Control device for man-power drive vehicle

Abstract

To provide a control device capable of improving convenience related to application of an assist force.SOLUTION: A control device for a man-power drive vehicle includes: a control unit configured to continuously drive a motor during a time when a continuation condition for continuing the drive of the motor is satisfied when a stop condition for stopping the motor is satisfied in an assist state of applying an assist force to the man-power drive vehicle by driving the motor; and a storage unit for storing a setting value included in the continuation condition in a changeable manner.SELECTED DRAWING: Figure 2

Description

[Technical field]

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

[0002] For example, Patent Document 1 discloses a control device that controls a motor for providing an assist force to a human-powered vehicle in accordance with the human-powered driving force. [Prior art documents] [Patent documents]

[0003] [Patent Document 1] Japanese Patent Application Publication No. 7-323880 Summary of the Invention [Problem to be solved by the invention]

[0004] In the conventional control device, it is desired to improve the convenience regarding the application of the assist force.

[0005] An object of the present disclosure is to provide a control device that can improve convenience. [Means for solving the problem]

[0006] 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 configured to continue driving the motor while a continuation condition for continuing driving the motor is satisfied when a stop condition for stopping the motor is satisfied in an assist state in which an assist force is applied to the human-powered vehicle by driving the motor; and a memory unit that variably stores a setting value included in the continuation condition. According to the control device of the first aspect, the conditions for continuing to drive the motor when the stop condition is satisfied in the assisted state can be customized by changing the set value, thereby improving convenience regarding the application of the assist force.

[0007] In the control device of the second aspect according to the first aspect, the stop condition is satisfied when the cadence of the human-powered vehicle is equal to or less than a predetermined threshold value. According to the control device of the second aspect, it is possible to customize the conditions under which the motor continues to be driven when the cadence is equal to or lower than a predetermined threshold in the assisted state.

[0008] In the control device of a third aspect according to the first aspect, the set value includes a first set range related to a travel distance of the human-powered vehicle, and the continuation condition is satisfied when, in the assisted state, the travel distance of the human-powered vehicle after the stop condition is satisfied is within the first set range. According to the control device of the third aspect, the travel distance over which assist force is continuously applied to the human-powered vehicle when a stop condition is satisfied in an assisted state can be customized, thereby improving the convenience of applying the assist force.

[0009] In the control device of a fourth aspect according to the third aspect, the control unit changes the first setting range of the memory unit in a stepwise manner in response to operation of the operation unit. According to the control device of the fourth aspect, the user can change the first setting range in stages by operating the operation section, thereby improving convenience.

[0010] In the control device of a fifth aspect according to the third or fourth aspect, the control unit stops the motor in the assisted state before the travel distance of the human-powered vehicle after the stop condition is satisfied exceeds a first set range. According to the control device of the fifth aspect, when the stop condition is satisfied in the assisted state, the travel distance over which the assist force is continuously applied to the human-powered vehicle can be prevented from becoming longer than necessary.

[0011] In the control device of a sixth aspect according to the third or fourth aspect, the control unit calculates a running time until the running distance of the human-powered vehicle reaches the first set range based on the vehicle speed of the human-powered vehicle and the first set range, and stops the motor in the assisted state before the elapsed time from when the stop condition is satisfied exceeds the running time. According to the control device of the sixth aspect, when the stop condition is satisfied in the assisted state, the travel distance over which the assist force is continuously applied to the human-powered vehicle can be prevented from becoming longer than necessary.

[0012] In the control device of a seventh aspect according to any one of the third to sixth aspects, the first set range includes values ​​up to 2 metres. According to the control device of the seventh aspect, the travel distance over which an assist force is continuously applied to the human-powered vehicle when a stop condition is satisfied in an assisted state can be customized within a range of 2 meters or less.

[0013] In the control device of an eighth aspect according to the first aspect, the set value includes a second set range regarding time, and the continuation condition is satisfied when, in the assisted state, the elapsed time since the stop condition was satisfied is within the second set range. According to the control device of the eighth aspect, the time for which assist force is continuously applied to the human-powered vehicle when a stop condition is satisfied in an assisted state can be customized, thereby improving convenience regarding the application of assist force.

[0014] In the control device of a ninth aspect according to the eighth aspect, the control unit changes the second setting range of the memory unit in a stepwise manner in response to operation of the operation unit. According to the control device of the ninth aspect, the user can change the second setting range in stages by operating the operation section.

[0015] In the control device of a tenth aspect according to the eighth or ninth aspect, the control unit stops the motor in the assist state before the elapsed time after the stop condition is satisfied exceeds a second set range. According to the control device of the tenth aspect, when a stop condition is satisfied in an assisted state, the time during which an assist force is continuously applied to the human-powered vehicle can be prevented from becoming longer than necessary.

[0016] In the control device of an eleventh aspect according to any one of the eighth to tenth aspects, the second setting range includes a value equal to or less than a time for the human-powered vehicle to travel two meters. According to the control device of the eleventh aspect, the travel distance over which the assist force is continuously applied to the human-powered vehicle when the stopping condition is satisfied in the assisted state can be customized within a range of 2 meters or less.

[0017] In the control device of a twelfth aspect according to any one of the first to eleventh aspects, the control unit is configured to gradually reduce the output torque of the motor when a stop condition is satisfied in the assist state. According to the control device of the twelfth aspect, it is possible to improve the comfort and stability of the human-powered vehicle when it is driven.

[0018] The control device of a thirteenth aspect according to the fourth or ninth aspect further comprises a wireless communication unit connected to the control unit, the control unit being configured to be connectable to the operation unit via the wireless communication unit. According to the control device of the thirteenth aspect, communication with the operation unit can be performed by the wireless communication unit. Effect of the Invention

[0019] According to the control device of the present disclosure, it is possible to improve the convenience regarding the application of the assist force. [Brief description of the drawings]

[0020] [Figure 1] 1 is a side view showing a human-powered vehicle equipped with a control device according to a first embodiment. [Diagram 2] FIG. 2 is a block diagram showing an example of an electrical configuration of a human-powered vehicle equipped with a control device. [Diagram 3] 4 is a flowchart showing a control flow in the first embodiment. [Figure 4] FIG. 13 is a diagram showing an example of a setting screen. [Diagram 5] 10 is a flowchart showing a control flow in the second embodiment. [Figure 6] 13 is a flowchart showing a control flow in a third embodiment. [Figure 7] FIG. 11 is a diagram showing an example of the relationship between the input torque to the pedal and the assist force in the third embodiment. [Figure 8] 13 is a flowchart showing a control flow in the fourth embodiment. [Figure 9] 13 is a flowchart showing a control flow in the fifth embodiment. DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS

[0021] (First embodiment) The control device 22 according to the first embodiment will be described. The control device 22 according to the first embodiment will be described with reference to Figs. 1 to 6.

[0022] The human-powered vehicle 10 has at least one wheel 16 and is a vehicle that can be driven at least by human driving force. The human-powered vehicle 10 includes various types of bicycles, such as mountain bikes, road bikes, city bikes, cargo bikes, hand bikes, and recumbents. The number of wheels 16 that the human-powered vehicle 10 has is not limited. The human-powered vehicle 10 includes, for example, a one-wheeled vehicle and a vehicle that has two or more wheels 16. The human-powered vehicle 10 is not limited to vehicles that can be driven only by human driving force. The human-powered vehicle 10 includes E-bikes that use not only human driving force but also the driving force of an electric motor for propulsion. The E-bike includes an electric-assisted bicycle whose propulsion is assisted by an electric motor. In the following embodiment, the human-powered vehicle 10 is described as an electric-assisted bicycle.

[0023] The human-powered vehicle 10 includes a crank 11, a frame 12, a seat 13, handlebars 14, a front fork 15, wheels 16, a drive mechanism 17, a transmission 18, a battery 19, a drive unit 20, and a control system 21. The crank 11 shown in Fig. 1 includes a crank shaft 11a that is rotatable with respect to the frame 12, and a pair of crank arms 11b provided at both ends of the crank shaft 11a in the axial direction. Pedals 11c are respectively connected to the pair of crank arms 11b.

[0024] A seat 13 is attached to the frame 12 via a seat post 13a. The frame 12 rotatably supports a handlebar 14 and a front fork 15. The handlebar 14 is configured so that it can be grasped by a user. When the handlebar 14 rotates relative to the frame 12, the front fork 15 rotates, and the traveling direction of the human-powered vehicle 10 changes. A gear shift operation device 14a is provided on the handlebar 14.

[0025] The wheels 16 include a front wheel 16a and a rear wheel 16b. The front wheel 16a is rotatably attached to the front fork 15. The rear wheel 16b is rotatably attached to the frame 12. The drive mechanism 17 connects the crank 11 and the rear wheel 16b. The drive mechanism 17 includes a first rotating body 17a, a second rotating body 17b, and a first drive force transmission unit 17c.

[0026] In this embodiment, the first rotor 17a includes one front sprocket. The first rotor 17a may include multiple front sprockets. The first rotor 17a is connected to the crankshaft 11a via the second driving force transmission section 20b of the drive unit 20. The second driving force transmission section 20b is configured to rotate integrally with the crankshaft 11a. The first rotor 17a rotates in conjunction with the rotation of the second driving force transmission section 20b. When the crankshaft 11a rotates in the first rotation direction and the human-powered driving force is transmitted to the rear wheel 16b, the human-powered vehicle 10 moves forward. The second driving force transmission unit 20b may include a one-way clutch that allows the crankshaft 11a and the first rotor 17a to rotate integrally when the crankshaft 11a rotates in a first rotational direction, and allows relative rotation between the crankshaft 11a and the first rotor 17a when the crankshaft 11a rotates in a second rotational direction opposite to the first rotational direction.

[0027] In this embodiment, the second rotating body 17b includes a plurality of rear sprockets. The second rotating body 17b may include one front sprocket. The second rotating body 17b is connected to the rear wheel 16b. The first driving force transmission unit 17c transmits the rotational force of the first rotating body 17a to the second rotating body 17b. The first driving force transmission unit 17c includes, for example, a chain. The first rotating body 17a and the second rotating body 17b may include pulleys, and the first driving force transmission unit 17c may include a belt. The first rotating body 17a and the second rotating body 17b may include bevel gears, and the first driving force transmission unit 17c may include a shaft.

[0028] The transmission 18 changes the gear ratio of the human-powered vehicle 10. The gear ratio indicates the ratio of the rotation speed of the rear wheel 16b to the rotation speed of the crankshaft 11a. The transmission 18 includes at least one of an external transmission and an internal transmission. In this embodiment, the transmission 18 includes an external transmission. When the transmission 18 includes an external transmission, the gear ratio is calculated, for example, by dividing the number of teeth of a front sprocket with which the first driving force transmission unit 17c engages by the number of teeth of a rear sprocket with which the first driving force transmission unit 17c engages. The external transmission includes at least one of a front derailleur and a rear derailleur 18a. In this embodiment, the external transmission includes the rear derailleur 18a. The rear derailleur 18a is configured to switch the first driving force transmission unit 17c between a plurality of rear sprockets when the gear shift operation device 14a is operated by the user.

[0029] The battery 19 supplies power to the electronic devices. The electronic devices include components mounted on the human-powered vehicle 10. The electronic devices include, for example, a control device 22, a torque sensor 23, a vehicle speed sensor 24, and a cadence sensor 25. The battery 19 includes, for example, at least one of a non-rechargeable battery and a rechargeable battery. The rechargeable battery is configured to be rechargeable by power from an external power source. The battery 19 is provided in the frame 12. For example, at least a portion of the battery 19 is disposed within the down tube of the frame 12.

[0030] 1 and 2 is configured to provide an assist force to the human-powered vehicle 10 in response to a human-powered driving force input to a pair of crank arms 11b. The drive unit 20 includes a motor 20a and a second driving force transmission unit 20b.

[0031] The motor 20a is configured to be driven by electric power from the battery 19. The motor 20a is configured to transmit driving force to a power transmission path of the human-powered driving force from the pedal 11c to the rear wheel 16b, or to the front wheel 16a. In this embodiment, the motor 20a is configured to transmit driving force to the power transmission path of the human-powered driving force by being connected to a second driving force transmission unit 20b shown in FIG. 1. The motor 20a may be connected to the second driving force transmission unit 20b via a reducer.

[0032] The human-powered driving force and the assist force of the motor 20a are transmitted to the second driving force transmission unit 20b. The human-powered driving force and the assist force are transmitted to the rear wheels 16b via the drive mechanism 17, causing the human-powered vehicle 10 to run.

[0033] The motor 20a of the drive unit 20 is controlled in a plurality of control states. The control states of the motor 20a include an assist state in which the motor 20a is driven to provide an assist force to the human-powered vehicle 10 when the human-powered vehicle 10 is propelled by human-powered driving force, and a non-assist state in which the motor 20a is stopped and no assist force is provided when the human-powered vehicle 10 is propelled by human-powered driving force.

[0034] In the assisted state, when the speed of the human-powered vehicle 10 is less than a predetermined speed, the output of the motor 20a is controlled according to the human-powered driving force. By controlling the output of the motor 20a, the magnitude of the assist force applied to the human-powered vehicle 10 changes. The assisted state may include a plurality of assist states in which the maximum output ratio of the motor 20a to the human-powered driving force is different.

[0035] The control system 21 shown in Fig. 2 is configured to control the motor 20a. The control system 21 includes a control device 22, a torque sensor 23, a vehicle speed sensor 24, and a cadence sensor 25. The control device 22 is a control device 22 for a human-powered vehicle, and includes a control unit 22b configured to continue driving the motor 20a while a continuation condition for continuing driving the motor 20a is satisfied when a stop condition for stopping the motor 20a is satisfied in an assist state in which an assist force is applied to the human-powered vehicle 10 by driving the motor 20a, and a storage unit 22a that variably stores a setting value included in the continuation condition.

[0036] The stop condition is satisfied when it is estimated that the user will stop pedaling. The stop condition is satisfied, for example, when at least one of the following is satisfied: the cadence of the human-powered vehicle 10 is equal to or less than a predetermined threshold, and the human-powered driving force is equal to or less than a predetermined threshold. In this embodiment, the stop condition is satisfied when the cadence of the human-powered vehicle 10 is equal to or less than a predetermined threshold. The threshold of the stop condition is 5 rpm. The magnitude of the threshold is not limited to this embodiment. The threshold may be, for example, a value within a range of 0 rpm to 7 rpm. The threshold is preferably a value within a range of 0 rpm to 5 rpm.

[0037] The continuation condition is satisfied when it is estimated that the distance traveled by the human-powered vehicle 10 after the stop condition is satisfied in the assisted state is relatively short. The continuation condition is defined based on a set value. In this embodiment, the set value includes a first set range related to the distance traveled by the human-powered vehicle 10. The continuation condition is satisfied when the distance traveled by the human-powered vehicle 10 after the stop condition is satisfied in the assisted state is within the first set range. The first set range includes a value of 2 meters or less. The first set range may include multiple values, or may include only one value.

[0038] The control device 22 includes a storage unit 22a and a control unit 22b. In this embodiment, the control device 22 further includes a wireless communication unit 22c connected to the control unit 22b. The storage unit 22a stores a control program and information used in the control process. The storage unit 22a includes at least one of a non-volatile memory, a volatile memory, and a hard disk, for example.

[0039] The control unit 22b is configured to execute control related to the drive unit 20. The control unit 22b includes an arithmetic processing device that executes a predetermined control program. The arithmetic processing device includes, for example, a CPU (Central Processing Unit) or an MPU (Micro Processing Unit). The control unit 22b may include one or more microcomputers. The control unit 22b further includes an inverter circuit connected to the motor 20a.

[0040] The control unit 22b has a function of measuring time. The control unit 22b may measure time using, for example, a CPU or an MPU, and may have a timer or a clock. The control unit 22b is configured to communicate with the torque sensor 23, the vehicle speed sensor 24, and the cadence sensor 25 via an electric cable or a wireless communication device. The control unit 22b may be included in the drive unit 20.

[0041] The torque sensor 23 is configured to detect information related to the torque input to the pair of crank arms 11b. The torque sensor 23 is provided, for example, in a transmission path of the driving force from the pedal 11c to the first rotating body 17a. The torque sensor 23 includes, for example, a strain sensor. The torque sensor 23 may include a magnetostrictive sensor, an optical sensor, and a pressure sensor. The torque sensor 23 outputs a signal corresponding to the torque applied to the pair of crank arms 11b to the control unit 22b. The control unit 22b is configured to detect the human-powered driving force based on the signal output from the torque sensor 23. The torque sensor 23 may be provided in the drive unit 20.

[0042] The vehicle speed sensor 24 is configured to detect information related to the vehicle speed of the human-powered vehicle 10. The vehicle speed sensor 24 detects, for example, the rotation speed of at least one wheel 16 of the human-powered vehicle 10. The vehicle speed sensor 24 is configured, for example, by a magnetic sensor attached to the frame 12 or the front fork 15 of the human-powered vehicle 10 and detects the magnetism of a magnet provided on at least one wheel 16. The vehicle speed sensor 24 outputs a signal corresponding to the rotation speed of the at least one wheel 16 to the control unit 22b. The control unit 22b is configured to detect the vehicle speed of the human-powered vehicle 10 based on the signal output from the vehicle speed sensor 24.

[0043] The cadence sensor 25 is configured to detect the cadence of the human-powered vehicle 10. The cadence is defined, for example, by the number of revolutions of the crankshaft 11a per unit time. The unit time is, for example, one minute. The cadence sensor 25 is provided, for example, in a transmission path of the driving force from the pedal 11c to the first rotor 17a. The cadence sensor 25 includes, for example, a magnetic sensor that outputs a signal according to the strength of a magnetic field. The cadence sensor 25 may include an optical sensor, an acceleration sensor, a gyro sensor, or a torque sensor. The cadence sensor 25 outputs a signal according to the cadence to the control unit 22b. The control unit 22b is configured to detect the cadence based on the signal output from the cadence sensor 25. The cadence sensor 25 may be provided in the drive unit 20.

[0044] The wireless communication unit 22c can receive wireless signals from an external device. The wireless communication unit 22c may be configured to communicate according to existing communication standards such as Bluetooth (registered trademark) and ANT+ (registered trademark), or may be configured to wirelessly communicate according to a unique communication standard. The control unit 22b is configured to be connectable to the operation unit 30 via the wireless communication unit 22c.

[0045] The operation unit 30 is configured to be operated by a user with a hand or a finger. In this embodiment, the operation unit 30 includes a smartphone 31 in which a predetermined application is installed. For example, when a predetermined application is started and a predetermined operation is performed, the smartphone 31 outputs a signal to the wireless communication unit 22c. When the control unit 22b receives a signal from the smartphone 31 via the wireless communication unit 22c, the control unit 22b is configured to detect a user's operation on the smartphone 31 based on the signal from the smartphone 31. The operation unit 30 may be a tablet computer in which a predetermined application is installed.

[0046] In this embodiment, the control unit 22b is configured to change the rate of change of the output of the motor 20a relative to the rate of change of the manual driving force. The rate of change includes at least one of a first rate of change when the manual driving force increases and a second rate of change when the manual driving force decreases.

[0047] The control unit 22b changes the first rate of change, for example, by a first filter. The first filter includes, for example, a first time constant. The control unit 22b is configured to change the first rate of change by changing a first time constant of the first filter. The control unit 22b may be configured to change the first rate of change by changing a gain for calculating the output of the motor 20a from the manual driving force. The first filter is configured, for example, by executing predetermined software in a calculation processing device.

[0048] The control unit 22b changes the second rate of change by, for example, a second filter. The second filter includes, for example, a second time constant. The control unit 22b is configured to change the second rate of change by changing the second time constant of the second filter. The control unit 22b may be configured to change the second rate of change by changing a gain for calculating the output of the motor 20a from the human driving force. The second filter is configured, for example, by executing predetermined software in a calculation processing device. For example, the control unit 22b can make it difficult to reduce the assist force even if the human driving force decreases by changing the second rate of change when the human driving force decreases to a value smaller than the first rate of change when the human driving force increases. Since the assist force is difficult to reduce even if the human driving force decreases, the user can easily pedal the pedal 11c.

[0049] An example of the control executed by the control unit 22b will be described. Fig. 3 is used to explain the example of the control executed by the control unit 22b. The control unit 22b is configured to execute a first control flow according to the flowchart shown in Fig. 3. The first control flow includes a process of controlling the motor 20a so that the motor 20a is continuously driven while the continuation condition is satisfied when the stop condition is satisfied in the assisted state.

[0050] In this embodiment, the first condition for starting the first control flow is satisfied when power is supplied from the battery 19 to the control device 22. When the first control flow ends, the control unit 22b repeatedly executes the first control flow at predetermined time intervals until a predetermined second condition is satisfied. In this embodiment, the second condition is satisfied when power is not supplied from the battery 19 to the control device 22. The first condition and the second condition are not limited to this embodiment.

[0051] In step S11, the control unit 22b detects information necessary for executing the first control flow. In this embodiment, the control unit 22b detects the vehicle speed of the human-powered driving force based on a signal from the vehicle speed sensor 24. The control unit 22b detects the cadence of the human-powered driving force based on a signal from the cadence sensor 25. After performing the process of step S11, the control unit 22b proceeds to step S12.

[0052] In step S12, if the control state of the motor 20a is the assisted state, the control unit 22b proceeds to step S13. If the control state of the motor 20a is the non-assisted state, the control unit 22b ends the first control flow.

[0053] In step S13, if the stop condition is satisfied, the control unit 22b proceeds to step S14. In this embodiment, the control unit 22b proceeds to step S14 if the cadence detected in step S11 is 5 rpm or less. If the stop condition is not satisfied, the control unit 22b ends the first control flow. In this embodiment, the control unit 22b ends the first control flow if the cadence detected in step S11 is greater than 5 rpm.

[0054] In step S14, the control unit 22b calculates the travel distance of the human-powered vehicle 10 after the stop condition is satisfied in the assisted state. In this specification, the travel distance of the human-powered vehicle 10 after the stop condition is satisfied in the assisted state may be described as the travel distance M after the stop condition is satisfied. The control unit 22b calculates the travel distance M after the stop condition is satisfied based on, for example, the vehicle speed of the human-powered vehicle 10 at the time when the stop condition is satisfied in the assisted state and the elapsed time since the stop condition is satisfied in the assisted state. The control unit 22b can calculate the elapsed time since the stop condition is satisfied in the assisted state by using a clock function.

[0055] The method of calculating the travel distance M after the stop condition is satisfied is not limited to this embodiment. For example, the control unit 22b may calculate the travel distance M after the stop condition is satisfied based on the vehicle speed of the human-powered vehicle 10 that is repeatedly detected in step S11 by repeatedly executing the first control flow. After performing the process of step S14, the control unit 22b proceeds to step S15.

[0056] In step S15, if the continuation condition is satisfied, the control unit 22b proceeds to step S17. In this embodiment, the control unit 22b reads the first set range stored in the storage unit 22a, and proceeds to step S17 if the travel distance M after the stop condition is satisfied calculated in step S14 is within the first set range. For example, if the first set range is from 0 meters to 1.5 meters, the control unit 22b proceeds to step S17 if the travel distance M after the stop condition is satisfied is 1.5 meters or less.

[0057] In step S15, if the continuation condition is not satisfied, the control unit 22b proceeds to step S16. In this embodiment, the control unit 22b proceeds to step S16 if the travel distance M after the stop condition is satisfied is in a range different from the first set range. For example, if the first set range is from 0 meters to 1.5 meters, the control unit 22b proceeds to step S16 if the travel distance M after the stop condition is satisfied is greater than 1.5 meters.

[0058] In step S16, the control unit 22b controls the motor 20a to stop the motor 20a. After performing the process of step S16, the control unit 22b ends the first control flow.

[0059] In step S17, the control unit 22b controls the motor 20a to continue driving the motor 20a. In step S17, when the driving of the motor 20a is continued, the magnitude and the manner of change of the output torque of the motor 20a while the continuation condition is satisfied are not particularly limited. In step S17, the method of continuing the driving of the motor 20a is not limited.

[0060] For example, the control unit 22b may control the motor 20a to output a predetermined torque. For example, the control unit 22b may change the output torque of the motor 20a according to predetermined parameters. The predetermined parameters include, for example, at least one of the human-powered driving force of the human-powered vehicle 10, the travel distance M after the stop condition is satisfied, and the elapsed time since the stop condition is satisfied in the assist state. By controlling the motor 20a in step S17, the control unit 22b can continuously apply an assist force to the human-powered vehicle 10 when it is estimated that pedaling will stop in the assist state. After performing the process of step S17, the control unit 22b ends the first control flow.

[0061] The control unit 22b is configured to change the first setting range used in step S15 of the first control flow. By changing the first setting range, the condition for continuing the driving of the motor 20a when the stop condition is satisfied in the assisted state can be customized, thereby improving the convenience regarding the application of the assist force. An example of a configuration for changing the first setting range is described with reference to FIG. 4. In this embodiment, the control unit 22b changes the first setting range of the memory unit 22a stepwise in response to the operation of the operation unit 30.

[0062] An application including a setting screen 40 for changing the first setting range is installed in the smartphone 31 of the operation unit 30. The setting screen 40 is displayed on the smartphone 31 when the application including the setting screen 40 is started in the smartphone 31 and a predetermined operation is performed on the smartphone 31. The setting screen 40 includes a first area 41 and a second area 42.

[0063] The first area 41 is configured to be able to change an increase ratio, which indicates a ratio of an increase speed of the assist force to an increase speed of the manual driving force. In this embodiment, the increase ratio is displayed by a bar graph in the first area 41. The user can instruct the smartphone 31 to change the increase ratio by touching the bar graph in the first area 41. The smartphone 31 can output a signal instructing the control unit 22b to change the increase ratio via the wireless communication unit 22c.

[0064] For example, when a predetermined button displayed on the setting screen 40 is touched, the smartphone 31 outputs a signal instructing a change of the increase rate to the control unit 22b via the wireless communication unit 22c. The control unit 22b changes the increase rate in response to the signal from the smartphone 31. For example, the control unit 22b changes the second change rate in response to the signal from the smartphone 31.

[0065] The second area 42 is configured to allow the first setting range to be changed. In the present embodiment, a selection button 42a is displayed in the second area 42, allowing the user to select an option for changing the first setting range. By touching the selection button 42a, a plurality of options are displayed on the smartphone 31. In the present embodiment, the options of Low, Mid, and High are displayed on the smartphone 31. The user can instruct the smartphone 31 to change the first setting range by selecting one option from Low, Mid, and High on the setting screen 40.

[0066] The smartphone 31 can output a signal instructing a change of the first setting range to the control unit 22b via the wireless communication unit 22c. When Low is selected in the second area 42, when Mid is selected in the second area 42, and when High is selected in the second area 42, the smartphone 31 outputs different signals to the control unit 22b via the wireless communication unit 22c. The control unit 22b changes the first setting range to equal intervals in response to the signal from the smartphone 31. In this embodiment, the control unit 22b changes the upper limit value of the setting range to equal intervals.

[0067] For example, when High is selected in the second region 42, the control unit 22b changes the first setting range to a range from 0 meters to 1.5 meters. When Mid is selected in the second region 42, the control unit 22b changes the first setting range to a range from 0 meters to 1.0 meters. When Low is selected in the second region 42, the control unit 22b changes the first setting range to a range from 0 meters to 0.5 meters. The value of the first setting range according to one option selected in the second region 42 is not limited to this embodiment.

[0068] For example, control unit 22b may change the first set range at unequal intervals depending on one option selected in second region 42. For example, control unit 22b may change the upper limit value of the first set range to 1.2 meters instead of 1.0 meter when Mid is selected in second region 42. For example, control unit 22b may change the upper limit value of the first set range to 0.8 meters instead of 1.0 meter when Mid is selected in second region 42.

[0069] The options for changing the first setting range are not limited to those in the present embodiment. For example, two options, Low and High, may be displayed on the smartphone 31 by touching the selection button 42a. For example, four or more options may be displayed on the smartphone 31 by touching the selection button 42a.

[0070] A user can customize the timing of stopping the motor 20a when the stop condition is satisfied in the assisted state by operating the setting screen 40 shown in Fig. 4. For example, the user can customize the timing of stopping the motor 20a according to the traveling environment of the human-powered vehicle 10. For example, when traveling off-road with the human-powered vehicle 10, the user can delay the timing of stopping the motor 20a when the stop condition is satisfied in the assisted state by selecting High in the selection button 42a of the setting screen 40. In this embodiment, when High is selected in the selection button 42a, the motor 20a is driven until the traveling distance M after the stop condition is satisfied reaches 1.5 meters, and the application of the assist force to the human-powered vehicle 10 is continued.

[0071] By continuing to apply an assist force to the human-powered vehicle 10, for example, when traveling on a trail, even if the crank 11 is stopped or rotated in reverse to avoid an obstacle on the road surface, the speed of the human-powered vehicle 10 is less likely to be lost, thereby improving the ability to travel on a trail.

[0072] Second embodiment A control device 22 according to a second embodiment will be described. Fig. 3 and Fig. 5 are used to describe the control device 22 according to the second embodiment. The same reference numerals as in the first embodiment are used for configurations common to the first embodiment, and duplicated descriptions will be omitted.

[0073] The control unit 22b is configured to gradually reduce the output torque of the motor 20a when the stop condition is satisfied in the assist state. The control unit 22b executes a second control flow shown in Fig. 5. In the second control flow shown in Fig. 5, the control unit 22b performs the processes of steps S11 to S14, similar to the first control flow shown in Fig. 3. In the second control flow, the control unit 22b performs the processes of steps S25 to S27 after the process of step S14.

[0074] In step S25, if it is estimated that the continuation condition will be satisfied between the present time and the next time the second control flow is executed, the control unit 22b proceeds to step S27. For example, the control unit 22b calculates the travel distance M after the stop condition is satisfied when the second control flow is next executed, based on the travel distance M after the stop condition is satisfied calculated in step S14, the vehicle speed of the human-powered vehicle 10 detected in step S11, and the time for which the second control flow is repeatedly executed. The control unit 22b proceeds to step S27 if the calculation result of the travel distance M after the stop condition is satisfied does not exceed the upper limit value of the first set range.

[0075] In step S25, when it is estimated that the continuation condition will not be satisfied between the current time and the next execution time of the second control flow, the control unit 22b proceeds to step S26. For example, when the calculation result of the travel distance M after the stop condition is satisfied when the next execution time of the second control flow exceeds the upper limit value of the first set range, the control unit 22b proceeds to step S26.

[0076] In step S26, the control unit 22b controls the motor 20a to stop the motor 20a. After performing the process of step S26, the control unit 22b ends the second control flow.

[0077] In step S27, the control unit 22b gradually reduces the output torque of the motor 20a according to the travel distance M after the stop condition is satisfied, which is calculated in step S14. For example, the control unit 22b reads the first setting range stored in the storage unit 22a, and controls the output torque of the motor 20a so that the output torque of the motor 20a decreases as the difference between the upper limit value of the first setting range and the travel distance M after the stop condition is satisfied decreases.

[0078] By gradually reducing the output torque of the motor 20a, when pedaling is stopped in the assisted state, the assist force applied to the human-powered vehicle 10 is gradually reduced, thereby improving the comfort and stability of the human-powered vehicle 10 when traveling.

[0079] By executing the process of step S25 of the second control flow, the control unit 22b can stop the motor 20a in the assisted state before the travel distance M of the human-powered vehicle 10 after the stop condition is satisfied exceeds the first set range.

[0080] By stopping the motor 20a before the travel distance M after the stop condition is satisfied exceeds the first set range, the control unit 22b can prevent the human-powered vehicle 10 from traveling more than necessary when the stop condition is satisfied in the assisted state. For example, the human-powered vehicle 10 can be prevented from traveling more than 2 meters after the stop condition is satisfied in the assisted state.

[0081] Third embodiment A control device 22 according to a third embodiment will be described. Fig. 3 to Fig. 7 are used to describe the control device 22 according to the third embodiment. The same reference numerals as those in the first and second embodiments are used for configurations common to the first and second embodiments, and duplicated descriptions will be omitted.

[0082] The control unit 22b executes a third control flow shown in Fig. 6. In the third control flow shown in Fig. 6, the control unit 22b performs the processes of steps S11 to S16, similarly to the first control flow shown in Fig. 3. If the continuation condition is satisfied in step S15, the control unit 22b performs the processes of steps S37 to S39.

[0083] In step S37, the control unit 22b calculates the traveling time until the traveling distance M of the human-powered vehicle 10 reaches the first set range based on the vehicle speed of the human-powered vehicle 10 and the first set range. In this embodiment, the control unit 22b reads the first set range stored in the memory unit 22a, and calculates the traveling time until the traveling distance M after the stop condition is satisfied, calculated in step S14, reaches the first set range. In this specification, the traveling time until the traveling distance M after the stop condition is satisfied reaches the first set range may be described as the reaching traveling time T0.

[0084] For example, the control unit 22b divides the upper limit value of the first setting range by the vehicle speed when the stop condition is satisfied, and converts the division result into time to calculate the arrival travel time T0. The method of calculating the arrival travel time T0 is not limited to this embodiment. After performing the process of step S37, the control unit 22b proceeds to step S38.

[0085] In step S38, the control unit 22b uses a function for measuring time to calculate the elapsed time T1 from when the stop condition is satisfied in the assisted state. In this specification, the elapsed time T1 from when the stop condition is satisfied in the assisted state may be described as the elapsed time T1 after the stop condition is satisfied. After performing the process of step S38, the control unit 22b proceeds to step S39.

[0086] In step S39, control unit 22b gradually reduces the output torque of motor 20a in accordance with the arrival traveling time T0 calculated in step S37 and the elapsed time T1 after the stop condition is satisfied calculated in step S38. For example, control unit 22b controls the output torque of motor 20a so that the output torque of motor 20a decreases as the difference between arrival traveling time T0 and the elapsed time T1 after the stop condition is satisfied decreases.

[0087] Fig. 7 shows an example of the human-powered driving force and the assist force when the third control flow is executed. Fig. 7 is based on the premise that the control state of the motor 20a is the assist state, and the vehicle speed of the human-powered vehicle 10 is 10 kilometers per hour from zero seconds to six seconds. In Fig. 7, the user pedals from zero seconds to three seconds, and an assist force is applied to the human-powered vehicle 10.

[0088] In FIG. 7, pedaling is stopped after 3 seconds. The stopping condition is satisfied by stopping pedaling, and the output torque of the motor 20a is gradually reduced. In FIG. 7, the graph of Lv.1 shows the change in the output torque of the motor 20a when the motor 20a stops after the human-powered vehicle advances 0.20833 m after pedaling is stopped. In FIG. 7, the graph of Lv.2 shows the change in the output torque of the motor 20a when the motor 20a stops after the human-powered vehicle advances 0.75 m after pedaling is stopped. In FIG. 7, the graph of Lv.3 shows the change in the output torque of the motor 20a when the motor 20a stops after the human-powered vehicle advances 1 m after pedaling is stopped. In FIG. 7, the graph of Lv.4 shows the change in the output torque of the motor 20a when the motor 20a stops after the human-powered vehicle advances 1.25 m after pedaling is stopped. In FIG. 7, the graph of Level 3 shows the change in output torque of the motor 20a when the motor 20a stops after the human-powered vehicle has traveled 1.5 m after pedaling has stopped.

[0089] For example, when High is selected on the setting screen 40 shown in Fig. 4, the upper limit value of the first setting range is set to 1.5 meters. In Fig. 7, since the vehicle speed of the human-powered vehicle 10 is 10 kilometers per hour, the control unit 22b calculates the arrival traveling time T0 to be approximately 0.54 seconds. As shown in the graph of Level 5 in Fig. 7, when approximately 0.54 seconds have passed since pedaling was stopped, the control unit 22b reduces the output torque of the motor 20a to zero Nm and stops the motor 20a.

[0090] The control unit 22b may stop the motor 20a in the assisted state before the elapsed time T1 after the stop condition is satisfied exceeds the traveling time. The traveling time includes the ultimate traveling time T0 until the traveling distance M after the stop condition is satisfied reaches the first set range. For example, the control unit 22b can stop the motor 20a before the elapsed time T1 exceeds the traveling time by performing the process of step S25 of the second control flow shown in FIG. 5 instead of step S15 in the third control flow shown in FIG. 6. By stopping the motor 20a before the elapsed time T1 exceeds the ultimate traveling time T0, it is possible to prevent the human-powered vehicle 10 from traveling more than necessary when the stop condition is satisfied in the assisted state.

[0091] In the third control flow, the control unit 22b controls the motor 20a based on the running time of the human-powered vehicle 10, rather than the running distance M of the human-powered vehicle 10. By controlling the motor 20a based on the running time, the calculation process for controlling the motor 20a can be easily performed using a function for measuring time.

[0092] (Fourth embodiment) A control device 22 according to a fourth embodiment will be described. The control device 22 according to the fourth embodiment will be described with reference to Figs. 3, 4, 6, and 8. The same reference numerals as those in the first to third embodiments are used for configurations common to the first to third embodiments, and duplicated descriptions will be omitted.

[0093] The control unit 22b executes a fourth control flow shown in Fig. 8. In the fourth control flow shown in Fig. 8, the control unit 22b performs the processes from step S11 to step S13, similarly to the first control flow shown in Fig. 3. If a stop condition is satisfied in step S13, the control unit 22b performs the processes from step S44 to step S47.

[0094] In step S44, the control unit 22b calculates the elapsed time T1 after the stop condition is satisfied by the same process as in step S38 of the third control flow shown in Fig. 6. After performing the process of step S44, the control unit 22b proceeds to step S45.

[0095] In step S45, if the continuation condition is satisfied, the control unit 22b proceeds to step S47. In this embodiment, the continuation condition is satisfied when the time elapsed since the stop condition was satisfied in the assisted state is relatively short. The set value of the continuation condition includes a second set range related to time. The continuation condition is satisfied when the time elapsed since the stop condition was satisfied in the assisted state is within the second set range. The time elapsed since the stop condition was satisfied includes the elapsed time T1 after the stop condition was established, which is calculated in step S44. The second set range includes a value equal to or less than the time it takes for the human-powered vehicle 10 to travel two meters. The second set range may include multiple values, or may include only one value.

[0096] The time it takes for the human-powered vehicle 10 to travel two meters varies depending on the vehicle speed of the human-powered vehicle 10. In the assisted state, an assist force is applied to the human-powered vehicle 10 when the vehicle speed of the human-powered vehicle 10 is below a predetermined speed. The second setting range includes values ​​equal to or less than the time it takes for the human-powered vehicle 10 to travel two meters in the range of vehicle speeds at which an assist force is applied to the human-powered vehicle 10. For example, the second setting range includes values ​​equal to or less than the time it takes for the human-powered vehicle 10 to travel two meters at speeds less than 25 kilometers per hour.

[0097] The memory unit 22a stores the second setting range in a changeable manner. The control unit 22b is configured to change the second setting range. For example, the control unit 22b changes the second setting range in the memory unit 22a in a stepwise manner in response to an operation of the operation unit 30. When changing the second setting range in a stepwise manner, the control unit 22b can change the second setting range in response to an operation of the second area 42 of the setting screen 40 shown in FIG.

[0098] In step S45, the control unit 22b reads the second set range stored in the storage unit 22a, and if the elapsed time T1 after the stop condition is satisfied calculated in step S44 is within the second set range, the control unit 22b proceeds to step S47. For example, if the second set range is from 0 to 0.5 seconds, the control unit 22b proceeds to step S47 if the elapsed time T1 after the stop condition is satisfied is 0.5 seconds or less.

[0099] In step S45, if the continuation condition is not satisfied, the control unit 22b proceeds to step S46. In this embodiment, the control unit 22b proceeds to step S46 if the elapsed time T1 after the stop condition is satisfied is in a range different from the second set range. For example, if the second set range is from 0 seconds to 0.5 seconds, the control unit 22b proceeds to step S46 if the elapsed time T1 after the stop condition is satisfied is greater than 0.5 seconds.

[0100] In step S46, the control unit 22b controls the motor 20a to stop the motor 20a. After performing the process of step S46, the control unit 22b ends the fourth control flow.

[0101] In step S47, the control unit 22b controls the motor 20a so as to continue driving the motor 20a. The control unit 22b controls the motor 20a, for example, by the same process as step S17 of the first control flow shown in Fig. 3. After performing the process of step S47, the control unit 22b ends the fourth control flow. By executing the fourth control flow, the control unit 22b can easily perform calculation processing for controlling the motor 20a using a function for measuring time.

[0102] Fifth embodiment A control device 22 according to a fifth embodiment will be described. Fig. 8 and Fig. 9 are used for describing the control device 22 according to the fifth embodiment. The same reference numerals as those in the first to fourth embodiments are used for configurations common to the first to fourth embodiments, and duplicated descriptions will be omitted.

[0103] The control unit 22b executes a fifth control flow shown in Fig. 9. In the fifth control flow shown in Fig. 9, the control unit 22b performs the processes of steps S11 to S13 and step S44, similarly to the fourth control flow shown in Fig. 8. In the fifth control flow, the control unit 22b performs the processes of steps S55 to S57 after the process of step S44.

[0104] In step S55, when it is estimated that the continuation condition is satisfied between the present time and the next execution time of the fifth control flow, the control unit 22b proceeds to step S57. For example, the control unit 22b calculates the elapsed time T1 after the stop condition is satisfied at the next execution time of the fifth control flow based on the elapsed time T1 after the stop condition is satisfied calculated in step S44 and the time for which the fifth control flow is repeatedly executed. The control unit 22b proceeds to step S57 when the calculation result of the elapsed time T1 after the stop condition is satisfied does not exceed the upper limit value of the second setting range.

[0105] In step S55, when it is estimated that the continuation condition will not be satisfied between the current time and the next execution of the fifth control flow, the control unit 22b proceeds to step S56. For example, when the calculation result of the elapsed time T1 after the stop condition is satisfied when the fifth control flow is next executed exceeds the upper limit value of the second set range, the control unit 22b proceeds to step S56.

[0106] In step S56, the control unit 22b controls the motor 20a to stop the motor 20a. After performing the process of step S56, the control unit 22b ends the fifth control flow.

[0107] In step S57, the control unit 22b gradually reduces the output torque of the motor 20a according to the elapsed time T1 after the stop condition is satisfied, which is calculated in step S44. For example, the control unit 22b reads the second setting range stored in the storage unit 22a, and controls the output torque of the motor 20a so that the output torque of the motor 20a decreases as the difference between the upper limit value of the second setting range and the elapsed time T1 after the stop condition is satisfied decreases.

[0108] By gradually reducing the output torque of the motor 20a, when pedaling is stopped in the assisted state, the assist force applied to the human-powered vehicle 10 is gradually reduced, thereby improving the comfort and stability of the human-powered vehicle 10 when traveling.

[0109] By executing the process of step S55 of the fifth control flow, the control unit 22b can stop the motor 20a in the assisted state before the elapsed time T1 after the stop condition is satisfied exceeds the second set range. By stopping the motor 20a before the elapsed time T1 after the stop condition is satisfied exceeds the second set range, the control unit 22b can prevent the human-powered vehicle 10 from traveling more than necessary when the stop condition is satisfied in the assisted state.

[0110] (Modification) The description of each embodiment is merely an example of a form that the present invention can take, and is not intended to limit the present invention. For example, the present invention can take a form that combines at least two of the modified embodiments described below that are not mutually contradictory.

[0111] For example, the configuration of the control device 22 in each embodiment is an example, and the control device 22 may include various devices not shown in each embodiment, or may not include some of the various devices shown in each embodiment. For example, the control device 22 may not include the wireless communication unit 22c. When the control device 22 does not include the wireless communication unit 22c, the control unit 22b may be configured to communicate with the operation unit 30 via an electric cable.

[0112] The various threshold values ​​used in the control exemplified in each embodiment are not limited and may be set arbitrarily. The various threshold values ​​may be changed arbitrarily by operating a predetermined operating device, etc.

[0113] The configurations illustrated in each embodiment may be combined with each other to the extent that they are not mutually inconsistent. The process contents and the process order of the flowcharts illustrated in each embodiment are merely examples, and the process contents and the process order can be changed as appropriate within the scope of the present invention.

[0114] For example, the control unit 22b can combine the first control flow exemplified in the first embodiment and the fourth control flow exemplified in the fourth embodiment to control the motor 20a based on the first set range and the second set range. For example, the control unit 22b may continue driving the motor 20a when the travel distance M after the stop condition is satisfied is within the first set range and the elapsed time T1 after the stop condition is satisfied is within the second set range. For example, the control unit 22b may stop the motor 20a when at least one of the cases where the travel distance M after the stop condition is satisfied is within a range different from the first set range and the elapsed time T1 after the stop condition is satisfied is within a range different from the second set range is satisfied.

[0115] For example, in the process of step S15 shown in Fig. 3 and Fig. 6, the control unit 22b may determine whether or not the continuation condition is satisfied based on a first set value, rather than the first set range. The first set value includes a numerical value indicating a travel distance of the human-powered vehicle 10. When determining whether or not the continuation condition is satisfied based on the first set value, the control unit 22b may stop the motor 20a when the travel distance M after the stop condition is satisfied is equal to the first set value. As in the process of step S15, the control unit 22b may determine whether or not the continuation condition is satisfied based on the first set value, rather than the first set range, in the process of step S25 shown in Fig. 5.

[0116] For example, in the process of step S45 shown in Fig. 8, the control unit 22b may determine whether or not the continuation condition is satisfied based on the second set value, rather than the second set range. The second set value includes a numerical value indicating the running time of the human-powered vehicle 10. When determining whether or not the continuation condition is satisfied based on the second set value, the control unit 22b may stop the motor 20a when the elapsed time T1 after the stop condition is satisfied is equal to the second set value. As in the process of step S45, the control unit 22b may determine whether or not the continuation condition is satisfied based on the second set value, rather than the second set range, in the process of step S55 shown in Fig. 9.

[0117] For example, the setting screen 40 for changing the first setting range and the second setting range may be configured so that a numerical value is input in the second area 42 in response to an operation of the smartphone 31. By inputting a numerical value in the second area 42, the user can set the first setting range and the second setting range in detail.

[0118] The control unit 22b may change the first setting range and the second setting range in response to the operation of a device other than the smartphone 31. For example, the control unit 22b may change the first setting range and the second setting range in response to the operation of an operating device mounted on the human-powered vehicle 10. For example, the control unit 22b may change the first setting range and the second setting range in response to the operation of a gear shift operating device 14a provided on the handlebar 14.

[0119] When the first setting range and the second setting range are changed in response to the operation of the gear shift operating device 14a, the control unit 22b is configured to communicate with, for example, an operation state detection unit that detects the operation state of the gear shift operating device 14a. The control unit 22b is configured to detect at least one of an operation state related to an upshift and an operation state related to a downshift based on a signal output from the operation state detection unit. The control unit 22b changes the first setting range and the second setting range stored in the storage unit 22a in response to at least one of an operation state related to an upshift and an operation state related to a downshift.

[0120] The phrase "at least one" as used herein means "one or more" of the desired options. As an example, the phrase "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 phrase "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]

[0121] 10... human-powered vehicle, 22... control device, 20a... motor, 22a... storage unit, 22b... control unit, 22c... wireless communication unit, 30... operation unit, M... travel distance after stop condition is satisfied, T0... reached travel time, T1... elapsed time after stop condition is satisfied

Claims

1. A control device for a human-powered vehicle, a control unit configured to, when a stop condition for stopping the motor is satisfied in an assist state in which an assist force is applied to the human-powered vehicle by driving the motor, continue to drive the motor while a continuation condition for continuing the drive of the motor is satisfied; A control device comprising: a storage unit that stores a setting value included in the continuation condition in a variably manner.

2. The control device according to claim 1 , wherein the stop condition is satisfied when a cadence of the human-powered vehicle is equal to or less than a predetermined threshold value.

3. the set value includes a first set range related to a travel distance of the human-powered vehicle, The control device according to claim 2 , wherein the continuation condition is satisfied when a travel distance of the human-powered vehicle in the assisted state after the stop condition is satisfied is within the first set range.

4. The control device according to claim 3 , wherein the control unit changes the first setting range of the storage unit in a stepwise manner in response to an operation of an operation unit.

5. The control device according to claim 3 , wherein the control unit stops the motor in the assisted state before a travel distance of the human-powered vehicle after the stop condition is satisfied exceeds the first set range.

6. The control unit is calculating a travel time until a travel distance of the human-powered vehicle reaches the first set range based on a vehicle speed of the human-powered vehicle and the first set range; The control device according to claim 3 , wherein the motor is stopped before the elapsed time since the stop condition was satisfied in the assisted state exceeds the running time.

7. The control device of claim 3 , wherein the first set range includes values ​​up to 2 meters.

8. the set value includes a second set range regarding time, The control device according to claim 1 , wherein the continuation condition is satisfied when, in the assisted state, an elapsed time since the stop condition was satisfied is within the second set range.

9. The control device according to claim 8 , wherein the control unit changes the second setting range of the storage unit in a stepwise manner in response to an operation of an operation unit.

10. The control unit is The control device according to claim 8 , wherein the motor is stopped in the assisted state before the elapsed time from when the stop condition is satisfied exceeds the second set range.

11. The control device according to claim 8 , wherein the second set range includes a value equal to or less than a time required for the human-powered vehicle to travel two meters.

12. The control device according to claim 1 , wherein the control unit is configured to gradually reduce the output torque of the motor when the stop condition is satisfied in the assist state.

13. A wireless communication unit connected to the control unit is further provided. The control device according to claim 4 or 9, wherein the control unit is configured to be connectable to the operation unit via the wireless communication unit.

Images