Vehicle, vehicle control method, and program

Abstract

To control a motor in accordance with target exercise intensity of a rider without requiring the rider to wear a heart rate detection sensor or the like.SOLUTION: There is provided a vehicle with a driving wheel thereof caused to drive by power input by a rider and power input from a motor. The vehicle comprises: a torque sensor that detects torque of the power input by the rider; an input speed sensor that detects input speed of the power input by the rider; and a controller that controls the motor. The controller is configured to: calculate a workload of the rider on the basis of the torque detected by the torque sensor and the input speed detected by the input speed sensor; estimate an oxygen intake of the rider from the workload; estimate a maximum oxygen intake from physical parameters of the rider; and control the motor so that exercise intensity calculated from the oxygen intake and the maximum oxygen intake approaches target exercise intensity of the rider.SELECTED DRAWING: Figure 2

Description

[Technical field]

[0001] The present invention relates to a vehicle, a vehicle control method, and a program. [Background technology]

[0002] Patent Document 1 discloses an electrically assisted bicycle (vehicle) that uses a strain gauge to detect the pedaling force applied by the rider when pedaling, and if the pedaling force is greater than a level that enables aerobic exercise, it drives an electric motor to generate electric force to assist the pedaling force, and if the pedaling force is less than this level, it applies a load force to the pedaling force by using the rotational resistance of the electric motor. [Prior art documents] [Patent documents]

[0003] [Patent Document 1] JP 2003-231491 A Summary of the Invention [Problem to be solved by the invention]

[0004] However, in the electrically assisted bicycle of Patent Document 1, the pedaling force level that enables aerobic exercise is set based on the heart rate of the rider detected by a heart rate detection sensor. Therefore, when riding an electrically assisted bicycle, the rider has to wear a heart rate detection sensor to detect the heart rate, which is a hassle.

[0005] The present invention has been made in consideration of the above problems, and has an object to control a motor in accordance with a driver's target exercise intensity without the driver having to wear a heart rate detection sensor or the like. [Means for solving the problem]

[0006] In one aspect of the present invention, a vehicle whose drive wheels are driven by power input by a driver and power input from a motor comprises a torque sensor that detects the torque of the power input by the driver, an input speed sensor that detects the input speed of the power input by the driver, and a controller that controls the motor, wherein the controller is configured to calculate the driver's workload based on the torque detected by the torque sensor and the input speed detected by the input speed sensor, estimate the driver's oxygen intake from the workload, estimate the driver's maximum oxygen intake from the driver's physical parameters, and control the motor so that the exercise intensity calculated from the oxygen intake and the maximum oxygen intake approaches a target exercise intensity for the driver. Effect of the Invention

[0007] According to one aspect of the present invention, the driver's oxygen intake is estimated from the torque detected by the torque sensor and the input speed detected by the input speed sensor, and the maximum oxygen intake is estimated from the driver's physical parameters, thereby making it possible to calculate the driver's exercise intensity. Therefore, the motor can be controlled to match the driver's target exercise intensity without the driver having to wear a heart rate detection sensor or the like. [Brief description of the drawings]

[0008] [Figure 1] FIG. 1 is a side view illustrating an overview of a vehicle according to an embodiment of the present invention. [Diagram 2] FIG. 2 is a control block diagram of the vehicle. [Diagram 3] FIG. 3 is a flowchart illustrating motor control in a vehicle. [Figure 4] FIG. 4 is a flowchart illustrating the assist ratio correction calculation. [Diagram 5] FIG. 5 is a diagram illustrating the relationship between the rotation speed of the crank and the driver's oxygen intake. [Figure 6] FIG. 6 is a diagram illustrating the relationship between the input torque and the driver's oxygen intake. DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS

[0009] An electric power assisted bicycle (hereinafter simply referred to as a "bicycle") 1 as a vehicle according to an embodiment of the present invention will be described below with reference to the drawings.

[0010] First, the overall configuration of a bicycle 1 will be described with reference to FIGS.

[0011] Fig. 1 is a side view illustrating an overview of a bicycle 1. Fig. 2 is a control block diagram of the bicycle 1.

[0012] As shown in Figures 1 and 2, the bicycle 1 comprises a frame 2, a front wheel 3a, a rear wheel 3b as a driving wheel, a handlebar 4, a saddle 5, a driving sprocket 6a, a driven sprocket 6b, a chain 6c, a pair of pedals 7, a crank arm 7b as a pair of cranks, a crankshaft 7c, a support shaft 8, an electric assist unit 10, a vehicle speed sensor 14, a torque sensor 15, a cadence sensor 16 as an input speed sensor, a controller 20, a power storage unit 30, and a mobile terminal 40 as an input unit.

[0013] As shown in Fig. 1, bicycle 1 is ridden by a rider sitting astride saddle 5 and pedaling crank arm 7b via pedal 7. Bicycle 1 drives rear wheel 3b by pedal force (driving torque) transmitted from crank arm 7b to crankshaft 7c and driving force (assist torque) from electric assist unit 10 whose magnitude corresponds to the pedal force. In other words, bicycle 1 drives rear wheel 3b by power input by the rider and power input from motor 11 (see Fig. 2) of electric assist unit 10, which will be described later.

[0014] The frame 2 is a so-called diamond frame having a generally parallelogram shape in a side view. A front wheel 3a and a rear wheel 3b are rotatably attached to the frame 2. The frame 2 has a front fork 2a that supports the front wheel 3a.

[0015] The front wheel 3a is steered left and right by the rotation of the front fork 2a caused by the rider's operation of the handlebars 4.

[0016] The rear wheel 3b rotates about a support shaft 8. A driven sprocket 6b and an electric assist unit 10 are attached to the rear wheel 3b.

[0017] The driving torque is transmitted to the driven sprocket 6b via a chain 6c that is wound around the driving sprocket 6a to which the driving force from the crank arm 7b is input. Note that, instead of the chain 6c, other power transmission members that transmit the driving torque, such as a belt, may be used.

[0018] The pedal 7 is used by the driver to input driving torque, and is connected to a crankshaft 7c via a crank arm 7b.

[0019] The support shaft 8 is attached to the frame 2. The support shaft 8 is provided so as to be unrotatable relative to the frame 2.

[0020] 2, the electric assist unit 10 includes a motor 11 and a speed change mechanism 13. The electric assist unit 10 generates an assist torque that assists the pedaling force applied by the driver.

[0021] The motor 11 is controlled based on a command signal from the controller 20. The motor 11 is capable of generating a driving force that assists the power input by the driver, and a regenerative force that converts the rotational energy of the rear wheel 3b into electric energy.

[0022] The transmission mechanism 13 changes the speed of at least one of the power input from the rider and the power input from the motor 11, and outputs the changed speed to the rear wheel 3b. That is, the transmission mechanism 13 may change the speed of only the power input from the rider, may change the speed of only the power input from the motor 11, or may change the speed of both the power input from the rider and the motor 11. Alternatively, the transmission mechanism 13 may be omitted and the power input from the rider and the power input from the motor 11 may be directly transmitted to the rear wheel 3b. Note that the transmission mechanism 13 is a manual transmission mechanism that is changed based on the operation of the rider, but may also be an automatic transmission mechanism in which the controller 20 executes the shift control based on the electric signals from the torque sensor 15 and the cadence sensor 16.

[0023] The speed sensor 14 detects the speed of the bicycle 1. Specifically, the speed sensor 14 detects the rotation speed of the rear wheel 3b. The speed sensor 14 only needs to be able to detect the speed of the bicycle 1, and may instead detect the rotation speed of the front wheel 3a, for example.

[0024] The torque sensor 15 detects the torque of the power input by the rider. Specifically, the torque sensor 15 detects the torque input from the crank arm 7b that is rotationally driven by the rider via the pedal 7. Alternatively, the torque sensor 15 may detect the torque transmitted from the driving sprocket 6a to the driven sprocket 6b via the chain 6c.

[0025] The cadence sensor 16 detects the input speed of power input by the rider. Specifically, the cadence sensor 16 detects the rotational speed of the crank arm 7b or the crankshaft 7c that is rotationally driven by the rider via the pedal 7, i.e., the rotational speed of the driving sprocket 6a. Alternatively, the cadence sensor 16 may detect the rotational speed of the driven sprocket 6b that is rotationally driven from the driving sprocket 6a via the chain 6c.

[0026] The vehicle speed sensor 14, the torque sensor 15, and the cadence sensor 16 are provided as separate components from the electric assist unit 10. Alternatively, the vehicle speed sensor 14, the torque sensor 15, and the cadence sensor 16 may be provided within the electric assist unit 10.

[0027] The controller 20 is composed of a microcomputer equipped with a CPU, RAM, ROM, an input / output interface, etc. The controller 20 may be composed of a plurality of microcomputers. The controller 20 performs various processes by the CPU reading and executing a program stored in the ROM. Specifically, the controller 20 controls the driving force or regenerative force of the motor 11 based on electric signals corresponding to the magnitude of the pedaling force input from the torque sensor 15 and the rotation speed of the crank arm 7b input from the cadence sensor 16. When the transmission mechanism 13 is an automatic transmission mechanism, the controller 20 controls the shifting of the transmission mechanism 13. When the transmission mechanism 13 is not provided, the controller 20 controls the driving force or regenerative force of the motor 11 according to the power input from the rider. The controller 20 includes an inverter, a DC-DC converter, etc. for controlling the motor 11.

[0028] The power storage unit 30 is a chargeable and dischargeable secondary battery such as a nickel-metal hydride battery or a lithium-ion battery. The power storage unit 30 supplies power to the motor 11 via the controller 20 and is capable of charging regenerative power from the motor 11. The power storage unit 30 supplies power to the controller 20. The power storage unit 30 is provided so as to be detachable from the frame 2.

[0029] The mobile terminal 40 is operated by the rider. The mobile terminal 40 is composed of a microcomputer equipped with a CPU, RAM, ROM, an input / output interface, etc. The mobile terminal 40 can also be composed of multiple microcomputers. The CPU of the mobile terminal 40 reads and executes programs stored in the ROM to perform various processes. The mobile terminal 40 is detachably attached to the handlebar 4 of the bicycle 1. The mobile terminal 40 is communicatively connected to the controller 20 via wire or wirelessly. The mobile terminal 40 has a driving mode input unit 41, a body parameter input unit 42, and a target exercise intensity input unit 43.

[0030] The mobile terminal 40 may be fixed to the bicycle 1. The mobile terminal 40 has a function of communicating with the microcomputer and the controller 20, and the driving mode input unit 41, the physical parameter input unit 42, and the target exercise intensity input unit 43 may be provided separately from the mobile terminal 40.

[0031] The driving mode input unit 41 is an input unit capable of inputting a driving mode of the bicycle 1. The bicycle 1 has a standard mode used during normal riding, and a fat burning mode in which the exercise intensity is set higher than that of the standard mode. The rider can switch between the standard mode and the fat burning mode by inputting from the driving mode input unit 41.

[0032] The physical parameter input unit 42 is an input unit through which the physical parameters of the driver can be input. The physical parameters are at least one of the driver's sex, weight, age, exercise experience, and physical strength.

[0033] The target exercise intensity input unit 43 is an input unit that can input a target exercise intensity that is an exercise intensity required by the driver. The target exercise intensity can be input based on the range of average driving intensity calculated based on the physical parameters of the driver. When the driver requires a higher or lower exercise intensity, it is also possible to input an exercise intensity outside the range of the average driving intensity.

[0034] Next, control for setting the exercise intensity of the bicycle 1 will be described with reference to Fig. 3 to Fig. 6. Here, a case where the control is executed by the controller 20 will be described as an example. This is not limiting, and for example, some of the controls may be executed by the mobile terminal 40 and other controls may be executed by the controller 20. The control for setting the exercise intensity is executed by the controller 20 at regular time intervals.

[0035] FIG. 3 is a flowchart for explaining the control of the motor 11 in the bicycle 1. FIG. 4 is a flowchart for explaining the assist ratio correction calculation. FIG. 5 is a diagram for explaining the relationship between the rotation speed of the crank arm 7b and the oxygen intake of the rider. In FIG. 5, the horizontal axis is the rotation speed [rpm] of the crank arm 7b that is rotationally driven by the rider via the pedal 7, and the vertical axis is the oxygen intake (X) [ml / min] of the rider. FIG. 6 is a diagram for explaining the relationship between the input torque and the oxygen intake of the rider. In FIG. 6, the horizontal axis is the torque [N·m] input from the crank arm 7b that is rotationally driven by the rider via the pedal 7, and the vertical axis is the oxygen intake (Y) [ml / min] of the rider relative to the input torque.

[0036] First, the control of the motor 11 in the bicycle 1 will be described with reference to FIG.

[0037] In step S101, the controller 20 determines whether the driving mode of the bicycle 1 is the standard mode or the fat burning mode. If it is determined in step S101 that the driving mode of the bicycle 1 is the standard mode, the process proceeds to step S102.

[0038] In step S102, the controller 20 calculates the speed of the bicycle 1. Specifically, the controller 20 calculates the speed of the bicycle 1 from the rotation speed of the rear wheel 3b and the outer diameter of the rear wheel 3b based on the electrical signal input from the speed sensor 14.

[0039] In step S103, the controller 20 calculates the torque of the power input by the driver. Specifically, the controller 20 calculates the magnitude of the torque input by the driver out of the torque transmitted to the rear wheel 3b, based on the torque input via the crank arm 7b detected by the torque sensor 15 and the gear ratio of the transmission mechanism 13. At this time, the controller 20 performs waveform processing on the electrical signal output in a sine wave form as the driver alternately pedals the left and right pedals 7, and calculates the magnitude of the torque input to the crankshaft 7c.

[0040] In step S104, the controller 20 calculates an assist ratio, which is the ratio between the power [W] input to the crankshaft 7c and the power [W] output by the motor 11. The assist ratio may be calculated from the ratio between the power [W] input by the driver and the power [W] generated by the motor 11 among the torques transmitted to the rear wheel 3b. In this case, since it is the ratio of powers on the same shaft and the rotation speeds are the same, it is also possible to use the ratio of each torque as the assist ratio.

[0041] In step S105, the controller 20 calculates the driving force or regenerative force to be generated by the motor 11 based on the assist ratio calculated in step S104.

[0042] In step S106, the controller 20 controls the motor 11 based on the driving force or the regenerative force calculated in step S105.

[0043] On the other hand, if it is determined in step S101 that the bicycle 1 is in the fat burning mode, the process proceeds to step S107.

[0044] The processes from step S107 to step S109 are similar to the processes from step S101 to step S103, and therefore the description thereof will be omitted here.

[0045] In step S110, the controller 20 executes an assist ratio correction calculation to correct the assist ratio. The assist ratio correction calculation will be described in detail below with reference to FIG.

[0046] In step S201 of Fig. 4, the controller 20 executes a cadence calculation. Specifically, the controller 20 calculates the rotation speed of the crankshaft 7c that is rotationally driven by the rider via the pedals 7 and the crank arms 7b, based on the electrical signal input from the cadence sensor 16. At this time, the controller 20 performs waveform processing on the electrical signal that is output in the form of a sine wave as the rider alternately pedals the left and right pedals 7, to calculate the rotation speed of the crank arms 7b.

[0047] In step S202, the controller 20 calculates an oxygen intake amount (X) as a first oxygen intake amount of the rider based on the rotation speed of the crank arm 7b calculated in step S201. The oxygen intake amount (X) is an oxygen intake amount estimated from the internal work amount of the rider.

[0048] 5, the relationship between the rotation speed (S) of the crank arm 7b and the oxygen intake (X) of the rider is expressed by the following formula (1), where A, B, and C are constants that are set based on the physical parameters of the rider, the riding environment of the bicycle 1, etc. X=A+B×S C (1)

[0049] Therefore, the oxygen intake amount (X) of the rider can be estimated from the rotation speed of the crank arm 7b detected by the cadence sensor 16 based on equation (1).

[0050] Returning to Fig. 4, in step S203, the controller 20 calculates the pedal input torque by the driver. Specifically, the controller 20 calculates the torque input to the crankshaft 7c that is rotationally driven by the driver via the pedal 7 and the crank arm 7b, based on the electrical signal input from the torque sensor 15. At this time, the controller 20 performs waveform processing on the electrical signal output in the form of a sine wave as the driver alternately pedals the left and right pedals 7, and calculates the magnitude of the torque input to the crankshaft 7c.

[0051] In step S204, the controller 20 calculates an oxygen intake (Y) as a second oxygen intake of the rider based on the torque input from the crank arm 7b calculated in step S203. The oxygen intake (Y) is an oxygen intake estimated from the amount of external work of the rider.

[0052] As shown in Fig. 5, the relationship between the input torque (T) and the oxygen intake (Y) of the rider is expressed by the following formula (2), where P and Q are constants that are set based on the rider's physical parameters, the riding environment of the bicycle 1, and the like. Y = P + Q × T (2)

[0053] Therefore, the oxygen intake amount (Y) of the rider can be estimated based on the torque input from the crank arm 7b detected by the torque sensor 15, based on equation (2).

[0054] Returning to FIG. 4, in step S205, the driver's physical parameters are input to the controller 20 based on the driver's operation of the mobile terminal 40 (physical parameter input unit 42).

[0055] In step S206, the controller 20 judges whether or not the driver's physical parameters have been input. If it is judged in step S206 that the driver's physical parameters have been input, the process proceeds to step S207, where the input value input by the driver is selected. On the other hand, if it is judged in step S206 that the driver's physical parameters have not been input, the process proceeds to step S208, where a preset standard value is selected.

[0056] When only some of the physical parameters are input, the input values ​​are selected for the input items, and standard values ​​are selected for the items that are not input.

[0057] In this way, by inputting the physical parameters from the mobile terminal 40, the exercise intensity can be estimated based on the average value of the attributes based on the physical parameters of the driver. Therefore, the accuracy of estimating the exercise intensity can be improved.

[0058] In addition, since physical parameters and the target exercise intensity described later can be input from the mobile terminal 40, for example, the physical parameters and the target exercise intensity can be input in advance into the mobile terminal 40, and then the exercise intensity can be controlled by attaching it to the bicycle 1.

[0059] In step S209, the controller 20 calculates the driver's oxygen intake at rest (U) based on the driver's physical parameters. Specifically, the controller 20 calculates the driver's oxygen intake at rest (U), which is the driver's oxygen intake at rest, based on values ​​statistically obtained from the driver's physical parameters such as gender, weight, age, exercise experience, and physical strength.

[0060] In step S210, the controller 20 calculates the maximum oxygen intake (V) of the driver. Specifically, the controller 20 calculates the maximum oxygen intake (V) of the driver based on values ​​statistically obtained from physical parameters such as the driver's sex, weight, age, exercise experience, and physical strength.

[0061] In step S211, the controller 20 calculates the total oxygen intake (Z) as the oxygen intake of the rider. Specifically, the controller 20 calculates the total oxygen intake (Z) of the rider in an exercise state based on the oxygen intake (X) estimated from the rotation speed of the crank arm 7b detected by the cadence sensor 16, the oxygen intake (Y) estimated from the torque detected by the torque sensor 15, and the rider's oxygen intake at rest (U) obtained from the body parameters, according to the following formula (3): Z=U+X+Y (3)

[0062] In this way, by calculating the workload of the driver by combining the rotation speed detected by the cadence sensor 16, i.e., the oxygen intake (X) estimated from the internal workload of the driver, and the torque detected by the torque sensor 15, i.e., the oxygen intake (Y) estimated from the external workload of the driver, the accuracy of estimating the total oxygen intake (Z) can be improved.

[0063] In step S212, the controller 20 calculates the exercise intensity (W) [%] of the driver. Specifically, the controller 20 calculates the exercise intensity (W) in the driver's exercise state based on the driver's oxygen intake at rest (U) when at rest obtained from the physical parameters, the driver's total oxygen intake (Z) in the driver's exercise state, and the driver's maximum oxygen intake (V) according to the following formula (4). W [%] = (ZU) / (VU) × 100 (4)

[0064] In step S213, the controller 20 executes waveform processing. Usually, when estimating the driver's total oxygen intake (V), it is possible to estimate it accurately by using the driver's heart rate. However, in this embodiment, in order to eliminate the trouble of the driver having to wear a heart rate detection sensor or the like, the cadence sensor 16 and the torque sensor 15 are used instead of the heart rate detection sensor. In step S213, since the value of the driver's maximum oxygen intake (V) varies linearly with the amount of exercise, waveform processing is performed to approximate the value to the exercise intensity calculated based on the driver's heart rate.

[0065] In step S214, a target exercise intensity targeted by the driver is input to the controller 20 based on information input through the driver's operation of the mobile terminal 40 (target exercise intensity input unit 43).

[0066] In this way, since the driver can input the target exercise intensity from the mobile terminal 40, it is possible to input an exercise intensity outside the range of the average driving intensity when a higher or lower exercise intensity is required, in addition to the range of the average driving intensity calculated based on the driver's physical parameters.

[0067] In step S215, the controller 20 corrects the assist ratio, which is the ratio of the torque input by the driver to the torque generated by the motor 11 among the torques transmitted to the rear wheels 3b calculated in step S109, based on the values ​​of the driver's target driving intensity and the waveform-processed exercise intensity (W) in the driver's exercise state. Specifically, when the driver's target driving intensity is smaller than the exercise intensity (W) in the driver's exercise state, the controller 20 increases the ratio of the torque generated by the motor 11. On the other hand, when the driver's target driving intensity is larger than the exercise intensity (W) in the driver's exercise state, the controller 20 decreases the ratio of the torque generated by the motor 11. After the correction of the assist ratio is executed in step S215, the process proceeds to step S111.

[0068] Returning to FIG. 3, in step S111, the controller 20 calculates the driving force or regenerative force to be generated by the motor 11 based on the assist ratio calculated in step S111. Specifically, when increasing the ratio of the torque generated by the motor 11, the controller 20 transmits an electric signal to the motor 11 so as to output a larger torque. On the other hand, when decreasing the ratio of the torque generated by the motor 11, the controller 20 transmits an electric signal to the motor 11 so as to output a smaller torque. In addition, when the torque generated by the motor 11 is insufficient even when it is set to 0, the controller 20 controls the motor 11 to regenerate so as to generate a resistance force in the opposite direction to the torque input by the driver. Therefore, by controlling the driving force or regenerative force of the motor 11, the motor 11 can be controlled so as to approach the target exercise intensity of the driver over a wide range.

[0069] Then, the process proceeds to step S106, where the controller 20 controls the motor 11 based on the driving force or regenerative force calculated in step S111.

[0070] As described above, the controller 20 calculates the workload of the driver based on the torque detected by the torque sensor 15 and the rotational speed detected by the cadence sensor 16, estimates the total oxygen intake (Z) of the driver from the workload, estimates the maximum oxygen intake (V) of the driver from the driver's physical parameters, and controls the motor 11 so that the exercise intensity calculated from the total oxygen intake (Z) and the maximum oxygen intake (V) approaches the target exercise intensity of the driver.

[0071] This makes it possible to calculate the exercise intensity of the driver by estimating the total oxygen intake (Z) of the driver from the torque detected by the torque sensor 15 and the rotation speed detected by the cadence sensor 16, and estimating the maximum oxygen intake (V) from the physical parameters of the driver. Therefore, the motor 11 can be controlled to match the target exercise intensity required by the driver, without the driver having to wear a heart rate detection sensor or the like.

[0072] At this time, by providing the speed change mechanism 13, the driving force and regenerative force of the motor 11 can be increased based on the speed change ratio, so that control can be performed to approach the driver's target exercise intensity over a wider range.

[0073] In addition, when the driving mode of the bicycle 1 is the fat burning mode, the controller 20 controls the motor 11 so that the exercise intensity calculated from the total oxygen intake (Z) and the maximum oxygen intake (V) described above approaches the target exercise intensity.

[0074] As a result, when the driver intentionally selects the fat burning mode instead of the standard mode, the motor 11 is controlled so that the exercise intensity approaches the target exercise intensity, making it possible to set the exercise intensity according to the driver's intention.

[0075] In addition, the driver inputs the target exercise intensity from the mobile terminal 40, and the motor 11 is controlled based on the input target exercise intensity. Therefore, according to the driver's request, it is possible to control the motor 11 so that the driver can drive easily with less strain, or to control the motor 11 so that the driver is given an optimal load for burning fat.

[0076] The configuration and effects of the present embodiment will now be described.

[0077] (1) Bicycle 1, whose rear wheel 3b is driven by power input by the rider and power input from motor 11, is equipped with a torque sensor 15 that detects the torque of the power input by the rider, a cadence sensor 16 that detects the rotational speed of the power input by the rider, and a controller 20 that controls motor 11. Controller 20 is configured to calculate the rider's workload based on the torque detected by torque sensor 15 and the rotational speed detected by cadence sensor 16, estimate the rider's total oxygen intake (Z) from the workload, estimate the rider's maximum oxygen intake (V) from the rider's physical parameters, and control motor 11 so that the exercise intensity calculated from the total oxygen intake (Z) and the maximum oxygen intake (V) approaches the rider's target exercise intensity.

[0078] According to this configuration, the total oxygen intake (Z) of the driver is estimated from the torque detected by the torque sensor 15 and the rotation speed detected by the cadence sensor 16, and the maximum oxygen intake (V) is estimated from the physical parameters of the driver, so that the exercise intensity of the driver can be calculated. Therefore, the motor 11 can be controlled so as to match the target exercise intensity required by the driver, without the driver having to wear a heart rate detection sensor or the like.

[0079] (2) Bicycle 1 further includes a mobile terminal 40 for inputting physical parameters, the physical parameters being at least one of the gender, weight, age, exercise experience, and physical strength of the rider.

[0080] According to this configuration, it is possible to estimate exercise intensity based on average values ​​of attributes based on the physical parameters of the driver by inputting the physical parameters from the mobile terminal 40. Therefore, it is possible to improve the accuracy of estimating exercise intensity.

[0081] (3) The target exercise intensity can be input from the mobile terminal 40.

[0082] According to this configuration, the driver can input the target exercise intensity from the mobile terminal 40. Therefore, it is possible to input an exercise intensity outside the range of the average driving intensity when a higher or lower exercise intensity is required, in addition to the range of the average driving intensity calculated based on the driver's physical parameters.

[0083] (4) The controller 20 is configured to control the driving force or regenerative force of the motor 11 in response to the power input from the driver.

[0084] According to this configuration, when the ratio of the torque generated by the motor 11 is increased, the controller 20 transmits an electric signal to the motor 11 to output a larger torque, and when the ratio of the torque generated by the motor 11 is decreased, the controller 20 transmits an electric signal to the motor 11 to output a smaller torque. Furthermore, when the torque generated by the motor 11 is insufficient even when it is set to 0, the controller 20 controls the motor 11 to regenerate so as to generate a resistance force in the opposite direction to the torque input by the driver. Therefore, by controlling the driving force or regenerative force of the motor 11, the motor 11 can be controlled to approach the target exercise intensity of the driver over a wide range.

[0085] (5) Bicycle 1 further includes a transmission mechanism 13 that changes the speed of at least one of the power input from the rider and the power input from motor 11 and outputs the power to rear wheel 3b.

[0086] (6) The controller 20 is configured to change the speed of the transmission mechanism 13 in response to the power input from the driver, and to control the driving force or regenerative force of the motor 11.

[0087] According to these configurations, the provision of the speed change mechanism 13 allows the driving force and regenerative force of the motor 11 to be increased based on the speed change ratio, making it possible to control the exercise intensity to approach the driver's target exercise intensity over a wider range.

[0088] (7) The controller 20 is configured to estimate a total oxygen intake (Z) from an oxygen intake (X) estimated from the rotation speed detected by the cadence sensor 16, an oxygen intake (Y) estimated from the torque detected by the torque sensor 15, and the driver's oxygen intake at rest (U) obtained from physical parameters.

[0089] According to this configuration, by estimating the oxygen intake (X) based on the internal work amount estimated from the rotation speed detected by the cadence sensor 16 and the oxygen intake (Y) based on the external work amount estimated from the torque detected by the torque sensor 15, the estimation accuracy of the total oxygen intake (Z) can be improved.

[0090] (8) The bicycle 1 can be switched between a standard mode and a fat burning mode in which the exercise intensity is set higher than that in the standard mode, and the controller 20 is configured to control the motor 11 in the fat burning mode so that the exercise intensity calculated from the total oxygen intake (Z) and the maximum oxygen intake (V) approaches a target exercise intensity.

[0091] According to this configuration, when the driver intentionally selects the fat burning mode instead of the standard mode, the motor 11 is controlled so that the exercise intensity approaches the target exercise intensity, making it possible to set the exercise intensity according to the driver's intention.

[0092] (9) The input unit is a mobile terminal 40 operated by the driver.

[0093] According to this configuration, physical parameters and target exercise intensity can be input from the mobile terminal 40. For example, the physical parameters and target exercise intensity can be input in advance into the mobile terminal 40, and then the exercise intensity can be controlled by attaching the mobile terminal 40 to the bicycle 1.

[0094] (10) The torque sensor 15 detects the torque input from the crank arm 7b that is rotationally driven by the rider via the pedal 7, and the cadence sensor 16 detects the rotation speed of the crank arm 7b.

[0095] According to this configuration, when applied to a bicycle 1 in which a rider rotates the crank arm 7b via the pedal 7, the motor 11 can be controlled to match the target exercise intensity required by the rider using the bicycle 1.

[0096] An embodiment of the present invention has been described above, but the above embodiment merely illustrates one application example of the present invention, and is not intended to limit the technical scope of the present invention to the specific configuration of the above embodiment.

[0097] For example, in the above embodiment, the vehicle is described as a bicycle 1, but the vehicle may be another vehicle that assists the driver's power with the power of a motor, such as an electrically assisted kickboard or an electrically assisted wheelchair. When the vehicle is an electrically assisted kickboard, the power input by the driver kicking the ground with one foot is assisted by controlling the motor. When the vehicle is an electrically assisted wheelchair, the power input by the driver turning the wheels with their arms is assisted by controlling the motor.

[0098] In the above embodiment, the electric assist unit 10 is attached to the rear wheel 3b. Alternatively, the electric assist unit 10 may be attached to the front wheel 3a, and the front wheel 3a may be used as the drive wheel.

[0099] Furthermore, the mobile terminal 40 may be a smartphone or the like that is connected to the controller 20 via wired or wireless communication to transmit and receive data and that is also capable of connecting to the Internet.

[0100] Furthermore, the controller 20 or the mobile terminal 40 may be connected to a cloud server (not shown) on the Internet, and the cloud server may act as an execution entity for some of the above-mentioned processes executed by the controller 20 and the mobile terminal 40.

[0101] That is, in the above embodiment, the controller 20 mounted on the bicycle 1 is described as an example of the entity that executes control to set the exercise intensity of the bicycle 1, but the entity that executes the control may be any one or a combination of the controller 20, the mobile terminal 40, and the cloud server. Therefore, any one or a combination of the controller 20, the mobile terminal 40, and the cloud server corresponds to the controller.

[0102] The above-described series of processes in bicycle 1 may be provided as a program for a computer to execute the processes. The program for executing the above-described series of processes may be provided on a computer-readable storage medium. The various programs executed by the computer may be stored on a non-transitory storage medium such as a CD-ROM. [Explanation of symbols]

[0103] 1 Electrically assisted bicycle (vehicle) 3b Rear wheels (drive wheels) 7 Pedals 7b Crank arm (crank) 10 Electric assist unit 11 Motor 13 Transmission mechanism 14 Vehicle speed sensor 15 Torque Sensor 16 Cadence sensor (input speed sensor) 20 Controller 40 Mobile terminal (input section)

Claims

1. A vehicle in which drive wheels are driven by power input by a driver and power input from a motor, A torque sensor that detects the torque of the power input by a driver; an input speed sensor for detecting an input speed of power input by a driver; A controller for controlling the motor, The controller: calculating a workload of a driver based on the torque detected by the torque sensor and the input speed detected by the input speed sensor, and estimating an oxygen intake amount of the driver from the workload; Estimating the maximum oxygen intake of the driver from the physical parameters of the driver; controlling the motor so that an exercise intensity calculated from the oxygen intake amount and the maximum oxygen intake amount approaches a target exercise intensity of the driver; It is configured as follows: vehicle.

2. 2. A vehicle as claimed in claim 1, An input unit for inputting the physical parameters is further provided, The physical parameters are at least one of the driver's gender, weight, age, exercise experience, and physical strength. vehicle.

3. 3. A vehicle according to claim 2, The target exercise intensity can be input from the input unit. vehicle.

4. 2. A vehicle as claimed in claim 1, The controller controls the driving force or the regenerative force of the motor in response to the power input from the driver. It is configured as follows: vehicle.

5. 2. A vehicle as claimed in claim 1, The vehicle further includes a transmission mechanism that changes the speed of at least one of the power input from the driver and the power input from the motor and outputs the power to the drive wheels. vehicle.

6. 6. A vehicle according to claim 5, The controller changes the speed of the transmission mechanism in response to power input from a driver, and controls the driving force or regenerative force of the motor. It is configured as follows: vehicle.

7. 2. A vehicle as claimed in claim 1, the controller estimates the oxygen intake from a first oxygen intake estimated from the input speed detected by the input speed sensor, a second oxygen intake estimated from the torque detected by the torque sensor, and a resting oxygen intake of the driver at rest calculated from the physical parameters. It is configured as follows: vehicle.

8. 2. A vehicle as claimed in claim 1, The exercise intensity can be switched between a standard mode and a fat burning mode in which the exercise intensity is set higher than that in the standard mode, the controller controls the motor in the fat burning mode so that the exercise intensity calculated from the oxygen intake amount and the maximum oxygen intake amount approaches the target exercise intensity. It is configured as follows: vehicle.

9. 3. A vehicle according to claim 2, The input unit is a mobile terminal operated by the driver. vehicle.

10. A vehicle according to any one of claims 1 to 9, The torque sensor detects a torque input from a crank that is rotated by a driver via a pedal, The input speed sensor detects the rotation speed of the crank. vehicle.

11. A method for controlling a vehicle in which drive wheels are driven by power input by a driver and power input from a motor, comprising: The vehicle is A torque sensor that detects the torque of the power input by a driver; an input speed sensor for detecting an input speed of power input by a driver; Equipped with calculating a workload of a driver based on the torque detected by the torque sensor and the input speed detected by the input speed sensor, and estimating an oxygen intake amount of the driver from the workload; Estimating the maximum oxygen intake of the driver from the physical parameters of the driver; controlling the motor so that an exercise intensity calculated from the oxygen intake amount and the maximum oxygen intake amount approaches a target exercise intensity of the driver; How to control a vehicle.

12. A program executable by a computer of a vehicle in which drive wheels are driven by power input by a driver and power input from a motor, The vehicle is A torque sensor that detects the torque of the power input by a driver; an input speed sensor for detecting an input speed of power input by a driver; Equipped with calculating a workload of a driver based on the torque detected by the torque sensor and the input speed detected by the input speed sensor, and estimating an oxygen intake amount of the driver from the workload; Estimating the maximum oxygen intake of the driver from the physical parameters of the driver; controlling the motor so that an exercise intensity calculated from the oxygen intake amount and the maximum oxygen intake amount approaches a target exercise intensity of the driver; causing the computer to execute a procedure; program.

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