Control device for human power-driven vehicle

Abstract

To provide a control device for a human power-driven vehicle capable of controlling a motor appropriately according to a rider's intention.SOLUTION: A control device for a human power-driven vehicle includes a control unit for controlling a motor for imparting propulsion power to the human power-driven vehicle. The control unit is configured so as to change an assist level by the motor. The control unit is configured to control the motor so as to raise the assist level by the motor when a first operation unit configured to be operated by a user is operated, and lower the assist level when a first period determined beforehand elapses in a state that the assist level is raised. The first period determined beforehand can be changed.SELECTED DRAWING: Figure 2

Description

Technical Field

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

Background Art

[0002] For example, a control device for a human-powered vehicle disclosed in Patent Document 1 controls a motor according to the human driving force.

Prior Art Documents

Patent Documents

[0003]

Patent Document 1

Summary of the Invention

Problems to be Solved by the Invention

[0004] In Patent Document 1, when the operation unit is operated, the control device controls the motor so as to increase the output of the motor that applies a driving force to the human-powered vehicle. One object of the present disclosure is to provide a control device for a human-powered vehicle that can suitably control a motor that applies a driving force to the human-powered vehicle according to the intention of the rider.

Means for Solving the Problems

[0005] A control device according to a first aspect of the present disclosure is a control device for a human-powered vehicle, comprising a control unit that controls a motor that applies a driving force to the human-powered vehicle, the control unit being configured to be able to change an assist level by the motor, and when a first operation unit configured to be operated by a user is operated, increasing the assist level by the motor, and when a predetermined first period elapses in a state where the assist level has increased, controlling the motor so as to decrease the assist level, and being configured to be able to change the predetermined first period.

[0006] According to the control device of the first aspect, since the predetermined first period is configured to be changeable, the assist level can be increased over a period according to the intention of the rider. Therefore, the motor can be suitably controlled according to the intention of the rider.

[0007] In the control device of the second aspect according to the first aspect of the present disclosure, it is configured to be operated by a user, and in response to an operation of a second operation unit different from the first operation unit, the control unit changes the predetermined first period.

[0008] According to the control device of the second aspect, since the predetermined first period is changed in response to an operation of the second operation unit, the predetermined first period is not changed when the rider operates the first operation unit unintentionally.

[0009] In the control device of the third aspect according to the first or second aspect of the present disclosure, when the first operation unit is operated and the assist level has increased, and the first operation unit is operated within the predetermined first period, the control unit controls the motor so as to decrease the assist level.

[0010] According to the control device of the third aspect, when the first operation unit is operated within the predetermined first period, the assist level decreases. Therefore, even before the predetermined first period elapses, the assist level can be decreased according to the intention of the rider.

[0011] In the control device of the fourth aspect according to any one of the first to third aspects of the present disclosure, when the first operation unit is operated and the assist level has increased, and a third operation unit different from the first operation unit is operated within the predetermined first period, the control unit controls the motor so as to decrease the assist level.

[0012] According to the control device of the fourth aspect, even before the predetermined first period elapses, the assist level decreases when the rider operates the third operation unit. Therefore, the assist level can be decreased according to the intention of the rider.

[0013] In the control device of the fifth aspect according to any one of the first to fourth aspects of the present disclosure, the control unit is configured to be able to change the acceleration rate of increase of the assist level. According to the control device of the fifth aspect, since the acceleration rate of increase of the assist level can be changed, the acceleration rate of increase of the assist level can be adjusted according to the intention of the rider.

[0014] The control device according to the sixth aspect of the present disclosure is a control device for a human-powered vehicle, and includes a control unit that controls a motor that applies a driving force to the human-powered vehicle. In a state where the human-powered vehicle is being propelled by a human driving force, the control unit outputs an assist force to the motor and is configured to be able to change the assist level by the motor. When a first operation unit configured to be operated by a user is operated, the motor is controlled to increase the assist level, and the acceleration rate of increase of the assist level is configured to be changeable.

[0015] According to the control device of the sixth aspect, since the acceleration rate of increase of the assist level can be changed, the acceleration rate of increase of the assist level can be adjusted according to the intention of the rider. Therefore, the motor can be preferably controlled according to the intention of the rider.

[0016] In the control device of the seventh aspect according to the fifth or sixth aspect of the present disclosure, the control unit changes the acceleration rate of increase of the assist level in response to an operation of a fourth operation unit configured to be operated by a user and different from the first operation unit.

[0017] According to the control device of the seventh aspect, since the rider can change the acceleration rate of increase of the assist level by operating the fourth operation unit, the acceleration rate of increase of the assist level is not changed by the rider accidentally operating the first operation unit or the like.

[0018] In the control device of the eighth aspect according to any one of the first to seventh aspects of the present disclosure, the control unit starts increasing the assist level when a predetermined second period has elapsed since the first operation unit was operated.

[0019] According to the control device of the eighth aspect, when a predetermined second period elapses after the first operation unit is operated, an increase in the assist level is started. Therefore, when there is a desire to increase the assist level after the elapse of the predetermined second period by the rider, the assist level can be increased.

[0020] The control device according to the ninth aspect of the present disclosure is a control device for a human-powered vehicle, and includes a control unit that controls a motor that applies a driving force to the human-powered vehicle. The control unit is configured to be able to change the assist level by the motor, and is configured to be able to control the motor so as to increase the assist level by an operation on a first operation unit. When a predetermined second period elapses after the first operation unit is operated, the increase in the assist level is started.

[0021] According to the control device of the ninth aspect, when a predetermined second period elapses after the first operation unit is operated, an increase in the assist level is started. Therefore, when there is a desire to increase the assist level after the elapse of the predetermined second period by the rider, the assist level can be increased. For this reason, the motor can be suitably controlled according to the intention of the rider.

[0022] In the control device of the tenth aspect according to the eighth or ninth aspect of the present disclosure, the control unit is configured to be able to change the predetermined second period. According to the control device of the tenth aspect, since the predetermined second period can be changed, it can be set to a predetermined second period according to the intention of the rider.

[0023] In the control device of the eleventh aspect according to the tenth aspect of the present disclosure, the predetermined second period when the first operation unit is operated by a first operation method is different from the predetermined second period when the first operation unit is operated by a second operation method different from the first operation method.

[0024] According to the control device of the 11th aspect, since the predetermined second period can be changed according to the operation method of the first operation unit, the increase in the assist level can be started according to the predetermined second period according to the intention of the rider.

[0025] In the control device of the 12th aspect according to any one of the 1st to 11th aspects of the present disclosure, the human-powered vehicle includes a transmission, and the control unit controls the transmission. According to the control device of the 12th aspect, the transmission can be controlled.

[0026] In the control device of the 13th aspect according to the 12th aspect of the present disclosure, when the first operation unit is operated to increase the assist level, the control unit controls the transmission so as to decrease the gear ratio of the transmission.

[0027] According to the control device of the 13th aspect, when the first operation unit is operated to increase the assist level, the transmission is controlled so as to decrease the gear ratio of the transmission, so that the load on the rider is suitably reduced.

[0028] The control device according to the 14th aspect of the present disclosure is a control device for a human-powered vehicle, and includes a control unit that controls a motor that applies a driving force to the human-powered vehicle and a transmission of the human-powered vehicle. The control unit is configured to be able to change the assist level by the motor, and when a first operation unit configured to be operated by a user is operated, the motor is controlled to increase the assist level by the motor, and the transmission is controlled so as to decrease the gear ratio of the transmission.

[0029] According to the control device of the 14th aspect, when the first operation unit is operated to increase the assist level, the transmission is controlled so as to decrease the gear ratio of the transmission, so that the load on the rider is suitably reduced. Therefore, the motor can be suitably controlled according to the intention of the rider.

[0030] In the control device of the 15th aspect according to the 14th aspect of the present disclosure, when a first period determined in advance elapses in a state where the assist level has increased, the control unit is configured to control the motor so as to decrease the assist level.

[0031] According to the control device of the 15th aspect, in a state where the assist level has increased, when a first period determined in advance elapses, the assist level is decreased, so that it is possible to suppress the continuation of the state where the assist level has increased. For this reason, power consumption is suppressed.

[0032] In the control device of the 16th aspect according to the 15th aspect of the present disclosure, the control unit suppresses the shift operation of the transmission within the first period determined in advance. According to the control device of the 16th aspect, since the shift operation of the transmission is suppressed within the first period determined in advance, it is possible to suppress an unintended shift by the rider.

[0033] In the control device of the 17th aspect according to the 16th aspect of the present disclosure, the control unit controls the transmission so as to suppress an increase in the gear ratio within the first period determined in advance. According to the control device of the 17th aspect, since the transmission is controlled so as to suppress an increase in the gear ratio within the first period determined in advance, it is possible to suppress an increase in the load on the rider.

[0034] In the control device of the 18th aspect according to any one of the 15th to 17th aspects of the present disclosure, when the first period determined in advance elapses, the control unit controls the transmission so as to decrease the gear ratio.

[0035] According to the control device of the 18th aspect, since the transmission is controlled so as to decrease the gear ratio when the first period determined in advance elapses, it is possible to suppress an increase in the load felt by the rider after the elapse of the first period determined in advance.

[0036] In the control device according to any one of the 12th to 18th aspects of the present disclosure, the control unit controls the transmission according to a parameter related to the load of the rider of the human-powered vehicle.

[0037] According to the control device of the 19th aspect, since the transmission is controlled according to a parameter related to the load of the rider of the human-powered vehicle, it is possible to change to a suitable gear ratio for the rider's load. In the control device according to any one of the 1st to 19th aspects of the present disclosure, the assist level includes at least one of a ratio of the output of the motor to the human driving force input to the human-powered vehicle, a maximum value of the output of the motor, and a suppression level of the output fluctuation of the motor when the output of the motor decreases.

[0038] According to the control device of the 20th aspect, at least one of a ratio of the output of the motor to the human driving force input to the human-powered vehicle, a maximum value of the output of the motor, and a suppression level of the output fluctuation of the motor when the output of the motor decreases can be increased according to the operation of the first operation unit.

[0039] In the control device according to any one of the 1st to 20th aspects of the present disclosure, when a fifth operation unit that is different from the first operation unit and is configured to be operated by a user is operated, the control unit controls the motor so as to increase the assist level, and the assist level increased when the first operation unit is operated is larger than the assist level increased when the fifth operation unit is operated.

[0040] According to the control device of the 21st aspect, since the assist level increased when the first operation unit is operated is larger than the assist level increased when the fifth operation unit is operated, by properly using the first operation unit and the fifth operation unit, the motor can be controlled according to the intention of the rider.

[0041] In the control device of the 22nd aspect according to any one of the 1st to 21st aspects of the present disclosure, the control unit is configured to control a suspension provided in the human-powered vehicle, and when the first operation unit is operated to increase the assist level by the motor, the control parameter of the suspension is changed.

[0042] According to the control device of the 22nd aspect, when the first operation unit is operated to increase the assist level by the motor, the control parameter of the suspension is changed, so that the control parameter of the suspension suitable for the increase in the assist level can be changed.

Effect of the Invention

[0043] The control device for a human-powered vehicle of the present disclosure can suitably control the motor according to the intention of the rider.

Brief Description of the Drawings

[0044]

Figure 1

Figure 2

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Figure 12

Mode for Carrying Out the Invention

[0045] <First Embodiment> With reference to FIGS. 1 to 6, the control device 70 for a human-powered vehicle according to the first embodiment will be described. The human-powered vehicle 10 is a vehicle having at least one wheel and capable of being driven by at least human driving force H. The human-powered vehicle 10 includes various types of bicycles such as, for example, a mountain bike, a road bike, a city bike, a cargo bike, a hand bike, and a recumbent. The number of wheels of the human-powered vehicle 10 is not limited. The human-powered vehicle 10 includes, for example, a unicycle and a vehicle having three or more wheels. The human-powered vehicle 10 is not limited to a vehicle that can be driven only by the human driving force H. The human-powered vehicle 10 includes an e-bike (E-bike) that uses the driving force of an electric motor in addition to the human driving force H for propulsion. The e-bike includes an electric assist bicycle whose propulsion is assisted by an electric motor. Hereinafter, in the embodiment, the human-powered vehicle 10 will be described as an electric assist bicycle and a mountain bike.

[0046] The human - powered vehicle 10 includes a crank 12 to which a human - driving force H is input. The human - powered vehicle 10 further includes at least one wheel 14 and a vehicle body 16. The at least one wheel 14 includes a rear wheel 14A and a front wheel 14B. The vehicle body 16 includes a frame 18. The crank 12 includes an input rotation axis 12A rotatable with respect to the frame 18, a first crank arm 12B provided at a first end in the axial direction of the input rotation axis 12A, and a second crank arm 12C provided at a second end in the axial direction of the input rotation axis 12A. In the present embodiment, the input rotation axis 12A is a crankshaft. A first pedal 20A is connected to the first crank arm 12B. A second pedal 20B is connected to the second crank arm 12C.

[0047] The drive mechanism 22 includes a first rotating body 24 connected to the input rotation axis 12A. The input rotation axis 12A and the first rotating body 24 may be connected so as to rotate integrally, or may be connected via a first one - way clutch. The first one - way clutch is configured to rotate the first rotating body 24 forward when the crank 12 rotates forward, and to allow relative rotation between the crank 12 and the first rotating body 24 when the crank 12 rotates backward. The first rotating body 24 includes a sprocket, a pulley, or a bevel gear. The drive mechanism 22 further includes a second rotating body 26 and a connecting member 28. The connecting member 28 transmits the rotational force of the first rotating body 24 to the second rotating body 26. The connecting member 28 includes, for example, a chain, a belt, or a shaft.

[0048] The second rotating body 26 is connected to the rear wheel 14A. The second rotating body 26 includes a sprocket, a pulley, or a bevel gear. Preferably, a second one-way clutch is provided between the second rotating body 26 and the rear wheel 14A. The second one-way clutch is configured to rotate the rear wheel 14A forward when the second rotating body 26 rotates forward and to allow relative rotation between the second rotating body 26 and the rear wheel 14A when the second rotating body 26 rotates backward. The human-powered vehicle 10 may include a transmission. The transmission includes at least one of an external transmission and an internal transmission. The external transmission includes, for example, a derailleur, a first rotating body 24, and a second rotating body 26. The derailleur includes at least one of a front derailleur and a rear derailleur. The first rotating body 24 may include a plurality of sprockets. The second rotating body 26 may include a plurality of sprockets. The internal transmission may be provided, for example, on the hub of the rear wheel 14A or in the power transmission path from the input rotating shaft 12A to the first rotating body 24.

[0049] The front wheel 14B is attached to the frame 18 via a front fork 30. A handlebar 34 is connected to the front fork 30 via a stem 32. In the present embodiment, the rear wheel 14A is connected to the crank 12 by the drive mechanism 22, but at least one of the rear wheel 14A and the front wheel 14B may be connected to the crank 12 by the drive mechanism 22.

[0050] The human-powered vehicle 10 further includes a battery 36. The battery 36 includes one or more battery elements. The battery element includes a rechargeable battery. The battery 36 is configured to supply power to the control device 70. Preferably, the battery 36 is communicably connected to the control unit 72 of the control device 70 via an electric cable or a wireless communication device. The battery 36 can communicate with the control unit 72, for example, by power line communication (PLC), CAN (Controller Area Network), or UART (Universal Asynchronous Receiver / Transmitter).

[0051] The human - powered vehicle 10 includes a motor 38 configured to apply a driving force to the human - powered vehicle 10. The motor 38 includes one or more electric motors. The electric motor is, for example, a brushless motor. The motor 38 is configured to transmit the driving force H from the pedals 20A, 20B to at least one of the rear wheels 14A and also to transmit a rotational force to at least one of the front wheels 14B. The power - transmission path of the driving force H from the pedals 20A, 20B to the rear wheel 14A includes the rear wheel 14A. In the present embodiment, the motor 38 is provided on the frame 18 of the human - powered vehicle 10 and is configured to transmit a rotational force to the first rotating body 24.

[0052] The motor 38 is provided in a housing 40A. The housing 40A is provided on the frame 18. The housing 40A is detachably attached to the frame 18, for example. The drive unit 40 is constituted by including the motor 38 and the housing 40A in which the motor 38 is provided. A speed reducer connected to the output shaft of the motor 38 may be provided in the drive unit 40. In the present embodiment, the housing 40A rotatably supports the input rotating shaft 12A. In the present embodiment, in the power - transmission path between the motor 38 and the input rotating shaft 12A, preferably, a third one - way clutch is provided to suppress the transmission of the rotational force of the crank 12 to the motor 38 when the input rotating shaft 12A is rotated in the forward - moving direction of the human - powered vehicle 10. When the motor 38 is provided on at least one of the rear wheel 14A and the front wheel 14B, the motor 38 may be provided on the hub and may constitute a hub motor together with the hub.

[0053] The control device 70 is preferably provided in the housing 40A of the drive unit 40. The control device 70 may be provided on the frame 18. The control device 70 includes a control unit 72. The control unit 72 includes an arithmetic processing device that executes a predetermined control program. The arithmetic processing device included in the control unit 72 includes, for example, a CPU (Central Processing Unit) or an MPU (Micro Processing Unit). The arithmetic processing devices included in the control unit 72 may be provided at a plurality of mutually separated locations. For example, a part of the arithmetic processing device may be provided in the powered vehicle 10, and another part of the arithmetic processing device may be provided in a server connected to the Internet. When the arithmetic processing devices are provided at a plurality of mutually separated locations, each part of the arithmetic processing device is communicably connected to each other via a wireless communication device. The control unit 72 may include one or more microcomputers.

[0054] Preferably, the control device 70 further includes a storage unit 74. The storage unit 74 stores a control program and information used for control processing. The storage unit 74 includes, for example, a non-volatile memory and a volatile memory. The non-volatile memory includes, for example, at least one of a ROM (Read-Only Memory), an EPROM (Erasable Programmable Read Only Memory), an EEPROM (Electrically Erasable Programmable Read-Only Memory), and a flash memory. The volatile memory includes, for example, a RAM (Random access memory).

[0055] The control device 70 preferably further includes a drive circuit 76 for the motor 38. The drive circuit 76 and the control unit 72 are preferably provided in the housing 40A of the drive unit 40. The drive circuit 76 and the control unit 72 may be provided, for example, on the same circuit board. The drive circuit 76 includes an inverter circuit. The drive circuit 76 controls the power supplied from the battery 36 to the motor 38. The drive circuit 76 is connected to the control unit 72 via a conductive wire, an electric cable, a wireless communication device, or the like. The drive circuit 76 drives the motor 38 in response to a control signal from the control unit 72.

[0056] Preferably, the human-powered vehicle 10 further includes a vehicle speed sensor 46. Preferably, the human-powered vehicle 10 further includes at least one of a crank rotation sensor 48 and a human driving force detection unit 50.

[0057] The vehicle speed sensor 46 is configured to detect information regarding the vehicle speed V of the human-powered vehicle 10. In the present embodiment, the vehicle speed sensor 46 is configured to detect information regarding the rotational speed W of at least one wheel 14 of the human-powered vehicle 10. The vehicle speed sensor 46 is configured to detect, for example, a magnet provided on at least one wheel 14 of the human-powered vehicle 10. The vehicle speed sensor 46 is configured to output a detection signal a predetermined number of times while, for example, one of the at least one wheel 14 makes one rotation. The vehicle speed sensor 46 outputs a signal corresponding to the rotational speed W of the wheel 14. The control unit 72 can calculate the vehicle speed V of the human-powered vehicle 10 based on the signal corresponding to the rotational speed W of the wheel 14 and information regarding the circumference of the wheel 14. Information regarding the circumference of the wheel 14 is stored in the storage unit 74.

[0058] The vehicle speed sensor 46 includes, for example, a magnetic reed constituting a reed switch, or a magnetic sensor such as a Hall element. The vehicle speed sensor 46 may be attached to the chain stay of the frame 18 of the human-powered vehicle 10 and configured to detect a magnet attached to the rear wheel 14A, or may be provided on the front fork 30 and configured to detect a magnet attached to the front wheel 14B. In the present embodiment, the vehicle speed sensor 46 is configured such that when the wheel 14 makes one rotation, the reed switch detects the magnet once.

[0059] The vehicle speed sensor 46 may have any configuration as long as it can acquire information regarding the vehicle speed V of the human-powered vehicle 10, and is not limited to a configuration for detecting a magnet provided on the wheel 14. For example, it may be configured to detect a slit provided in a disk brake, may include an optical sensor, etc., or may include a GPS (Global Positioning System) receiver. When the vehicle speed sensor 46 includes a GPS receiver, the control unit 72 can calculate the vehicle speed V according to the time and the moving distance. The vehicle speed sensor 46 is connected to the control unit 72 via a wireless communication device or an electric cable.

[0060] The crank rotation sensor 48 is configured to detect information regarding the rotation speed C of the input rotation shaft 12A. The crank rotation sensor 48 is provided, for example, on the frame 18 or the drive unit 40 of the human-powered vehicle 10. The crank rotation sensor 48 may be provided on the housing 40A of the drive unit 40. The crank rotation sensor 48 includes a magnetic sensor that outputs a signal according to the magnetic field strength. An annular magnet whose magnetic field strength changes in the circumferential direction is provided on the input rotation shaft 12A, a member that rotates in conjunction with the input rotation shaft 12A, or a power transmission path between the input rotation shaft 12A and the first rotating body 24. The member that rotates in conjunction with the input rotation shaft 12A may include the output shaft of the motor 38.

[0061] The crank rotation sensor 48 outputs a signal corresponding to the rotation speed C of the input rotation shaft 12A. For example, when no first one-way clutch is provided between the input rotation shaft 12A and the first rotating body 24, the magnet may be provided on the first rotating body 24. The crank rotation sensor 48 may have any configuration as long as it can acquire information regarding the rotation speed C of the input rotation shaft 12A, and may include an optical sensor, an acceleration sensor, a gyro sensor, a torque sensor, etc. instead of the magnetic sensor. The crank rotation sensor 48 is connected to the control unit 72 via a wireless communication device or an electric cable.

[0062] The human power driving force detection unit 50 is configured to detect information regarding the human power driving force H. The human power driving force detection unit 50 is provided, for example, on the frame 18, the drive unit 40, the crank 12, or the pedals 20A, 20B of the human power driven vehicle 10. The human power driving force detection unit 50 may be provided on the housing 40A of the drive unit 40. The human power driving force detection unit 50 includes, for example, a torque sensor. The torque sensor is configured to output a signal corresponding to the torque applied to the crank 12 by the human power driving force H. When a first one-way clutch is provided in the power transmission path, the torque sensor is preferably provided upstream of the first one-way clutch in the power transmission path. The torque sensor includes a strain sensor, a magnetostrictive sensor, or a pressure sensor, etc. The strain sensor includes a strain gauge.

[0063] The torque sensor is provided in the power transmission path or in the vicinity of a member included in the power transmission path. The members included in the power transmission path are, for example, the input rotation shaft 12A, the member that transmits the human power driving force H between the input rotation shaft 12A and the first rotating body 24, the crank arms 12B, 12C, or the pedals 20A, 20B. The human power driving force detection unit 50 is connected to the control unit 72 via a wireless communication device or an electric cable. The human power driving force detection unit 50 may have any configuration as long as it can acquire information regarding the human power driving force H, and may include, for example, a sensor that detects the pressure applied to the pedals 20A, 20B, or a sensor that detects the tension of the chain.

[0064] The control unit 72 is configured to control the motor 38. The control unit 72 is configured to be able to change the assist level A by the motor 38. The manual driving force H may be represented by torque or may be represented by work rate.

[0065] The control unit 72 is configured to control the motor 38 so that, for example, the assist level A by the motor 38 becomes a predetermined assist level A. Preferably, the assist level A includes at least one of a ratio of the output of the motor 38 to the manual driving force H input to the manual vehicle 10, a maximum value of the output of the motor 38, and a suppression level L of the output fluctuation of the motor 38 when the output of the motor 38 decreases. The ratio of the assist force by the motor 38 to the manual driving force H may be described as an assist ratio. The control unit 72 is configured to control the motor 38 so that, for example, the assist force by the motor 38 becomes a predetermined ratio with respect to the manual driving force H.

[0066] The manual driving force H corresponds to the propulsion force of the manual vehicle 10 generated by the user rotating the crank 12. The assist force corresponds to the propulsion force of the manual vehicle 10 generated by the rotation of the motor 38. The predetermined ratio is not constant and may change, for example, according to the manual driving force H, may change according to the rotational speed C of the input rotation shaft 12A, may change according to the vehicle speed V, or may change according to any two or all of the manual driving force H, the rotational speed C of the input rotation shaft 12A, and the vehicle speed V.

[0067] When the manual driving force H and the assist force are represented by torque, the manual driving force H is described as manual torque HT, and the assist force is described as assist torque MT. When the manual driving force H and the assist force are represented by work rate, the manual driving force H is described as manual work rate HW, and the assist force is described as assist work rate MW. The ratio may be a torque ratio of the assist torque MT to the manual torque HT of the manual vehicle 10 or may be a ratio of the assist work rate MW by the motor 38 to the manual work rate HW.

[0068] In the drive unit 40 of the present embodiment, the crank 12 is connected to the first rotating body 24 without passing through a transmission, and the output of the motor 38 is input to the first rotating body 24. In the present embodiment, the manual driving force H corresponds to the driving force input to the first rotating body 24 by the user rotating the crank 12. In the present embodiment, the assist force corresponds to the driving force input to the first rotating body 24 by the rotation of the motor 38. When the output of the motor 38 is input to the first rotating body 24 via a speed reducer, the assist force corresponds to the output of the speed reducer.

[0069] When the motor 38 is provided on the rear wheel 14A, the manual driving force H corresponds to the output of the rear wheel 14A driven only by the user. When the motor 38 is provided on the rear wheel 14A, the assist force corresponds to the output of the rear wheel 14A driven only by the motor 38. When the motor 38 is provided on the front wheel 14B, the manual driving force H corresponds to the output of the rear wheel 14A driven only by the user. When the motor 38 is provided on the front wheel 14B, the assist force corresponds to the output of the front wheel 14B driven only by the motor 38.

[0070] The control unit 72 is configured to control the motor 38 so that the assist force is equal to or less than the maximum value MX. When the output of the motor 38 is input to the first rotating body 24 and the assist force is represented by torque, the control unit 72 is configured to control the motor 38 so that the assist torque MT is equal to or less than the maximum value MTX. Preferably, the maximum value MTX is a value in the range of 20 Nm or more and 200 Nm or less. When the output of the motor 38 is input to the first rotating body 24 and the assist force is represented by the work rate, the control unit 72 is configured to control the motor 38 so that the assist work rate MW is equal to or less than the maximum value MWX.

[0071] Preferably, the control unit 72 is configured to be able to change the suppression level L of the output fluctuation of the motor 38. As the suppression level L of the output fluctuation of the motor 38 increases, the change amount of the output of the motor 38 per unit time with respect to the change amount of the control parameter of the motor 38 per unit time decreases. As the suppression level L of the output fluctuation of the motor 38 decreases, the change amount of the output of the motor 38 per unit time with respect to the change amount of the control parameter of the motor 38 per unit time increases. The control parameter of the motor 38 corresponds to the input driving force H or the rotational speed C of the input rotating shaft 12A. The suppression level L of the output fluctuation of the motor 38 is inversely proportional to the response speed of the motor 38. The response speed of the motor 38 is represented by the change amount of the output of the motor 38 per unit time with respect to the change amount of the control parameter of the motor 38 per unit time. When the suppression level L of the output fluctuation of the motor 38 increases, the response speed of the motor 38 decreases.

[0072] The control unit 72 changes the suppression level L, for example, by a filter circuit. The filter includes, for example, a low-pass filter having a time constant. The control unit 72 changes the suppression level L by changing the time constant of the filter. The control unit 72 may change the suppression level L by changing the gain for calculating the output of the motor 38 from the input driving force H. The filter circuit is configured, for example, by executing predetermined software in an arithmetic processing unit.

[0073] The human-powered vehicle 10 further includes a first operation unit 52, which is configured to be operated by a user. The first operation unit 52 is operated, for example, by the user's hand or finger. Preferably, the first operation unit 52 is provided on the handlebar 34. Preferably, the first operation unit 52 includes a push button or a lever. For example, the first operation unit 52 includes an electric switch. The electric switch included in the first operation unit 52 is preferably a normally-off type electric switch. The first operation unit 52 may be constituted by a touch panel. The first operation unit 52 may be included in, for example, a cycle computer or a smartphone. The first operation unit 52 is connected to the control unit 72 via a wireless communication device or an electric cable. When the first operation unit 52 is operated, the control unit 72 increases the assist level A by the motor 38.

[0074] Preferably, the human-powered vehicle 10 further includes a fifth operation unit 60. The fifth operation unit 60 is different from the first operation unit 52 and is configured to be operated by a user. The first operation unit 52 is operated, for example, by the user's hand or finger. Preferably, the fifth operation unit 60 is provided on the handlebar 34. Preferably, the fifth operation unit 60 includes a push button or a lever. For example, the fifth operation unit 60 includes an electric switch. The electric switch included in the fifth operation unit 60 is preferably a normally-off type electric switch. The fifth operation unit 60 may be constituted by a touch panel. The fifth operation unit 60 may be included in, for example, a cycle computer or a smartphone. The fifth operation unit 60 is connected to the control unit 72 via a wireless communication device or an electric cable.

[0075] Preferably, when the fifth operation unit 60 is operated, the control unit 72 controls the motor 38 to increase the assist level A. The assist level A increases more when the first operation unit 52 is operated than when the fifth operation unit 60 is operated. Preferably, when the fifth operation unit 60 is operated, the control unit 72 changes the assist level A to increase step by step in a plurality of predetermined levels. In the present embodiment, when the first operation unit 52 is operated, the control unit 72 sets the assist level A to be higher than the maximum assist level A set by the fifth operation unit 60. When the first operation unit 52 is operated, the control unit 72 may be configured to change the assist level A in two or more steps in a plurality of predetermined levels. When the first operation unit 52 is operated, the control unit 72 may change the assist level A to the maximum level in a plurality of predetermined levels.

[0076] Preferably, the human-powered vehicle 10 further includes a sixth operation unit 62. Preferably, when the sixth operation unit 62 is operated, the control unit 72 controls the motor 38 to decrease the assist level A. Preferably, when the sixth operation unit 62 is operated, the control unit 72 changes the assist level A to decrease step by step in a plurality of predetermined levels.

[0077] The sixth operation unit 62 is configured to be different from the first operation unit 52 and to be operated by the user. The sixth operation unit 62 is operated, for example, by the user's hand or finger. Preferably, the sixth operation unit 62 is provided on the handlebar 34. Preferably, the sixth operation unit 62 includes a push button or a lever. For example, the sixth operation unit 62 includes an electric switch. The electric switch included in the sixth operation unit 62 is preferably a normally-off type electric switch. The sixth operation unit 62 may be configured by a touch panel. The sixth operation unit 62 may be included in, for example, a cycle computer or a smartphone. The sixth operation unit 62 is connected to the control unit 72 via a wireless communication device or an electric cable.

[0078] Preferably, the first operation unit 52, the fifth operation unit 60, and the sixth operation unit 62 are provided at locations easily accessible by the rider's hand. The first operation unit 52, the fifth operation unit 60, and the sixth operation unit 62 are provided on the handlebar 34 so as to be located in the vicinity of the thumb or index finger, for example, when the rider grips the handlebar 34. The first operation unit 52, the fifth operation unit 60, and the sixth operation unit 62 may be provided in the housing of the unit member or in separate housings.

[0079] When a predetermined first period T1 elapses in a state where the assist level A has increased, the control unit 72 is configured to control the motor 38 so as to decrease the assist level A.

[0080] Preferably, when the first operation unit 52 is operated and the assist level A has increased, and the first operation unit 52 is operated within a predetermined first period T1, the control unit 72 controls the motor 38 so as to decrease the assist level A. In the present embodiment, the operation of the first operation unit 52 includes a pressing operation of the first operation unit 52. For example, when the first operation unit 52 is pressed, the control unit 72 determines that the first operation unit 52 has been operated. The operation of the first operation unit 52 may include, for example, a release operation of the pressing operation of the first operation unit 52. For example, when the assist level A is increased by pressing the first operation unit 52, the control unit 72 may determine that the first operation unit 52 has been operated when the user releases the hand from the state of pressing the first operation unit 52.

[0081] Preferably, the human-powered vehicle 10 further includes a third operation unit 56. The third operation unit 56 is different from the first operation unit 52. The third operation unit 56 is operated, for example, by a user's hand or finger. Preferably, the third operation unit 56 is provided on the handlebar 34. Preferably, the third operation unit 56 includes a push button or a lever. For example, the third operation unit 56 includes an electric switch. The electric switch included in the third operation unit 56 is preferably a normally-off type electric switch. The third operation unit 56 may be constituted by a touch panel. The third operation unit 56 may be included in, for example, a cycle computer or may be included in a smartphone. The third operation unit 56 is connected to the control unit 72 via a wireless communication device or an electric cable. The third operation unit 56 may be the sixth operation unit 62. When the third operation unit 56 is the sixth operation unit 62, an increase in the number of operation units can be suppressed.

[0082] Preferably, when the third operation unit 56 is operated within a predetermined first period T1 in a state where the assist level A has increased due to the operation of the first operation unit 52, the control unit 72 controls the motor 38 to decrease the assist level A. In the present embodiment, the operation of the third operation unit 56 includes a pressing operation of the third operation unit 56. For example, when the third operation unit 56 is pressed, the control unit 72 determines that the third operation unit 56 has been operated.

[0083] With reference to FIG. 4, the process of the control unit 72 changing the assist level A of the motor 38 will be described. The control unit 72 starts the process and shifts to step S11 of the flowchart shown in FIG. 4, for example, when power is supplied to the control unit 72. When the flowchart of FIG. 4 ends, the control unit 72 repeats the process from step S11 at a predetermined cycle until, for example, the power supply is stopped.

[0084] In step S11, the control unit 72 determines whether or not the first operation unit 52 has been operated. If the first operation unit 52 has not been operated, the control unit 72 ends the process. If the first operation unit 52 has been operated, the control unit 72 shifts to step S12.

[0085] In step S12, the control unit 72 increases the assist level A and proceeds to step S13. In step S13, the control unit 72 determines whether or not a predetermined first period T1 has elapsed. For example, in step S11, if the first period T1 has elapsed since the first operation unit 52 was operated, the control unit 72 determines that the predetermined first period T1 has elapsed. If the predetermined first period T1 has elapsed, the control unit 72 proceeds to step S16. If the predetermined first period T1 has not elapsed, the control unit 72 proceeds to step S14.

[0086] In step S14, the control unit 72 determines whether or not the first operation unit 52 has been operated. If the first operation unit 52 has been operated, the control unit 72 proceeds to step S16. If the first operation unit 52 has not been operated, the control unit 72 proceeds to step S15.

[0087] In step S15, the control unit 72 determines whether or not the third operation unit 56 has been operated. If the third operation unit 56 has been operated, the control unit 72 proceeds to step S16. If the third operation unit 56 has not been operated, the control unit 72 proceeds to step S13.

[0088] In step S16, the control unit 72 decreases the assist level A and ends the process. For example, in step S16, the control unit 72 decreases the assist level A to the assist level A before increasing the assist level A in step S12. In the present embodiment, the assist level A before increasing the assist level A is the assist level A immediately before increasing the assist level A.

[0089] Steps S13, S14, and S15 may be interchanged with each other. At least one of steps S14 and S15 may be omitted. When step S14 is omitted, if the determination in step S13 is NO, the control unit 72 proceeds to step S15. When step S15 is omitted, if the determination in step S14 is NO, the control unit 72 proceeds to step S13. When steps S14 and S15 are omitted, if the determination in step S13 is NO, the control unit 72 repeats the process of step S13.

[0090] Preferably, the control unit 72 is configured to be able to change a predetermined first period T1. Preferably, in response to an operation of the second operation unit 54, the control unit 72 changes the predetermined first period T1. Information regarding the predetermined first period T1 is stored in the storage unit 74. Preferably, the predetermined first period T1 is changed by the user selecting from within a predetermined range by operating the second operation unit 54. The predetermined range is, for example, 1 second or more and 10 seconds or less. The predetermined first period T1 can be set to, for example, 3 seconds, 5 seconds, or the like.

[0091] The second operation unit 54 is configured to be operated by the user and is different from the first operation unit 52. The second operation unit 54 is operated, for example, by the user's hand or finger. The second operation unit 54 is connected to the control unit 72 via a wireless communication device or an electric cable. The second operation unit 54 may be included in an external device. The second operation unit 54 may be included in a cycle computer. The external device includes, for example, at least one of a personal computer, a tablet computer, and a smartphone.

[0092] With reference to FIG. 5, a process of changing a first period T1 determined in advance by the control unit 72 will be described. When power is supplied to the control unit 72, for example, the control unit 72 starts processing and proceeds to step S21 of the flowchart shown in FIG. 5. When the flowchart in FIG. 5 ends, the control unit 72 repeats the processing from step S21 at a predetermined cycle until, for example, the power supply is stopped.

[0093] In step S21, the control unit 72 determines whether the second operation unit 54 has been operated. When the control unit 72 receives information requesting a change in the first period T1 determined in advance from an external device by operating the second operation unit 54, the control unit 72 determines that the second operation unit 54 has been operated. When the second operation unit 54 has not been operated, the control unit 72 ends the processing. When the second operation unit 54 has been operated, the control unit 72 proceeds to step S22.

[0094] In step S22, the control unit 72 changes the information regarding the first period T1 determined in advance and stores it in the storage unit 74. For example, the control unit 72 updates the information regarding the first period T1 stored in the storage unit 74 to the information regarding the first period T1 included in the information input from the external device by operating the second operation unit 54. The control unit 72 executes the processing of step S13 of the flowchart in FIG. 4 using the first period T1 determined in advance stored in the storage unit 74.

[0095] Preferably, the control unit 72 is configured to be able to change the acceleration rate of the assist level A. Preferably, in response to the operation of the fourth operation unit 58, the control unit 72 changes the acceleration rate of the assist level A. Information regarding the acceleration rate of the assist level A is stored in the storage unit 74. The acceleration rate of the assist level A corresponds to, for example, the increase amount of the assist ratio per unit time when the assist level A includes the assist ratio. Preferably, when the control unit 72 raises the assist level A, the control unit 72 gradually raises the assist ratio. Preferably, the acceleration rate of the assist level A is changed by the user selecting from within a predetermined range by operating the fourth operation unit 58. The predetermined range is, for example, a range from 1 / 2 times the predetermined reference value to 2 times the predetermined reference value.

[0096] The fourth operation unit 58 is configured to be operated by the user and is different from the first operation unit 52. The fourth operation unit 58 is operated by, for example, the user's hand or finger. The fourth operation unit 58 is connected to the control unit 72 via a wireless communication device or an electric cable. The fourth operation unit 58 may be included in an external device. The fourth operation unit 58 may be included in a cycle computer. The external device includes, for example, at least one of a personal computer, a tablet computer, and a smartphone. The fourth operation unit 58 may be the second operation unit 54.

[0097] With reference to FIG. 6, the process in which the control unit 72 changes the acceleration rate of the assist level A will be described. The control unit 72 starts the process and shifts to step S31 of the flowchart shown in FIG. 6, for example, when power is supplied to the control unit 72. When the flowchart in FIG. 6 ends, the control unit 72 repeats the process from step S31 at a predetermined cycle until, for example, the power supply is stopped.

[0098] In step S31, the control unit 72 determines whether the fourth operation unit 58 has been operated. When the control unit 72 receives information requesting a change in the acceleration rate of the assist level A from an external device by operating the fourth operation unit 58, the control unit 72 determines that the fourth operation unit 58 has been operated. When the fourth operation unit 58 has not been operated, the control unit 72 ends the process. When the fourth operation unit 58 has been operated, the control unit 72 proceeds to step S32.

[0099] In step S32, the control unit 72 changes the information regarding the acceleration rate of the assist level A and stores it in the storage unit 74. For example, the control unit 72 updates the information regarding the acceleration rate of the assist level A stored in the storage unit 74 to the information regarding the acceleration rate of the assist level A included in the information input from the external device by operating the fourth operation unit 58. The control unit 72 executes the process of step S12 in the flowchart of FIG. 4 using the acceleration rate of the assist level A stored in the storage unit 74.

[0100] <Second Embodiment> With reference to FIGS. 2 and 7, the control device 70 of the second embodiment will be described. The control device 70 of the second embodiment includes the same configuration as the control device 70 of the first embodiment, except that the control device 70 executes the process of the flowchart of FIG. 7 instead of the process of the flowchart of FIG. 4. Therefore, for the configuration common to the first embodiment in the control device 70 of the second embodiment, the same reference numerals as those in the first embodiment are given, and duplicate explanations are omitted. In the second embodiment, when a predetermined second period T2 has elapsed since the first operation unit 52 was operated, the control unit 72 starts increasing the assist level A.

[0101] With reference to FIG. 7, the process of switching the control state in which the control unit 72 controls the motor 38 will be described. For example, when power is supplied to the control unit 72, the control unit 72 starts the process and proceeds to step S41 in the flowchart shown in FIG. 7. When the flowchart of FIG. 7 ends, the control unit 72 repeats the process from step S41 after a predetermined period until, for example, the power supply is stopped.

[0102] In step S41, the control unit 72 determines whether the first operation unit 52 has been operated. If the first operation unit 52 has not been operated, the control unit 72 ends the process. If the first operation unit 52 has been operated, the control unit 72 proceeds to step S42.

[0103] In step S42, the control unit 72 determines whether a predetermined second period T2 has elapsed. If the predetermined second period T2 has not elapsed, the control unit 72 executes the process of step S42 again. If the predetermined second period T2 has elapsed, the control unit 72 proceeds to step S43.

[0104] In step S43, the control unit 72 increases the assist level A and proceeds to step S44. In step S44, the control unit 72 determines whether a predetermined first period T1 has elapsed. For example, in step S41, if the first period T1 has elapsed since the first operation unit 52 was operated, the control unit 72 determines that the predetermined first period T1 has elapsed. If the predetermined first period T1 has elapsed, the control unit 72 proceeds to step S47. If the predetermined first period T1 has not elapsed, the control unit 72 proceeds to step S45.

[0105] In step S45, the control unit 72 determines whether the first operation unit 52 has been operated. If the first operation unit 52 has been operated, the control unit 72 proceeds to step S47. If the first operation unit 52 has not been operated, the control unit 72 proceeds to step S46.

[0106] In step S46, the control unit 72 determines whether the third operation unit 56 has been operated. If the third operation unit 56 has been operated, the control unit 72 proceeds to step S47. If the third operation unit 56 has not been operated, the control unit 72 proceeds to step S44.

[0107] In step S47, the control unit 72 decreases the assist level A and ends the process. For example, in step S47, the control unit 72 decreases the assist level A to the assist level A before increasing the assist level A in step S43.

[0108] Steps S44, S45, and S46 may be interchanged with each other. One or two of steps S44, S45, and S46 may be omitted, and steps S44, S45, S46, and S47 may be omitted. When only step S44 is omitted, when the process of step S43 ends, the control unit 72 proceeds to step S45. When steps S44 and S45 are omitted, when the process of step S43 ends, the control unit 72 proceeds to step S46. When steps S44 and S46 are omitted, when the process of step S43 ends, the control unit 72 proceeds to step S45, and when the determination in step S45 is NO, step S45 is repeated.

[0109] When only step S45 is omitted, when the determination in step S44 is NO, the control unit 72 proceeds to step S46. When steps S45 and S46 are omitted, when the determination in step S44 is NO, the control unit 72 proceeds to step S47. When only step S46 is omitted, when the determination in step S45 is NO, the control unit 72 proceeds to step S47. When steps S45 and S46 are omitted, when the determination in step S44 is NO, the control unit 72 repeats the process of step S44.

[0110] <Third Embodiment> With reference to FIGS. 2, 7, and 8, the control device 70 of the third embodiment will be described. The control device 70 of the third embodiment includes the same configuration as the control devices 70 of the first and second embodiments, except that it executes the processing of the flowchart in FIG. 8. Therefore, for the configurations common to the control device 70 of the third embodiment and the first and second embodiments, the same reference numerals as those in the first and second embodiments are given, and duplicate explanations are omitted.

[0111] In the third embodiment, the control unit 72 is configured to be able to change a predetermined second period T2. Preferably, the predetermined second period T2 when the first operation unit 52 is operated by the first operation method is different from the predetermined second period T2 when the first operation unit 52 is operated by a second operation method different from the first operation method.

[0112] For example, one of the first operation method and the second operation method is a pressing operation for less than a predetermined time, and the other of the first operation method and the second operation method is a pressing operation for a predetermined time or more. For example, one of the first operation method and the second operation method may be a single pressing operation in a predetermined third period T3, and the other of the first operation method and the second operation method may be a plurality of pressing operations in the predetermined third period T3.

[0113] With reference to FIGS. 7 and 8, the process in which the control unit 72 changes the assist level A of the motor 38 will be described. For example, when power is supplied to the control unit 72, the control unit 72 starts the process and proceeds to step S41 of the flowchart shown in FIG. 7. If the determination in step S41 of FIG. 7 is YES, the control unit 72 proceeds to step S51 of FIG. 8. In step S51, the control unit 72 determines whether the first operation unit 52 has been operated by the first operation method. If the first operation unit 52 has been operated by the first operation method, the control unit 72 proceeds to step S52.

[0114] In step S52, the control unit 72 determines whether the second period T21 has elapsed. If the second period T21 has not elapsed, the control unit 72 executes the process of step S52 again. If the second period T21 has elapsed, the control unit 72 proceeds to step S43 in FIG. 7.

[0115] In step S51, if the first operation unit 52 is not operated by the first operation method, the control unit 72 proceeds to step S53. In step S53, the control unit 72 determines whether the first operation unit 52 has been operated by the second operation method. If the first operation unit 52 has not been operated by the second operation method, the control unit 72 proceeds to step S43 in FIG. 7. If the first operation unit 52 has been operated by the second operation method, the control unit 72 proceeds to step S54.

[0116] In step S54, the control unit 72 determines whether the second period T22 has elapsed. If the second period T22 has not elapsed, the control unit 72 executes the process of step S54 again. If the second period T22 has elapsed, the control unit 72 proceeds to step S43 in FIG. 7. For example, the second period T22 is a period longer than the second period T21. The second period T22 is, for example, a period of 1.5 times or more and 5 times or less the second period T21. Information regarding the first operation method, information regarding the second operation method, information regarding the second period T21, and information regarding the second period T22 are stored in the storage unit 74.

[0117] The control unit 72 may be configured to be able to change at least one of the information on the first operation method, the information on the second operation method, the information on the second period T21, and the information on the second period T22. For example, the control unit 72 changes at least one of the information on the first operation method, the information on the second operation method, the information on the second period T21, and the information on the second period T22 in response to an operation on at least one of the operation unit of the external device and the operation unit provided on the human-powered vehicle 10. At least one of the information on the first operation method, the information on the second operation method, the information on the second period T21, and the information on the second period T22 is stored in, for example, the storage unit 74. When changing at least one of the information on the first operation method, the information on the second operation method, the information on the second period T21, and the information on the second period T22, the control unit 72 updates at least one of the information on the first operation method, the information on the second operation method, the information on the second period T21, and the information on the second period T22 stored in the storage unit 74.

[0118] <Fourth Embodiment> With reference to FIGS. 9 and 10, the control device 70 of the fourth embodiment will be described. The control device 70 of the fourth embodiment includes the same configuration as that of the first embodiment except that it executes the processing of the flowchart in FIG. 10 instead of the flowchart in FIG. 4. Therefore, for the configurations common to the first embodiment, the second embodiment, and the third embodiment in the control device 70 of the fourth embodiment, the same reference numerals as those in the first embodiment, the second embodiment, and the third embodiment are given, and redundant descriptions are omitted.

[0119] The human-powered vehicle 10 of the fourth embodiment includes a transmission 80. The control unit 72 is configured to control the transmission 80. The transmission 80 is provided in the transmission path of the human driving force H and has a transmission ratio R. The transmission ratio R has an input part to which the human driving force H is input and an output part from which the human driving force H is output. The transmission ratio R is represented by the ratio of the rotational speed V2 of the output part of the transmission 80 to the rotational speed V1 of the input part of the transmission 80. The transmission ratio R is represented by Equation 1. When the rotational speed V1 of the input part is constant, as the transmission ratio R increases, the rotational speed V2 of the output part increases, so the rotational speed of the wheel 14 increases.

[0120] Equation 1... Transmission ratio R = Rotational speed V2 / Rotational speed V1 Preferably, the transmission 80 has a derailleur 80A shown in FIG. 1 and a plurality of sprockets 80B shown in FIG. 1. When the derailleur 80A is a rear derailleur, the second rotating body 26 includes a plurality of sprockets 80B. When the derailleur 80A is a front derailleur, the first rotating body 24 includes a plurality of sprockets 80B. When the transmission 80 includes the derailleur 80A, the input part of the transmission 80 corresponds to the first rotating body 24. When the transmission 80 includes the derailleur 80A, the output part of the transmission 80 corresponds to the second rotating body 26.

[0121] The transmission 80 may include an internal transmission. The internal transmission is provided, for example, on the hub of the rear wheel 14A. Preferably, the transmission 80 includes an electric actuator. The electric actuator is provided, for example, on the derailleur 80A to operate the derailleur 80A. The electric actuator may operate the derailleur 80A or the internal transmission via a Bowden cable. The electric actuator of the transmission 80 is connected to the control unit 72 via a wireless communication device or an electric cable. Electric power may be supplied to the electric actuator of the transmission 80 from the battery 36, or electric power may be supplied from a power source independent of the battery 36.

[0122] When the first operation unit 52 is operated to increase the assist level A, the control unit 72 controls the transmission 80 so as to decrease the gear ratio R of the transmission 80. Preferably, when a predetermined first period T1 elapses, the control unit 72 controls the transmission 80 so as to decrease the gear ratio R.

[0123] Preferably, within the predetermined first period T1, the control unit 72 suppresses the shifting operation of the transmission 80. Preferably, within the predetermined first period T1, the control unit 72 controls the transmission 80 so as to suppress an increase in the gear ratio R. Preferably, within the predetermined first period T1, the control unit 72 controls the transmission 80 so as not to suppress a decrease in the gear ratio R.

[0124] Preferably, the control unit 72 controls the transmission 80 according to a parameter related to the load of the rider of the human-powered vehicle 10. For example, when a parameter related to the rider's load goes out of a predetermined range from within the predetermined range, the control unit 72 controls the transmission 80 so as to change the gear ratio R. For example, by changing the predetermined range, the control unit 72 suppresses the shifting operation of the transmission 80. The parameter related to the rider's load includes, for example, a parameter related to the human driving force. The parameter related to the rider's load may include, for example, a parameter related to the rider's heart rate.

[0125] With reference to FIG. 10, a process of switching the control state in which the control unit 72 controls the motor 38 and the transmission 80 is described. For example, when power is supplied to the control unit 72, the control unit 72 starts the process and proceeds to step S61 of the flowchart shown in FIG. 10. When the flowchart of FIG. 10 ends, the control unit 72 repeats the process from step S61 at a predetermined cycle until, for example, the power supply is stopped.

[0126] In step S61, the control unit 72 determines whether or not the first operation unit 52 has been operated. If the first operation unit 52 has not been operated, the control unit 72 ends the process. If the first operation unit 52 has been operated, the control unit 72 proceeds to step S62.

[0127] In step S62, the control unit 72 controls the transmission 80 to increase the assist level A and decrease the gear ratio R, and then proceeds to step S63. In step S63, the control unit 72 suppresses the shifting operation of the transmission 80 and proceeds to step S64.

[0128] In step S64, the control unit 72 determines whether or not a predetermined first period T1 has elapsed. For example, in step S61, if the first period T1 has elapsed since the first operation unit 52 was operated, the control unit 72 determines that the predetermined first period T1 has elapsed. If the predetermined first period T1 has elapsed, the control unit 72 proceeds to step S67. If the predetermined first period T1 has not elapsed, the control unit 72 proceeds to step S65.

[0129] In step S65, the control unit 72 determines whether or not the first operation unit 52 has been operated. If the first operation unit 52 has been operated, the control unit 72 proceeds to step S67. If the first operation unit 52 has not been operated, the control unit 72 proceeds to step S66.

[0130] In step S66, the control unit 72 determines whether or not the third operation unit 56 has been operated. If the third operation unit 56 has been operated, the control unit 72 proceeds to step S67. If the third operation unit 56 has not been operated, the control unit 72 proceeds to step S63.

[0131] In step S67, the control unit 72 controls the transmission 80 to decrease the assist level A and decrease the gear ratio R, and then ends the process. For example, in step S67, the control unit 72 decreases the assist level A to the assist level A before increasing the assist level A in step S62.

[0132] Steps S63 to S67 may be omitted. Only step S63 may be omitted. Step S62 may be replaced with step S43 in FIG. 7, and step S67 may be replaced with step S47 in FIG. 7.

[0133] Steps S64, S65, and S66 may be rearranged in order with respect to each other. One or two of steps S64, S65, and S66 may be omitted. When only step S64 is omitted, the control unit 72 proceeds to step S65 when the process of step S63 ends. When steps S64 and S65 are omitted, the control unit 72 proceeds to step S66 when the process of step S63 ends. When steps S64 and S66 are omitted, the control unit 72 proceeds to step S65 when the process of step S63 ends, and repeats step S65 when the determination in step S65 is NO.

[0134] When only step S65 is omitted, the control unit 72 proceeds to step S66 when the determination in step S64 is NO. When steps S65 and S66 are omitted, the control unit 72 proceeds to step S67 when the determination in step S64 is NO. When only step S66 is omitted, the control unit 72 proceeds to step S67 when the determination in step S65 is NO. When steps S65 and S66 are omitted, the control unit 72 repeats the process of step S64 when the determination in step S64 is NO.

[0135] Step S62 may be replaced with step S43 in FIG. 7, and step S67 may be replaced with step S47 in FIG. 7. <Fifth Embodiment> Referring to FIGS. 4, 11, and 12, the control device 70 of the fifth embodiment will be described. The control device 70 of the fifth embodiment includes the same configuration as that of the first embodiment except for executing the processes of the flowcharts in FIGS. 4 and 12. Therefore, for the configurations common to the first, second, third, and fourth embodiments in the control device 70 of the fifth embodiment, the same reference numerals as those in the first, second, third, and fourth embodiments are given, and duplicate descriptions are omitted.

[0136] The human - powered vehicle 10 of the fifth embodiment includes a suspension 82. The suspension 82 includes at least one of a front suspension 82A and a rear suspension 82B. The suspension 82 includes an electric actuator. The electric actuator of the suspension 82 is connected to the control unit 72 via a wireless communication device or an electric cable. The suspension 82 is configured to be able to change control parameters by controlling the electric actuator. The control parameters include, for example, at least one of the stiffness of the suspension 82 and the length of the suspension 82. The stiffness of the suspension 82 corresponds to the damping force. The length of the suspension 82 corresponds to the initial length in the unloaded state.

[0137] The control unit 72 is configured to control the suspension 82 provided in the human - powered vehicle 10. When the first operation unit 52 is operated to increase the assist level A by the motor 38, the control unit 72 changes the control parameters of the suspension 82.

[0138] For example, when the first operation unit 52 is operated to increase the assist level A by the motor 38, the control unit 72 changes the control parameters so that the stiffness of the suspension 82 becomes harder. For example, when the first operation unit 52 is operated to increase the assist level A by the motor 38, the control unit 72 changes the control parameters so that the initial length of the front suspension 82A becomes shorter and the initial length of the rear suspension 82B becomes longer.

[0139] With reference to FIGS. 4 and 12, the process by which the control unit 72 controls the motor 38 and the suspension 82 will be described. When power is supplied to the control unit 72, for example, the control unit 72 starts processing and proceeds to step S11 of the flowchart shown in FIG. 4. When the flowcharts of FIGS. 4 and 12 are completed, the control unit 72 repeats the processing from step S11 at a predetermined cycle until, for example, the power supply is stopped.

[0140] If the determination in step S11 of FIG. 4 is YES, the control unit 72 proceeds to step S71 of FIG. 12. In step S71, the control unit 72 increases the assist level A, changes the control parameters of the suspension 82, and proceeds to step S13 of FIG. 4.

[0141] <Modification Example> The description of the embodiment is an exemplification of forms that a control device for a human-powered vehicle according to the present disclosure can take, and is not intended to limit the forms. A control device for a human-powered vehicle according to the present disclosure can take, for example, modification examples of the embodiments shown below, and forms in which at least two non-contradictory modification examples are combined. In the following modification examples, parts common to the forms of the embodiment are denoted by the same reference numerals as in the embodiment, and the description thereof is omitted.

[0142] · When the human-powered vehicle 10 is being propelled by the human driving force H, the control unit 72 is configured to output an assist force to the motor 38 and to be able to change the assist level A by the motor 38, and when a first operation unit 52 configured to be operated by the user is operated, if the control unit 72 is configured to control the motor 38 to increase the assist level A and to be able to change the acceleration rate of increase of the assist level A, other configurations may be omitted.

[0143] · The control unit 72 is configured to be able to change the assist level A by the motor 38, and is configured to be able to control the motor 38 to increase the assist level A by an operation on the first operation unit 52. If it is configured to start increasing the assist level A when a predetermined second period T2 has elapsed since the first operation unit 52 was operated, other configurations may be omitted.

[0144] · The control unit 72 is configured to be able to change the assist level A by the motor 38. When the first operation unit 52, which is configured to be operated by the user, is operated, the control unit 72 controls the motor 38 to increase the assist level A by the motor 38, and is configured to control the transmission 80 to decrease the gear ratio R of the transmission 80. If so, other configurations may be omitted.

[0145] · The fifth operation unit 60 may be provided integrally with the first operation unit 52. In this case, depending on the operation method on the first operation unit 52, the magnitude of the assist level A when the first operation unit 52 is operated may be made different.

[0146] · In the fourth embodiment, the control unit 72 may start increasing the assist level A when a predetermined second period T2 has elapsed since the first operation unit 52 was operated. In this case, for example, when the determination in step S61 of FIG. 10 is YES, the control unit 72 shifts to step S42 of FIG. 7. When the determination in step S42 is NO, the control unit 72 executes the process of step S42 again. When the determination in step S42 is YES, the control unit 72 shifts to step S62 of FIG. 10.

[0147] · In the fourth embodiment, when a second predetermined period T2 elapses after the first operation unit 52 is operated, the control unit 72 may start increasing the assist level A, and may be configured to be able to change the second predetermined period T2. In this case, for example, when the determination in step S61 of FIG. 10 is YES, the control unit 72 shifts to step S51 of FIG. 8. When the determination in step S52 of FIG. 8 is YES, or when the determination in step S54 of FIG. 8 is YES, the control unit 72 shifts to step S62 of FIG. 10.

[0148] · In the fourth embodiment, when the first operation unit 52 is operated to increase the assist level A by the motor 38, the control unit 72 may change the control parameter of the suspension 82. In this case, for example, when the determination in step S61 of FIG. 10 is YES, the control unit 72 executes the process of step S62, changes the control parameter of the suspension 82, and shifts to step S63. In this case, the control unit 72 changes the control parameter of the suspension 82 in the same manner as in the process of step S71 of FIG. 12.

[0149] · In the fourth embodiment, when a second predetermined period T2 elapses after the first operation unit 52 is operated, the control unit 72 may start increasing the assist level A, and when the first operation unit 52 is operated to increase the assist level A by the motor 38, the control unit 72 may change the control parameter of the suspension 82. In this case, for example, when the determination in step S61 of FIG. 10 is YES, the control unit 72 shifts to step S42 of FIG. 7. When the determination in step S42 is NO, the control unit 72 executes the process of step S42 again. When the determination in step S42 is YES, the control unit 72 executes the process of step S62, changes the control parameter of the suspension 82, and shifts to step S63.

[0150] · In the fourth embodiment, when a predetermined second period T2 elapses after the first operation unit 52 is operated, the control unit 72 starts increasing the assist level A. When the first operation unit 52 is operated to increase the assist level A by the motor 38, the control parameters of the suspension 82 may be changed, and the predetermined second period T2 may be configured to be changeable. In this case, for example, when the determination in step S61 of FIG. 10 is YES, the control unit 72 shifts to step S51 of FIG. 8. When the determination in step S52 of FIG. 8 is YES, the control unit 72 executes the process of step S62, changes the control parameters of the suspension 82, and shifts to step S63. When the determination in step S54 of FIG. 8 is YES, the control unit 72 executes the process of step S62, changes the control parameters of the suspension 82, and shifts to step S63.

[0151] · In the second embodiment, when a predetermined second period T2 elapses after the first operation unit 52 is operated, the control unit 72 may start increasing the assist level A and change the control parameters of the suspension 82. In this case, the control unit 72 executes, for example, the process of step S71 of FIG. 12 instead of the process of step S43 of FIG. 7.

[0152] · In the third embodiment, when a predetermined second period T2 elapses after the first operation unit 52 is operated, the control unit 72 starts increasing the assist level A, changes the control parameters of the suspension 82, and the predetermined second period T2 may be configured to be changeable. In this case, the control unit 72 executes, for example, the process of step S71 of FIG. 12 instead of the process of step S43 of FIG. 7.

[0153] As used herein, the expression "at least one" means "one or more" of the desired options. As an example, when the number of options is two, the expression "at least one" as used herein means "only one option" or "both of the two options". As another example, when the number of options is three or more, the expression "at least one" as used herein means "only one option" or "any combination of two or more options".

Description of Signs

[0154] 10… Manually driven vehicle, 38… Motor, 52… First operation unit, 54… Second operation unit, 56… Third operation unit, 58… Fourth operation unit, 60… Fifth operation unit, 70… Control device, 72… Control unit, 80… Transmission, 82… Suspension.

Claims

1. A control device for a human-powered vehicle, a control unit that controls a motor that provides a propulsive force to the human-powered vehicle; The control unit The assist level by the motor is changeable, the motor is controlled so as to increase the assist level by the motor when a first operation unit configured to be operated by a user is operated, and to decrease the assist level when a predetermined first period has elapsed in a state in which the assist level has increased; a control device configured to be operated by the user and configured to change the predetermined first period in response to operation of a second operation unit different from the first operation unit.

2. 2. The control device according to claim 1, wherein when the first operating unit is operated within the predetermined first period in a state in which the assist level has increased due to the operation of the first operating unit, the control unit controls the motor to decrease the assist level.

3. 3. The control device according to claim 1, wherein when the first operating unit is operated and the assist level is increased, the control unit controls the motor to decrease the assist level when a third operating unit different from the first operating unit is operated within the predetermined first period.

4. The control device according to claim 1 , wherein the control unit is configured to be able to change the rate at which the assist level is increased.

5. A control device for a human-powered vehicle, a control unit that controls a motor that provides a propulsive force to the human-powered vehicle; The control unit a power assist system configured to cause the motor to output an assist force and change an assist level provided by the motor when the human-powered vehicle is being propelled by human-powered driving force; When a first operation unit configured to be operated by a user is operated, the motor is controlled to increase the assist level; A control device configured to be able to change the rate at which the assist level is increased.

6. The control device according to claim 4 or 5, wherein the control unit changes the rate of increase of the assist level in response to operation of a fourth operation unit configured to be operated by a user and different from the first operation unit.

7. The control device according to claim 1 , wherein the control unit starts increasing the assist level when a predetermined second period has elapsed since the first operation unit was operated.

8. A control device for a human-powered vehicle, a control unit that controls a motor that provides a propulsive force to the human-powered vehicle; The control unit The assist level by the motor is changeable, The motor is controllable so as to increase the assist level in response to an operation on a first operation unit, When a predetermined second period has elapsed since the first operating unit was operated, the assist level starts to increase, The control device reduces the assist level when a predetermined first period has elapsed since the assist level was increased.

9. The control device according to claim 7 or 8, wherein the control unit is configured to be able to change the predetermined second period.

10. 10. The control device according to claim 9, wherein the predetermined second period when the first operating unit is operated by a first operating method is different from the predetermined second period when the first operating unit is operated by a second operating method that is different from the first operating method.

11. 11. The control device according to claim 1, wherein the assist level includes at least one of a ratio of the output of the motor to the human-powered driving force input to the human-powered vehicle, a maximum value of the output of the motor, and a suppression level of the output fluctuation of the motor when the output of the motor decreases.

12. When a fifth operation unit different from the first operation unit and configured to be operated by a user is operated, the control unit controls the motor to increase the assist level; The control device according to claim 1 , wherein the assist level increases when the first operating unit is operated more than the assist level increases when the fifth operating unit is operated.

13. The control unit a control system configured to control a suspension provided on the human-powered vehicle; The control device according to claim 1 , further comprising: a control parameter for the suspension being changed when the first operation unit is operated to increase the level of assistance by the motor.

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