Control device for human powered vehicle

Abstract

To provide a control device for a human powered vehicle that can properly control a speed changer when the human powered vehicle starts moving.SOLUTION: A control device for a human powered vehicle is provided with a control part that controls a speed changer that changes a ratio of a rotation speed of a wheel to a rotation speed of a crank shaft of the human powered vehicle. The control part is configured to be able to control the speed changer in any of a first control state, a second control state and a third control state, which is configured to control the speed changer in the first control state in a predetermined period of time before a vehicle state of the human powered vehicle becomes a predetermined state, when the human powered vehicle starts moving and to transfer a control state from the first control state into the second control state, when the vehicle state becomes the predetermined state; and is configured to transfer the speed changer from the first state into the third state when human driving power inputted to the human powered vehicle becomes larger than predetermined driving power in the predetermined period of time, where in the first control state, the ratio is suppressed from being changed more than in the second control state and the ratio is suppressed from being changed more than in the third control state.SELECTED DRAWING: Figure 2

Description

[Technical field]

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

[0002] For example, a control device for a human-powered vehicle disclosed in Patent Document 1 controls a transmission of the human-powered vehicle. [Prior art documents] [Patent documents]

[0003] [Patent Document 1] JP 2013-47085 A Summary of the Invention [Problem to be solved by the invention]

[0004] An object of the present disclosure is to provide a control device for a human-powered vehicle that can suitably control a transmission when the human-powered vehicle starts moving. [Means for solving the problem]

[0005] A control device according to a first aspect of the present disclosure is a control device for a human-powered vehicle, and includes a control unit that controls a transmission that changes a ratio of the rotational speed of the wheels to the rotational speed of the crankshaft of the human-powered vehicle, the control unit being configured to be able to control the transmission in any of a first control state, a second control state, or a third control state, and being configured to control the transmission in the first control state when the human-powered vehicle starts off until a predetermined period during which a vehicle state of the human-powered vehicle becomes a predetermined state, and to transition from the first control state to the second control state when the vehicle state becomes the predetermined state, and to transition from the first control state to the third control state when the human-powered driving force input to the human-powered vehicle becomes greater than a predetermined driving force within the predetermined period, and being configured to transition from the first control state to the third control state, and in the first control state, changes to the ratio are suppressed more than in the second control state, and changes to the ratio are suppressed more than in the third control state. According to the control device of the first aspect, when the human-powered vehicle starts, the ratio change can be suppressed for a predetermined period of time, so the rider is less likely to feel uncomfortable when the human-powered vehicle starts. Therefore, the transmission can be suitably controlled when the human-powered vehicle starts. According to the control device of the first aspect, when the human-powered vehicle starts, if the human-powered driving force becomes greater than the predetermined driving force even within the predetermined period of time, the ratio can be easily changed, so the transmission can be suitably controlled.

[0006] In the control device of the second aspect according to the first aspect of the present disclosure, in the first control state, a change that reduces the ratio more than in the second control state is suppressed. According to the control device of the second aspect, when the human-powered vehicle starts moving, the change that decreases the ratio can be suppressed until a predetermined period of time, so that the rider is less likely to feel uncomfortable.

[0007] In the control device of a third aspect according to the first aspect of the present disclosure, in the first control state, a change that reduces the ratio more than in the third control state is suppressed. According to the control device of the third aspect, when the human-powered vehicle starts moving, if the human-powered driving force becomes greater than a predetermined driving force even within a predetermined period of time, a change to decrease the ratio becomes likely.

[0008] In the control device of a fourth aspect according to the first aspect of the present disclosure, in the first control state, a change that reduces the ratio is suppressed more than in the second control state and the third control state. According to the control device of the fourth aspect, when a human-powered vehicle starts, the change to decrease the ratio can be suppressed until a predetermined period of time, and if the human-powered driving force becomes greater than the predetermined driving force even within the predetermined period of time, the change to decrease the ratio becomes easier.

[0009] In the control device of a fifth aspect according to any one of the first to fourth aspects of the present disclosure, the predetermined state includes a state in which the vehicle speed is equal to or greater than a first vehicle speed. According to the control device of the fifth aspect, the change in the ratio can be suppressed until the vehicle speed becomes equal to or greater than the first vehicle speed.

[0010] In the control device of a sixth aspect according to any one of the first to fifth aspects of the present disclosure, the predetermined state includes a state in which a request for operation of the transmission is generated. According to the control device of the sixth aspect, it is possible to inhibit a change in ratio until a request to operate the transmission occurs.

[0011] In the control device of a seventh aspect according to any one of the first to sixth aspects of the present disclosure, the predetermined state includes a state in which a rotation speed of the crankshaft is equal to or higher than a first rotation speed. According to the control device of the seventh aspect, the change in the ratio can be suppressed until the rotation speed of the crankshaft becomes equal to or higher than the first rotation speed.

[0012] In the control device of an eighth aspect according to any one of the first to seventh aspects of the present disclosure, the predetermined state includes a state in which the distance traveled by the human-powered vehicle since the human-powered vehicle started moving has become equal to or greater than a predetermined distance. According to the control device of the eighth aspect, it is possible to suppress a change in the ratio until the distance traveled by the human-powered vehicle after the human-powered vehicle starts is equal to or greater than a predetermined distance.

[0013] In the control device of a ninth aspect according to any one of the first to eighth aspects of the present disclosure, the control unit is configured to transition from the first control state to the third control state when the manual driving force is greater than a predetermined driving force and the vehicle speed is equal to or less than a second vehicle speed within the predetermined period. According to the control device of the ninth aspect, when the manual driving force is greater than the predetermined driving force and the vehicle speed becomes equal to or less than the second vehicle speed even within the predetermined period, the ratio becomes more likely to be changed.

[0014] In the control device of a tenth aspect according to any one of the first to ninth aspects of the present disclosure, the control unit is configured to transition from the first control state to the third control state when, within the specified period, the human-powered driving force is greater than a specified driving force and an acceleration value of the human-powered vehicle is equal to or less than a first acceleration value. According to the control device of the tenth aspect, when the manual driving force is greater than the predetermined driving force and the acceleration value is equal to or less than the first acceleration value even within the predetermined period, the ratio becomes more likely to be changed.

[0015] In the control device of an eleventh aspect according to any one of the first to tenth aspects of the present disclosure, the control unit is configured to transition from the first control state to the third control state when, within the specified period, the manual driving force is greater than a specified driving force and the rotational speed of the crankshaft is equal to or less than a second rotational speed. According to the control device of the eleventh aspect, when the manual driving force is greater than the predetermined driving force and the rotation speed of the crankshaft becomes equal to or lower than the second rotation speed even within the predetermined period, the ratio becomes more likely to be changed.

[0016] In the control device of a twelfth aspect according to any one of the first to eleventh aspects of the present disclosure, the control unit is configured to transition from the first control state to the third control state when, within the specified period, the human-powered driving force is greater than a specified driving force and the gradient of a road on which the human-powered vehicle travels is equal to or greater than a specified gradient. According to the control device of the twelfth aspect, when the manual driving force is greater than the predetermined driving force even within the predetermined period of time and the gradient of the road becomes equal to or greater than the predetermined gradient, the ratio is likely to be changed.

[0017] In the control device of a thirteenth aspect according to any one of the first to twelfth aspects of the present disclosure, the control unit is configured to transition from the first control state to the third control state when, within the specified period, the manual driving force is greater than a specified driving force and the ratio is equal to or greater than a specified ratio. According to the control device of the thirteenth aspect, when the manual driving force is greater than the predetermined driving force and the ratio becomes equal to or greater than the predetermined ratio even within the predetermined period, the ratio becomes more likely to be changed.

[0018] A control device according to a fourteenth aspect of the present disclosure is a control device for a human-powered vehicle, comprising a control unit that controls a transmission that changes a ratio of a rotational speed of a wheel to a rotational speed of a crankshaft of the human-powered vehicle, the control unit being configured to be able to control the transmission in any of a first control state, a second control state, and a third control state, and when the human-powered vehicle starts moving, the control unit controls the transmission in the first control state until a predetermined period in which a vehicle state of the human-powered vehicle becomes a first predetermined state, and when the vehicle state becomes the first predetermined state, the control unit transitions from the first control state to the second control state, and when the vehicle state becomes the second predetermined state within the predetermined period, the control unit transitions from the first control state to the third control state, and in the first control state, changes in the ratio are suppressed more than in the second control state, and Changes in the ratio are suppressed more than in the third control state, and the first predetermined state includes at least one of a state in which the vehicle speed is equal to or greater than a first vehicle speed, a state in which a request for operation of the transmission has been generated, a state in which the rotational speed of the crankshaft is equal to or greater than a first rotational speed, and a state in which the distance traveled by the human-powered vehicle since the human-powered vehicle started has become equal to or greater than a predetermined traveling distance, and the second predetermined state includes a state in which the human-powered driving force input to the human-powered vehicle is greater than a predetermined driving force, and further includes at least one of a state in which the vehicle speed is equal to or less than a second vehicle speed lower than the first vehicle speed, a state in which the acceleration value of the human-powered vehicle is equal to or less than a first acceleration value, a state in which the rotational speed of the crankshaft is equal to or less than a second rotational speed lower than the first rotational speed, a state in which the gradient of the road on which the human-powered vehicle travels is equal to or greater than a predetermined gradient, and a state in which the ratio is equal to or greater than a predetermined ratio. According to the control device of the fourteenth aspect, when a human-powered vehicle starts, the ratio change can be suppressed for a predetermined period, so the rider is less likely to feel uncomfortable when the human-powered vehicle starts. Therefore, the transmission can be suitably controlled when the human-powered vehicle starts. According to the control device of the first aspect, when a human-powered vehicle starts, if the vehicle state reaches the second predetermined state, it becomes easier to change the ratio even within the predetermined period, so the transmission can be suitably controlled.

[0019] In the control device of a 15th aspect according to any one of the first to fourteenth aspects of the present disclosure, the control unit is configured to control the transmission device in accordance with a shifting condition in the first control state, the second control state, and the third control state. According to the control device of the fifteenth aspect, the transmission can be suitably controlled in accordance with the gear shift conditions in any of the first control state, the second control state and the third control state.

[0020] In the control device of a sixteenth aspect according to a fifteenth aspect of the present disclosure, the gear shift condition relates to at least one of a running state and a running environment of the human-powered vehicle. According to the control device of the sixteenth aspect, in any of the first control state, the second control state and the third control state, the transmission can be suitably controlled according to at least one of the running state and the running environment of the human-powered vehicle.

[0021] In the control device of a seventeenth aspect according to the fifteenth or sixteenth aspect of the present disclosure, the gear shift condition includes at least one of a rotation speed of the crankshaft, the manual driving force, and a vehicle speed. According to the control device of the seventeenth aspect, in any of the first control state, the second control state and the third control state, the transmission can be suitably controlled according to at least one of the rotational speed of the crankshaft, the manual driving force and the vehicle speed.

[0022] In the control device of aspect 18 according to any one of aspects 15 to 17 of the present disclosure, the gear shifting conditions include a rotational speed of the crankshaft, and the control unit controls the gear shifting device to increase the ratio when the rotational speed of the crankshaft is greater than an upper threshold, and controls the gear shifting device to decrease the ratio when the rotational speed of the crankshaft is less than a lower threshold. According to the control device of the 18th aspect, in any of the first control state, the second control state and the third control state, when the rotational speed of the crankshaft is greater than an upper threshold, the transmission is controlled to increase the ratio, and when the rotational speed of the crankshaft is less than a lower threshold, the transmission is controlled to decrease the ratio.

[0023] In a control device of a 19th aspect according to any one of the first to eighteenth aspects of the present disclosure, the control unit is configured to be able to select either a first mode or a second mode, and the specified driving force when the first mode is selected is different from the specified driving force when the second mode is selected. According to the control device of the nineteenth aspect, the transmission can be controlled in accordance with different predetermined driving forces by selecting either the first mode or the second mode. Effect of the Invention

[0024] The control device for a human-powered vehicle according to the present disclosure can suitably control the transmission when the human-powered vehicle starts moving. [Brief description of the drawings]

[0025] [Figure 1] 1 is a side view of a human-powered vehicle including a control device for a human-powered vehicle according to an embodiment. [Diagram 2] FIG. 2 is a block diagram showing the electrical configuration of the human-powered vehicle of FIG. [Diagram 3] 3 is a flowchart of a process executed by the control unit of FIG. 2 to control the transmission. [Figure 4] 3 is a flowchart of a process for changing a mode, which is executed by the control unit of FIG. 2. [Diagram 5] 13 is a flowchart of a process executed by a control unit of a modified example to control a change device. DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS

[0026] <Embodiment> A control device 60 for a human-powered vehicle will be described with reference to Figs. 1 to 4. A human-powered vehicle is a vehicle that has at least one wheel and can be driven at least by human-powered driving force. For example, human-powered vehicles include various types of bicycles such as mountain bikes, road bikes, city bikes, cargo bikes, hand bikes, and recumbents. The number of wheels that a human-powered vehicle has is not limited. For example, human-powered vehicles include vehicles with one wheel and two or more wheels. Human-powered vehicles are not limited to vehicles that can be driven only by human-powered driving force. Human-powered vehicles include E-bikes that use not only human-powered driving force but also the driving force of an electric motor for propulsion. E-bikes include electric-assisted bicycles whose propulsion is assisted by an electric motor. In the following, in each embodiment, a human-powered vehicle will be described as a bicycle.

[0027] The human-powered vehicle 10 includes a crankshaft 12, a first rotating body 14, wheels 16, a second rotating body 18, and a transmission body 20. The crankshaft 12 is configured to receive human-powered driving force. The first rotating body 14 is connected to the crankshaft 12. The second rotating body 18 is connected to the wheels 16. The transmission body 20 is configured to engage with the first rotating body 14 and the second rotating body 18 to transmit driving force between the first rotating body 14 and the second rotating body 18.

[0028] For example, the human-powered vehicle 10 further includes a vehicle body 24. For example, the vehicle body 24 includes a frame 26. For example, the wheels 16 include a front wheel 16F and a rear wheel 16R. For example, the crankshaft 12 is rotatable relative to the frame 26. For example, the human-powered vehicle 10 includes a crank 28. The crank 28 includes the crankshaft 12 and two crank arms 28A and 28B. For example, the crank arm 28A is provided at a first end of the crankshaft 12 in the axial direction, and the crank arm 28B is provided at a second end of the crankshaft 12 in the axial direction. For example, the human-powered vehicle 10 includes two pedals 30. For example, one of the two pedals 30 is connected to the crank arm 28A. The other of the two pedals 30 is connected to the crank arm 28B. For example, the rear wheel 16R is driven by the rotation of the crankshaft 12. For example, the rear wheel 16R is supported by the frame 26.

[0029] A front wheel 16F is attached to the frame 26 via a front fork 32. A handlebar 36 is connected to the front fork 32 via a stem 34.

[0030] For example, the human-powered vehicle 10 further includes a drive mechanism 38. For example, at least one of the front wheel 16F and the rear wheel 16R and the crank 28 are connected by the drive mechanism 38. In this embodiment, the rear wheel 16R and the crank 28 are connected by the drive mechanism 38.

[0031] For example, the drive mechanism 38 includes at least one first rotating body 14, at least one second rotating body 18, and a transmission body 20. The at least one first rotating body 14 is connected to the crankshaft 12. The at least one second rotating body 18 is connected to the wheels 16. The transmission body 20 is configured to engage with the at least one first rotating body 14 and the at least one second rotating body 18 to transmit a driving force between the at least one first rotating body 14 and the at least one second rotating body 18. For example, the transmission body 20 transmits the rotational force of the at least one first rotating body 14 to the at least one second rotating body 18.

[0032] For example, the at least one first rotating body 14 and the crankshaft 12 are arranged coaxially. The at least one first rotating body 14 and the crankshaft 12 may not be arranged coaxially. For example, when the at least one first rotating body 14 and the crankshaft 12 are not arranged coaxially, the at least one first rotating body 14 and the crankshaft 12 are connected via a first transmission mechanism. The first transmission mechanism may include a plurality of gears, may include a sprocket and a chain, may include a pulley and a belt, or may include a shaft and a bevel gear. For example, the at least one first rotating body 14 includes at least one first sprocket.

[0033] For example, the at least one second rotating body 18 and the rear wheel 16R are arranged coaxially. The at least one second rotating body 18 and the rear wheel 16R may not be arranged coaxially. For example, when the at least one second rotating body 18 and the rear wheel 16R are not arranged coaxially, the at least one second rotating body 18 and the rear wheel 16R are connected via a second transmission mechanism. The second transmission mechanism may include a plurality of gears, may include a sprocket and a chain, may include a pulley and a belt, or may include a shaft and a bevel gear. For example, the at least one second rotating body 18 includes at least one second sprocket.

[0034] At least one of the second rotating bodies 18 and the rear wheel 16R are connected via a third one-way clutch. For example, the third one-way clutch includes at least one of a roller clutch, a sprag clutch, and a ratchet clutch. The third one-way clutch is configured to transmit a driving force from the second rotating body 18 to the rear wheel 16R when the second rotating body 18 rotates in association with the forward rotation of the first rotating body 14, and to allow relative rotation between the rear wheel 16R and the second rotating body 18 when the speed at which the rear wheel 16R rotates forward is higher than the speed at which the second rotating body 18 rotates forward.

[0035] For example, the human-powered vehicle 10 further includes a battery 40. The battery 40 includes one or more battery elements. The battery element includes a rechargeable battery. For example, the battery 40 is configured to supply power to the control device 60 and the transmission 42. For example, the battery 40 is connected to the control device 60 so as to be able to communicate with the control device 60 via wired or wireless communication. For example, the battery 40 can communicate with the control device 60 via Power Line Communication (PLC), a Controller Area Network (CAN), or a Universal Asynchronous Receiver / Transmitter (UART).

[0036] The human-powered vehicle 10 further includes, for example, a transmission 42. The transmission 42 changes the ratio R of the rotational speed of the wheels 16 to the rotational speed of the crankshaft 12 of the human-powered vehicle 10. The transmission 42 is provided, for example, in a transmission path of the human-powered driving force in the human-powered vehicle 10, and is configured to change the ratio R. The ratio R is, for example, the ratio R of the rotational speed of the wheels 16 to the rotational speed of the crank 28. The rotational speed of the wheels 16 includes, for example, the rotational speed of the drive wheels.

[0037] The transmission 42 includes, for example, at least one of a derailleur 42A and an internal gear shifter. The human-powered vehicle 10 of this embodiment further includes a derailleur 42A. The transmission 42 of this embodiment includes the derailleur 42A. The derailleur 42A is configured to operate the transmission body 20 to change the ratio R of the rotational speed of the wheels 16 to the rotational speed of the crankshaft 12. The derailleur 42A includes, for example, at least one of a front derailleur and a rear derailleur. When the derailleur 42A includes at least one of a front derailleur and a rear derailleur, the transmission body 20 includes a chain.

[0038] The derailleur 42A, for example, moves the transmission body 20 engaged with one of the plurality of sprockets to another of the plurality of sprockets. When the transmission 42 includes an internal transmission, the internal transmission is provided, for example, in a hub of the rear wheel 16R. The internal transmission may include a CVT (Continuously Variable Transmission). The transmission 42 includes, for example, an electric actuator 42B. The electric actuator 42B is configured, for example, to operate the transmission 42. The electric actuator 42B is configured, for example, to operate the derailleur 42A.

[0039] The derailleur 42A is configured to operate the transmission body 20 to change the ratio R of the rotational speed of the wheels 16 to the rotational speed of the crankshaft 12. For example, the derailleur 42A is provided in a transmission path of the human-powered driving force in the human-powered vehicle 10, and is configured to change the ratio R. For example, the derailleur 42A operates the transmission body 20 to change the engagement state of at least one of the at least one first rotating body 14 and the at least one second rotating body 18 with the transmission body 20, thereby changing the ratio R. The relationship between the ratio R, the rotational speed of the wheels 16, and the rotational speed of the crankshaft 12 is expressed by Equation (1). In Equation (1), R indicates the ratio R. In Equation (1), W indicates the rotational speed of the wheels 16. In Equation (1), C indicates the rotational speed of the crankshaft 12. Equation (1): R = W (rpm) / C (rpm)

[0040] For example, the derailleur 42A can change the ratio R for at least one shift stage. For example, the derailleur 42A is configured to operate the transmission body 20 to change the at least one shift stage. For example, the at least one shift stage is set according to at least one of the at least one first rotating body 14 and the at least one second rotating body 18. For example, when the at least one shift stage includes a plurality of shift stages, a different ratio R is set for each of the plurality of shift stages. For example, the higher the shift stage, the larger the ratio R.

[0041] For example, when at least one first rotating body 14 includes a plurality of first rotating bodies 14 and at least one second rotating body 18 includes a plurality of second rotating bodies 18, the speed change stage is set according to a combination of one of the plurality of first rotating bodies 14 and one of the plurality of second rotating bodies 18. For example, when at least one first rotating body 14 includes one first rotating body 14 and at least one second rotating body 18 includes a plurality of second rotating bodies 18, the speed change stage is set according to the number of the plurality of second rotating bodies 18. For example, when at least one first rotating body 14 includes a plurality of first rotating bodies 14 and at least one second rotating body 18 includes one second rotating body 18, the speed change stage is set according to the number of the plurality of first rotating bodies 14.

[0042] For example, the derailleur 42A moves a chain engaged with one of the plurality of sprockets to another of the plurality of sprockets. For example, a combination of a sprocket with the smallest number of teeth among the plurality of first sprockets and a sprocket with the largest number of teeth among the plurality of second sprockets corresponds to the smallest gear shifting stage that can be realized by the derailleur 42A. For example, a combination of a sprocket with the largest number of teeth among the plurality of first sprockets and a sprocket with the smallest number of teeth among the plurality of second sprockets corresponds to the largest gear shifting stage that can be realized by the derailleur 42A.

[0043] When the derailleur 42A includes a front derailleur, for example, the first rotating bodies 14 include two or more and three or less first sprockets. For example, the first rotating bodies 14 include two first sprockets.

[0044] When the derailleur 42A includes a front derailleur, for example, the derailleur 42A is configured to move the transmission body 20 from one of the multiple first rotating bodies 14 to another of the multiple first rotating bodies 14 in a gear shifting operation. The front derailleur operates the transmission body 20 to change the engagement state between at least one of the first rotating bodies 14 and the transmission body 20, thereby changing the ratio R. For example, the multiple first rotating bodies 14 include a multiple number of first sprockets.

[0045] For example, when the derailleur 42A includes a rear derailleur, the at least one second rotating body 18 includes 2 to 20 second sprockets. For example, the plurality of second rotating bodies 18 includes 12 second sprockets.

[0046] For example, the human-powered vehicle 10 further includes a gear shift operation device 44. The gear shift operation device 44 is provided, for example, on the handlebar 36. The gear shift operation device 44 includes, for example, a first operation portion for increasing the ratio R and a second operation portion for decreasing the ratio R.

[0047] For example, the human-powered vehicle 10 further includes a vehicle speed detection unit 46. For example, the vehicle speed detection unit 46 is communicably connected to the control unit 62 by wire or wirelessly. For example, the vehicle speed detection unit 46 is configured to detect information related to the vehicle speed of the human-powered vehicle 10. For example, the vehicle speed detection unit 46 is configured to detect information related to the rotational speed of the wheels 16. For example, the vehicle speed detection unit 46 is configured to detect a magnet provided on at least one of the front wheels 16F and the rear wheels 16R.

[0048] For example, the vehicle speed detection unit 46 is configured to output a predetermined number of detection signals during one rotation of the wheels 16. For example, the predetermined number is 1. For example, the vehicle speed detection unit 46 outputs a signal corresponding to the rotation speed of the wheels 16. The control unit 62 can calculate the vehicle speed of the human-powered vehicle 10 based on the signal corresponding to the rotation speed of the wheels 16 and information relating to the circumference of the wheels 16. For example, the memory unit 64 stores information relating to the circumference of the wheels 16.

[0049] For example, the human-powered vehicle 10 further includes a human-powered driving force detection unit 48. The human-powered driving force detection unit 48 is communicatively connected to the control unit 62 by wire or wirelessly. The human-powered driving force detection unit 48 is configured to output a signal corresponding to the torque applied to the crankshaft 12 by the human-powered driving force. The signal corresponding to the torque applied to the crankshaft 12 by the human-powered driving force includes information related to the human-powered driving force input to the human-powered vehicle 10.

[0050] For example, the manual driving force detection unit 48 is provided on a member provided in the transmission path of the manual driving force or in the vicinity of a member included in the transmission path of the manual driving force. For example, the members included in the transmission path of the manual driving force include the crankshaft 12 and a member that transmits the manual driving force between the crankshaft 12 and at least one first rotor 14. For example, the power transmission unit is provided on the outer periphery of the crankshaft 12.

[0051] The manual driving force detection unit 48 includes a strain sensor, a magnetostrictive sensor, a pressure sensor, etc. The strain sensor includes a strain gauge. The manual driving force detection unit 48 may have any configuration as long as it can obtain information related to the manual driving force.

[0052] For example, the manual driving force detection unit 48 may be provided in the crank arms 28A, 28B or at least one of the two pedals 30. For example, when the manual driving force detection unit 48 is provided in at least one of the two pedals 30, the manual driving force detection unit 48 may include a sensor that detects pressure applied to at least one of the two pedals 30. For example, the manual driving force detection unit 48 may be provided in a chain included in the transmission body 20. For example, when the manual driving force detection unit 48 is provided in the chain, the manual driving force detection unit 48 may include a sensor that detects tension of the chain.

[0053] For example, the human-powered vehicle 10 further includes a crank rotation state detection unit 50. For example, the crank rotation state detection unit 50 is communicably connected to the control unit 62 by wire or wirelessly. The crank rotation state detection unit 50 detects the amount of rotation of at least one of the crankshaft 12 and the at least one first rotating body 14. For example, the crank rotation state detection unit 50 is configured to detect information corresponding to the rotation speed of the crankshaft 12. For example, the crank rotation state detection unit 50 is configured to detect information corresponding to the rotation speed of the at least one first rotating body 14. The information corresponding to the rotation speed of the crankshaft 12 includes an angular acceleration of the crankshaft 12. The information corresponding to the rotation speed of the at least one first rotating body 14 includes an angular acceleration of the at least one first rotating body 14.

[0054] For example, the crank rotation state detection unit 50 includes a magnetic sensor that outputs a signal according to the strength of a magnetic field. The crank rotation state detection unit 50 includes an annular magnet with multiple magnetic poles arranged in a circumferential direction. The annular magnet is provided between the crankshaft 12, at least one first rotor 14, or a power transmission path from the crankshaft 12 to the at least one first rotor 14. For example, the annular magnet includes one S pole and one N pole. The one S pole and the one N pole each extend continuously for 180° around the axis of the crankshaft 12.

[0055] For example, the crank rotation state detection unit 50 outputs a signal corresponding to at least one of the rotation speed of the crankshaft 12 and the rotation speed of the at least one first rotating body 14. For example, the crank rotation state detection unit 50 is configured to output a detection signal corresponding to the rotation angle of the crankshaft 12 during one rotation of at least one of the rotation speeds of the crankshaft 12 and the at least one first rotating body 14. The crank rotation state detection unit 50 may include an optical sensor, an acceleration sensor, a gyro sensor, a torque sensor, or the like instead of a magnetic sensor.

[0056] For example, the crank rotation state detection unit 50 is provided on the frame 26 of the human-powered vehicle 10. For example, when the crank rotation state detection unit 50 is provided on the frame 26, the crank rotation state detection unit 50 may be configured to include a vehicle speed sensor. When the crank rotation state detection unit 50 includes the vehicle speed sensor, the control unit 62 may be configured to calculate the rotation speed of the crankshaft 12 according to the vehicle speed detected by the vehicle speed sensor and the ratio R.

[0057] The crank rotation state detection unit 50 may be configured to detect the amount of rotation of the at least one second rotating body 18. The crank rotation state detection unit 50 may be configured to detect information corresponding to the rotation speed of the at least one second rotating body 18. For example, the information corresponding to the rotation speed of the at least one second rotating body 18 includes the angular acceleration of the at least one second rotating body 18. For example, the crank rotation state detection unit 50 may output a signal corresponding to the rotation speed of the at least one second rotating body 18.

[0058] For example, the human-powered vehicle 10 further includes a gradient detection unit 52. The gradient detection unit 52 includes, for example, at least one of an inclination sensor and a Global Positioning System (GPS) receiver. The inclination sensor includes, for example, at least one of a gyro sensor and an acceleration sensor. When the gradient detection unit 52 includes a GPS receiver, map information including information about the gradient of the road is stored in advance in the memory unit 64, and the control unit 62 acquires the gradient of the road at the current location of the human-powered vehicle 10.

[0059] The control device 60 for a human-powered vehicle includes a control unit 62. For example, the control unit 62 includes a calculation processing unit that executes a predetermined control program. For example, the calculation processing unit included in the control unit 62 includes a CPU (Central Processing Unit) or an MPU (Micro Processing Unit).

[0060] For example, the arithmetic processing device included in the control unit 62 may be provided in multiple locations that are separate from one another. For example, a part of the arithmetic processing device may be provided in the human-powered vehicle 10, and another part of the arithmetic processing device may be provided in a server connected to the Internet. When the arithmetic processing device is provided in multiple locations that are separate from one another, the parts of the arithmetic processing device are connected to each other so that they can communicate with each other via a wireless communication device. The control unit 62 may include one or more microcomputers.

[0061] For example, the control device 60 further includes a storage unit 64. For example, the storage unit 64 is communicably connected to the control unit 62 by wire or wirelessly. For example, the storage unit 64 stores a control program and information used in the control process. For example, the storage unit 64 includes, for example, a non-volatile memory and a volatile memory. For example, the non-volatile memory includes at least one of a Read-Only Memory (ROM), an Erasable Programmable Read Only Memory (EPROM), an Electrically Erasable Programmable Read-Only Memory (EEPROM), and a flash memory. For example, the volatile memory includes a Random Access Memory (RAM).

[0062] The control unit 62 controls the transmission 42. The control unit 62 is configured to control the transmission 42 according to, for example, a shifting condition. For example, when the shifting condition is satisfied, the control unit 62 operates the transmission 42 to change the ratio R.

[0063] The gear shift condition relates to at least one of the driving state and driving environment of the human-powered vehicle 10, for example. The driving state includes at least one of the rotation speed of the crankshaft 12, the human-powered driving force, and the vehicle speed, for example. The driving environment includes the gradient of the road, for example. At least one of the driving state and the driving environment includes driving resistance, for example. The driving resistance includes at least one of the air resistance, the rolling resistance, the gradient resistance, and the acceleration resistance, for example.

[0064] The gear shifting conditions include, for example, at least one of the rotation speed of the crankshaft 12, the human driving force, and the vehicle speed. In this embodiment, the gear shifting conditions include the rotation speed of the crankshaft 12. For example, when the rotation speed of the crankshaft 12 is greater than an upper threshold, the control unit 62 controls the transmission 42 to increase the ratio R, and when the rotation speed of the crankshaft 12 is less than a lower threshold, the control unit 62 controls the transmission 42 to decrease the ratio R.

[0065] When the shifting condition includes the manual driving force, the shifting condition is satisfied, for example, when the manual driving force is outside a first range. When the shifting condition includes the vehicle speed, the shifting condition is satisfied, for example, when the vehicle speed is outside a second range.

[0066] The shifting condition includes at least one of the gradient of the road and the running resistance, for example. When the shifting condition includes the gradient of the road, the shifting condition is satisfied, for example, when the gradient of the road is outside a third range. When the shifting condition includes the running resistance, the shifting condition is satisfied, for example, when the running resistance is outside a fourth range.

[0067] The control unit 62 is configured to be able to control the transmission 42 in any one of the first control state, the second control state, and the third control state. The control unit 62 is configured to control the transmission 42 according to the shifting conditions, for example, in the first control state, the second control state, and the third control state. The second control state is, for example, the same as the third control state. The second control state may be different from the third control state. The control unit 62 sets the control state to any one of the first control state, the second control state, and the third control state, for example, by changing a range included in the shifting conditions.

[0068] When the shifting conditions include the rotational speed of the crankshaft 12, the control unit 62 suppresses a change that would decrease the ratio R, for example, by decreasing the lower threshold. When the shifting conditions include the rotational speed of the crankshaft 12, the control unit 62 suppresses a change that would increase the ratio R, for example, by increasing the upper threshold. When suppressing a change in the ratio R, the control unit 62 may prohibit a change in the ratio R without changing the range included in the shifting conditions.

[0069] In the first control state, for example, a gear change condition is used that includes a threshold value suitable for starting the human-powered vehicle 10. In the second control state, for example, a gear change condition is used that includes a threshold value suitable for stable running of the human-powered vehicle 10. In the third control state, for example, a gear change condition is used that includes a threshold value suitable for stable running of the human-powered vehicle 10.

[0070] When the human-powered vehicle 10 starts, the control unit 62 is configured to control the transmission 42 in the first control state until a predetermined period during which the vehicle state of the human-powered vehicle 10 becomes a predetermined state, and to transition from the first control state to the second control state when the vehicle state becomes the predetermined state. The control unit 62 is configured to transition from the first control state to the third control state when the human-powered driving force input to the human-powered vehicle 10 becomes greater than the predetermined driving force within the predetermined period. In the first control state, changes in the ratio R are suppressed more than in the second control state, and changes in the ratio R are suppressed more than in the third control state.

[0071] In the first control state, for example, a change that reduces the ratio R more than in the second control state is suppressed. In the first control state, for example, a change that reduces the ratio R more than in the third control state is suppressed. For example, in the first control state, a change that reduces the ratio R more than in the second control state and the third control state is suppressed. In the first control state, a change that increases the ratio R more than in the second control state and the third control state may be suppressed. In the first control state, a change that reduces the ratio R more than in the second control state and the third control state, and a change that increases the ratio R may be suppressed.

[0072] The predetermined state corresponds to, for example, a stable running state after the human-powered vehicle 10 starts. The predetermined state corresponds to, for example, a state after the human-powered vehicle 10 starts and escapes from a state in which the gear shift condition in the second control state is excessively likely to be satisfied. The predetermined state includes, for example, a state in which the vehicle speed is equal to or higher than a first vehicle speed. The first vehicle speed is, for example, equal to or higher than 10 km / h and equal to or lower than 20 km / h. The first vehicle speed is, for example, 15 km / h. The predetermined state includes, for example, a state in which an operation request for the gear change device 42 has occurred. The operation request for the gear change device 42 corresponds, for example, to a case in which the gear change operation device 44 is operated by the rider. The predetermined state includes, for example, a state in which the rotational speed of the crankshaft 12 is equal to or higher than a first rotational speed. The first rotational speed is, for example, equal to or higher than 40 rpm and equal to or lower than 60 rpm. The first rotational speed is, for example, 50 rpm. The predetermined state includes, for example, a state in which the distance traveled by the human-powered vehicle 10 after the human-powered vehicle 10 starts moving is equal to or greater than a predetermined distance. The predetermined distance may be, for example, a value obtained by multiplying the vehicle speed by a tire diameter that is stored in advance, or may be the rotation angle of the wheels 16.

[0073] The control unit 62 may be configured to transition from the first control state to the third control state when the human-powered driving force is greater than a predetermined driving force and when a parameter related to a running load other than the human-powered driving force is large. The parameter related to a running load other than the human-powered driving force includes, for example, at least one of the vehicle speed, the acceleration value, the rotation speed of the crankshaft 12, the gradient of the road on which the human-powered vehicle 10 runs, and the ratio R.

[0074] The control unit 62 is configured to transition from the first control state to the third control state, for example, when the manual driving force is greater than a predetermined driving force and the vehicle speed is equal to or less than a second vehicle speed within a predetermined period of time. The second vehicle speed is, for example, smaller than the first vehicle speed. The second vehicle speed may be equal to or greater than the first vehicle speed. The second vehicle speed is, for example, equal to or greater than 5 km / h and equal to or less than 15 km / h. The first vehicle speed is, for example, 10 km / h.

[0075] The control unit 62 is configured to transition from the first control state to the third control state, for example, when the human-powered driving force is greater than a predetermined driving force and the acceleration value of the human-powered vehicle 10 is equal to or less than a first acceleration value within a predetermined period of time. The acceleration value is, for example, an increase in vehicle speed per unit period. The unit period is, for example, the detection cycle of the vehicle speed detection unit 46. The acceleration value may be acceleration. The first acceleration value is, for example, a value that allows determination of the start of the human-powered vehicle 10 on an uphill slope.

[0076] The control unit 62 is configured to transition from the first control state to the third control state, for example, when the manual driving force is greater than a predetermined driving force and the rotation speed of the crankshaft 12 is equal to or less than a second rotation speed within a predetermined period of time. The second rotation speed is, for example, smaller than the first rotation speed. The second rotation speed may be equal to or greater than the first rotation speed. The second rotation speed is, for example, equal to or greater than 30 rpm and equal to or less than 50 rpm. The second rotation speed is, for example, 40 rpm.

[0077] The control unit 62 is configured to transition from the first control state to the third control state, for example, when, within a specified period of time, the human-powered driving force is greater than a specified driving force and the gradient of the road on which the human-powered vehicle 10 is traveling is greater than or equal to the specified gradient.

[0078] The control unit 62 is configured to transition from the first control state to the third control state, for example, when the manual driving force is greater than a predetermined driving force and the ratio R is equal to or greater than the predetermined ratio R within a predetermined period of time.

[0079] The process of the control unit 62 controlling the transmission 42 will be described with reference to Fig. 3. For example, when power is supplied to the control unit 62, the control unit 62 starts the process and proceeds to step S11 of the flowchart shown in Fig. 3. When the flowchart of Fig. 3 ends, the control unit 62 repeats the process from step S11 after a predetermined period, for example, until the supply of power is stopped.

[0080] In step S11, the control unit 62 determines whether the human-powered vehicle 10 has started. For example, when the vehicle speed of the human-powered vehicle 10 becomes equal to or greater than the starting judgment vehicle, the control unit 62 determines that the human-powered vehicle 10 has started. For example, when the rotation speed of the crankshaft 12 becomes equal to or greater than the starting judgment speed, the control unit 62 determines that the human-powered vehicle 10 has started. For example, when the human-powered driving force becomes equal to or greater than the starting judgment driving force, the control unit 62 determines that the human-powered vehicle 10 has started. If the human-powered vehicle 10 has not started, the control unit 62 ends the process. When the human-powered vehicle 10 has started, the control unit 62 proceeds to step S12.

[0081] In step S12, the control unit 62 controls the transmission 42 in the first control state, and proceeds to step S13. In step S13, the control unit 62 determines whether or not it is within a predetermined period of time. For example, if the state of the human-powered vehicle 10 is in a predetermined state, the control unit 62 determines that the predetermined period of time has elapsed. If it is within the predetermined period of time, the control unit 62 proceeds to step S14.

[0082] In step S14, the control unit 62 determines whether the manual driving force is greater than a predetermined driving force. If the manual driving force is not greater than the predetermined driving force, the control unit 62 proceeds to step S13. If the manual driving force is greater than the predetermined driving force, the control unit 62 proceeds to step S15.

[0083] In step S15, the control unit 62 determines whether the acceleration value is equal to or less than the first acceleration value. If the acceleration value is not equal to or less than the first acceleration value, the control unit 62 proceeds to step S13. If the acceleration value is equal to or less than the first acceleration value, the control unit 62 proceeds to step S16.

[0084] In step S16, the control unit 62 determines whether the rotation speed of the crankshaft 12 is equal to or lower than the second rotation speed. If the rotation speed of the crankshaft 12 is not equal to or lower than the second rotation speed, the control unit 62 proceeds to step S13. If the rotation speed of the crankshaft 12 is equal to or lower than the second rotation speed, the control unit 62 proceeds to step S17.

[0085] In step S17, the control unit 62 determines whether the gradient is equal to or greater than a predetermined gradient. If the gradient is not equal to or greater than the predetermined gradient in step S17, the control unit 62 proceeds to step S13. If the gradient is equal to or greater than the predetermined gradient, the control unit 62 proceeds to step S18.

[0086] The control unit 62 determines whether the ratio R is equal to or greater than a predetermined ratio R. If the ratio R is not equal to or greater than the predetermined ratio R, the control unit 62 proceeds to step S13. If the ratio R is equal to or greater than the predetermined ratio R, the control unit 62 proceeds to step S19.

[0087] In step S19, the control unit 62 controls the transmission 42 in the third control state and ends the process. If it is not within the predetermined period in step S13, the control unit 62 proceeds to step S20. In step S20, the control unit 62 controls the transmission 42 in the second control state and ends the process.

[0088] When the third control state is the same as the second control state, step S19 may be omitted, and when the control unit 62 determines YES in step S18, the process may proceed to step S20. The order in which steps S14 to S18 are executed may be changed. At least one of steps S15 to S18 may be omitted.

[0089] For example, when the shifting conditions include the rotation speed of the crankshaft 12 and the rotation speed of the crankshaft 12 is lower than a lower threshold, if the transmission 42 is controlled to reduce the ratio R, the rotation speed of the crankshaft 12 is low when the human-powered vehicle 10 starts, so the ratio R is likely to be small. When the first control state is suppressed from changing the ratio R more than the second control state, the change from reducing the ratio R is suppressed until the human-powered vehicle 10 starts and reaches a stable running state, so the rider is less likely to feel uncomfortable. When the first control state is suppressed from changing the ratio R more than the third control state, the reduction in the ratio R is promoted when the human-powered vehicle 10 transitions to the third state after the human-powered vehicle 10 starts, even before the vehicle reaches a stable running state, so an increase in the rider's load can be suppressed.

[0090] The control unit 62 is configured to be able to select, for example, either a first mode or a second mode. The predetermined drive force when the first mode is selected is different from the predetermined drive force when the second mode is selected.

[0091] The first mode is, for example, a mode corresponding to driving on mountain roads. The second mode is, for example, a mode corresponding to driving in town. The predetermined driving force when the first mode is selected is, for example, smaller than the predetermined driving force when the second mode is selected. The predetermined driving force when the first mode is selected may be equal to or larger than the predetermined driving force when the second mode is selected.

[0092] The parameters related to the running load other than the manual driving force when the first mode is selected may be different from the parameters related to the running load other than the manual driving force when the second mode is selected. For example, when the parameters related to the running load other than the manual driving force include a ratio R, the predetermined ratio R when the first mode is selected is, for example, smaller than the predetermined ratio R when the second mode is selected. The predetermined ratio R when the first mode is selected may be equal to or larger than the predetermined ratio R when the second mode is selected. The predetermined ratio R when the first mode is selected may be the minimum ratio R.

[0093] The control unit 62 is configured to be able to select either the first mode or the second mode in response to a mode change request, for example. The mode change request occurs, for example, when an operating device is operated. The operating device includes, for example, at least one of a cycle computer and a smartphone. The control unit 62 may determine that a mode change request has been made in response to an output from a sensor provided in the human-powered vehicle 10.

[0094] The process of changing the mode by the control unit 62 will be described with reference to Fig. 4. For example, when power is supplied to the control unit 62, the control unit 62 starts the process and proceeds to step S21 of the flowchart shown in Fig. 4. When the flowchart of Fig. 4 ends, the control unit 62 repeats the process from step S21 after a predetermined period, for example, until the supply of power is stopped.

[0095] In step S21, the control unit 62 determines whether or not there is a mode change request. In step S21, the control unit 62 determines whether or not there is a mode change request. If there is no mode change request, the control unit 62 ends the process. If there is a mode change request, the control unit 62 proceeds to step S22.

[0096] In step S22, the control unit 62 determines whether or not the mode is the first mode. If the mode is the first mode, the control unit 62 proceeds to step S23. In step S23, the control unit 62 selects the second mode and ends the process. If the mode is not the first mode in step S22, the control unit 62 proceeds to step S24. In step S24, the control unit 62 selects the first mode and ends the process.

[0097] <Example of change> The description of the embodiments is merely an example of possible forms of a control device for a human-powered vehicle according to the present disclosure, and is not intended to limit the forms. A control device for a human-powered vehicle according to the present disclosure may take the form of, for example, modified examples of the embodiments shown below, or a combination of at least two modified examples that are not mutually contradictory. In the modified examples below, parts that are common to the embodiments are given the same reference numerals as the embodiments, and descriptions thereof are omitted.

[0098] When the human-powered vehicle 10 starts, the control unit 62 controls the transmission 42 in the first control state until a predetermined period during which the vehicle state of the human-powered vehicle 10 becomes a first predetermined state, and when the vehicle state becomes the first predetermined state, transitions from the first control state to a second control state, and when the vehicle state becomes the second predetermined state within the predetermined period, transitions from the first control state to a third control state, and in the first control state, changes to the ratio R are suppressed more than in the second control state and may also be suppressed more than in the third control state. The first predetermined state includes at least one of a state in which the vehicle speed is equal to or greater than a first vehicle speed, a state in which a request for operation of the transmission 42 has been generated, a state in which the rotational speed of the crankshaft 12 is equal to or greater than a first rotational speed, and a state in which the distance traveled by the human-powered vehicle 10 since the human-powered vehicle 10 started has become equal to or greater than a predetermined traveling distance, and the second predetermined state includes a state in which the human-powered driving force input to the human-powered vehicle 10 is greater than a predetermined driving force, and further includes at least one of a state in which the vehicle speed is equal to or less than a second vehicle speed lower than the first vehicle speed, a state in which the acceleration value of the human-powered vehicle 10 is equal to or less than a first acceleration value, a state in which the rotational speed of the crankshaft 12 is equal to or less than a second rotational speed lower than the first rotational speed, a state in which the gradient of the road on which the human-powered vehicle 10 travels is equal to or greater than a predetermined gradient, and a state in which the ratio R is equal to or greater than a predetermined ratio R. The process of the control unit 62 controlling the transmission 42 will be described with reference to Fig. 5. For example, when power is supplied to the control unit 62, the control unit 62 starts the process and proceeds to step S31 of the flowchart shown in Fig. 5. When the flowchart of Fig. 5 ends, the control unit 62 repeats the process from step S31 after a predetermined period, for example, until the supply of power is stopped. In step S31, the control unit 62 determines whether or not the human-powered vehicle 10 has started. If the human-powered vehicle 10 has not started, the control unit 62 ends the process. If the human-powered vehicle 10 has started, the control unit 62 proceeds to step S32. In step S32, the control unit 62 controls the transmission 42 in the first control state, and proceeds to step S33. In step S33, the control unit 62 determines whether or not it is within a predetermined period of time. If it is within the predetermined period of time, the control unit 62 proceeds to step S34. In step S34, the control unit 62 determines whether the vehicle state is the second predetermined state. If the vehicle state is not the second predetermined state, the control unit 62 proceeds to step S33. If the vehicle state is the second predetermined state, the control unit 62 proceeds to step S35. In step S35, the control unit 62 controls the transmission 42 in the third control state and ends the process. If the predetermined period is not reached in step S33, the control unit 62 proceeds to step S36. In step S36, the control unit 62 controls the transmission 42 in the second control state and ends the process. When the third control state is the same as the second control state, step S35 may be omitted, and the control unit 62 may proceed to step S36 when determining YES in step S34.

[0099] The term "at least one" as used herein means "one or more" of the desired options. As an example, the term "at least one" as used herein means "only one option" or "both of two options" if the number of options is two. As another example, the term "at least one" as used herein means "only one option" or "any combination of two or more options" if the number of options is three or more. [Explanation of symbols]

[0100] 10... human-powered vehicle, 12... crankshaft, 16... wheels, 42... transmission, 60... control device, 62... control unit.

Claims

1. A control device for a human-powered vehicle, a control unit for controlling a transmission that changes a ratio of a rotation speed of a wheel to a rotation speed of a crankshaft of the human-powered vehicle; The control unit is The transmission is configured to be controllable in any one of a first control state, a second control state, and a third control state; when the human-powered vehicle starts, the transmission is controlled in the first control state until a predetermined period during which a vehicle state of the human-powered vehicle reaches a predetermined state, and when the vehicle state reaches the predetermined state, the transmission is transitioned from the first control state to the second control state; a transition from the first control state to the third control state occurs when a human-powered driving force input to the human-powered vehicle becomes greater than a predetermined driving force within the predetermined period of time, A control device in which, in the first control state, a change in the ratio is suppressed more than in the second control state, and a change in the ratio is suppressed more than in the third control state.

2. The control device according to claim 1 , wherein in the first control state, a change that reduces the ratio is suppressed more than in the second control state.

3. The control device according to claim 1 , wherein in the first control state, a change that reduces the ratio is suppressed more than in the third control state.

4. The control device according to claim 1 , wherein in the first control state, a change that reduces the ratio is suppressed more than in the second control state and the third control state.

5. , The control device according to claim 1 , wherein the predetermined state includes a state in which the vehicle speed is equal to or greater than a first vehicle speed.

6. The control device according to claim 1 , wherein the predetermined state includes a state in which a request to operate the transmission is generated.

7. The control device according to claim 1 , wherein the predetermined state includes a state in which the rotational speed of the crankshaft is equal to or greater than a first rotational speed.

8. 2. The control device according to claim 1, wherein the predetermined state includes a state in which a distance traveled by the human-powered vehicle after the human-powered vehicle starts moving becomes equal to or greater than a predetermined distance.

9. 2. The control device according to claim 1, wherein the control unit is configured to transition from the first control state to the third control state when the manual driving force is greater than a predetermined driving force and the vehicle speed is equal to or less than a second vehicle speed within the predetermined period.

10. 2. The control device according to claim 1, wherein the control unit is configured to transition from the first control state to the third control state when, within the specified period, the human-powered driving force is greater than a specified driving force and an acceleration value of the human-powered vehicle is equal to or less than a first acceleration value.

11. 2. The control device according to claim 1, wherein the control unit is configured to transition from the first control state to the third control state when the manual driving force is greater than a predetermined driving force and the rotational speed of the crankshaft is equal to or less than a second rotational speed within the predetermined period.

12. 2. The control device according to claim 1, wherein the control unit is configured to transition from the first control state to the third control state when, within the specified period, the human-powered driving force is greater than a specified driving force and a gradient of a road on which the human-powered vehicle travels is equal to or greater than a specified gradient.

13. 2. The control device according to claim 1, wherein the control unit is configured to transition from the first control state to the third control state when the manual driving force is greater than a predetermined driving force and the ratio is equal to or greater than a predetermined ratio within the predetermined period.

14. A control device for a human-powered vehicle, a control unit for controlling a transmission that changes a ratio of a rotation speed of a wheel to a rotation speed of a crankshaft of the human-powered vehicle; The control unit is The transmission is configured to be controllable in any one of a first control state, a second control state, and a third control state; when the human-powered vehicle starts moving, the transmission is controlled in the first control state until a predetermined period during which a vehicle state of the human-powered vehicle becomes a first predetermined state, and when the vehicle state becomes the first predetermined state, the transmission is transitioned from the first control state to the second control state; When the vehicle state becomes a second predetermined state within the predetermined period, the vehicle transitions from the first control state to the third control state, In the first control state, a change in the ratio is suppressed more than in the second control state, and a change in the ratio is suppressed more than in the third control state, the first predetermined state includes at least one of a state in which the vehicle speed is equal to or greater than a first vehicle speed, a state in which a request for operation of the transmission has been generated, a state in which the rotational speed of the crankshaft is equal to or greater than a first rotational speed, and a state in which a traveling distance of the human-powered vehicle since the human-powered vehicle started moving has reached or exceeded a predetermined traveling distance, The second predetermined state includes a state in which the human-powered driving force input to the human-powered vehicle is greater than a predetermined driving force, and further includes at least one of a state in which the vehicle speed is equal to or lower than a second vehicle speed lower than the first vehicle speed, a state in which the acceleration value of the human-powered vehicle is equal to or lower than a first acceleration value, a state in which the rotational speed of the crankshaft is equal to or lower than a second rotational speed lower than the first rotational speed, a state in which the gradient of the road on which the human-powered vehicle travels is equal to or higher than a predetermined gradient, and a state in which the ratio is equal to or higher than a predetermined ratio.

15. The control device according to claim 1 or 14, wherein the control unit is configured to control the transmission according to a shifting condition in the first control state, the second control state, and the third control state.

16. The control device according to claim 15, wherein the gear shift condition relates to at least one of a running state and a running environment of the human-powered vehicle.

17. The control device according to claim 15 , wherein the gear shift condition includes at least one of a rotation speed of the crankshaft, the manual driving force, and a vehicle speed.

18. the shifting condition includes a rotation speed of the crankshaft, 16. The control device according to claim 15, wherein the control unit controls the transmission to increase the ratio when the rotational speed of the crankshaft is greater than an upper threshold, and controls the transmission to decrease the ratio when the rotational speed of the crankshaft is less than a lower threshold.

19. The control unit is configured to be able to select either a first mode or a second mode, The control device according to claim 1 or 14, wherein the predetermined drive force when the first mode is selected is different from the predetermined drive force when the second mode is selected.

Images