Control device for a human-powered vehicle and drive unit for a human-powered vehicle

Abstract

Control device for a human-powered vehicle, comprising: a control device configured to control a motor that assists the propulsion of a human-powered vehicle comprising a crank, wherein in a case where the motor is controlled in a first control state, the control device controls the motor in a second control state different from the first control state in a case where an angle of a vehicle body of the human-powered vehicle is greater than or equal to a first angle, and the control device controls the motor in a third control state different from the second control state in a case where the angle is greater than or equal to a second angle greater than the first angle, and at least one of a ratio of an output of the engine to a human driving force input to the crank and an upper limit of the output of the engine is greater in the second control state than in the first control state and in the third control state, or is smaller in the second control state than in the first control state and in the third control state.

Description

STATE OF THE ART

[0001] The present invention relates to a control device for a human-powered vehicle and a drive unit for a human-powered vehicle.

[0002] JP 2017-043322 A discloses an example of a control device for a human-powered vehicle that reduces the assist ratio according to a predetermined condition.

[0003] Patent Document 1: JP 2017-043322 A SUMMARY

[0004] It is an object of the present invention to provide a control device for a human-driven vehicle and a drive unit for a human-driven vehicle configured to appropriately control a motor according to a driving condition.

[0005] A control device for a human-powered vehicle according to a first aspect of the present invention comprises a control device configured to control a motor that assists propulsion of a human-powered vehicle, which includes a crank, and is configured such that, in a case where the motor is controlled in a first control state, the control device controls the motor in a second control state different from the first control state in a case where an angle of a vehicle body of the human-powered vehicle is greater than or equal to a first angle, and the control device controls the motor in a third control state different from the second control state in a case where the angle is greater than or equal to a second angle that is greater than the first angle.and at least one of a ratio of an output of the engine to a human driving force input to the crank and an upper limit value of the output of the engine is larger in the second control state than in the first control state and in the third control state, or smaller in the second control state than in the first control state and in the third control state.

[0006] At least one of the ratio of the output of the motor to the human driving force input to the crank and the upper limit of the output of the motor includes only the ratio of the output of the motor to the human driving force input to the crank, only the upper limit of the output of the motor, or both the ratio of the output of the motor to the human driving force input to the crank and the upper limit of the output of the motor.

[0007] According to the control device for a human-powered vehicle of the first aspect, as the inclination angle of the vehicle body increases, the control state of the motor changes in the order of the first control state, the second control state, and the third control state. Thus, the motor is appropriately controlled according to the driving condition.

[0008] According to a second aspect of the present invention, the control device for a human-powered vehicle according to the first aspect is configured such that, in the second control state, at least one of the ratio and the upper limit value is larger than that in the first control state and larger than that in the third control state.

[0009] According to the control device for a human-powered vehicle of the second aspect, at least one of the ratio and the upper limit value is increased in a case where the angle of the vehicle body is greater than or equal to the first angle and smaller than the second angle, than a case where the angle of the vehicle body is smaller than the first angle and a case where the angle is greater than or equal to the second angle.

[0010] According to a third aspect of the present invention, the control device of the human-powered vehicle according to the second aspect is configured such that the control means stops driving the motor in the third control state.

[0011] According to the control device for a human-powered vehicle of the third aspect, the driving of the motor is stopped in a case where the angle of the vehicle body is greater than or equal to the second angle.

[0012] A control device for a human-powered vehicle according to a fourth aspect of the present invention includes a control device configured to control a motor that assists propulsion of a human-powered vehicle, which includes a crank, and is configured such that the control device controls the motor in a fourth control state in a case where an angle of a vehicle body of the human-powered vehicle is greater than or equal to a third angle and a rotation angle of the crank is maintained within a predetermined range, and the control device controls the motor in a fifth control state different from the fourth control state in a case where the angle is greater than or equal to the third angle and the crank rotates beyond the predetermined range.

[0013] According to the control device for a human-powered vehicle of the fourth aspect, in a case where the angle of the vehicle body of the human-powered vehicle is greater than or equal to the third angle, the control state of the motor is changed according to the rotation angle of the crank, and thus the motor is appropriately controlled according to the driving condition.

[0014] A control device for a human-powered vehicle according to a fifth aspect of the present invention includes a control device configured to control a motor that assists propulsion of a human-powered vehicle that includes a crank, and is configured such that the control device controls the motor in a fourth control state in a case where an angle of a vehicle body of the human-powered vehicle is greater than or equal to a third angle and a human driving force input to the crank is less than a predetermined value, and the control device controls the motor in a fifth control state different from the fourth control state in a case where the angle is greater than or equal to the third angle and the human driving force is greater than or equal to the predetermined value.

[0015] According to the control device for a human-driven vehicle of the fifth aspect, in a case where the angle of the vehicle body of the human-driven vehicle is greater than or equal to the third angle, the control state of the motor is changed according to the human driving force input to the crank. Thus, the motor is appropriately controlled according to the driving condition.

[0016] A control device for a human-powered vehicle according to a sixth aspect of the present invention includes a control device configured to control a motor that assists propulsion of a human-powered vehicle including a steering unit and a crank, and is configured such that the control device controls the motor in a fourth control state in a case where an angle of a vehicle body of the human-powered vehicle is greater than or equal to a third angle and a change amount of a load on the steering unit or a load on the steering unit is greater than or equal to a predetermined value, and the control device controls the motor in a fifth control state different from the fourth control state in a casein which the angle is greater than or equal to the third angle and the amount of change in the load on the steering unit or the load on the steering unit is less than the specified value.,

[0017] According to the control device for a human-powered vehicle of the sixth aspect, the control state of the motor is changed according to the angle of the vehicle body and the amount of change in the load on the steering unit or the load on the steering unit. Thus, the motor is appropriately controlled according to the driving condition.

[0018] A control device for a human-powered vehicle according to a seventh aspect of the present invention includes a control device configured to control a motor that assists propulsion of a human-powered vehicle, which includes a crank, and is configured such that the control device controls the motor in a fourth control state in a case where an angle of a vehicle body of the human-powered vehicle is greater than or equal to a third angle and a driver moves the human-powered vehicle forward without rotating the crank, and the control device controls the motor in a fifth control state different from the fourth control state in a case where the angle is greater than or equal to the third angle and the driver moves the human-powered vehicle forward by rotating the crank.

[0019] According to the control device for a human-powered vehicle of the seventh aspect, when the angle of the vehicle body is greater than or equal to the third angle, the control state of the motor is changed according to the rotation state of the crank. Thus, the motor is appropriately controlled according to the driving condition.

[0020] According to an eighth aspect of the present invention, the control device for a human-powered vehicle according to any one of the fourth to seventh aspects is configured such that the control means controls the motor such that at least one of a ratio of an output of the motor to a human driving force input to the crank of the human-powered vehicle and an upper limit value of the output of the motor in the fifth control state is different from that in the fourth control state.

[0021] According to the control device for a human-powered vehicle of the eighth aspect, in the fourth control state and the fifth control state, at least one of the ratio and the upper limit value is set to a value suitable for the corresponding control state.

[0022] According to a ninth aspect of the present invention, the control device for a human-powered vehicle according to the eighth aspect is configured such that at least one of the ratio and the upper limit value in the fifth control state is smaller than that in the fourth control state.

[0023] According to the control device for a human-driven vehicle of the ninth aspect, in the fifth control state, at least one of the ratio and the upper limit value is reduced from that in the fourth control state.

[0024] According to a tenth aspect of the present invention, the control device of the human-powered vehicle according to the ninth aspect is configured such that the control means stops driving the motor in the fifth control state.

[0025] According to the control device of the human-powered vehicle of the tenth aspect, the driving of the motor is stopped in the fifth control state.

[0026] A control device for a human-powered vehicle according to an eleventh aspect of the present invention includes a control device configured to control a motor that assists propulsion of a human-powered vehicle, and configured such that the control device controls the motor in a sixth control state in a case where an angle of a vehicle body of the human-powered vehicle is greater than or equal to a fourth angle, and the control device controls the motor in a seventh control state different from the sixth control state in a case where a state where the angle is greater than or equal to the fourth angle continues for a predetermined time or longer.

[0027] According to the control device for a human-powered vehicle of the eleventh aspect, the control state of the motor is changed according to the time during which the state in which the angle is greater than or equal to the fourth angle continues. Thus, the motor is appropriately controlled according to the driving condition.

[0028] According to a twelfth aspect of the present invention, the control device for a human-driven vehicle according to the eleventh aspect is configured such that the control means controls the motor such that at least one of a ratio of an output of the motor to a human driving force input to the crank of the human-driven vehicle and an upper limit value of the output of the motor in the seventh control state is different from that in the sixth control state.

[0029] According to the control device for a human-powered vehicle of the twelfth aspect, in the sixth control state and the seventh control state, at least one of the ratio and the upper limit value is set to a value suitable for the corresponding control state.

[0030] According to a thirteenth aspect of the present invention, the control device for a human-powered vehicle according to the twelfth aspect is configured such that at least one of the ratio and the upper limit value in the seventh control state is smaller than that in the sixth control state.

[0031] According to the control device for a human-driven vehicle of the thirteenth aspect, in a case where a state where the angle is greater than or equal to the fourth angle continues for a predetermined time or longer, at least one of the ratio and the upper limit value is reduced from a case where a state where the angle is greater than or equal to the fourth angle is less than the predetermined time.

[0032] According to a fourteenth aspect of the present invention, the control device for a human-powered vehicle according to the twelfth or thirteenth aspect is configured such that the control means controls the motor in an eighth control state different from the sixth control state and the seventh control state in a case where the angle is smaller than the fourth angle.

[0033] According to the control device for a human-powered vehicle of the fourteenth aspect, in a case where the angle is smaller than the fourth angle, the motor is controlled differently from a case where the angle is greater than or equal to the fourth angle.

[0034] According to a fifteenth aspect of the present invention, the control device for a human-powered vehicle according to the fourteenth aspect is configured such that the control means controls the motor such that at least one of the ratio and the upper limit value in the seventh control state is different from that in the sixth control state and the eighth control state.

[0035] According to the control device for a human-driven vehicle of the fifteenth aspect, at least one of the ratio and the upper limit value is set to a value suitable for a case where the angle is greater than or equal to the fourth angle and a case where the angle is smaller than the fourth angle.

[0036] According to a sixteenth aspect of the present invention, the control device for a human-powered vehicle according to the fifteenth aspect is configured such that at least one of the ratio and the upper limit value in the seventh control state is smaller than that in the eighth control state.

[0037] According to the control device for a human-driven vehicle of the sixteenth aspect, in a case where a state where the angle is greater than or equal to the fourth angle is continued for a predetermined time or longer, at least one of the ratio and the upper limit value is smaller than in a case where the angle is smaller than the fourth angle.

[0038] According to a seventeenth aspect of the present invention, the control device of the human-powered vehicle according to any one of the twelfth to sixteenth aspects is configured such that the control means stops driving the motor in the seventh control state.

[0039] According to the control device of the human-powered vehicle of the seventeenth aspect, the driving of the motor is stopped in the seventh control state.

[0040] According to an eighteenth aspect of the present invention, the control device for a human-powered vehicle according to any one of the first or seventeenth aspects is configured such that the angle of the vehicle body includes at least one of a pitch angle of the vehicle body and a roll angle of the vehicle body.

[0041] According to the control device for a human-powered vehicle of the eighteenth aspect, the motor is suitably controlled according to only the pitch angle of the vehicle body, the roll angle of the vehicle body, or both the pitch angle of the vehicle body and the roll angle of the vehicle body.

[0042] According to a nineteenth aspect of the present invention, the control device for a human-driven vehicle according to any one of the first to eighteenth aspects further comprises a detector configured to detect the angle of the vehicle body.

[0043] According to the control device for a human-powered vehicle of the nineteenth aspect, the angle of the vehicle body is appropriately detected by the detector.

[0044] A control device for a human-powered vehicle according to a twentieth aspect of the present invention includes a controller configured to control a motor that assists propulsion of a human-powered vehicle including a handlebar unit and a crank, and configured such that the controller controls the motor according to a load on the handlebar unit and a human driving force input to the crank.

[0045] According to the control device for a human-powered vehicle of the twentieth aspect, the motor is appropriately controlled according to the load on the steering unit and the human driving force. Thus, the motor is appropriately controlled according to the driving condition.

[0046] According to a twenty-first aspect of the present invention, the control device for a human-powered vehicle according to the twentieth aspect is configured such that the control means controls the motor in a ninth control state in a case where the load on the handlebar unit is greater than or equal to a predetermined value, and the control means controls the motor in a tenth control state different from the ninth control state in a case where the load on the handlebar unit is less than the predetermined value.

[0047] According to the control device for a human-powered vehicle of the twenty-first aspect, in a case where the load on the steering unit is equal to or greater than a predetermined value, the motor is controlled differently from a case where the load on the steering unit is less than the predetermined value.

[0048] According to a twenty-second aspect of the present invention, the control device for a human-powered vehicle according to the twentieth or twenty-first aspect is configured such that the load on the handlebar unit is a load in a predetermined direction of the handlebar unit.

[0049] According to the control device for a human-powered vehicle of the twenty-second aspect, the motor is appropriately controlled according to the load in the predetermined direction of the steering unit.

[0050] A drive unit for a human-powered vehicle according to a twenty-third aspect of the present invention includes the control device for a human-powered vehicle according to any one of the first to twenty-second aspects and a motor configured to assist propulsion of the human-powered vehicle.

[0051] According to the control device for a drive unit for a human-powered vehicle of the twenty-third aspect, the motor is appropriately controlled according to the driving condition.

[0052] The control device for a human-powered vehicle and the drive unit for a human-powered vehicle according to the present invention appropriately control the motor according to the driving condition. BRIEF DESCRIPTION OF THE DRAWINGS Fig. 1 is a side view of a human-powered vehicle including a drive unit for a human-powered vehicle according to a first embodiment. Fig. 2 is a block diagram showing an electrical structure of the drive unit for a human-powered vehicle according to the first embodiment. Fig. 3 is a flowchart of a process for controlling a motor according to an angle of a vehicle body, which is determined by a control device of Fig. 2 is executed. Fig. 4 is a flowchart of a process for controlling an engine according to an angle of a vehicle body and the rotational state of a crank, which is executed by a control device according to a second embodiment. Fig. 5 is a flowchart of a process for controlling a motor according to an angle of a vehicle body and a human driving force, which is executed by a control device according to a third embodiment. Fig. 6 is a block diagram showing an electrical structure of a drive unit for a human-powered vehicle according to a fourth embodiment. Fig. Fig. 7 is a flowchart of a process for controlling a motor according to an angle of a vehicle body and a load on a steering unit, which is carried out by a control device of Fig. 6 is executed. Fig. 8 is a flowchart of a process for controlling an engine according to an angle of a vehicle body and a rotational state of a crank generated by a driver, which is executed by a control device according to a fifth embodiment. Fig. 9 is a flowchart of a process for controlling a motor according to an angle of a vehicle body and time, which is executed by a control device according to a sixth embodiment. Fig. 10 is a block diagram showing an electrical structure of a drive unit for a human-powered vehicle according to a seventh embodiment. Fig. Fig. 11 is a flowchart of a process for controlling a motor according to a load on a handlebar unit, which is carried out by a control device of Fig. 10 is executed. EMBODIMENTS OF THE INVENTIONFirst Embodiment

[0053] The phrase "at least one of" as used in this invention means "one or more" of a desired selection. In one example, the phrase "at least one of" as used in this invention means "only a single selection" or "both of two selections" when the number of its selections is two. In another example, the phrase "at least one of" as used in this invention means "only a single selection" or "any combination of two or more selections" when the number of its selections is three or more.

[0054] A drive unit 50 for a human-powered vehicle including a control device 60 for a human-powered vehicle according to a first embodiment will now be described with reference to FIG. Fig. 1 to 3. The drive unit 50 for a human-powered vehicle is used in a human-powered vehicle 10. The human-powered vehicle 10 is a vehicle configured to be driven by at least one human driving force H. There is no limitation on the number of wheels of the human-powered vehicle 10. The human-powered vehicle 10 may be, for example, a unicycle or a vehicle having three or more wheels. The human-powered vehicle 10 includes various types of bicycles, such as a mountain bike, a racing bike, a city bike, a cargo bike, and a recumbent bicycle. The bicycle includes an electric bicycle (e-bike) driven by an electric motor. The electric bicycle includes an electrically assisted bicycle whose propulsion is assisted by the electric motor.In the embodiments described hereinafter, the human-powered vehicle 10 is referred to as a bicycle having two wheels.

[0055] The human-powered vehicle 10 includes a crank 12, a drive wheel 14, and a vehicle body 16. The vehicle body 16 includes a frame 18 and a steering unit 20. The human driving force H is input to the crank 12. The crank 12 includes a crankshaft 12A rotatable relative to a frame 18, and crank arms 12B each provided at two axial ends of the crankshaft 12A. A pedal 22 is coupled to each crank arm 12B. The crank 12 is rotated to drive the drive wheel 14. The drive wheel 14 is supported by the frame 18. A drive mechanism 24 connects the crank 12 and the drive wheel 14. The drive mechanism 24 includes a first rotating body 26 coupled to the crankshaft 12A. The crankshaft 12A and the first rotating body 26 may be coupled to rotate integrally with each other, or may be coupled to each other by a first one-way clutch.The first one-way clutch is configured to rotate the first rotating body 26 forward when the crank 12 rotates forward, and to prevent the first rotating body 26 from rotating backward when the crank 12 rotates backward. The first rotating body 26 comprises a gear, a pulley, or a bevel gear. The drive mechanism 24 further comprises a second rotating body 28 and a connecting element 30. The connecting element 30 transmits the rotational force of the first rotating body 26 to the second rotating body 28. The connecting element 30 comprises, for example, a chain, a belt, or a shaft.

[0056] The second rotating body 28 is connected to the drive wheel 14. The second rotating body 28 includes a gear, a pulley, or a bevel gear. Preferably, a second one-way clutch is provided between the second rotating body 28 and the drive wheel 14. The second one-way clutch is configured to rotate the drive wheel 14 forward when the second rotating body 28 rotates forward and to prevent the drive wheel 14 from rotating backward when the second rotating body 28 rotates backward. The human-powered vehicle 10 may include a transmission 42 used to change the rotational speed of the drive wheel 14 relative to the rotational speed of the crankshaft 12A. The transmission 42 includes, for example, at least one of a front derailleur, a rear derailleur, and an internal gear device.The transmission 42 may include only a front derailleur, only a rear derailleur, only an internal transmission device, or any combination of a front derailleur, a rear derailleur, and an internal transmission device. In the present embodiment, at least one of the first rotating body 26 and the second rotating body 28 includes a plurality of gears. Only the first rotating body 26, only the second rotating body 28, or both the first rotating body 26 and the second rotating body 28 may include a plurality of gears. In the present embodiment, the first rotating body 26 includes one gear, and the second rotating body 28 includes a plurality of gears. The derailleur includes a front derailleur in a case where the first rotating body 26 includes a plurality of front gears, and includes a rear derailleur in a case where the second rotating body 28 includes a plurality of front gears.In a case where the transmission 42 includes an internal transmission device, the internal transmission device is provided, for example, on a hub of the drive wheel 14.

[0057] The human-powered vehicle 10 includes a front wheel and a rear wheel. The front wheel is attached to the frame 18 by the steering unit 20. The steering unit 20 includes a front fork 32 and a handlebar unit 34. The handlebar unit 34 includes a handlebar stem 36 and a handlebar 38. A handlebar 38 is connected to the front fork 32 by a handlebar stem 36. In the following description, the rear wheel is referred to as the drive wheel 14. However, the front wheel may be the drive wheel 14.

[0058] The human-powered vehicle 10 further includes a battery 40. The battery 40 includes one or more battery cells. The battery cell includes a rechargeable battery. The battery 40 is provided in the human-powered vehicle 10 and supplies electrical power to other electrical components, such as the human-powered vehicle controller 60, which is electrically connected to the battery 40. The battery 40 is connected to the human-powered vehicle controller 60 to communicate with the human-powered vehicle controller 60 through a wired or wireless connection. The battery 40 is configured to communicate with the human-powered vehicle controller 60, for example, through power line communication (PLC).The battery 40 may be coupled to the outside of the frame 18 or at least partially housed within the frame 18.

[0059] The human-powered vehicle drive unit 50 includes a human-powered vehicle controller 60 and a motor 52 configured to assist the propulsion of the human-powered vehicle. The human-powered vehicle drive unit 50 further includes a drive circuit 54. The drive circuit 54 includes an inverter circuit. The motor 52 is preferably provided in the same housing as the drive circuit. The drive circuit 54 controls the electrical power supplied from the battery 40 to the motor 52. The drive circuit 54 is connected to the human-powered vehicle controller 60 to communicate with the human-powered vehicle controller 60 through a wired or wireless connection.The drive circuit 54 is configured to communicate with a controller 62 of the human-powered vehicle control device 60, for example, through serial communication. The drive circuit 54 may be included in the human-powered vehicle control device 60. The drive circuit 54 drives the motor 52 according to a control signal from the controller 62.

[0060] The motor 52 includes an electric motor. The motor 52 is provided to transmit rotation of the human driving force H to the front wheel or to a power transmission path extending from the pedals 22 to the rear wheel. The motor 52 is provided on the frame 18, the rear wheel, or the front wheel of the human-powered vehicle 10. In the present embodiment, the motor 52 is coupled to a power transmission path from the crankshaft 12A to the first rotating body 26. Preferably, the one-way clutch is provided in the power transmission path between the motor 52 and the crankshaft 12A so that the motor 52 is not rotated by the rotating force of the crank 12 in a case where the crankshaft 12A is rotated in the direction in which the human-powered vehicle 10 moves forward.The housing in which the motor 52 and the drive circuit 54 are provided may be provided with components other than the motor 52 and the drive circuit 54, and may, for example, be provided with a reduction gear that reduces the rotation generated by the motor 52 before outputting the rotation.

[0061] The control device 60 of the human-powered vehicle includes the controller 62. The controller 62 includes a processor that executes a predetermined control program. The processor is, for example, a central processing unit (CPU) or a microprocessing unit (MPU). The controller 62 may include one or more microcomputers. The controller 62 may include a plurality of controllers located at separate positions. The control device 60 for a human-powered vehicle further includes a memory 64. The memory 64 stores various control programs and information used for various control processes. The memory 64 includes, for example, a non-volatile memory and a volatile memory. The controller 62 and the memory 64 are provided, for example, on the housing on which the motor 52 is provided.

[0062] Preferably, the human-powered vehicle control device 60 further includes a crank rotation sensor 66, a vehicle speed sensor 68, and a torque sensor 70. The crank rotation sensor 66, the vehicle speed sensor 68, and the torque sensor 70 may be provided inside or outside the housing on which the motor 52 is provided. At least one of the crank rotation sensor 66, the vehicle speed sensor 68, and the torque sensor 70 may not be included in the human-powered vehicle control device 60.

[0063] The crank rotation sensor 66 is used to detect the rotational speed N of the crank 12 of the human-powered vehicle 10. The crank rotation sensor 66 is attached, for example, to the frame 18 of the human-powered vehicle 10 or the housing in which the engine 52 is provided. The crank rotation sensor 66 is configured to include a magnetic sensor that outputs a signal corresponding to the intensity of a magnetic field. A ring magnet, whose magnetic field intensity changes in the circumferential direction, is provided on the crankshaft 12A or the power transmission path between the crankshaft 12A and the first rotating body 26. The crank rotation sensor 66 is connected to the controller 62 to communicate with the controller 62 by wired or wireless connection. The crank rotation sensor 66 outputs a signal corresponding to the rotational speed N of the crank 12 to the controller 62.The crank rotation sensor 66 may be provided on a member that rotates integrally with the crankshaft 12A in the power transmission path of the human drive force H, which extends from the crankshaft 12A to the first rotating body 26. For example, the crank rotation sensor 66 may be provided on the first rotating body 26 in a case where the first one-way clutch is not provided between the crankshaft 12A and the first rotating body 26. The crank rotation sensor 66 may be used to detect a vehicle speed V of the human-driven vehicle 10. In this case, the controller 62 calculates the rotational speed of the drive wheel 14 according to the rotational speed N of the crank 12 detected by the crank rotation sensor 66 and the gear ratio, and the controller 62 detects a vehicle speed V of the human-driven vehicle 10.Information regarding the gear ratio is stored in advance in the memory 64.

[0064] In a case where a transmission for changing the gear ratio is provided on the human-powered vehicle 10, the controller 62 may calculate the gear ratio according to the vehicle speed V of the human-powered vehicle 10 and the rotational speed N of the crank 12. In this case, information related to the circumferential length of the drive wheel 14, the diameter of the drive wheel 14, or the radius of the drive wheel 14 is stored in advance in the memory 64. The human-powered vehicle control device 60 may include a shift sensor. The shift sensor is provided, for example, in the transmission 42. The shift sensor detects the current shift stage of the transmission 42. The shift sensor is electrically connected to the controller 62. The relationship between the shift stage and the gear ratio is stored in advance in the memory 64.The control device 62 is thus configured to detect the current gear ratio from the detection result of the shift sensor. The control device 62 is configured to calculate the rotational speed N of the crank 12 by dividing the rotational speed of the drive wheel 14 by the gear ratio. In this case, the vehicle speed sensor 68 and the shift sensor can be used as the crank rotation sensor 66. Instead of the transmission 42, the shift sensor can be provided on a transmission actuation unit or a transmission wire.

[0065] The vehicle speed sensor 68 is used to detect a rotational speed of the wheel. The vehicle speed sensor 68 is electrically connected to the controller 62 through a wired or wireless connection. The vehicle speed sensor 68 is connected to the controller 62 to communicate with the controller 62 through a wired or wireless connection. The vehicle speed sensor 68 outputs a signal corresponding to the rotational speed of the wheel to the controller 62. The controller 62 calculates the vehicle speed V of the human-powered vehicle 10 based on the rotational speed of the wheel. The controller 62 stops the motor 52 in a case where the vehicle speed V becomes greater than or equal to a predetermined value. The predetermined value is, for example, 25 kilometers per hour or 45 kilometers per hour.Preferably, the vehicle speed sensor comprises a magnetic reed forming a reed switch or a Hall element. The vehicle speed sensor 68 may be mounted on a chain stay of the frame 18 to detect a magnet attached to the rear wheel, or may be provided on the front fork 32 to detect a magnet attached to the front wheel. In another example, the vehicle speed sensor 68 includes a GPS receiver. The controller 62 may detect the vehicle speed V of the human-powered vehicle 10 according to the GPS information acquired by the GPS receiver, map information stored in advance in the memory 64, and time. The controller 62 preferably includes a timer for measuring time.

[0066] The torque sensor 70 is used to detect a torque TH of the human driving force H. The torque sensor 70 is provided, for example, on the housing of the motor 52. The torque sensor 70 detects the torque TH of the human driving force H input to the crank 12. In a case where, for example, the first one-way clutch is provided in the power transmission path, the torque sensor 70 is provided on the upstream side of the first one-way clutch. The torque sensor 70 includes a strain sensor, a magnetostrictive sensor, or the like. The strain sensor includes a strain gauge. In a case where the torque sensor 70 includes a strain sensor, the strain sensor is preferably provided on an outer peripheral portion of the rotating body included in the power transmission path. The torque sensor 70 may include a wireless or wired communication device.The communication device of the torque sensor 70 is designed to communicate with the control device 62.

[0067] The controller 62 controls the motor 52, for example, so that the assist force generated by the motor 52 to the human driving force H becomes equal to a predetermined ratio A. The controller 62 can control the motor 52 so that, for example, an output torque TM of the assist force generated by the motor 52 to the torque TH of the human driving force H of the human-driven vehicle 10 becomes the predetermined ratio A. The controller 62 controls the motor 52 in a control mode selected, for example, from a plurality of control modes that differ from each other in the ratio A of the output of the motor 52 to the human driving force H. A torque ratio AT of the output torque TM of the motor 52 to the torque TH of the human driving force H of the human-driven vehicle 10 may also be referred to as the ratio A.For example, the controller 62 may control the motor 52 so that a power WM (watts) of the motor 52 to a power WH (watts) of the human driving force H becomes a predetermined ratio A. A ratio AW of the power WM of the output of the motor 52 to the power WH of the human driving force H of the human-powered vehicle 10 may also be referred to as the ratio A. The power WH of the human driving force H is calculated by multiplying the human driving force H and the rotational speed N of the crank 12. In a case where the output of the motor 52 is introduced into the power path of the human driving force H through the reduction gear, the output of the reduction gear corresponds to the output of the motor 52. The controller 62 outputs a control command to the drive circuit 54 of the motor 52 according to the power WH or the torque TH of the human driving force H.The control command includes, for example, a torque command value.

[0068] The controller 62 controls the motor 52 such that an upper limit value MX of the output of the motor 52 becomes less than or equal to a predetermined value. The controller 62 controls the motor 52 in a control mode selected, for example, from a plurality of control modes having different upper limit values ​​MX. The output of the motor 52 includes the output torque TM of the motor 52. The output of the motor 52 may include the power WM of the motor 52. In this case, the controller 62 controls the motor 52 such that the power WM of the motor 52 becomes less than or equal to a predetermined value WM1. In one example, the predetermined value WM1 is 500 watts. In another example, the predetermined value WM1 is 300 watts. The controller 62 may control the motor 52 such that the torque ratio AT becomes less than or equal to a predetermined torque ratio AT1.In one example, the specified torque ratio AT1 is 300%.

[0069] The plurality of control modes may differ in at least one of the ratio A and the upper limit value MX of the output of the motor 52. The plurality of control modes may differ only in the ratio A, only in the upper limit value MX, or both the ratio A and the upper limit value MX may be different. In this case, the controller 62 controls the motor 52 such that the output of the motor 52 becomes less than or equal to the ratio A set in the selected control mode of the motor 52 and less than or equal to a predetermined value.

[0070] The controller 62 controls the motor 52 that assists the propulsion of the human-powered vehicle 10, which includes the crank 12. In a case where an angle D of the vehicle body 16 of the human-powered vehicle 10 is greater than or equal to a first angle D1 while the motor 52 is controlled in a first control state, the controller 62 controls the motor 52 in a second control state that is different from the first control state. In a case where the angle D is greater than or equal to a second angle D2 that is greater than the first angle D1, the controller 62 controls the motor 52 in a third control state that is different from the second control state.At least one of the ratio A of the output of the motor 52 to the human driving force H input to the crank 12 and the upper limit value MX of the output of the motor 52 in the second control state is larger than that in the first control state and the third control state. Alternatively, at least one of the ratio A and the upper limit value MX in the second control state is smaller than that in the first control state and the third control state. Preferably, in the second control state, at least one of the ratio A and the upper limit value MX is larger than that in the first control state and larger than that in the third control state. Preferably, the controller 62 stops driving the motor 52 in the third control state.The angle of the vehicle body 16 of the human-powered vehicle 10 is 0 (zero) degrees in a state where the human-powered vehicle 10 is stored upright with the front and rear wheels in contact with flat ground. The first angle D1 is greater than 0 degrees. The first angle D1 is, for example, in the range of 20 degrees to 40 degrees. The second angle D2 is greater than 0 degrees and less than 90 degrees. The second angle D2 is, for example, in the range of 30 degrees to 50 degrees.

[0071] Preferably, the angle D of the vehicle body 16 comprises at least one of a pitch angle DP of the vehicle body 16 and a roll angle DR of the vehicle body 16. Preferably, the angle D of the vehicle body 16 comprises at least the pitch angle DP of the vehicle body 16.

[0072] In a case where the angle D of the vehicle body 16 includes only the pitch angle DP of the vehicle body 16, the controller 62 controls the motor 52 in the second control state in a case where the pitch angle DP of the vehicle body 16 of the human-powered vehicle 10 is greater than or equal to the first pitch angle DP1 while controlling the motor 52 in the first control state, and the controller 62 controls the motor 52 in the third control state in a case where the pitch angle DP is greater than or equal to the second pitch angle DP2 which is greater than the first pitch angle DP1.

[0073] In a case where the angle D of the vehicle body 16 includes only the roll angle DR, the controller 62 controls the motor 52 in the second control state in a case where the roll angle DR of the vehicle body 16 of the human-powered vehicle 10 is greater than or equal to the first roll angle DR1 while controlling the motor 52 in the first control state, and the controller 62 controls the motor 52 in the third control state in a case where the roll angle DR is greater than or equal to the second roll angle DR2 which is greater than the first roll angle DR1.

[0074] In a case where the angle D of the vehicle body 16 includes the pitch angle DP and the roll angle DR of the vehicle body 16, the controller 62 controls the motor 52 in the second control state in a case where the pitch angle DP of the vehicle body 16 of the human-powered vehicle 10 is greater than or equal to the first pitch angle DP1 and the roll angle DR of the vehicle body 16 of the human-powered vehicle 10 is greater than or equal to the first roll angle DR1 while controlling the motor 52 in the first control state.In a case where the angle D of the vehicle body 16 includes the pitch angle DP and the roll angle DR of the vehicle body 16, the controller 62 controls the motor 52 in the third control state in a case where the pitch angle DP is greater than or equal to the second pitch angle DP2, or in a case where the roll angle DR is greater than or equal to the second roll angle DR2 which is greater than the first roll angle DR1 while controlling the motor 52 in the second control state.

[0075] In a case where the angle D of the vehicle body 16 includes the pitch angle DP and the roll angle DR of the vehicle body 16, the controller 62 may control the motor 52 in the second control state in a case where the pitch angle DP of the vehicle body 16 of the human-powered vehicle 10 is greater than or equal to the first pitch angle DP1 and the roll angle DR of the vehicle body 16 of the human-powered vehicle 10 is greater than or equal to the first roll angle DR1 while controlling the motor 52 in the first control state.In a case where the angle D of the vehicle body 16 includes the pitch angle DP and the roll angle DR of the vehicle body 16, the controller 62 may control the motor 52 in the third control state in a case where the pitch angle DP is greater than or equal to the second pitch angle DP2, or in a case where the roll angle DR is greater than or equal to the second roll angle DR2, which is greater than the first roll angle DR1, while controlling the motor 52 in the second control state.

[0076] A case where the pitch angle DP is increased includes a case where the front wheel is separated from the ground without any pedaling to move over an obstacle, and a case where the rider performs a wheelie in which the front wheel is separated from the ground during pedaling. During a wheelie, the pitch angle DP is likely to be larger than in a case where the front wheel is separated from the ground to cross an obstacle. Preferably, the first pitch angle DP1 is set to a value suitable for determining the pitch angle DP when crossing an obstacle. Preferably, the second pitch angle DP2 is set to a value suitable for determining a wheelie.The controller 62 sets at least one of the ratio A and the upper limit value MX to be larger in the second control state than in the first control state and the third control state, so that the assist force generated by the motor 52 is readily applied to the human-powered vehicle 10 in a case where an obstacle is crossed, and so that the assist force is readily reduced during a wheelie.

[0077] In a case where the vehicle body 16 includes the roll angle DR, the controller 62 sets at least one of the ratio A and the upper limit value MX to be larger in the second control state than in the first control state and the third control state, so that the assist force generated by the motor 52 is readily applied to the human-powered vehicle 10 in a case where the roll angle DR is relatively small, and the assist force is readily reduced in a case where the roll angle DR is relatively large.

[0078] The human-powered vehicle control device 60 further includes a detector 72 configured to detect the angle D of the vehicle body 16. The detector 72 may be provided on the housing of the engine 52 or may be provided on the frame 18. The detector 72 need not be included in the human-powered vehicle control device 60.

[0079] The detector 72 comprises, for example, an inclination sensor. The inclination sensor detects an inclination angle of the vehicle body 16. The inclination sensor comprises, for example, a gyro sensor. Preferably, the gyro sensor comprises a three-axis gyro sensor. Preferably, the gyro sensor is configured to detect a yaw angle DY of the vehicle body 16, the roll angle DR of the vehicle body 16, and the pitch angle DP of the vehicle body 16. Preferably, the three axes of the gyro sensor are provided on the human-powered vehicle 10 so as to lie along a front-to-rear direction, a left-to-right direction, and a top-to-bottom direction of the human-powered vehicle 10 in a state where the human-powered vehicle 10 is stored upright with the front wheel and the rear wheel in contact with flat ground. The gyro sensor may comprise a single-axis gyro sensor or a two-axis gyro sensor.The detector 72 may include an acceleration sensor. The acceleration sensor detects acceleration in at least one of the front-to-rear direction, the left-to-right direction, and the top-to-bottom direction of the human-powered vehicle 10 in a state where the human-powered vehicle 10 is stored upright on a flat ground.

[0080] A process for controlling the motor 52 according to the angle D of the vehicle body 16 will now be described with reference to Fig. 3. In a case where the control device 62 is supplied with electric power, the control device 62 starts the process and proceeds to step S11 of the flowchart shown in Fig. 3. In the present embodiment, the control device 62 is activated when electric power is supplied in the first control state. If the flowchart of Fig. 3 ends, the controller 62 repeats the process from step S11 in predetermined cycles until the supply of electric power is stopped.

[0081] In step S11, the controller 62 determines whether or not the motor 52 is controlled in the first control state. In a case where the controller 62 determines that the motor 52 is controlled in the first control state, the controller 62 proceeds to step S12. In step S12, the controller 62 determines whether or not the angle D of the vehicle body 16 is greater than or equal to the first angle D1. In a case where the angle D of the vehicle body 16 is greater than or equal to the first angle D1, the controller 62 proceeds to step S13. In step S13, the controller 62 controls the motor 52 in the second control state and proceeds to step S14. In a case where it is determined in step S12 that the angle D of the vehicle body 16 is not greater than or equal to the first angle D1, the controller 62 proceeds to step S14 without performing step S13.

[0082] In step S14, the controller 62 determines whether the angle D of the vehicle body 16 is smaller than the first angle D1 or not. If the angle D of the vehicle body 16 is smaller than the first angle D1, the controller 62 proceeds to step S15. In step S15, the controller 62 controls the motor 52 in the first control state and then ends the process. If it is determined in step S14 that the angle D of the vehicle body 16 is not smaller than the first angle D1, the controller 62 proceeds to step S19.

[0083] In step S19, the controller 62 determines whether the angle D of the vehicle body 16 is smaller than the second angle D2 or not. If the angle D of the vehicle body 16 is smaller than the second angle D2, the controller 62 proceeds to step S20. In step S20, the controller 62 controls the motor 52 in the second control state and then ends the process. If the angle D of the vehicle body 16 is not smaller than the second angle D2 in step S19, the controller 62 ends the process.

[0084] In a case where the controller 62 determines in step S11 that the motor 52 is not controlled in the first control state, the controller 62 proceeds to step S16. In step S16, the controller 62 determines whether the motor 52 is controlled in the second control state. In a case where it is determined that the motor 52 is controlled in the second control state, the controller 62 proceeds to step S17. In step S17, the controller 62 determines whether or not the angle D of the vehicle body 16 is greater than or equal to the second angle D2. In a case where the angle D of the vehicle body 16 is greater than or equal to the second angle D2, the controller 62 proceeds to step S18. In step S18, the controller 62 controls the motor 52 in the third control state and proceeds to step S14.In a case where the angle D of the vehicle body 16 is not greater than or equal to the second angle D2 in step S17, the controller 62 proceeds to step S14. In a case where the controller 62 determines in step S16 that the motor 52 is not controlled in the second control state, the controller 62 proceeds to step S14. Second embodiment

[0085] A control device 60 for a human-powered vehicle according to a second embodiment will now be described with reference to FIG. Fig. 1, Fig. 2 and Fig. 4. The control device 60 for a human-powered vehicle according to the second embodiment is similar to the control device 60 for a human-powered vehicle according to the first embodiment, except for the process for controlling the motor 52. Thus, the same reference numerals are assigned to the components that are the same as the corresponding components of the first embodiment. Such components will not be described in detail.

[0086] The controller 62 controls the motor 52 in the fourth control state in a case where the angle D of the vehicle body 16 of the human-powered vehicle 10 is greater than or equal to a third angle D3 and the rotation angle CA of the crank 12 is maintained within a predetermined range. The controller 62 controls the motor 52 in a fifth control state different from the fourth control state in a case where the angle D is greater than or equal to the third angle D3 and the crank 12 rotates beyond a predetermined range. Preferably, the controller 62 controls the motor 52 such that at least one of the ratio A of the output of the motor 52 to the human driving force H input to the crank 12 of the human-powered vehicle 10 and the upper limit value MX of the output of the motor 52 in the fifth control state is different from that in the fourth control state.Preferably, at least one of the ratio A and the upper limit value MX in the fifth control state is smaller than that in the fourth control state. Preferably, the controller 62 stops driving the motor 52 in the fifth control state. The controller 62 controls the motor 52 in the first control state in a case where the angle D of the vehicle body 16 of the human-powered vehicle 10 is smaller than the third angle D3. Preferably, at least one of the ratio A and the upper limit value MX in the fifth control state is smaller than that in the first control state. The third angle D3 is greater than 0 degrees and less than 90 degrees. The third angle D3 is included, for example, in the range of 20 degrees to 50 degrees.

[0087] Preferably, the predetermined range of the crank 12 includes, for example, an angle separated by 90 degrees from the angle at which the crank arm 12B of the crank 12 corresponds to the top dead center and bottom dead center. Preferably, the predetermined range is within 30 degrees. A state in which the rotation angle CA of the crank 12 is maintained within the predetermined range may also include a case in which the rotation angle CA of the crank 12 falls outside the predetermined range in one or some of a plurality of determinations.

[0088] When the angle D of the vehicle body 16 includes only the pitch angle DP of the vehicle body 16, the controller 62 controls the motor 52 in the fourth control state in a case where the pitch angle DP of the vehicle body 16 of the human-powered vehicle 10 is greater than or equal to the third pitch angle DP3 and the rotation angle CA of the crank 12 is maintained within a predetermined range, and the controller 62 controls the motor 52 in the fifth control state in a case where the pitch angle DP is greater than or equal to the third pitch angle DP3 and the crank 12 rotates beyond the predetermined range.

[0089] When the angle D of the vehicle body 16 includes only the roll angle DR of the vehicle body 16, the controller 62 controls the motor 52 in the fourth control state in a case where the roll angle DR of the vehicle body 16 of the human-powered vehicle 10 is greater than or equal to the third roll angle DR3 and the rotation angle CA of the crank 12 is maintained within a predetermined range, and the controller 62 controls the motor 52 in the fifth control state in a case where the roll angle DR is greater than or equal to the third roll angle DR3 and the crank 12 rotates beyond the predetermined range.

[0090] When the angle D of the vehicle body 16 includes the pitch angle DP and the roll angle DR of the vehicle body 16, the controller 62 controls the motor 52 in the fourth control state in a case where the pitch angle DP of the vehicle body 16 of the human-powered vehicle 10 is greater than or equal to the third pitch angle DP3 and the rotation angle CA of the crank 12 is maintained within a predetermined range, or in a case where the roll angle DR of the vehicle body 16 of the human-powered vehicle 10 is greater than or equal to the third roll angle DR3 and the crank 12 is maintained within a predetermined range.When the angle D of the vehicle body 16 includes the pitch angle DP and the roll angle DR of the vehicle body 16, the controller 62 controls the motor 52 in the fifth control state in a case where the pitch angle DP of the vehicle body 16 of the human-powered vehicle 10 is greater than or equal to the third pitch angle DP3 and the rotation angle CA of the crank 12 is beyond the predetermined range, or in a case where the roll angle DR of the vehicle body 16 of the human-powered vehicle 10 is greater than or equal to the third roll angle DR3 and the rotation angle CA of the crank 12 is beyond the predetermined range.

[0091] When the angle D of the vehicle body 16 includes the pitch angle DP and the roll angle DR of the vehicle body 16, the controller 62 may control the motor 52 in the fourth control state in a case where the pitch angle DP of the vehicle body 16 of the human-powered vehicle 10 is greater than or equal to the third pitch angle DP3, the roll angle DR of the vehicle body 16 of the human-powered vehicle 10 is greater than or equal to the third roll angle DR3, and the rotation angle CA of the crank 12 is maintained in a predetermined range.When the angle D of the vehicle body 16 includes the pitch angle DP and the roll angle DR of the vehicle body 16, the controller 62 may control the motor 52 in the fifth control state in a case where the pitch angle DP of the vehicle body 16 of the human-powered vehicle 10 is greater than or equal to the third pitch angle DP3, the roll angle DR of the vehicle body 16 of the human-powered vehicle 10 is greater than or equal to the third roll angle DR3, and the rotation angle CA of the crank 12 is beyond the predetermined range.

[0092] Preferably, the third pitch angle DP3 is set to a value suitable for determining that the front wheel of the human-powered vehicle 10 is separated from the ground. The controller 62 sets at least one of the ratio A and the upper limit value MX in the fifth control state to be larger than that in the first control state and larger than that in the fourth control state, so that the assist force generated by the motor 52 is readily applied to the human-powered vehicle 10 crossing an obstacle, and the assist force is readily reduced during a wheelie.

[0093] A process for controlling the motor 52 according to the angle D of the vehicle body 16 and the rotation angle CA of the crank 12 will now be described with reference to Fig. 4. In a case where the control device 62 is supplied with electric power, the control device 62 starts the process and proceeds to step S21 of the flowchart shown in Fig. 4. If the flowchart is Fig. 4 ends, the controller 62 repeats the process from step S21 in predetermined cycles until the supply of electric power is stopped.

[0094] In step S21, the controller 62 determines whether the angle D of the vehicle body 16 is greater than or equal to the third angle D3 and the rotation angle CA of the crank 12 is maintained within a predetermined range. In a case where the angle D of the vehicle body 16 is greater than or equal to the third angle D3 and the rotation angle CA of the crank 12 is maintained within a predetermined range, the controller 62 proceeds to step S22. In step S22, the controller 62 controls the motor in the fourth control state and then terminates the process.

[0095] In a case where, in step S21, the angle D of the vehicle body 16 is not greater than or equal to the third angle D3 and the rotation angle CA of the crank 12 is not maintained within a predetermined range, the controller 62 proceeds to step S23. In step S23, the controller 62 determines whether or not the angle D of the vehicle body 16 is greater than or equal to the third angle D3 and the rotation angle CA of the crank 12 rotates beyond a predetermined range. In a case where the angle D of the vehicle body 16 is greater than or equal to the third angle D3 and the crank 12 rotates beyond a predetermined range, the controller 62 proceeds to step S24, controls the motor 52 in the fifth control state, and then terminates the process.

[0096] In a case where, in step S23, the angle D of the vehicle body 16 is not greater than or equal to the third angle D3 and the crank 12 does not rotate beyond a predetermined range, the controller 62 proceeds to step S25. In step S25, the controller 62 controls the motor 52 in the first control state and then terminates the process. Third embodiment

[0097] A control device 60 for a human-powered vehicle according to a third embodiment will now be described with reference to FIG. Fig. 1, Fig. 2 and Fig. 5. The control device 60 for a human-powered vehicle according to the third embodiment is similar to the control device 60 for a human-powered vehicle according to the second embodiment, except for the process for controlling the motor 52. Thus, the same reference numerals are assigned to the components that are the same as the corresponding components of the first and second embodiments. Such components will not be described in detail.

[0098] The controller 62 controls the motor 52 in the fourth control state in a case where the angle D of the vehicle body 16 of the human-powered vehicle 10 is greater than or equal to the third angle D3 and the human driving force H input to the crank 12 is less than a predetermined value HX. The controller 62 controls the motor 52 in the fifth control state, which is different from the fourth control state, in a case where the angle D is greater than or equal to the third angle D3 and the human driving force H is greater than or equal to a predetermined value HX. The controller 62 controls the motor 52 in the first control state in a case where the angle D of the vehicle body 16 of the human-powered vehicle 10 is less than the third angle D3.

[0099] When the angle D of the vehicle body 16 includes only the pitch angle DP of the vehicle body 16, the controller 62 controls the motor 52 in the fourth control state in a case where the pitch angle DP of the vehicle body 16 of the human-powered vehicle 10 is greater than or equal to the third pitch angle DP3 and the human driving force H input to the crank 12 is smaller than a predetermined value HX, and the controller 62 controls the motor 52 in the fifth control state in a case where the pitch angle DP is greater than or equal to the third pitch angle DP3 and the human driving force H is greater than or equal to a predetermined value HX.

[0100] When the angle D of the vehicle body 16 includes only the roll angle DR, the controller 62 controls the motor 52 in the fourth control state in a case where the roll angle DR of the vehicle body 16 of the human-powered vehicle 10 is greater than or equal to the third roll angle DR3 and the human driving force H input to the crank 12 is smaller than a predetermined value HX, and the controller 62 controls the motor 52 in the fifth control state in a case where the roll angle DR is greater than or equal to the third roll angle DR3 and the human driving force H is greater than or equal to a predetermined value HX.

[0101] When the angle D of the vehicle body 16 includes the pitch angle DP and the roll angle DR of the vehicle body 16, the controller 62 controls the motor 52 in the fourth control state in a case where the pitch angle DP of the vehicle body 16 of the human-powered vehicle 10 is greater than or equal to the third pitch angle DP3 and the human driving force H input to the crank 12 is smaller than a predetermined value HX, or in a case where the roll angle DR of the vehicle body 16 of the human-powered vehicle 10 is greater than or equal to the third roll angle DR3 and the human driving force H input to the crank 12 is smaller than a predetermined value HX.When the angle D of the vehicle body 16 includes the pitch angle DP and the roll angle DR of the vehicle body 16, the controller 62 controls the motor 52 in the fifth control state in a case where the pitch angle DP of the vehicle body 16 of the human-powered vehicle 10 is greater than or equal to the third pitch angle DP3 and the human driving force H input to the crank 12 is greater than or equal to a predetermined value HX, or in a case where the roll angle DR of the vehicle body 16 of the human-powered vehicle 10 is greater than or equal to the third roll angle DR3 and the human driving force H input to the crank 12 is greater than or equal to a predetermined value HX.

[0102] When the angle D of the vehicle body 16 includes the pitch angle DP and the roll angle DR of the vehicle body 16, the controller 62 may control the motor 52 in the fourth control state in a case where the pitch angle DP of the vehicle body 16 of the human-powered vehicle 10 is greater than or equal to the third pitch angle DP3, the roll angle DR of the vehicle body 16 of the human-powered vehicle 10 is greater than or equal to the third roll angle DR3, and the human driving force H input to the crank 12 is smaller than a predetermined value HX.When the angle D of the vehicle body 16 includes the pitch angle DP and the roll angle DR of the vehicle body 16, the controller 62 may control the motor 52 in the fifth control state in a case where the pitch angle DP of the vehicle body 16 of the human-powered vehicle 10 is greater than or equal to the third pitch angle DP3, the roll angle DR of the vehicle body 16 of the human-powered vehicle 10 is greater than or equal to the third roll angle DR3, and the human driving force H input to the crank 12 is greater than or equal to a predetermined value HX.

[0103] Preferably, the predetermined value HX is set to a value suitable for determining a wheelie. The controller 62 sets at least one of the ratio A and the upper limit value MX in the fifth control state to be larger than that in the first control state and larger than that in the fourth control state, so that the assist force generated by the motor 52 is readily applied to the human-powered vehicle 10 crossing an obstacle, and the assist force is readily reduced during a wheelie.

[0104] A process for controlling the motor 52 according to the angle D of the vehicle body 16 and the human driving force H will now be described with reference to Fig. 5. In a case where the control device 62 is supplied with electric power, the control device 62 starts the process and proceeds to step S31 of the flowchart shown in Fig. 5. If the flowchart is Fig. 5 ends, the controller 62 repeats the process from step S31 in predetermined cycles until the supply of electric power is stopped.

[0105] In step S31, the controller 62 determines whether the angle D of the vehicle body 16 of the human-powered vehicle 10 is greater than or equal to the third angle D3 and the human-powered force H is less than a predetermined value HX. In a case where the angle D of the vehicle body 16 of the human-powered vehicle 10 is greater than or equal to the third angle D3 and the human-powered force H is less than a predetermined value HX, the controller 62 proceeds to step S32. In step S32, the controller 62 controls the motor 52 in the fourth control state and then terminates the process.

[0106] In a case where, in step S31, the angle D of the vehicle body 16 of the human-powered vehicle 10 is not greater than or equal to the third angle D3 and the human driving force H is not less than a predetermined value HX, the controller 62 proceeds to step S33. In step S33, the controller 62 determines whether or not the angle D is greater than or equal to the third angle D3 and the human driving force H is greater than or equal to a predetermined value HX. In a case where the angle D is greater than or equal to the third angle D3 and the human driving force H is greater than or equal to a predetermined value HX, the controller 62 proceeds to step S34, controls the motor 52 in the fifth control state, and then ends the process.

[0107] In a case where, in step S33, the angle D is not greater than or equal to the third angle D3 and the human driving force H is not greater than or equal to a predetermined value HX, the controller 62 proceeds to step S35. In step S35, the controller 62 controls the motor 52 in the first control state and then terminates the process. Fourth embodiment

[0108] A control device 60 for a human-powered vehicle according to a fourth embodiment will now be described with reference to FIG. Fig. 1, Fig. 6 and Fig. 7. The human-powered vehicle control device 60 according to the fourth embodiment is similar to the human-powered vehicle control device 60 according to the second embodiment, except for the process of controlling the motor 52. Thus, the same reference numerals are given to the components that are the same as the corresponding components of the first and second embodiments. Such components will not be described in detail. The human-powered vehicle control device 60 according to the fourth embodiment includes a first load detector 74 instead of the detector 72 in the human-powered vehicle control device 60 according to the first embodiment.

[0109] In a case where the angle D of the vehicle body 16 of the human-powered vehicle 10 is greater than or equal to the third angle D3 and the change amount DG of the load G on the steering unit 20 or the load G on the steering unit 20 is greater than or equal to a predetermined value GX, the controller 62 controls the motor 52 in the fourth control state. In a case where the angle D is greater than or equal to the third angle D3 and the change amount DG of the load G on the steering unit 20 or the load G on the steering unit 20 is less than a predetermined value GX, the controller 62 controls the motor 52 in the fifth control state, which is different from the fourth control state. The controller 62 controls the motor 52 in the first control state in a case where the angle D of the vehicle body 16 of the human-powered vehicle 10 is less than the third angle D3.

[0110] Preferably, the human-powered vehicle 10 includes a first load detector 74 for detecting the load G. The first load detector 74 is provided on the handlebar unit 34, a connecting portion between the handlebar unit 34 and the front fork 32, or a connecting portion between the front fork 32 and the frame 18. The first load detector 74 includes, for example, a load sensor. The load sensor includes a strain sensor, a strain gauge, and the like. Preferably, the first load detector 74 is configured to detect a tensile load in a case where the passenger pulls the handlebar unit 34 of the human-powered vehicle 10 in a state where the passenger is riding on the human-powered vehicle 10.Preferably, the first load detector 74 is configured, for example, to detect a tensile load on the steering unit 20 in a predetermined direction in a range from the rear side to the upper side of the human-powered vehicle 10, as viewed from the steering unit 20.

[0111] When the angle D of the vehicle body 16 includes only the pitch angle DP of the vehicle body 16, the controller 62 controls the motor 52 in the fourth control state in a case where the angle D of the vehicle body 16 is greater than or equal to the third pitch angle DP3 and the amount of change DG of the load G on the steering unit 20 or the load G on the steering unit 20 is greater than or equal to a predetermined value GX, and the controller 62 controls the motor 52 in the fifth control state in a case where the pitch angle DP is greater than or equal to the third pitch angle DP3 and the amount of change DG of the load G on the steering unit 20 or the load G on the steering unit 20 is less than a predetermined value GX.

[0112] When the angle D of the vehicle body 16 includes only the roll angle DR, the controller 62 controls the motor 52 in the fourth control state in a case where the roll angle DR of the vehicle body 16 is greater than or equal to the third roll angle DR3 and the amount of change DG of the load G on the steering unit 20 or the load G on the steering unit 20 is greater than or equal to a predetermined value GX, and the controller 62 controls the motor 52 in the fifth control state in a case where the roll angle DR is greater than or equal to the third roll angle DR3 and the amount of change DG of the load G on the steering unit 20 or the load G on the steering unit 20 is less than a predetermined value GX.

[0113] When the angle D of the vehicle body 16 includes the pitch angle DP and the roll angle DR of the vehicle body 16, the controller 62 controls the motor 52 in the fourth control state in a case where the angle D of the vehicle body 16 is greater than or equal to the third pitch angle DP3 and the amount of change DG of the load G on the steering unit 20 or the load G on the steering unit 20 is greater than or equal to a predetermined value GX, or in a case where the roll angle DR of the vehicle body 16 is greater than or equal to the third roll angle DR3 and the amount of change DG of the load G on the steering unit 20 or the load G on the steering unit 20 is greater than or equal to a predetermined value GX.When the angle D of the vehicle body 16 includes the pitch angle DP and the roll angle DR of the vehicle body 16, the controller 62 controls the motor 52 in the fifth control state in a case where the pitch angle DP is greater than or equal to the third pitch angle DP3 and the change amount DG of the load G on the steering unit 20 or the load G on the steering unit 20 is smaller than a predetermined value GX, or in a case where the roll angle DR of the vehicle body 16 of the human-powered vehicle 10 is greater than or equal to the third roll angle DR3 and the change amount DG of the load G on the steering unit 20 or the load G on the steering unit 20 is smaller than a predetermined value GX.

[0114] When the angle D of the vehicle body 16 includes the pitch angle DP and the roll angle DR of the vehicle body 16, the controller 62 may control the motor 52 in the fourth control state in a case where the angle D of the vehicle body 16 is greater than or equal to the third pitch angle DP3, the roll angle DR of the vehicle body 16 is greater than or equal to the third roll angle DR3, and the change amount DG of the load G on the steering unit 20 or the load G on the steering unit 20 is greater than or equal to a predetermined value GX.When the angle D of the vehicle body 16 includes the pitch angle DP and the roll angle DR of the vehicle body 16, the controller 62 may control the motor 52 in the fifth control state in a case where the pitch angle DP is greater than or equal to the third pitch angle DP3, the roll angle DR of the vehicle body 16 of the human-powered vehicle 10 is greater than or equal to the third roll angle DR3, and the change amount DG of the load G on the steering unit 20 or the load G on the steering unit 20 is smaller than a predetermined value GX.

[0115] In a case where the steering unit 20 is lifted to cross an obstacle, the load G and the change amount DG of the load G tend to be larger than those during a wheelie. Preferably, the predetermined value GX and the change amount DG of the load G are set to a value suitable for determining that the human-powered vehicle 10 is crossing an obstacle. The controller 62 sets at least one of the ratio A and the upper limit value MX in the fifth control state to be larger than that in the first control state and larger than that in the fourth control state, so that the assist force generated by the motor 52 is readily applied to the human-powered vehicle 10 crossing an obstacle, and the assist force is readily reduced during a wheelie.

[0116] A process for controlling the motor 52 according to the angle D of the vehicle body 16 and the human load G on the steering unit 20 will now be described with reference to Fig. 7. In a case where the control device 62 is supplied with electric power, the control device 62 starts the process and proceeds to step S41 of the flowchart shown in Fig. 7. If the flowchart is Fig. 7 ends, the controller 62 repeats the process from step S41 in predetermined cycles until the supply of electric power is stopped.

[0117] In step S41, the controller 62 determines whether the angle D of the vehicle body 16 of the human-powered vehicle 10 is greater than or equal to the third angle D3 and the change amount DG of the load G on the steering unit 20 or the load G on the steering unit 20 is greater than or equal to a predetermined value GX. In a case where the angle D of the vehicle body 16 of the human-powered vehicle 10 is greater than or equal to the third angle D3 and the change amount DG of the load G on the steering unit 20 or the load G on the steering unit 20 is greater than or equal to a predetermined value GX, the controller 62 proceeds to step S42. In step S42, the controller 62 controls the motor 52 in the fourth control state and then terminates the process.

[0118] In a case where, in step S41, the angle D of the vehicle body 16 of the human-powered vehicle 10 is not greater than or equal to the third angle D3 and the change amount DG of the load G on the steering unit 20 or the load G on the steering unit 20 is not greater than or equal to a predetermined value GX, the controller 62 proceeds to step S43. In step S43, the controller 62 determines whether or not the angle D is greater than or equal to the third angle D3 and the change amount DG of the load G on the steering unit 20 or the load G on the steering unit 20 is less than a predetermined value GX.In a case where the angle D is greater than or equal to the third angle D3 and the change amount DG of the load G on the steering unit 20 or the load G on the steering unit 20 is smaller than a predetermined value GX, the controller 62 proceeds to step S44, controls the motor 52 in the fifth control state, and then ends the process.

[0119] In a case where, in step S43, the angle D is not greater than or equal to the third angle D3 and the change amount DG of the load G on the steering unit 20 or the load G on the steering unit 20 is not less than a predetermined value GX, the controller 62 proceeds to step S45. In step S45, the controller 62 controls the motor 52 in the first control state and then terminates the process. Fifth embodiment

[0120] A control device 60 for a human-powered vehicle according to a fifth embodiment will now be described with reference to FIG. Fig. 1, Fig. 2 and Fig. 8. The control device 60 for a human-powered vehicle according to the fifth embodiment is similar to the control device 60 for a human-powered vehicle according to the second embodiment, except for the process for controlling the motor 52. Thus, the same reference numerals are assigned to the components that are the same as the corresponding components of the first embodiment. Such components will not be described in detail.

[0121] The controller 62 controls the motor 52 in the fourth control state in a case where the angle D of the vehicle body 16 of the human-powered vehicle 10 is greater than or equal to the third angle D3 and the driver moves the human-powered vehicle 10 forward without rotating the crank 12. The controller 62 controls the motor 52 in the fifth control state, which is different from the fourth control state, in a case where the angle D is greater than or equal to the third angle D3 and the driver moves the human-powered vehicle 10 forward by rotating the crank 12. The controller 62 controls the motor 52 in the first control state in a case where the angle D of the vehicle body 16 of the human-powered vehicle 10 is smaller than the third angle D3.

[0122] When the angle D of the vehicle body 16 includes only the pitch angle DP of the vehicle body 16, the controller 62 controls the motor 52 in the fourth control state in a case where the pitch angle DP of the vehicle body 16 is greater than or equal to the third pitch angle DP3 and the driver moves the human-powered vehicle 10 forward without rotating the crank 12, and the controller 62 controls the motor 52 in the fifth control state in a case where the pitch angle DP is greater than or equal to the third pitch angle DP3 and the driver moves the human-powered vehicle 10 forward by rotating the crank 12.

[0123] When the angle D of the vehicle body 16 includes only the roll angle DR of the vehicle body 16, the controller 62 controls the motor 52 in the fourth control state in a case where the roll angle DR of the vehicle body 16 is greater than or equal to the third roll angle DR3 and the driver moves the human-powered vehicle 10 forward without rotating the crank 12, and the controller 62 controls the motor 52 in the fifth control state in a case where the roll angle DR is greater than or equal to the third roll angle DR3 and the driver moves the human-powered vehicle 10 forward by rotating the crank 12.

[0124] When the angle D of the vehicle body 16 includes the pitch angle DP and the roll angle DR of the vehicle body 16, the controller 62 controls the motor 52 in the fourth control state in a case where the pitch angle DP of the vehicle body 16 is greater than or equal to the third pitch angle DP3 and the driver moves the human-powered vehicle 10 forward without rotating the crank 12, and in a case where the roll angle DR of the vehicle body 16 is greater than or equal to the third roll angle DR3 and the driver moves the human-powered vehicle 10 forward without rotating the crank 12.When the angle D of the vehicle body 16 includes the pitch angle DP and the roll angle DR of the vehicle body 16, the controller 62 controls the motor 52 in the fifth control state in a case where the pitch angle DP of the vehicle body 16 is greater than or equal to the third pitch angle DP3 or the roll angle DR is greater than or equal to the third roll angle DR3 and the driver moves the human-powered vehicle 10 forward by rotating the crank 12.

[0125] When the angle D of the vehicle body 16 includes the pitch angle DP and the roll angle DR of the vehicle body 16, the controller 62 may control the motor 52 in the fourth control state in a case where the pitch angle DP of the vehicle body 16 is greater than or equal to the third pitch angle DP3, the roll angle DR of the vehicle body 16 is greater than or equal to the third roll angle DR3, and the driver moves the human-powered vehicle 10 forward without rotating the crank 12.When the angle D of the vehicle body 16 includes the pitch angle DP and the roll angle DR of the vehicle body 16, the controller 62 controls the motor 52 in the fifth control state in a case where the pitch angle DP is greater than or equal to the third pitch angle DP3 and the driver moves the human-powered vehicle 10 forward by rotating the crank 12, and in a case where the roll angle DR of the vehicle body 16 is greater than or equal to the third roll angle DR3 and the driver moves the human-powered vehicle 10 forward by rotating the crank 12.

[0126] A process for controlling the motor 52 according to the angle D of the vehicle body 16 and the rotation state of the crank 12 by the driver will now be described with reference to Fig. 8. In a case where the control device 62 is supplied with electric power, the control device 62 starts the process and proceeds to step S51 of the flowchart shown in Fig. 8. If the flowchart is Fig. 8 ends, the controller 62 repeats the process from step S51 in predetermined cycles until the supply of electric power is stopped.

[0127] In step S51, the controller 62 determines whether the angle D of the vehicle body 16 is greater than or equal to the third angle D3 and the driver is moving the human-powered vehicle 10 forward without turning the crank 12. In a case where the angle D of the vehicle body 16 is greater than or equal to the third angle D3 and the driver is moving the human-powered vehicle 10 forward without turning the crank 12, the controller 62 proceeds to step S52. In step S52, the controller 62 controls the motor 52 in the fourth control state and then terminates the process.

[0128] In a case where, in step S51, the angle D of the vehicle body 16 is not greater than or equal to the third angle D3 and the driver does not move the human-powered vehicle 10 forward without turning the crank 12, the controller 62 proceeds to step S53. In step S53, the controller 62 determines whether or not the angle D is greater than or equal to the third angle D3 and the driver moves the human-powered vehicle 10 forward by turning the crank 12. In a case where the angle D is greater than or equal to the third angle D3 and the driver moves the human-powered vehicle 10 forward by turning the crank 12, the controller 62 proceeds to step S54, controls the motor 52 in the fifth control state, and then terminates the process.

[0129] In a case where, in step S53, the angle D is not greater than or equal to the third angle D3 and the driver does not move the human-powered vehicle 10 forward by turning the crank 12, the controller 62 proceeds to step S55. In step S55, the controller 62 controls the motor 52 in the first control state and then terminates the process. Sixth embodiment

[0130] A control device 60 for a human-powered vehicle according to a sixth embodiment will now be described with reference to FIG. Fig. 1, Fig. 2 and Fig. 9. The control device 60 for a human-powered vehicle according to the sixth embodiment is similar to the control device 60 for a human-powered vehicle according to the first embodiment, except for the process for controlling the motor 52. Thus, the same reference numerals are assigned to the components that are the same as the corresponding components of the first embodiment. Such components will not be described in detail.

[0131] The controller 62 controls the motor 52 in a sixth control state in a case where the angle D of the vehicle body 16 of the human-powered vehicle 10 is greater than or equal to a fourth angle D4. The controller 62 controls the motor 52 in a seventh control state different from the sixth control state in a case where a state where the angle D is greater than or equal to the fourth angle D4 continues for a predetermined time TX or longer. The controller 62 controls the motor 52 so that at least one of the ratio A of the output of the motor 52 to the human driving force H input to the crank 12 of the human-powered vehicle 10 and the upper limit value MX of the output of the motor 52 in the seventh control state is different from that in the sixth control state.Preferably, at least one of the ratio A and the upper limit value MX in the seventh control state is smaller than that in the sixth control state. Preferably, the control device 62 stops driving the motor 52 in the seventh control state. The fourth angle D4 is greater than 0 degrees and less than 90 degrees. The fourth angle D4 is, for example, within a range of 20 degrees to 50 degrees.

[0132] The control device 62 controls the motor 52 in an eighth control state, which is different from the sixth control state and the seventh control state, in a case where the angle D is smaller than the fourth angle D4. The control device 62 controls the motor 52 such that at least one of the ratio A and the upper limit value MX in the seventh control state differs from that in the sixth control state and the eighth control state. Preferably, at least one of the ratio A and the upper limit value MX in the seventh control state is smaller than that in the eighth control state.

[0133] When the angle D of the vehicle body 16 includes only the pitch angle DP of the vehicle body 16, the controller 62 controls the motor 52 in the sixth control state in a case where the pitch angle DP of the vehicle body 16 is greater than or equal to the fourth pitch angle DP4, and the controller 62 controls the motor 52 in the seventh control state in a case where a state where the pitch angle DP is greater than or equal to the fourth pitch angle DP4 continues for a predetermined time TX or longer. When the angle D of the vehicle body 16 includes only the pitch angle DP of the vehicle body 16, the controller 62 controls the motor 52 in the eighth control state in a case where the pitch angle DP is smaller than the fourth pitch angle DP4.

[0134] When the angle D of the vehicle body 16 includes only the roll angle DR of the vehicle body 16, the controller 62 controls the motor 52 in the sixth control state in a case where the roll angle DR of the vehicle body 16 is greater than or equal to the fourth roll angle DR4, and the controller 62 controls the motor 52 in the seventh control state in a case where a state where the roll angle DR is greater than or equal to the fourth roll angle DR4 continues for a predetermined time TX or longer. When the angle D of the vehicle body 16 includes only the roll angle DR of the vehicle body 16, the controller 62 controls the motor 52 in the eighth control state in a case where the roll angle DR is smaller than the fourth roll angle DR4.

[0135] When the angle D of the vehicle body 16 includes the pitch angle DP and the roll angle DR of the vehicle body 16, the controller 62 controls the motor 52 in the sixth control state in a case where the pitch angle DP of the vehicle body 16 is greater than or equal to the fourth pitch angle DP4 or the roll angle DR of the vehicle body 16 is greater than or equal to the fourth roll angle DR4. In a case where the angle D of the vehicle body 16 includes the pitch angle DP and the roll angle DR of the vehicle body 16, the controller 62 controls the motor 52 in the seventh control state in a case where a state where the pitch angle DP is greater than or equal to the fourth pitch angle DP4 continues for a predetermined time TX or longer, or in a case where a state where the roll angle DR is greater than or equal to the fourth roll angle DR4 continues for a predetermined time TX or longer.When the angle D of the vehicle body 16 includes the pitch angle DP and the roll angle DR of the vehicle body 16, the controller 62 controls the motor 52 in the eighth control state in a case where the pitch angle DP is smaller than the fourth pitch angle DP4 or the roll angle DR is smaller than the fourth roll angle DR4.

[0136] When the angle D of the vehicle body 16 includes the pitch angle DP and the roll angle DR of the vehicle body 16, the controller 62 may control the motor 52 in the sixth control state in a case where the pitch angle DP of the vehicle body 16 is greater than or equal to the fourth pitch angle DP4 and the roll angle DR of the vehicle body 16 is greater than or equal to the fourth roll angle DR4. In a case where the angle D of the vehicle body 16 includes the pitch angle DP and the roll angle DR of the vehicle body 16, the controller 62 may control the motor 52 in the seventh control state in a case where a state where the pitch angle DP is greater than or equal to the fourth pitch angle DP4 continues for a predetermined time TX or longer, and in a case where a state where the roll angle DR is greater than or equal to the fourth roll angle DR4 continues for a predetermined time TX or longer.In a case where the angle D of the vehicle body 16 includes the pitch angle DP and the roll angle DR of the vehicle body 16, and the condition for controlling the motor 52 in the sixth control state includes that the pitch angle DP is greater than or equal to the fourth pitch angle DP4 and the roll angle DR is greater than or equal to the fourth roll angle DR4, the controller 62 may control the motor 52 in the eighth control state in a case where the pitch angle DP becomes smaller than the fourth pitch angle DP4 or the roll angle DR becomes smaller than the fourth roll angle DR4 in a state where the controller 62 controls the motor 52 in the sixth control state.In a case where the angle D of the vehicle body 16 includes the pitch angle DP and the roll angle DR of the vehicle body 16, and the condition for controlling the motor 52 in the seventh control state includes that the pitch angle DP is greater than or equal to the fourth pitch angle DP4 and the roll angle DR is greater than or equal to the fourth roll angle DR4, the controller 62 may control the motor 52 in the eighth control state in a case where the pitch angle DP becomes smaller than the fourth pitch angle DP4 or the roll angle DR becomes smaller than the fourth roll angle DR4 in a state where the controller 62 controls the motor 52 in the seventh control state.

[0137] In a case where a wheelie is performed, a state where the pitch angle DP is large tends to become longer than in a case where the steering unit 20 is lifted to cross an obstacle. Preferably, the predetermined time TX is set to a value suitable for determining a wheelie. The predetermined time TX is, for example, 2 seconds or less. The controller 62 sets at least one of the ratio A and the upper limit value MX in the fifth control state to be larger than that in the first control state and larger than that in the fourth control state, so that the assist force generated by the motor 52 is readily applied to the human-powered vehicle 10 crossing an obstacle, and the assist force is readily reduced during a wheelie.

[0138] A process for controlling the motor 52 according to the angle D of the vehicle body 16 and time will now be described with reference to Fig. 9. In a case where the control device 62 is supplied with electric power, the control device 62 starts the process and proceeds to step S61 of the flowchart shown in Fig. 9. If the flowchart is Fig. 9 ends, the controller 62 repeats the process from step S61 in predetermined cycles until the supply of electric power is stopped.

[0139] In step S61, the controller 62 determines whether or not the angle D of the vehicle body 16 is greater than or equal to the fourth angle D4. In a case where the angle D of the vehicle body 16 is greater than or equal to the fourth angle D4, the controller 62 proceeds to step S62. In step S62, the controller 62 determines whether a state in which the angle D of the vehicle body 16 is greater than or equal to the fourth angle D4 continues for a predetermined time TX or longer. In a case in which a state in which the angle D of the vehicle body 16 is greater than or equal to the fourth angle D4 continues for a predetermined time TX or longer, the controller 62 proceeds to step S63. In step S63, the controller 62 controls the motor 52 in the seventh control state and then ends the process.

[0140] In a case where, in step S62, a state in which the angle D of the vehicle body 16 is greater than or equal to the fourth angle D4 is not continued for a predetermined time TX or longer, the controller 62 proceeds to step S64. In step S64, the controller 62 controls the motor 52 in the sixth control state and then terminates the process.

[0141] In a case where it is determined in step S61 that the angle D of the vehicle body 16 is not greater than or equal to the fourth angle D4, the controller 62 proceeds to step S65. In step S65, the controller 62 controls the motor 52 in the eighth control state and then terminates the process. Seventh embodiment

[0142] A control device 60 for a human-powered vehicle according to a seventh embodiment will now be described with reference to FIG. Fig. 1, Fig. 10 and Fig. 11. The human-powered vehicle control device 60 according to the seventh embodiment is similar to the human-powered vehicle control device 60 according to the first embodiment, except for the process of controlling the motor 52. Thus, the same reference numerals are given to the components that are the same as the corresponding components of the first embodiment. Such components will not be described in detail. The human-powered vehicle control device 60 according to the seventh embodiment includes a second load detector 76 instead of the detector 72 in the human-powered vehicle control device 60 according to the first embodiment.

[0143] The controller 62 controls the motor 52 according to the load F on the handlebar unit 34 and the human driving force H input to the crank 12. The controller 62 controls the motor 52 in a ninth control state in a case where the load F on the handlebar unit 34 is greater than or equal to a predetermined value FX, and the controller 62 controls the motor 52 in a tenth control state different from the ninth control state in a case where the load F on the handlebar unit 34 is less than the predetermined value FX. Preferably, the load F on the handlebar unit 34 is the load F in a predetermined direction of the handlebar unit 34. Preferably, the predetermined direction includes a direction in which the driver pulls the handlebar unit 34 in a case where the driver drives the human-powered vehicle 10.The predetermined direction is included in the range between the upper side and the rear side of the human-powered vehicle 10, as viewed from the handlebar unit 34 of the human-powered vehicle 10. The controller 62 controls the motor 52 such that at least one of the ratio A of the output of the motor 52 to the human driving force H input to the crank 12 of the human-powered vehicle 10 and the upper limit value MX of the output of the motor 52 in the tenth control state is different from that in the ninth control state. Preferably, at least one of the ratio A and the upper limit value MX in the tenth control state is smaller than that in the ninth control state. Preferably, the controller 62 stops driving the motor 52 in the tenth control state.

[0144] Preferably, the human-powered vehicle 10 includes a second load detector 76 for detecting the load F. The second load detector 76 is provided on the handlebar unit 34 or a connecting portion between the handlebar unit 34 and the front fork 32. The second load detector 76 is configured in the same manner as the first load detector 74. The second load detector 76 detects the load F applied to the handlebar unit 34 in a predetermined direction.

[0145] A process for controlling the motor 52 according to the load F on the handlebar unit 34 will now be described with reference to Fig. 11. In a case where the control device 62 is supplied with electric power, the control device 62 starts the process and proceeds to step S71 of the flowchart shown in Fig. 11 is shown.

[0146] In step S71, the controller 62 determines whether the load F on the handlebar unit 34 is greater than or equal to a predetermined value FX. If the load F on the handlebar unit 34 is greater than or equal to a predetermined value FX, the controller 62 proceeds to step S72. In step S72, the controller 62 controls the motor in the ninth control state and then terminates the process.

[0147] In a case where the load F on the handlebar unit 34 is not greater than or equal to the predetermined value FX in step S71, the controller 62 proceeds to step S73. In step S73, the controller 62 controls the motor 52 in the tenth control state and then terminates the process. Modified examples

[0148] The description relating to the above embodiments exemplifies an applicable form of a control device for a human-powered vehicle and a drive unit for a human-powered vehicle according to the present invention, without any intention of limitation. In addition to the embodiments described above, the control device for a human-powered vehicle and the drive unit for a human-powered vehicle according to the present invention can be applied, for example, to modified examples of the above embodiments described below and to combinations of at least two of the modified examples that do not contradict each other. In the modified examples described hereinafter, the same reference numerals are given to the components that are the same as the corresponding components of the above embodiments.Such components are not described in detail.

[0149] The controller 62 may control the motor 52 in the fourth control state in a case where the angle D of the vehicle body 16 of the human-powered vehicle 10 is greater than or equal to the third angle D3 and the change amount XP of the load P of the pedal 22 or the load P of the pedal 22 is greater than or equal to a predetermined value PX, and the controller 62 may control the motor 52 in the fifth control state, which is different from the fourth control state, in a case where the angle D is greater than or equal to the third angle D3 and the change amount XP of the load P of the pedal 22 or the load P of the pedal 22 is less than a predetermined value PX. The load P of the pedal 22 may be detected by the torque sensor 70, or may be detected by a load sensor provided on the pedal 22.

[0150] The controller 62 may control the motor 52 in the fourth control state in a case where the angle D of the vehicle body 16 of the human-powered vehicle 10 is greater than or equal to the third angle D3 and a balance state of the pedal 22 is a predetermined state, and the controller 62 may control the motor 52 in the fifth control state different from the fourth control state in a case where the angle D is greater than or equal to the third angle D3 and a balance state of the pedal 22 is not the predetermined state. The balance state of the pedals 22 is determined by at least one of the ratio and the difference between the loads P of the left and right pedals 22.The predetermined state includes, for example, at least one of a state in which the ratio of the loads P of the left and right pedals 22 is approximately 1 and a state in which the difference is less than or equal to a predetermined value.

[0151] In each embodiment, of the crank rotation sensor 66, the vehicle speed sensor 68 and the torque sensor 70, those used in the processing of the control device 62 shown in the flow charts of the Fig. 3 to 5, the Fig. 7 to 9 or the Fig. 11 are not necessary and are omitted.

[0152] In the first embodiment, although the first angle D1 and the second angle D2 are stored in the memory 64, the memory 64 may variably store at least one of the first angle D1 and the second angle D2. In this case, it is preferable that only the first angle D1, only the second angle D2, or both the first angle D1 and the second angle D2 are variably stored in the memory 64 by the operation unit, an external device, or the like provided on the human-powered vehicle 10. The external device includes, for example, a personal computer, a tablet computer, a smartphone, and the like.

[0153] In the second embodiment, the memory 64 may variably store at least one of the predetermined ranges for the third angle D3 and the rotation angle CA of the crank 12. In this case, it is preferable that only the third angle D3, only a predetermined range of the rotation angle CA of the crank 12, or both the third angle D3 and the predetermined range of the rotation angle CA of the crank 12 are variably stored in the memory 64 by the operating unit, an external device, or the like provided on the human-powered vehicle 10.

[0154] In the third embodiment, the memory 64 may store at least one of the third angle D3 and the predetermined value HX in a variable manner. In this case, it is preferable to store only the third angle D3, only the predetermined value HX, or both the third angle D3 and the predetermined value HX in the memory 64 so as to be variable by the operating unit, an external device, or the like provided on the human-powered vehicle 10.

[0155] In the fourth embodiment, the memory 64 may variably store at least one of the third angle D3, the change amount DG of the load G, and the predetermined value GX. In this case, it is preferable that only the third angle D3, only the change amount DG of the load G, only the predetermined value GX, or any combination of the third angle D3, the change amount DG of the load G, and the predetermined value GX are variably stored in the memory 64 by the operation unit, an external device, or the like provided on the human-powered vehicle 10.

[0156] In the fifth embodiment, the memory 64 can variably store the third angle D3. In this case, it is preferable to variably store the third angle D3 in the memory 64 by the operating unit, an external device, or the like provided on the human-powered vehicle 10.

[0157] In the sixth embodiment, the memory 64 may variably store at least one of the fourth angle D4 and the predetermined time TX. In this case, preferably, only the fourth angle D4, only the predetermined time TX, or both the fourth angle D4 and the predetermined time TX are variably stored in the memory 64 by the operating unit, an external device, or the like provided on the human-powered vehicle 10.

[0158] In the seventh embodiment, the memory 64 may store the predetermined value FX in a variable manner. In this case, it is preferable that the predetermined value FX be stored in the memory 64 in a variable manner by the operating unit, an external device, or the like provided on the human-powered vehicle 10. Description of reference symbols 10 Human-powered vehicle 12 crank 16 vehicle bodies 20 Steering unit 34 Handlebar unit 50 Drive unit for a human-powered vehicle 52 engine 60 Control device for a human-powered vehicle 62 Control device 72 detector QUOTES CONTAINED IN THE DESCRIPTION

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

[0000] JP 2017-043322 A [0002, 0003]

Claims

[1] A control device for a human-powered vehicle, comprising: a control device configured to control a motor that assists the propulsion of a human-powered vehicle comprising a crank, wherein in a case where the motor is controlled in a first control state, the control device controls the motor in a second control state different from the first control state in a case where an angle of a vehicle body of the human-powered vehicle is greater than or equal to a first angle, and the control device controls the motor in a third control state different from the second control state in a case where the angle is greater than or equal to a second angle greater than the first angle, and at least one of a ratio of an output of the engine to a human driving force input to the crank and an upper limit of the output of the engine is greater in the second control state than in the first control state and in the third control state, or is smaller in the second control state than in the first control state and in the third control state. [2] A control device for a human-powered vehicle according to claim 1, wherein in the second control state, at least one of the ratio and the upper limit value is larger than that in the first control state and larger than that in the third control state. [3] A control device for a human-powered vehicle according to claim 2, wherein the control means stops driving the motor in the third control state. [4] A control device for a human-powered vehicle, comprising: a control device configured to control a motor that assists the propulsion of a human-powered vehicle comprising a crank, wherein the control device controls the motor in a fourth control state in a case where an angle of a vehicle body of the human-powered vehicle is greater than or equal to a third angle and a rotation angle of the crank is kept within a predetermined range, and the control device controls the motor in a fifth control state different from the fourth control state in a case where the angle is greater than or equal to the third angle and the crank rotates beyond the predetermined range. [5] A control device for a human-powered vehicle, comprising: a control device configured to control a motor that assists the propulsion of a human-powered vehicle comprising a crank, wherein the control device controls the motor in a fourth control state in a case where an angle of a vehicle body of the human-driven vehicle is greater than or equal to a third angle and a human driving force input to the crank is smaller than a predetermined value, and the control device controls the motor in a fifth control state different from the fourth control state in a case where the angle is greater than or equal to the third angle and the human driving force is greater than or equal to the predetermined value. [6] A control device for a human-powered vehicle, comprising: a control device configured to control a motor that assists the propulsion of a human-powered vehicle comprising a steering unit and a crank, wherein the control device controls the motor in a fourth control state in a case where an angle of a vehicle body of the human-driven vehicle is greater than or equal to a third angle and an amount of change in a load on the steering unit or a load on the steering unit is greater than or equal to a predetermined value, and the control device controls the motor in a fifth control state different from the fourth control state in a case where the angle is greater than or equal to the third angle and the amount of change in the load on the steering unit or the load on the steering unit is smaller than the predetermined value. [7] A control device for a human-powered vehicle, comprising: a control device configured to control a motor that assists the propulsion of a human-powered vehicle comprising a crank, wherein the control device controls the motor in a fourth control state in a case where an angle of a vehicle body of the human-powered vehicle is greater than or equal to a third angle and a driver moves the human-powered vehicle forward without rotating the crank, and the control device controls the motor in a fifth control state different from the fourth control state in a case where the angle is greater than or equal to the third angle and the driver moves the human-powered vehicle forward by rotating the crank. [8] A control device for a human-powered vehicle according to any one of claims 4 to 7, wherein the control means controls the motor so that at least one of a ratio of an output of the motor to a human driving force input to the crank of the human-powered vehicle and an upper limit value of the output of the motor in the fifth control state is different from that in the fourth control state. [9] A control device for a human-powered vehicle according to claim 8, wherein at least one of the ratio and the upper limit value in the fifth control state is smaller than that in the fourth control state. [10] A control device for a human-powered vehicle according to claim 9, wherein the control means stops driving the motor in the fifth control state. [11] A control device for a human-powered vehicle, comprising: a control device configured to control a motor that assists the propulsion of a human-powered vehicle, wherein the control device controls the motor in a sixth control state in a case where an angle of a vehicle body of the human-powered vehicle is greater than or equal to a fourth angle, and the control device controls the motor in a seventh control state different from the sixth control state in a case where a state in which the angle is greater than or equal to the fourth angle, continues for a specified period of time or longer. [12] A control device for a human-powered vehicle according to claim 11, wherein the control means controls the motor so that at least one of a ratio of an output of the motor to a human driving force input to the crank of the human-powered vehicle and an upper limit value of the output of the motor in the seventh control state is different from that in the sixth control state. [13] A control device for a human-powered vehicle according to claim 12, wherein at least one of the ratio and the upper limit value in the seventh control state is smaller than that in the sixth control state. [14] A control device for a human-powered vehicle according to claim 12 or 13, wherein the control means controls the motor in an eighth control state different from the sixth control state and the seventh control state in a case where the angle is smaller than the fourth angle. [15] A control device for a human-powered vehicle according to claim 14, wherein the control means controls the motor so that at least one of the ratio and the upper limit value in the seventh control state is different from that in the sixth control state and the eighth control state. [16] A control device for a human-powered vehicle according to claim 15, wherein at least one of the ratio and the upper limit value in the seventh control state is smaller than that in the eighth control state. [17] A control device for a human-powered vehicle according to any one of claims 11 to 16, wherein the control means stops driving the motor in the seventh control state. [18] A control device for a human-powered vehicle according to any one of claims 1 to 17, wherein the angle of the vehicle body includes at least one of a pitch angle of the vehicle body and a roll angle of the vehicle body. [19] A control device for a human-powered vehicle according to any one of claims 1 to 18, further comprising a detector configured to detect the angle of the vehicle body. [20] A control device for a human-powered vehicle, comprising: a control device configured to control a motor that assists the propulsion of a human-powered vehicle comprising a handlebar unit and a crank, wherein the control device controls the motor according to a load on the handlebar unit and a human driving force input to the crank. [21] A control device for a human-powered vehicle according to claim 20, wherein the control means controls the motor in a ninth control state in a case where the load on the handlebar unit is greater than or equal to a predetermined value, and the control means controls the motor in a tenth control state different from the ninth control state in a case where the load on the handlebar unit is less than the predetermined value. [22] A control device for a human-powered vehicle according to claim 20 or 21, wherein the load on the handlebar unit is a load in a predetermined direction of the handlebar unit. [23] Drive unit for a human-powered vehicle, comprising: the control device for a human-powered vehicle according to any one of claims 1 to 22; and an engine designed to assist the propulsion of the human-powered vehicle.

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