Control device for human powered vehicle

Abstract

To provide a control device for a human powered vehicle that can properly control a speed changer.SOLUTION: A control device for a human powered vehicle is provided with a control part that controls a speed changer that gradually 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 control the speed changer by first speed change operation of changing the ratio only by one level when a speed change condition is satisfied; and is configured to be able to control the speed changer by second speed change operation of changing the ratio by two or more levels when the speed change condition is satisfied and when a vehicle state of the human powered vehicle is a predetermined state, where the predetermined state includes a state in which an amount of change of a parameter concerning the vehicle state of the human powered vehicle are above a predetermined amount.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. [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 gradually changes the 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 control the transmission by a first gear change operation that changes the ratio by only one step when a gear change condition is met, and being configured to be able to control the transmission by a second gear change operation that changes the ratio by two or more steps when the gear change condition is met and the vehicle state of the human-powered vehicle is in a predetermined state, the predetermined state including a state in which a change in a parameter related to the vehicle state of the human-powered vehicle is equal to or greater than a predetermined amount. According to the control device of the first aspect, when the amount of change in a parameter related to the vehicle state of the human-powered vehicle is equal to or greater than a predetermined amount, the transmission can be controlled by the second gear shift operation that changes the ratio over two or more stages, so that the ratio can be changed over two or more stages quickly. Therefore, the control unit can suitably control the transmission.

[0006] In the control device of a second aspect according to the first aspect of the present disclosure, the transmission includes an external transmission that shifts the chain of the human-powered vehicle from one of a plurality of sprockets to another of the plurality of sprockets, the first gear shifting operation includes a gear shifting operation that shifts the chain of the human-powered vehicle from a first sprocket of the plurality of sprockets to a second sprocket adjacent to the first sprocket, and the second gear shifting operation includes a gear shifting operation that shifts the chain of the human-powered vehicle from a third sprocket of the plurality of sprockets to a fourth sprocket with another sprocket sandwiched between the third sprocket and a fourth sprocket. According to the control device of the second aspect, the ratio can be changed in two or more stages in the second gear shift operation more quickly than by performing the first gear shift operation multiple times.

[0007] A control device according to a third aspect of the present disclosure is a control device for a human-powered vehicle, comprising a control unit that controls a transmission that gradually changes the ratio of the rotational speed of the wheels to the rotational speed of the crankshaft of the human-powered vehicle, the transmission including an external transmission that shifts the chain of the human-powered vehicle from one of a plurality of sprockets to another of the plurality of sprockets, the control unit is configured to be able to control the transmission by a first gear shifting operation to change the ratio when the gear shifting condition is met and a predetermined condition is not met, and is configured to be able to control the transmission by a second gear shifting operation to change the ratio when the gear shifting condition is met and the predetermined condition is met, the first gear shifting operation includes a gear shifting operation to shift the chain of the human-powered vehicle from a first sprocket of the plurality of sprockets to a second sprocket adjacent to the first sprocket, and the second gear shifting operation includes a gear shifting operation to shift the chain of the human-powered vehicle from a third sprocket of the plurality of sprockets to a fourth sprocket with another sprocket sandwiched between the third sprocket and a fourth sprocket. According to the control device of the third aspect, when a predetermined condition is satisfied, the transmission can be controlled by the second gear shifting operation that changes the ratio in two or more stages, so that the ratio can be changed in two or more stages quickly. Therefore, the control unit can suitably control the transmission.

[0008] In the control device of the fourth aspect according to the third aspect of the present disclosure, the predetermined condition is met when a vehicle state of the human-powered vehicle is in a predetermined state, and the predetermined state includes a state in which a change in a parameter related to the vehicle state of the human-powered vehicle is equal to or greater than a predetermined amount. According to the control device of the fourth aspect, when the amount of change in the parameter relating to the vehicle state of the human-powered vehicle is equal to or greater than a predetermined amount, the second gear shift operation can quickly change the ratio over two or more stages.

[0009] In the control device of a fifth aspect according to any one of the first, second and fourth aspects of the present disclosure, the parameters include an estimated rotation speed of the crankshaft calculated based on a vehicle speed and the ratio. According to the control device of the fifth aspect, when the amount of change in the estimated rotation speed of the crankshaft is equal to or greater than a predetermined amount, the second gear shift operation can quickly change the ratio over two or more stages.

[0010] In the control device of a sixth aspect according to any one of the first, second and fourth aspects of the present disclosure, the parameter includes a rotation speed of the crankshaft. According to the control device of the sixth aspect, when the amount of change in the rotational speed of the crankshaft is equal to or greater than a predetermined amount, the second gear shift operation can quickly change the ratio over two or more stages.

[0011] In the control device of a seventh aspect according to any one of the first, second, and fourth to sixth aspects of the present disclosure, the parameters include a vehicle speed. According to the control device of the seventh aspect, when the amount of change in vehicle speed is equal to or greater than a predetermined amount, the second gear shift operation can quickly change the ratio over two or more stages.

[0012] In the control device of an eighth aspect according to any one of the first, second, and fourth to seventh aspects of the present disclosure, the parameters include a gradient of a road on which the human-powered vehicle is traveling. According to the control device of the eighth aspect, when the amount of change in gradient of the road is equal to or greater than a predetermined amount, the second gear shift operation can quickly change the ratio over two or more stages.

[0013] In the control device of a ninth aspect according to any one of the first, second, and fourth to eighth aspects of the present disclosure, the predetermined state includes a state in which the human-powered driving force input to the human-powered vehicle is within a predetermined range. According to the control device of the ninth aspect, when the human-powered driving force input to the human-powered vehicle is within a predetermined range, the second gear shift operation can quickly change the ratio over two or more stages.

[0014] In the control device of a tenth aspect according to the ninth aspect of the present disclosure, the predetermined state includes a case where the manual driving force is equal to or less than a first driving force and the gear shift condition for increasing the ratio is satisfied. According to the control device of the tenth aspect, when the manual driving force is equal to or less than the first driving force and the gear shift conditions for increasing the ratio are met, the ratio can be increased in two or more stages early on by the second gear shift operation.

[0015] In the control device of an eleventh aspect in accordance with the tenth aspect of the present disclosure, the predetermined state includes a case where the human-powered driving force is equal to or less than the first driving force, the acceleration of the human-powered vehicle is equal to or greater than a first acceleration, and the gear shift condition for increasing the ratio is satisfied. According to the control device of the eleventh aspect, when the human-powered driving force is equal to or less than the first driving force, the acceleration of the human-powered vehicle is equal to or greater than the first acceleration, and the gear shift conditions for increasing the ratio are met, the ratio can be increased early in two or more stages by the second gear shift operation.

[0016] In the control device of a twelfth aspect according to any one of the ninth to eleventh aspects of the present disclosure, the predetermined state includes a case where the manual driving force is equal to or greater than a second driving force and the shifting condition for reducing the ratio is satisfied. According to the control device of the twelfth aspect, when the manual driving force is equal to or greater than the second driving force and the gear shift conditions for reducing the ratio are met, the ratio can be reduced early in two or more stages by the second gear shift operation.

[0017] In the control device of the thirteenth aspect in accordance with the twelfth aspect of the present disclosure, the predetermined state includes a case where the human-powered driving force is equal to or greater than the second driving force, the acceleration of the human-powered vehicle is equal to or less than a second acceleration, and the gear shift condition for reducing the ratio is satisfied. According to the control device of the thirteenth aspect, when the human-powered driving force is equal to or greater than the second driving force, the acceleration of the human-powered vehicle is equal to or less than the second acceleration, and the gear shift conditions for reducing the ratio are met, the ratio can be reduced early in two or more stages by the second gear shift operation.

[0018] In the control device of a fourteenth aspect according to any one of the first, second, and fourth to thirteenth aspects of the present disclosure, the predetermined state includes a state in which a difference between a detected rotational speed based on an output of a detection unit that detects the rotational speed of the crankshaft and an estimated rotational speed of the crankshaft calculated based on a vehicle speed and the ratio is equal to or greater than a predetermined difference. According to the control device of the fourteenth aspect, when the difference between the detected rotation speed and the estimated rotation speed of the crankshaft is equal to or greater than a predetermined difference, the ratio can be changed in two or more stages early on.

[0019] In the control device of a fifteenth aspect according to any one of the first, second, and fourth to fourteenth aspects of the present disclosure, the predetermined state includes a state in which an amount of rotation of the crankshaft is equal to or less than a predetermined amount of rotation. According to the control device of the fifteenth aspect, when the amount of rotation of the crankshaft is equal to or less than a predetermined amount of rotation, the ratio can be changed in two or more stages early on.

[0020] In the control device of a sixteenth aspect according to any one of the first to fifteenth aspects 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, the transmission can be suitably controlled in accordance with at least one of the running state and the running environment of the human-powered vehicle.

[0021] In the control device of a 17th aspect according to any one of the first to sixteenth aspects of the present disclosure, the gear shift conditions include at least one of the rotational speed of the crankshaft, the human-powered driving force input to the human-powered vehicle, and the vehicle speed. According to the control device of the seventeenth aspect, the transmission can be suitably controlled in response to at least one of the rotation speed of the crankshaft, the human driving force, and the vehicle speed.

[0022] In the control device of aspect 18 according to any one of aspects 1 to 17 of the present disclosure, the gear shifting condition includes 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, when the rotation speed of the crankshaft is greater than an upper threshold, the transmission can be controlled to increase the ratio, and when the rotation speed of the crankshaft is less than a lower threshold, the transmission can be controlled to decrease the ratio.

[0023] In the control device of a 19th aspect according to any one of the second to fourth aspects of the present disclosure, the second gear shifting operation includes a gear shifting operation that controls the gear shifting device so that the estimated rotational speed of the crankshaft calculated based on the vehicle speed and the ratio is within a predetermined range. According to the control device of the nineteenth aspect, the transmission can be controlled by the second gear shift operation so that the estimated rotation speed of the crankshaft falls within the predetermined range early on. Effect of the Invention

[0024] The control device for a human-powered vehicle according to the present disclosure can suitably control the transmission. [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] 2 is a side view showing the second rotating body of FIG. 1. [Diagram 3] FIG. 2 is a block diagram showing the electrical configuration of the human-powered vehicle of FIG. [Figure 4] 3 is a flowchart of a process executed by the control unit of FIG. 2 to control the transmission. [Diagram 5] 10 is a flowchart of a process executed by a control unit in a modified example to control a transmission. 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 drive 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 driven 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 includes, for example, a transmission 42. The transmission 42 gradually changes the ratio R of the rotational speed of the wheels 16 to 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 at least one of an external transmission 42A and an internal transmission. In this embodiment, the transmission 42 includes the external transmission 42A that transfers the chain of the human-powered vehicle 10 from one of a plurality of sprockets to another. The transmission 42 in this embodiment includes the external transmission 42A. The external transmission 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 external transmission 42A includes, for example, at least one of a front derailleur and a rear derailleur. When the external transmission 42A includes at least one of a front derailleur and a rear derailleur, the transmission body 20 includes a chain.

[0038] The external transmission 42A, for example, moves the transmission body 20 engaged with one of the plurality of sprockets to another one 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 external transmission 42A.

[0039] The external transmission 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 external transmission 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 external transmission 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 external transmission 42A can change the ratio R for at least one shift stage. For example, the external transmission 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 external transmission 42A moves a chain engaged with one of the multiple sprockets to another of the multiple sprockets. For example, a combination of a sprocket with the smallest number of teeth among the multiple driving sprockets and a sprocket with the largest number of teeth among the multiple driven sprockets corresponds to the smallest shifting stage that can be realized by the external transmission 42A. For example, a combination of a sprocket with the largest number of teeth among the multiple driving sprockets and a rotating body with the smallest number of teeth among the multiple driven sprockets corresponds to the largest shifting stage that can be realized by the external transmission 42A.

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

[0044] When the external transmission 42A includes a front derailleur, for example, the external transmission 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 plurality of sprockets.

[0045] For example, when the external transmission 42A includes a rear derailleur, at least one second rotating body 18 includes two or more and 20 or less sprockets. For example, the plurality of second rotating bodies 18 includes 12 sprockets.

[0046] When the external transmission 42A includes a rear derailleur, for example, at least one of the multiple second rotating bodies 18 includes at least two shifting promotion regions 22 in the circumferential direction. The at least two shifting promotion regions 22 are, for example, set individually in at least one of the multiple second rotating bodies 18. The at least two shifting promotion regions 22 are regions that promote movement of the transmission body 20 from one of the multiple second rotating bodies 18 to another adjacent one of the multiple second rotating bodies 18 by the rear derailleur.

[0047] When at least two shift promotion regions 22 are set individually in each of the multiple second rotating bodies 18, for example, the at least two shift promotion regions 22 may be different in all of the multiple second rotating bodies 18, or at least two may be the same. At least one of the multiple second rotating bodies 18 may not include at least two shift promotion regions 22. For example, the smallest driven sprocket among the multiple driven sprockets does not include at least two shift promotion regions 22, and the other driven sprockets include at least two shift promotion regions 22.

[0048] When at least two shifting promotion areas 22 are individually set in each of the multiple second rotating bodies 18, for example, the at least two shifting promotion areas 22 include a first shifting promotion area 22A and a second shifting promotion area 22B. The first shifting promotion area 22A, for example, promotes movement of a chain from one of the multiple sprockets to another one of the multiple driven sprockets. The at least one first shifting promotion area 22A is configured to promote a shifting operation when the ratio is increased. The first shifting promotion area 22A, for example, promotes movement of a chain from a driven sprocket having a large number of teeth among the multiple sprockets to a sprocket having a small number of teeth among the multiple sprockets. The first shifting promotion area 22A includes, for example, a sprocket tooth having a structure that makes it easy for the chain to come off the sprocket tooth.

[0049] The second gear shifting promotion region 22B, for example, promotes movement of a chain from another one of the plurality of sprockets to one of the plurality of sprockets. At least one second gear shifting promotion region 22B is configured to promote a gear shifting operation when the ratio is reduced. The second gear shifting promotion region 22B, for example, promotes movement of a chain from a sprocket having a smaller number of teeth among the plurality of sprockets to a sprocket having a larger number of teeth among the plurality of sprockets. The second gear shifting promotion region 22B, for example, includes sprocket teeth having a structure that makes it easy for the chain to engage with the sprocket teeth.

[0050] Fig. 4 shows one of the multiple second rotating bodies 18. In one of the multiple second rotating bodies 18 shown in Fig. 4, for example, four first gear shift promotion regions 22A and four second gear shift promotion regions 22B are provided. The four first gear shift promotion regions 22A and the four second gear shift promotion regions 22B are provided alternately in the circumferential direction of one of the multiple second rotating bodies 18, for example. In the case where the external transmission 42A includes a front derailleur, for example, at least one of the multiple first rotating bodies 14 may be provided with a gear shifting promotion region 22, similar to at least one of the multiple second rotating bodies 18.

[0051] 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.

[0052] 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.

[0053] 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.

[0054] 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.

[0055] 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.

[0056] 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.

[0057] 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.

[0058] 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.

[0059] 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.

[0060] 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.

[0061] 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.

[0062] 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.

[0063] 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.

[0064] 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).

[0065] 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.

[0066] 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).

[0067] The control unit 62 controls the transmission 42. The control unit 62 is configured to control the transmission 42 by a first gear shifting operation that changes the ratio R by only one stage when the gear shifting conditions are met. The control unit 62 is configured to be able to control the transmission 42 by a second gear shifting operation that changes the ratio R over two or more stages when the gear shifting conditions are met and the vehicle state of the human-powered vehicle 10 is in a predetermined state. The predetermined state includes a state in which the amount of change in a parameter related to the vehicle state of the human-powered vehicle 10 is equal to or greater than a predetermined amount.

[0068] The first gear shifting operation includes, for example, a gear shifting operation in which the chain of the human-powered vehicle 10 is shifted from a first sprocket among a plurality of sprockets to a second sprocket adjacent to the first sprocket. In the first gear shifting operation, the control unit 62 changes the ratio R by only one step, for example, by moving the external transmission 42A from a position corresponding to the first sprocket with which the chain engages to a position corresponding to the second sprocket adjacent to the sprocket with which the chain engages. When performing the first gear shifting operation and changing the ratio R by two or more steps, the control unit 62 changes the ratio R by two or more steps by repeatedly starting and completing the first gear shifting operation.

[0069] The second shifting operation includes, for example, a shifting operation in which the chain of the human-powered vehicle 10 is shifted from a third sprocket among the multiple sprockets to a fourth sprocket having another sprocket sandwiched between the third sprocket and the fourth sprocket. In the second shifting operation, the control unit 62 changes the ratio R in two or more stages, for example, by moving the external transmission 42A from a position corresponding to the third sprocket with which the chain is engaged to a position corresponding to a fourth sprocket that is not adjacent to the third sprocket with which the chain is engaged. The second shifting operation includes, for example, a shifting operation in which the transmission 42 is controlled so that the estimated rotation speed of the crankshaft 12 calculated based on the vehicle speed and the ratio R is within a predetermined range. The control unit 62 is configured to, for example, calculate a shifting stage in the second operation in which the estimated rotation speed of the crankshaft 12 calculated based on the vehicle speed and the ratio R is within a predetermined range, and control the external transmission 42A so that the chain is engaged with the fourth sprocket corresponding to the calculated shifting stage. For example, when it is estimated that changing the ratio R by only one step will bring the estimated rotational speed of the crankshaft 12 within a predetermined range, the control unit 62 may control the transmission 42 to change the ratio R by only one step in the first gear shift operation even if the amount of change in the parameter related to the vehicle state of the human-powered vehicle 10 is equal to or greater than the predetermined amount.

[0070] The control unit 62 executes a gear shifting operation based on the gear shifting promotion region 22, for example, by changing the ratio R by only one stage in the first gear shifting operation. The control unit 62 is configured such that, in the first gear shifting operation, for example, in an upshift operation, when the external transmission 42A is moved from a position corresponding to the first sprocket to a position corresponding to the second sprocket, the chain passes through a position corresponding to the first gear shifting promotion region 22A of the first sprocket. The control unit 62 is configured such that, in the first gear shifting operation, for example, in a downshift operation, when the external transmission 42A is moved from a position corresponding to the first sprocket to a position corresponding to the second sprocket, the chain passes through a position corresponding to the second gear shifting promotion region 22B of the second sprocket. When the chain is in a position corresponding to the second gear shifting promotion region 22B of the second sprocket, the chain moved by the external transmission 42A is in a position capable of contacting a sprocket tooth included in the second gear shifting promotion region 22B of the second sprocket.

[0071] The control unit 62 performs a shift operation that is not based in part on the shift promotion region 22, for example, by changing the ratio R by two or more stages in the second shift operation. The control unit 62 is configured to move the external derailleur 42A from a position corresponding to the third sprocket to a position corresponding to the fourth sprocket before confirming that the chain passes through a position corresponding to the first shift promotion region 22A of the third sprocket in the second shift operation, for example, in an upshift operation. The control unit 62 is configured to move the external derailleur 42A from a position corresponding to the third sprocket to a position corresponding to the fourth sprocket in the second shift operation, for example, in a downshift operation, before confirming that the chain passes through a position corresponding to the second shift promotion region 22B of the sprocket between the third sprocket and the fourth sprocket. When the chain is in a position corresponding to the second shifting promotion area 22B of the fourth sprocket, the chain moved by the external transmission 42A is in a position where it can come into contact with the sprocket teeth included in the second shifting promotion area 22B of the fourth sprocket.

[0072] The control unit 62 may initiate a gear shift operation based on the gear shift promotion region 22 in the first gear shift operation. The control unit 62 may control the external gear shifter 42A to operate when the chain is in a position corresponding to the first gear shift promotion region 22A of the first sprocket in the first gear shift operation, for example, in an upshift operation. The control unit 62 may control the external gear shifter 42A to operate when the chain is in a position corresponding to the second gear shift promotion region 22B of the second sprocket in the first gear shift operation, for example, in a downshift operation.

[0073] 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.

[0074] 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.

[0075] 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.

[0076] 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.

[0077] The parameters include, for example, an estimated rotation speed of the crankshaft 12 calculated based on the vehicle speed and the ratio R. The control unit 62 calculates the estimated rotation speed of the crankshaft 12, for example, by dividing the vehicle speed by the ratio R and a tire diameter previously stored in the storage unit 64. When the parameters include the estimated rotation speed of the crankshaft 12, the predetermined amount is, for example, 10 rpm or more and 30 rpm or less. When the parameters include the estimated rotation speed of the crankshaft 12, the predetermined amount is, for example, 20 rpm.

[0078] The parameter includes, for example, the rotation speed of the crankshaft 12. When the parameter includes the rotation speed of the crankshaft 12, the predetermined amount is, for example, 10 rpm or more and 30 rpm or less. When the parameter includes the rotation speed of the crankshaft 12, the amount of change in the parameter is expressed, for example, as the amount of change when the motion state of the vehicle changes from a first state to a second state. The first state and the second state are significantly different motion states of the vehicle. For example, when the human-powered vehicle 10 accelerates and then suddenly decelerates, the control unit 62 determines that the state has changed from the first state to the second state. When the human-powered vehicle 10 accelerates and then suddenly decelerates, for example, the case where the road suddenly changes from a downhill to an uphill road is included. When the parameter includes the rotation speed of the crankshaft 12, the predetermined amount is, for example, 20 rpm.

[0079] The parameter includes, for example, vehicle speed. When the parameter includes vehicle speed, the predetermined amount is, for example, 1 km / h or more and 10 km / h or less. When the parameter includes vehicle speed, the amount of change in the parameter is expressed, for example, as the amount of change per detection period of the vehicle speed detection unit 46. When the parameter includes vehicle speed, the predetermined amount is, for example, 5 km / h.

[0080] The parameters include, for example, the gradient of the road on which the human-powered vehicle 10 runs. The gradient of the road is expressed, for example, by an angle. When the parameters include the gradient of the road, the amount of change in the parameter is expressed, for example, as the amount of change per second. When the parameters include the gradient of the road, the predetermined amount is, for example, 5 degrees or more and 15 degrees or less. When the parameters include the gradient of the road, the predetermined amount is, for example, 10 degrees.

[0081] The predetermined state includes, for example, a state in which the human-powered driving force input to the human-powered vehicle 10 is within a predetermined range. The predetermined state includes, for example, a case in which the human-powered driving force is equal to or less than the first driving force, and a gear-shift condition for increasing the ratio R is satisfied. The predetermined state includes, for example, a case in which the human-powered driving force is equal to or less than the first driving force, the acceleration of the human-powered vehicle 10 is equal to or greater than the first acceleration, and a gear-shift condition for increasing the ratio R is satisfied. The first driving force is, for example, equal to or greater than 1 Nm and equal to or less than 20 Nm. The first driving force is, for example, 10 Nm. The first acceleration is, for example, equal to or greater than 0 km / h / s. The first acceleration is, for example, 0 km / h / s. The predetermined state includes, for example, a case in which the human-powered driving force is equal to or greater than the second driving force, and a gear-shift condition for decreasing the ratio R is satisfied. The predetermined state includes, for example, a case in which the human-powered driving force is equal to or greater than the second driving force, the acceleration of the human-powered vehicle 10 is equal to or less than the second acceleration, and a gear-shift condition for decreasing the ratio R is satisfied. The second driving force is, for example, greater than the first driving force. The second driving force is, for example, greater than 60 Nm and less than 80 Nm. The second driving force is, for example, 70 Nm. The second acceleration is, for example, less than 0 km / h / s. The second acceleration is, for example, 0 km / h / s.

[0082] The predetermined state includes, for example, a state in which the difference between the detected rotation speed based on the output of a detection unit that detects the rotation speed of the crankshaft 12 and the estimated rotation speed of the crankshaft 12 calculated based on the vehicle speed and the ratio R is equal to or greater than a predetermined difference. The detection unit that detects the rotation speed of the crankshaft 12 is the crank rotation state detection unit 50. The predetermined difference is, for example, 10 rpm.

[0083] The predetermined state includes, for example, a state in which the rotation amount of the crankshaft 12 is equal to or less than a predetermined rotation amount. The rotation amount of the crankshaft 12 may be expressed by the stroke amount of the pedal 30. The predetermined rotation amount is, for example, equal to or more than 270 degrees and 450 degrees. The predetermined rotation amount is, for example, 360 degrees.

[0084] The process of control of the transmission 42 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 S11 of the flowchart shown in Fig. 4. When the flowchart of Fig. 4 ends, the control unit 62 repeats the process from step S11 after a predetermined period, for example, until the supply of power is stopped.

[0085] In step S11, the control unit 62 determines whether or not the gear shift condition is satisfied. If the gear shift condition is not satisfied in step S11, the control unit 62 ends the process. If the gear shift condition is satisfied, the control unit 62 proceeds to step S12.

[0086] In step S12, the control unit 62 determines whether or not the vehicle is in a predetermined state. If the vehicle is in the predetermined state, the control unit 62 proceeds to step S13. In step S13, the control unit 62 controls the transmission 42 by the first gear shifting operation, and ends the process.

[0087] If the vehicle is not in the predetermined state in step S12, the control unit 62 proceeds to step S 14. In step S 14, the control unit 62 controls the transmission 42 by the second gear shifting operation, and ends the process.

[0088] <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.

[0089] The control unit 62 may be configured to control the transmission 42 to change the ratio R by a first gear shifting operation when the gear shifting condition is satisfied and the predetermined condition is not satisfied, and may be configured to control the transmission 42 to change the ratio R by a second gear shifting operation when the gear shifting condition is satisfied and the predetermined condition is satisfied. The first gear shifting operation includes a gear shifting operation for shifting the chain of the human-powered vehicle 10 from a first sprocket of the multiple sprockets to a second sprocket adjacent to the first sprocket. The second gear shifting operation includes a gear shifting operation for shifting the chain of the human-powered vehicle 10 from a third sprocket of the multiple sprockets to a fourth sprocket having another sprocket sandwiched between the third sprocket and the fourth sprocket. The predetermined condition is satisfied, for example, when the vehicle state of the human-powered vehicle 10 is in a predetermined state. The predetermined state includes, for example, a state in which a change amount of a parameter related to the vehicle state of the human-powered vehicle 10 is equal to or greater than a predetermined amount. The predetermined condition may not be the amount of change in a parameter, but may be, for example, satisfied when a parameter relating to the vehicle state of the human-powered vehicle 10 is outside a predetermined range. 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 S21 of the flowchart shown in Fig. 5. When the flowchart of Fig. 5 ends, the control unit 62 repeats the process from step S21 after a predetermined period, for example, until the supply of power is stopped. In step S21, the control unit 62 determines whether or not the gear shift condition is satisfied. If the gear shift condition is not satisfied in step S21, the control unit 62 ends the process. If the gear shift condition is satisfied, the control unit 62 proceeds to step S22. In step S22, the control unit 62 determines whether or not a predetermined condition is satisfied. If the predetermined condition is satisfied, the control unit 62 proceeds to step S23. In step S23, the control unit 62 controls the transmission 42 by the first gear shifting operation, and ends the process. If the predetermined condition is not satisfied in step S22, the control section 62 proceeds to step S24. In step S24, the control section 62 controls the transmission 42 by the second gear shifting operation, and ends the process.

[0090] 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]

[0091] 10... human-powered vehicle, 12... crankshaft, 16... wheels, 42... transmission, 42A... external 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 in a stepwise manner 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 When a shift condition is satisfied, the transmission is controlled by a first shift operation that changes the ratio by only one stage; when the shift condition is satisfied and the vehicle state of the human-powered vehicle is in a predetermined state, the transmission is controllable by a second shift operation that changes the ratio in two or more stages, The predetermined state includes a state in which a change in a parameter related to a vehicle state of the human-powered vehicle is equal to or greater than a predetermined amount.

2. the transmission includes an external transmission that shifts a chain of the human-powered vehicle from one of a plurality of sprockets to another of the plurality of sprockets; the first gear shifting operation includes a gear shifting operation of shifting a chain of the human-powered vehicle from a first sprocket among a plurality of sprockets to a second sprocket adjacent to the first sprocket, 2. The control device according to claim 1, wherein the second gear shifting operation includes a gear shifting operation for shifting a chain of the human-powered vehicle from a third sprocket among a plurality of sprockets to a fourth sprocket having another sprocket sandwiched between the third sprocket and a fourth sprocket.

3. A control device for a human-powered vehicle, a control unit for controlling a transmission that changes in a stepwise manner a ratio of a rotation speed of a wheel to a rotation speed of a crankshaft of the human-powered vehicle; the transmission includes an external transmission that shifts a chain of the human-powered vehicle from one of a plurality of sprockets to another of the plurality of sprockets; The control unit is When a shift condition is satisfied and a predetermined condition is not satisfied, the transmission is controlled to change the ratio by a first shift operation; When the shift condition is satisfied and the predetermined condition is satisfied, the transmission is controlled to change the ratio by a second shift operation, the first gear shifting operation includes a gear shifting operation of shifting a chain of the human-powered vehicle from a first sprocket among a plurality of sprockets to a second sprocket adjacent to the first sprocket, The control device, wherein the second gear shifting operation includes a gear shifting operation of switching a chain of the human-powered vehicle from a third sprocket among a plurality of sprockets to a fourth sprocket having another sprocket sandwiched between the third sprocket and a fourth sprocket.

4. the predetermined condition is met when a vehicle state of the human-powered vehicle is in a predetermined state, 4. The control device according to claim 3, wherein the predetermined state includes a state in which a change in a parameter relating to a vehicle state of the human-powered vehicle is equal to or greater than a predetermined amount.

5. The control device according to claim 1 or 4, wherein the parameter includes an estimated rotation speed of the crankshaft calculated based on a vehicle speed and the ratio.

6. The control device according to claim 1 or 4, wherein the parameter includes a rotational speed of the crankshaft.

7. The control device according to claim 1 or 4, wherein the parameter includes a vehicle speed.

8. The control device according to claim 1 or 4, wherein the parameters include a gradient of a road on which the human-powered vehicle is traveling.

9. 5. The control device according to claim 1, wherein the predetermined state includes a state in which a human-powered driving force input to the human-powered vehicle is within a predetermined range.

10. The control device according to claim 9 , wherein the predetermined state includes a case where the manual driving force is equal to or less than a first driving force and the gear shift condition for increasing the ratio is satisfied.

11. 11. The control device according to claim 10, wherein the predetermined state includes a case where the human-powered driving force is equal to or less than the first driving force, an acceleration of the human-powered vehicle is equal to or greater than a first acceleration, and the gear shift condition for increasing the ratio is satisfied.

12. The control device according to claim 9 , wherein the predetermined state includes a case where the manual driving force is equal to or greater than a second driving force and the gear shift condition for reducing the ratio is satisfied.

13. 13. The control device according to claim 12, wherein the predetermined state includes a case where the human-powered driving force is equal to or greater than the second driving force, the acceleration of the human-powered vehicle is equal to or less than a second acceleration, and the gear shift condition for reducing the ratio is satisfied.

14. 5. The control device according to claim 1, wherein the predetermined state includes a state in which a difference between a detected rotation speed based on an output of a detection unit that detects the rotation speed of the crankshaft and an estimated rotation speed of the crankshaft calculated based on a vehicle speed and the ratio is equal to or greater than a predetermined difference.

15. The control device according to claim 1 or 4, wherein the predetermined state includes a state in which an amount of rotation of the crankshaft is equal to or less than a predetermined amount of rotation.

16. The control device according to claim 1 or 3, wherein the gear shift condition relates to at least one of a running state and a running environment of the human-powered vehicle.

17. 4. The control device according to claim 1, wherein the gear change condition includes at least one of a rotation speed of the crankshaft, a human-powered driving force input to the human-powered vehicle, and a vehicle speed.

18. the shifting condition includes a rotation speed of the crankshaft, The control device according to claim 1 or 3, wherein the control unit controls the transmission so that the ratio becomes larger when the rotational speed of the crankshaft is greater than an upper threshold, and controls the transmission so that the ratio becomes smaller when the rotational speed of the crankshaft is less than a lower threshold.

19. The control device according to claim 2 or 3, wherein the second gear shifting operation includes a gear shifting operation for controlling the transmission so that the estimated rotation speed of the crankshaft, calculated based on a vehicle speed and the ratio, falls within a predetermined range.

Images