human driving force exerted on the crank shaft. In a preferred embodiment, the control device according to the invention for a human-powered vehicle controls the transmission device. A more complete understanding of the invention and many of its associated advantages is easily achieved by referring to the following detailed description, when considered in conjunction with the accompanying figures, wherein Fig. 1 is a side view of a human-powered vehicle with a control device for a human-powered vehicle according to a first embodiment; Fig. 2 is a block diagram showing the electrical configuration of the human-powered vehicle shown in Fig. 1; and Fig. 3 is a flowchart of a method for controlling a transmission device, executed by a control device shown in Fig. 2. An embodiment of a control device 60 for a human-powered vehicle is now described with reference to Fig. 1, Fig. 2 to Fig. 3, where the same reference numerals denote corresponding or identical elements in the drawings. A human-powered vehicle is a vehicle with at least one wheel that is propelled by at least one human force. Human-powered vehicles include, for example, various types of bicycles such as mountain bikes, racing bikes, city bikes, cargo bikes, handcycles, and recumbent bikes. The number of wheels on a human-powered vehicle is not limited. For example, a human-powered vehicle includes a unicycle and a vehicle with two or more wheels. The term "human-powered vehicle" is not limited to vehicles that can only be propelled by human force. It includes e-bikes, which, in addition to human power, utilize the power of an electric motor for propulsion. E-bikes also include bicycles with electric assistance, where the propulsion is supported by an electric motor.In all embodiments described below, the human-powered vehicle refers to a bicycle. A human-powered vehicle 10 comprises at least one wheel 12 and a vehicle body 14. The at least one wheel 12 includes, for example, a front wheel 12F and a rear wheel 12R. The vehicle body 14 comprises a frame 16. In one example, a saddle 16A is connected to the frame 16. In one example, the human-powered vehicle 10 also includes a crank 18 upon which a human driving force is applied. In another example, the crank 18 includes 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 coupled to the crank arm 20. The crank arm 20 is, for example, provided at each axial end of the crank axle 22. A front fork 26 is connected to the frame 16. The front 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 depending on the rotation of the crank axle 22. Both the front wheel 12F and the rear wheel 12R can be connected to the crank 18 via the drive mechanism 32. The drive mechanism 32 comprises at least one first rotating body 34 coupled to the crank axle 22. In one example, the at least one first rotating body 34 comprises a front sprocket. The at least one first rotating body 34 may comprise a pulley or a bevel gear. The crank axle 22 may be coupled to the front sprocket via a one-way coupling. The drive mechanism 32 further comprises at least one second rotating body 36 and a connecting element 38. The connecting element 38 is designed to transmit the rotational force of the at least one first rotating body 34 to the at least one second rotating body 36. In one example, the connecting element 38 comprises a chain. The connecting element 38 can also comprise a belt or a shaft. In one example, the at least one second rotating body 36 comprises a rear sprocket. The at least one second rotating body 36 can comprise a pulley or a bevel gear. The chain is, for example, wound around the front and rear sprockets. The at least one second rotating body 36 is, for example, coupled to the rear wheel 12R. In one example, the rear wheel 12R is designed to rotate in accordance with the rotation of the at least one second rotating body 36. The human-powered vehicle 10, for example, comprises at least part of a control system 40 for a human-powered vehicle. The control system 40 comprises, for example, a control device 60 for a human-powered vehicle and a transmission device 42. The transmission device 42 changes a gear ratio, which is a ratio of the rotational speed of the wheel 12 of the human-propelled vehicle 10 to the rotational speed of the crankshaft 22 of the human-propelled vehicle 10. The transmission device 42 is, for example, configured to change the gear ratio in steps. The transmission device 42 is configured to change the gear ratio of the human-propelled vehicle 10 in steps. The gear ratio of the human-propelled vehicle 10 is, for example, a ratio of the rotational speed of the rear wheel 12R to the rotational speed of the crankshaft 22. The transmission device 42 is, for example, provided on the frame 16. The transmission device 42 comprises, for example, at least one rear transmission device and one front transmission device. In one example, the transmission device 42 comprises an external transmission device.The transmission device 42 includes, for example, a derailleur. The transmission device 42 may include a front derailleur. The transmission device 42 may include an internal transmission device. The internal transmission device is, for example, provided in a hub of the rear wheel 12R. The transmission device 42 may include a continuously variable transmission (CVT). In one example, the transmission device 42 comprises an electrical transmission device. The transmission device 42 includes, for example, a drive source 42A powered by electrical energy. By driving the drive source 42A, the transmission ratio is changed. The drive source 42A includes, for example, an electric motor. The control device 60 comprises a controller 62. The controller 62 contains, for example, a processor that executes predefined control programs. The processor of the controller 62 comprises, for example, a central processing unit (CPU) or a microprocessing unit (MPU). The processor of the controller 62 can be located in separate locations. In a case where the processor is located in separate locations, separate parts of the processor can be interconnected in a manner that enables communication via a wireless communication device. The controller 62 can contain one or more microcomputers. The control device 60 also includes, for example, a memory 64. The memory 64 is connected to the controller 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 includes, for example, non-volatile memory and volatile memory. The non-volatile memory includes, for example, at least one read-only memory (ROM), one erasable programmable read-only memory (EPROM), one electrically erasable programmable read-only memory (EEPROM), or one flash memory. The volatile memory includes, for example, one random-access memory (RAM). The controller 62 is configured to control the transmission device 42. The controller 62 is configured to control the transmission device 42 such that the gear ratio is changed based on a switching condition. The controller 62 can be configured to control the transmission device 42 to switch the gear ratio, for example, depending on a transmission signal in addition to the switching condition. The transmission signal is output, for example, when a user operates a transmission control section. The switching condition includes, for example, a threshold value that relates to a predefined parameter. The predefined parameter relates, for example, to a driving condition and / or a driving environment of the human-powered vehicle 10. The predefined parameter relates, for example, to the rotational speed of the crank axle 22. The predefined parameter relates, for example, to the human driving force acting on the crank axle 22. The predefined parameter can relate to the rotational state of the wheel 12. The rotational state of the wheel 12 includes, for example, at least one of the two quantities: rotational speed of the wheel 12 and vehicle speed. The predefined parameter can relate to an inclination angle of the human-powered vehicle 10.The specified parameter can include two or more of the rotational speed of the crank axis 22, the human driving force exerted on the crank axis 22, the rotational state of the wheel 12 and the inclination angle of the human-driven vehicle 10. The control system 40 also includes, for example, a detector 44 configured to detect the specified parameter. The detector 44 includes, for example, at least a crank rotation state detector 44A, a human driving force detector 44B, a wheel rotation state detector 44C, and an inclination detector 44D. The crank rotation state detector 44A is connected, for example, to a controller 62 in a manner that enables wired or wireless communication. The crank rotation state detector 44A is configured, for example, to detect the rotation of the crank axis 22 and the rotation 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 detector 44A is configured, for example, to detect information about the rotational speed of the crank axis 22 and / or information about the rotational speed of the first rotating body 34. Information relating to the rotational speed of the crank axis 22 includes, for example, the angular acceleration of the crank axis 22.The information relating to the rotational speed of the first rotating body 34 includes, for example, the angular acceleration of the first rotating body 34. The crank rotation state detector 44A is configured to output, for example, a signal corresponding to the rotational speed of the crank axis 22 and / or a signal corresponding to the rotational speed of the first rotating body 34. The crank rotation state detector 44A is configured, for example, to output at least one detection signal corresponding to a rotation angle of the crank axis 22 and 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. The crank rotation state detector 44A includes, for example, a magnetic sensor that outputs a signal corresponding to the strength of a magnetic field. The crank rotation state detector 44A includes, for example, a ring magnet in which the magnetic poles are arranged circumferentially. In one example, the ring magnet is attached to the crank shaft 22. The ring magnet includes, for example, a single S-pole and a single N-pole. The S-pole and the N-pole each extend continuously by 180° around the rotational center axis of the crank shaft 22 in the circumferential direction. Instead of the magnetic sensor, the crank rotation state detector 44A can also include an optical sensor, an accelerometer, a gyroscope, a torque sensor, or similar. The crank rotation state detector 44A can be configured to detect the rotational speed 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 detector 44A can be configured to detect information corresponding to the rotational speed of the second rotating body 36. The 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 detector 44A can be configured to output a signal corresponding to the rotational speed of the second rotating body 36. The crank rotation state detector 44A can include a vehicle speed sensor. In a case where the crank rotation state detector 44A includes a vehicle speed sensor, the controller 62 can be configured to calculate the rotational speed of the crank shaft 22 from the vehicle speed detected by the vehicle speed sensor and the gear ratio. The crank rotation state detector 44A can also include a wheel speed sensor. In a case where the crank rotation state detector 44A includes a wheel speed sensor, the controller 62 can be configured to calculate the rotational speed of the crank shaft 22 from the rotational speed of the wheel 12 detected by the wheel speed sensor and the gear ratio. The wheel speed sensor can, for example, have the same configuration as the wheel rotation state detector 44C. The Human Driving Force Detector 44B is, for example, provided on a component located in a human driving force transmission path, or on a component located near a component included in the human driving force transmission path. The Human Driving Force Detector 44B comprises a strain sensor, a magnetostrictive sensor, a pressure sensor, or similar. The strain sensor includes a strain gauge. The Human Driving Force Detector 44B can have any configuration as long as it obtains information about the human driving force. The human propulsion force detector 44B can, for example, be attached to at least one of the crank arm 20 and pedal 24. If the human propulsion force detector 44B is attached to the pedal 24, it can include a sensor that detects the pressure exerted on the pedal 24. The human propulsion force detector 44B can also be attached to the chain. If the human propulsion force detector 44B is attached to the chain, it can include a sensor that detects the chain tension. The wheel rotation detector 44C is connected to the controller 62 in a manner that enables wired or wireless communication. The wheel rotation detector 44C is configured, for example, to detect information about the speed of the human-powered vehicle 10. The wheel rotation detector 44C is configured, for example, to detect information relating to the rotational speed of the wheel 12. The wheel rotation detector 44C is configured, for example, to detect a magnet attached to at least one of the wheels, the front wheel 12F or the rear wheel 12R. The wheel rotation detector 44C includes, for example, a vehicle speed sensor. The wheel rotation detector 44C 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 detector 44C outputs, for example, a signal corresponding to the rotational speed of the wheel 12. The controller 62 can calculate the speed of the vehicle 10 based on the signal corresponding to the rotational speed of the wheel 12 and the information about the circumferential length of the wheel 12. The information about the circumferential length of the wheel 12 is stored, for example, in the memory 64. The tilt detector 44D includes, for example, a tilt sensor that detects the pitch angle, roll angle, and / or yaw angle of the human-powered vehicle 10. The tilt sensor includes, for example, at least one gyroscope or accelerometer. The tilt detector 44D is configured to detect, for example, the gradient of a road corresponding to the pitch angle, roll angle, and / or yaw angle of the human-powered vehicle 10. The tilt detector 44D may include a GPS (Global Positioning System) receiver. In a case where the tilt detector 44D includes a GPS receiver, map information, including information about the gradient of the road, is pre-stored in memory 64. The controller 62 determines the gradient of the road at the current location of the human-powered vehicle 10 based on the map information stored in memory 64. In an example where the controller 62 controls the transmission device 42 to change the gear ratio based on the switching condition, the controller 62 is configured to control the transmission device 42 to change the gear ratio when the specified parameter exceeds a threshold. The specified parameter exceeding a threshold means that if the threshold is an upper limit, the specified parameter becomes greater than the upper limit. Conversely, if the threshold is a lower limit, the specified parameter becomes less than the lower limit. In a case where the controller 62 controls the transmission device 42 to change the gear ratio based on the switching condition, the controller 62 is configured to control the transmission device 42 to increase the gear ratio when the specified parameter exceeds the threshold. The switching condition includes, for example, an additional threshold related to the specified parameter. In another example where the controller 62 controls the transmission device 42 to change the gear ratio based on the switching condition, the controller 62 is configured to control the transmission device 42 to decrease the gear ratio when the specified parameter exceeds the additional threshold.In one example, one of the threshold values ​​and the additional threshold value is the lower limit threshold, and the other of the threshold values ​​and the additional threshold value is the upper limit threshold. The lower limit threshold is lower than the upper limit threshold. In a case where the controller 62 controls the transmission device 42 to change the transmission ratio based on the switching condition, the controller 62 is configured to control the transmission device 42 in a first example of switching control or a second example of switching control. In the first example of the switching control, for instance, in a case where the controller 62 controls the transmission device 42 to change the gear ratio based on the switching condition, the controller 62 is configured to control the transmission device 42 to increase the gear ratio when the specified parameter becomes greater than the threshold value. In another example, where the controller 62 controls the transmission device 42 to change the gear ratio based on the switching condition, the controller 62 is configured to control the transmission device 42 to increase the gear ratio when the specified parameter becomes greater than the upper limit threshold value. In the first example of switching control, for instance, in a case where the controller 62 controls the transmission device 42 to change the gear ratio based on the switching condition, the controller 62 is configured to control the transmission device 42 to decrease the gear ratio when the specified parameter becomes less than the additional threshold. In another example where the controller 62 controls the transmission device 42 to change the gear ratio based on the switching condition, the controller 62 is configured to control the transmission device 42 to decrease the gear ratio when the specified parameter becomes less than the lower limit threshold. In this first example of switching control, the threshold is the upper limit threshold, and the additional threshold is the lower limit threshold. In the first example of the shift control, the controller 62 limits the driver's load if the specified parameter has a negative correlation with the driver's load. In the first example of the shift control, the controller 62 limits an increase in the specified parameter if the specified parameter has a negative correlation with the driver's load. In the first example of the shift control, the controller 62 increases the gear ratio in accordance with the driver's intention to accelerate if the specified parameter has a positive correlation with the driver's load. Examples of specified parameters that have a negative correlation with the driver's load are the rotational speed of the crankshaft 22, the rotational speed of the wheel 12, and the vehicle speed.Examples of the specified parameter that shows a positive correlation with the driver's workload are the human driving force, an inclination angle of the human-driven vehicle 10 and a gradient of the road on which the human-driven vehicle 10 is traveling. In a second example of switching control, for instance, in a case where the controller 62 controls the transmission device 42 to change the gear ratio based on the switching condition, the controller 62 is configured to control the transmission device 42 to increase the gear ratio when the specified parameter becomes less than the threshold value. In another example, where the controller 62 controls the transmission device 42 to change the gear ratio based on the switching condition, the controller 62 is configured to control the transmission device 42 to increase the gear ratio when the specified parameter becomes less than the lower limit threshold value. In the second example of the switching control, for instance, in a case where the controller 62 controls the transmission device 42 to change the gear ratio based on the switching condition, the controller 62 is configured to control the transmission device 42 to decrease the gear ratio when the specified parameter becomes greater than the additional threshold. In another example, where the controller 62 controls the transmission device 42 to change the gear ratio based on the switching condition, the controller 62 is configured to control the transmission device 42 to decrease the gear ratio when the specified parameter becomes greater than the upper limit threshold. In the second example of the switching control, the lower limit threshold and the additional threshold are the upper limit thresholds. In the second example of the shift control, the control unit 62 limits the driver's workload in a case where the specified parameter has a positive correlation with the driver's workload. In the second example of the shift control, the control unit 62 limits an increase in the specified parameter in a case where the specified parameter has a positive correlation with the driver's workload. In the second example of the shift control, where the specified parameter has a negative correlation with the driver's workload, the control unit 62 reduces the gear ratio, for example, in accordance with the driver's intention to increase the specified parameter in a situation where the driver's workload is low. In a case where the switching condition is met and the switching restriction condition is met, the controller 62 is configured to control the transmission device 42 in a first control state in which switching that increases the transmission ratio is restricted. In an example where the switching condition is met and the switching restriction condition is not met, the controller 62 is configured to control the transmission device 42 in a second control state in which switching that increases the transmission ratio is not restricted. The shift restriction condition includes, for example, a condition relating to an increase in human propulsion. The shift restriction condition may also include a condition other than the one relating to an increase in human propulsion. For example, the shift restriction condition includes a condition relating to at least one of the following: an increase in the gradient of a road on which the human-powered vehicle is traveling, the gradient of the road itself, or a decrease in vehicle speed. The shift restriction condition may further include a condition relating to two or more of the following factors: an increase in the gradient of the road, the gradient of the road, and a decrease in vehicle speed. In a first example of the switching constraint condition, the switching constraint condition is met, for example, if the human driving force increases. The switching constraint condition is met, for example, if the increase in the human driving force during a given period is greater than or equal to a given amount of increase. In a second example of the switching restriction condition, the switching restriction condition is satisfied, for example, if the human driving force increases and the amount of increase in the gradient of the road on which the human-driven vehicle 10 is traveling is less than or equal to the specified amount of increase. In a third example of the switching restriction condition, the switching restriction condition is met, for instance, if the human driving force increases and the gradient of the road on which the human-driven vehicle 10 is traveling is less than or equal to a predetermined gradient. The predetermined gradient is, for example, zero degrees. The predetermined gradient can be greater or less than zero degrees. In a fourth example of the switching restriction condition, the switching restriction condition is met, for example, if the human driving force increases and the decrease in the vehicle speed of the human-driven vehicle is less than or equal to a predetermined decrease. In one example, the controller 62 is configured to change the switching restriction condition based on the driving state of the human-driven vehicle 10. The driving state includes, for example, a first driving state and a second driving state. The first driving state and the second driving state are mutually exclusive. Furthermore, the driving state can include a different driving state than the first and the second driving state. For example, the driving state includes at least one of the following: the gradient of the road on which the human-powered vehicle 10 is traveling, the rate of change of the gradient, the vibration of the human-powered vehicle 10, and the rate of change of the vibration. In one example, in the first driving state, at least one of the following quantities—the gradient of the road on which the human-powered vehicle 10 is traveling, the rate of change of the gradient, the vibration of the human-powered vehicle 10, and the rate of change of the vibration—is greater than that in the second driving state.The driving state comprises, for example, a first driving state in which the human-powered vehicle 10 is traveling off-road, and a second driving state in which the human-powered vehicle 10 is traveling on the road. In a state in which the human-powered vehicle 10 is traveling off-road, at least one of the following quantities—the gradient of the road on which the human-powered vehicle 10 is traveling, the rate of change of the gradient, the vibration of the human-powered vehicle 10, and the rate of change of the vibration—is greater than in a state in which the human-powered vehicle 10 is traveling on the road. The control system 40 includes, for example, a driving condition detector 46, which is designed to detect the driving condition. The driving condition detector 46 includes, for example, a tilt detector 46A. The tilt detector 46A is provided, for example, on the human-powered vehicle 10. The tilt detector 46A has, for example, the same design as the tilt detector 44D. The driving condition detector 46 can include a position detector 46B instead of, or in addition to, the tilt detector 46A. The position detector 46B includes, for example, a GPS (Global Positioning System) receiver. In a case where the position detector 46B includes a GPS receiver, map information, including information about road gradients, is pre-stored in memory 64. The controller 62 determines the gradient of the road at the current location of the human-powered vehicle 10 based on the map information stored in memory 64. The controller 62 can determine the surface condition of the road at the current position of the human-powered vehicle 10 based on the map information stored in memory 64.The control unit 62 can be configured to, for example, calculate the vibration of the human-powered vehicle 10 and / or the rate of change of the vibration based on the surface condition of the road at the current location of the human-powered vehicle 10. The controller 62 is configured, for example, to modify the switching restriction condition in accordance with an output from the tilt detector 46A, which is provided on the human-powered vehicle 10. In a case where the driving state detector 46 includes, for example, the position detector 46B, the controller 62 can select one of the first driving state and the second driving state based on position information from the human-powered vehicle 10. In one example, the controller 62 selects the first driving state if at least one of the following quantities, namely the gradient of the road on which the human-powered vehicle 10 is traveling, the rate of change of the gradient, the vibration of the human-powered vehicle 10, and the rate of change of the vibration detected by the driving state detector 46, corresponds to the first driving state.The controller 62 determines that the driving state is the first driving state, for example, based on the fact that the absolute value of the gradient of the road on which the human-powered vehicle 10 is traveling is greater than a predetermined gradient, that the rate of change of the gradient is greater than a predetermined rate of change of the gradient, that the vibration of the human-powered vehicle 10 is greater than a predetermined vibration, and that the rate of change of the vibration is greater than a predetermined rate of change of the vibration. In one example, the controller 62 selects the second driving state in a case where at least one of the following elements corresponds to the second driving state: the gradient of the road on which the human-powered vehicle 10 is traveling, the rate of change of the gradient, the vibration of the human-powered vehicle 10, and the rate of change of the vibration detected by the tilt detector 46A.In the present embodiment, in a case where the driving state is not the first driving state, the driving state is the second driving state. In a case where the switching restriction condition is met in the second driving state, the control unit 62 is configured to, for example, reduce the step for restricting the switching that increases the gear ratio, compared to a case where the switching restriction condition is met in the first driving state. In a first example of the switching control, the control unit 62, for example, in a case where the switching restriction condition is met in the second driving state, changes the upper limit threshold so that it is lower than the upper limit threshold in a case where the switching restriction condition is met in the first driving state.In a second example of the switching control, the control unit 62, for example, in a case where the switching restriction condition is met in the second driving state, changes the lower limit threshold so that it is greater than the lower limit threshold in a case where the switching restriction condition is met in the first driving state. The control unit 62 is configured to change the stage for limiting the shifting that increases the gear ratio in the first control state, based on information about the human driving force applied to the crank shaft 22. In the present embodiment, the stage for limiting the shifting that increases the gear ratio in the first control state can be referred to as the limiting stage. For example, in the first control state, the control unit 62 changes the limiting stage from a first stage to a second stage based on information about the human driving force. The process information includes, for example, the elapsed time of a state in which the human driving force is within a predefined range. The controller 62 is configured to lower the switching restriction stage, which increases the gear ratio in the first control state, in cases where the elapsed time is greater than or equal to a predefined elapsed time. The controller 62 changes the restriction stage from the first stage to the second stage in cases where the elapsed time is greater than or equal to the predefined elapsed time. The controller 62 is configured, for example, to set the predefined range based on the human driving force in cases where the switching restriction condition is met.The control unit 62, for example, is designed to define the specified range based on the human driving force at a time when the switching restriction condition is met. A process executed by the controller 62 for controlling the transmission device 42 will now be described with reference to Fig. 3. For example, if electrical energy is supplied to the controller 62, the controller 62 begins the process of the flowchart shown in Fig. 3 from step S11. In a case where the flowchart shown in Fig. 3 ends, the controller 62 repeats the process from step S11 after a predetermined interval, for example, until the supply of electrical current ends. In step S11, the controller 62 determines whether the switching condition is met. If the switching condition is not met, the controller 62 terminates processing. If the switching condition is met, the controller 62 proceeds to step S12. In step S12, the controller 62 modifies the switching restriction condition based on the driving state of the human-powered vehicle 10 and then continues with step S13. In step S13, the controller 62 determines whether the switching restriction condition is met. For example, based on the switching restriction condition changed in step S12, the controller 62 performs the determination in step S13. If the switching restriction condition is met, the controller 62 proceeds to step S14. In step S14, the controller 62 changes the restriction level based on the history information and then proceeds to step S15. In step S15, the controller 62 controls the transmission device 42 in the first control state and then terminates processing. For example, the controller 62 controls the transmission device 42 based on the restriction level changed in step S14. In an example where the specified parameter exceeds the threshold in step S15 and the restriction level is the first level, the controller 62 does not change the transmission ratio. In an example where the specified parameter exceeds the threshold in step S15 and the restriction level is the second level, the controller 62 controls the transmission device 42 to increase the transmission ratio. In an example where the specified parameter exceeds the additional threshold in step S15, the controller 62 controls the transmission device 42 to decrease the transmission ratio. In step S13, the controller 62 proceeds to step S16 if the switching restriction condition is not met. In step S16, the controller 62 switches the transmission device 42 to the second control state and then terminates the processing. For example, if the specified parameter exceeds the threshold in step S16, the controller 62 increases the transmission device 42's gear ratio. Conversely, if the specified parameter exceeds the additional threshold in step S16, the controller 62 decreases the gear ratio. The description in connection with the above embodiment illustrates, without intending to be a limitation, one applicable form of a control device for a human-powered vehicle. The control device for a human-powered vehicle according to the present invention can be applied, for example, to modified embodiments described below and to combinations of at least two of the modified embodiments that do not contradict each other. In the modified embodiments described below, those components are designated with the same reference numerals that are identical to the corresponding components of the above embodiment. Such components are not described in detail. In a case where the switching restriction condition is met in the second driving state, the controller 62 can be configured to increase the switching restriction level, thereby increasing the gear ratio compared to a case where the switching restriction condition is met in the first driving state. For example, in a first example of the switching control, the controller 62, in a case where the switching restriction condition is met in the second driving state, modifies the upper limit threshold so that it is higher than the upper limit threshold in a case where the switching restriction condition is met in the first driving state.In a second example of the switching control, the control unit 62, for example, in a case where the switching restriction condition is met in the second driving state, changes the lower limit so that it is smaller than the lower limit in a case where the switching restriction condition is met in the first driving state. The control unit 62 can be configured to increase the threshold for limiting the shifting that increases the gear ratio in the first control state in a case where the elapsed time is greater than or equal to a predetermined elapsed time. In this modified example, the control unit 62, for instance, limits an increase in the gear ratio that is not intended by the driver in a case where the driver exerts human propulsion for an extended period. Thus, the control unit 62 controls the transmission device 42 in a preferred manner. The expression “at least one of” used in this application means “one or more” of a desired selection. For example, the phrase “at least one of” as used in this application means “only a single selection” or “both of two options” when the number of options is two. Another example: The expression “at least one of” used in this application means “only a single option” or “any combination of at least two options” when the number of options is three or more. Furthermore, the term “and / or” as used in this application means “either one or both.” For example, the phrase “at least one of A and B” includes (1) A alone, (2) B alone, and (3) both A and B.The phrase “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 phrase “at least one of A and B” in this application does not mean “at least one of A and at least one of B”. In this description, ordinal numbers such as "first, second and third" are used only to distinguish between numerical values ​​or elements with the same name and therefore have no special meaning. REFERENCE MARK 10 Human-powered vehicle 12 Wheel 12F Front wheel 12R Rear wheel 14 Vehicle body 16 Frame 16A Saddle 18 Crank 20 Crank arm 22 Crank axle 24 Pedal 26 Front fork 28 Handlebar 30 Stem 32 Drive mechanism 34 First rotating body 36 Second rotating body 38 Connecting element 40 Control system 42 Transmission device 42A Power source 44 Detector 44A Crank rotation state detector 44B Human propulsion force detector 44C Wheel rotation state detector 44D Tilt detector 46 Driving state detector 46A Tilt detector 46B Position detector 60 Control device 62 Control 64 Memory S11-S16 Procedure steps QUOTES INCLUDED IN THE DESCRIPTION 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 JP 2013 - 047 085 A

[0002]

Claims

Control device (60) for a human-powered vehicle (10), wherein the human-powered vehicle (10) has a transmission device (42) configured to change a transmission ratio that is a ratio of the rotational speed of a wheel (12) of the human-powered vehicle (10) to the rotational speed of a crankshaft (22) of the human-powered vehicle (10), wherein the control device (60) comprises: a controller (62) configured to control the transmission device (42), the controller (62) configured to control the transmission device (42) to change the transmission ratio based on a switching condition, in a case where the switching condition is met and a switching restriction condition is met, the controller (62) configured to control the transmission device (42) in a first control state in which a switching,that increases the transmission ratio, is limited, and the control (62) is designed to modify a stage for limiting the switching that increases the transmission ratio in the first control state, based on information about the human driving force applied to the crank axle (22). Control device (60) according to claim 1, wherein the switching restriction condition is met in a case in which the human driving force increases. Control device (60) according to claim 2, wherein the switching restriction condition is met in a case in which an increase in the human driving force during a predetermined period is greater than or equal to a predetermined increase. Control device (60) according to one of claims 1 to 3, wherein the progress information contains the elapsed time of a state in which the human driving force is within a predetermined range, and the control (62) is designed to reduce the stage for limiting the switching that increases the transmission ratio in the first control state in a case in which the elapsed time is greater than or equal to a predetermined elapsed time. Control device (60) according to claim 4, wherein the control (62) is designed to set the predetermined range based on the human driving force in a case where the switching restriction condition is met. Control device (60) according to claim 5, wherein the control (62) is designed to set the predetermined range based on the human driving force at a time when the switching restriction condition is met. Control device (60) according to claim 2 or 3, wherein the switching restriction condition is met in a case where the human driving force increases and an increase in a gradient of a road on which the human-driven vehicle (10) is traveling is less than or equal to a predetermined increase. Control device (60) according to one of claims 2, 3 and 7, wherein the switching restriction condition is met in a case where the human driving force increases and a gradient of a road on which the human-driven vehicle (10) is traveling is less than or equal to a predetermined gradient. Control device (60) according to one of claims 2, 3, 7 and 8, wherein the switching restriction condition is met in a case in which the human driving force increases and a decrease in the vehicle speed of the human-driven vehicle (10) is less than or equal to a predetermined decrease. Control device (60) according to any one of the preceding claims 1 to 9, wherein the control (62) is configured to change the switching restriction condition based on a driving state of the human-powered vehicle (10). Control device (60) according to claim 10, wherein the driving condition comprises at least one of the following features: a gradient of a road on which the human-powered vehicle (10) is traveling, a rate of change of the gradient, a vibration of the human-powered vehicle (10) and a rate of change of the vibration. Control device (60) according to claim 11, wherein the control (62) is configured to change the switching restriction condition according to an output signal from a tilt detector (44D, 46A) provided on the human-powered vehicle (10). Control device (60) according to claim 10, wherein the driving condition comprises a first driving condition in which the human-powered vehicle (10) is driving off a road, and a second driving condition in which the human-powered vehicle (10) is driving on a road. Control device (60) according to claim 13, wherein the control (62) is configured to select either the first driving state or the second driving state based on position information of the human-powered vehicle (10). Control device (60) according to any one of the preceding claims 1 to 14, wherein the switching condition comprises a threshold value relating to a predetermined parameter, in a case where the controller (62) controls the transmission device (42) to change the transmission ratio based on the switching condition, the controller (62) is configured to control the transmission device (42) to increase the transmission ratio when the predetermined parameter exceeds the threshold value. Control device (60) according to claim 15, wherein in a case in which the control (62) controls the transmission device (42) to change the transmission ratio based on the switching condition, the control (62) is configured to control the transmission device (42) to increase the transmission ratio when the predetermined parameter becomes greater than the threshold value. Control device (60) according to claim 15 or 16, wherein the predetermined parameter is related to the rotational speed of the crankshaft (22). Control device (60) according to one of claims 15 to 17, wherein the predetermined parameter comprises the human driving force exerted on the crank axis (22).

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