Control device of electrically-assisted vehicle

Abstract

To issue a warning for safe driving in a manner suitable for electrically- assisted vehicle.SOLUTION: A control device of the present invention includes: (A) a driving part of a motor for moving an electrically-assisted vehicle; and (B) a control part for giving instructions to at least any one of a helmet worn by a user, which has a warning output part, the driving part of the motor, and a display unit installed fixed to the electrically-assisted vehicle to output predetermined warnings to the user when a predetermined travelling state for which warnings are to be output is detected while the electrically-assisted vehicle is travelling.SELECTED DRAWING: Figure 3

Description

[Technical Field]

[0001] The present invention relates to a technology for suppressing dangerous driving of an electrically assisted vehicle. [Background technology]

[0002] For example, Patent Document 1 discloses a technology for outputting warning information when the current location enters a dangerous area indicated by hazard information, in order to provide driving assistance with a greater emphasis on safety. Specifically, the output device is assumed to be a mobile information terminal such as a smartphone, and the warning information is output by outputting a sound, a display, or a vibration.

[0003] Patent Document 2 also describes the following: 1) when an image of a pedestrian is captured ahead of the bicycle in the direction of travel; 2) when an image of an intersection, pedestrian crossing, or stop sign is captured; 3) when an image indicating that the bicycle should stop is captured but the bicycle is not decelerating; 4) when an image of a step or obstacle is captured; 5) when the bicycle speed exceeds a speed threshold; 6) when a sudden acceleration or deceleration of the bicycle that exceeds an acceleration threshold is detected; 7) when lateral acceleration of a predetermined value or greater is detected; 8) when acceleration of a predetermined value or greater is detected; 9) when it is determined that the bicycle is wobbling based on the bicycle acceleration and the angle of rotation of the handlebars; 10) when the braking effect is less than a predetermined value; 11) when it is determined that there is an object approaching the bicycle from behind in the direction of travel; 12) when the driver's line of sight is downward for more than a predetermined period of time. The technology disclosed outputs a warning to the driver by turning on a warning light, vibrating the bicycle handlebars, vibrating the bicycle saddle, or outputting a sound from the speaker in the following cases: 1) when the bicycle is facing in the wrong direction, 2) when the driver is driving with one hand, 3) when the tire air pressure is below a predetermined value, 4) when a blown-out headlight bulb is detected, 5) when the number of airborne particles detected by the dust sensor is above a predetermined value, 6) when information is received about a traffic jam, accident, broken-down vehicle, construction, intersection, traffic light, or traffic regulation ahead of the bicycle, 7) when the bicycle is detected to be traveling in a lane other than a bicycle lane, 8) when the bicycle is detected to be traveling in the wrong direction in the lane, 9) when the bicycle is detected to be approaching a location where sudden deceleration was previously detected, or 10) when the bicycle is detected to be approaching a dangerous location.

[0004] As described above, prior art has demonstrated the output of warnings or alerts in various situations during bicycle riding. However, the output of warnings or alerts is often via a mobile information terminal such as a smartphone, or the output method is to turn on a warning light, vibrate the bicycle's saddle or handlebars, or emit a sound through a speaker. However, operating a mobile information terminal such as a smartphone while riding a bicycle is contrary to safe riding practices. Furthermore, vibrating the bicycle's saddle or handlebars requires the installation of a dedicated device on the bicycle, which increases costs and potentially compromises safety due to increased weight. Furthermore, even if a warning light or speaker is installed, there is the question of which is more preferable. [Prior art documents] [Patent documents]

[0005] [Patent Document 1] Japanese Patent Publication No. 2022-191570 [Patent Document 2] Japanese Patent Application Publication No. 2019-217978 Summary of the Invention [Problem to be solved by the invention]

[0006] Therefore, according to one aspect, an object of the present invention is to provide a novel technique for issuing a warning for safe driving in a manner suitable for an electrically assisted vehicle. [Means for solving the problem]

[0007] The control device for an electrically assisted vehicle according to the present invention comprises: (A) a drive unit of a motor that drives the electrically assisted vehicle; and (B) a control unit that, when a predetermined driving state that should output a warning is detected while the electrically assisted vehicle is in motion, instructs at least one of a helmet that has a warning output unit and is worn by the user, the drive unit of the motor, and a display device fixedly installed on the electrically assisted vehicle to output a predetermined warning to the user. [Effects of the Invention]

[0008] According to one aspect, it is possible to issue a warning for safe driving in a manner suitable for electrically assisted vehicles. [Brief explanation of the drawings]

[0009] [Figure 1] FIG. 1 is a diagram showing the appearance of an electrically assisted bicycle according to an embodiment. [Figure 2] FIG. 2 is a diagram illustrating an example of a display device. [Figure 3] FIG. 3 is a diagram illustrating an example of a functional configuration of the motor control device. [Figure 4] FIG. 4 is a diagram illustrating an example of the functional configuration of the helmet. [Figure 5] FIG. 5 is a diagram illustrating a processing flow according to the first embodiment. [Figure 6] FIG. 6 is a diagram illustrating a processing flow according to the first embodiment. [Figure 7] FIG. 7 is a diagram for explaining control when vibration is generated in the motor. [Figure 8] FIG. 8 is a diagram for explaining control when a motor is made to generate sound. [Figure 9] FIG. 9 is a diagram illustrating a processing flow according to the second embodiment. [Figure 10] FIG. 10 is a diagram illustrating a processing flow of the release processing according to the second embodiment. [Figure 11] FIG. 11 is a diagram illustrating a processing flow according to the third embodiment. [Figure 12] FIG. 12 is a diagram illustrating a processing flow according to the third embodiment. DETAILED DESCRIPTION OF THE INVENTION

[0010] The following describes an embodiment of the present invention, taking an example of an electrically assisted bicycle, which is an example of an electrically assisted vehicle. However, the application of the embodiment of the present invention is not limited to electrically assisted bicycles, and can also be applied to motor control devices for motors that assist the movement of moving objects that move according to human power (for example, carts, wheelchairs, etc.).

[0011] [Embodiment 1] FIG. 1 is an external view showing an example of an electrically assisted bicycle, which is an example of an electrically assisted vehicle according to this embodiment. This electrically assisted bicycle 1 is equipped with a motor drive device. The motor drive device has a battery pack 101, a motor control device 102, a torque sensor 103, a crank rotation sensor 104, a motor 105, a display 106, and a brake sensor 107. Recently, wearing a helmet 3 while riding has become a recommended practice, and in this embodiment, a helmet 3 capable of outputting a warning may also be used, as will be described later.

[0012] The power-assisted bicycle 1 also has a front wheel, a rear wheel, a headlight, a freewheel, a transmission, and the like.

[0013] The battery pack 101 is, for example, a lithium ion secondary battery, but may be other types of batteries, such as a lithium ion polymer secondary battery, a nickel-metal hydride battery, etc. The battery pack 101 supplies power to the motor 105 via the motor control device 102, and is also charged by the regenerated power from the motor 105 via the motor control device 102 during regeneration.

[0014] The torque sensor 103 is provided near the crankshaft, detects the pedaling force (i.e., input torque) applied by the user, and outputs the detection result to the motor control device 102. Similarly to the torque sensor 103, the crank rotation sensor 104 is provided near the crankshaft, and outputs a signal corresponding to the rotation of the crank to the motor control device 102.

[0015] The motor 105 is, for example, a well-known three-phase DC brushless motor, and is attached to, for example, the front wheel of the electrically assisted bicycle 1. The motor 105 rotates the front wheel, and the rotor is connected to the front wheel so that the rotor rotates in response to the rotation of the front wheel. Furthermore, the motor 105 is equipped with a rotation sensor such as a Hall element, and outputs rotor rotation information (i.e., a Hall signal) to the motor control device 102.

[0016] The motor control device 102 performs predetermined calculations based on signals from the rotation sensor of the motor 105, the torque sensor 103, the crank rotation sensor 104, etc., to control the power driving of the motor 105 and also to control regenerative braking by the motor 105. The motor control device 102 also has a function for outputting a warning, which will be described below.

[0017] The brake sensor 107 detects a brake operation by the user and outputs a brake signal related to the brake operation (for example, a signal indicating whether the brake is applied or not) to the motor control device 102. Specifically, it is a sensor using a magnet and a reed switch.

[0018] Furthermore, the display 106 is fixedly provided on the handlebar of the electrically assisted vehicle 1 and includes a power switch 1062, a button 1061 for turning the headlights on and off, a display unit 1063 for displaying the remaining battery level, and a display unit 1064 for the assist mode. In this embodiment, for example, a warning may be displayed on the display unit 1063 for displaying the remaining battery level. The display 106 may also include a speaker 1065, which may output a warning sound. The display 106 is installed closer to the user than the motor control device 102, and can effectively warn the user even when a warning sound is used instead of just a display. For example, if the speaker is directional toward the user while riding, it is possible to have only the user hear the warning. The power switch 1062 is also used as a button to switch the assist mode while the power is on.

[0019] Next, an example of the functional configuration of the motor control device 102 according to this embodiment will be described with reference to Fig. 3. The motor control device 102 has a detection unit 1021, a control unit 1022, a communication unit 1023, and a drive unit 1024. In some cases, the motor control device 102 may also have a state input unit 1025.

[0020] The detection unit 1021 is connected to the status input unit 501 and executes processing to detect the occurrence of a predetermined event for which a warning should be output. The status input unit 501 may, for example, be a camera that captures an image in front of the power-assisted bicycle 1, various sensors such as an acceleration sensor that measures acceleration and a speed sensor that measures speed, and a GNSS (Global Navigation Satellite System) receiver. The GNSS receiver and various sensors may be built into the motor control device 102 and serve as the status input unit 1025. For example, when the detection unit 1021 receives the current position from the GNSS receiver, it compares the current position with pre-stored dangerous locations and detects that the power-assisted bicycle 1 has entered or approached a dangerous location. The detection unit 1021 detects predetermined dangerous riding conditions by, for example, analyzing images from a camera to detect the presence of obstacles or steps ahead, identifying traffic lights and signs to detect events such as running a red light or not stopping, identifying bicycle lanes to detect events such as riding on a sidewalk when a bicycle lane is available, and identifying the direction of riding to detect riding in the wrong direction. The detection unit 1021 also detects dangerous driving conditions such as sudden deceleration or acceleration using an acceleration sensor, speeds above a predetermined value using a speed sensor, and lateral vibration (i.e., wobbling) above a predetermined value. These events that require a warning to be output are merely examples, and other dangerous driving conditions may be detected using techniques employed in conventional technology or various sensors. The detection unit 1021 may also execute a process of calculating speed and acceleration using, for example, a hall signal from the motor 105.

[0021] When the detection unit 1021 detects the occurrence of an event that requires a warning to be output, the control unit 1022 instructs the warning output unit to output a warning. In this embodiment, the warning output unit is, for example, at least one of the motor 105, the helmet 3, and the display 106.

[0022] The motor 105 is powered or braked by a drive unit 1024 of the motor control device 102. The drive unit 1024 includes, for example, a FET (Field Effect Transistor) bridge, and generates a desired torque in the motor 105 by appropriately controlling the switching of the FET in response to instructions from the control unit 1022. In this embodiment, the control unit 1022 controls the drive unit 1024 to operate in a predetermined manner, thereby causing the motor 105 to generate sound or vibration. The motor 105 is a conventional component of the electrically power-assisted bicycle 1, and can be made to function as a warning output unit without any additional component costs.

[0023] Furthermore, in this embodiment, a helmet 3 having functions as shown in FIG. 4 may be employed. That is, the helmet 3 includes a communication unit 31 capable of communicating with the communication unit 1023 of the motor control device 102, a control unit 32 that performs processing based on the output from the communication unit 31, and an output unit 33 that outputs sound or vibration in response to instructions from the control unit 32. The output unit 33 is, for example, a speaker when outputting sound, or a vibration generating device such as a piezoelectric element when generating vibration. The communication unit 1023 and the communication unit 31 are communication units having a short-range wireless communication function such as Bluetooth (registered trademark). The control unit 1022 of the motor control device 102 is connected to the communication unit 1023. When the control unit 32 instructs the control unit 32 to output a warning via the communication unit 1023 and the communication unit 31, the control unit 32 controls the output unit 33 to output sound or vibration. The helmet 3 is worn directly on the head of a user who is a driver, and the user can easily notice issued warnings. If a speaker is used, the warning content may be output as voice rather than as a simple sound such as a buzzer.

[0024] Furthermore, in this embodiment, the display 106 may also serve as the warning output unit. The control unit 1022 is connected to the display 106 and may cause the display unit 1063 of the display 106 to display a warning, or, if a speaker 1065 is provided, may cause the speaker 1065 to output a warning sound. The displayed content may be text, or the warning may be displayed by blinking or the like. If the speaker 1065 is provided, the warning content may be output as voice, rather than just a simple sound such as a buzzer sound. The display 106 is normally provided on the power-assisted bicycle 1, and is close to the user (the rider) when the rider is not wearing a helmet 3, so that the warning is easily conveyed to the user.

[0025] In this embodiment, the control unit 1022 not only detects the occurrence of an event that warrants the output of a warning, but also responds when the event continues for a certain period of time or longer. In other words, if the occurrence of an event that warrants the output of a warning continues for a certain period of time or longer, the control unit 1022 controls the drive unit 1024 to forcibly cause the motor 105 to perform regenerative braking. This forces the power-assisted bicycle 1 to slow down, and since the user's pedaling resistance is too great to move forward as desired, the bicycle is forced to stop. This forcibly increases safety.

[0026] 5 to 8, the processing contents of the control unit 1022 will be mainly described. Note that steps S1 to S23 are repeatedly executed for each control period.

[0027] The detection unit 1021 receives data indicating the riding state of the power-assisted bicycle 1 from the status input unit 501 (or status input unit 1025) or the like, and checks the riding state based on that data (FIG. 5: step S1). The detection unit 1021 determines whether or not a predetermined event for which a warning should be output has occurred, based on the data from the status input unit 501 or the like. Then, upon detecting the occurrence of a predetermined event for which a warning should be output (step S3: Yes route), the detection unit 1021 notifies the control unit 1022 to that effect, and the control unit 1022 determines whether or not a flag indicating the presence or absence of an event for which a warning should be output has been turned on (step S5). If the flag is already on, the process proceeds to step S9.

[0028] On the other hand, if the flag is off, the control unit 1022 sets the flag to on and starts measuring the duration of the event for which a warning should be output (step S7). Then, the control unit 1022 instructs the device to output a warning (step S9). If the instruction has already been given, the instruction is continued. In response, the device that was instructed to output a warning outputs the warning. As described above, when using sound or vibration from the motor 105, the control unit 1022 instructs the drive unit 1024 to control the motor 105 to output sound or vibration. When using sound or vibration from the helmet 3, the control unit 1022 instructs the control unit 32 of the helmet 3 via the communication units 1023 and 31 to cause the output unit 33 to output sound or vibration. When using the display unit 106, the control unit 1022 causes the display unit 1063 of the display unit 106 to display a warning or causes the speaker 1065 to output a warning sound. This prompts the user to take safety measures, such as stopping the power-assisted bicycle 1.

[0029] Only one such warning output may be adopted, or any combination thereof may be adopted.

[0030] The control unit 1022 then determines whether the time measured by the timer has reached or exceeded a certain time (step S11). If the time measured by the timer is less than the certain time, the process proceeds to step S23. On the other hand, if the time measured by the timer has reached or exceeded the certain time, the control unit 1022 instructs the drive unit 1024 to suppress running, forcing the motor 105 to perform regenerative braking, thereby suppressing running (step S13). This allows users who ignore warnings to be forced to drive safely by suppressing the running of the power-assisted bicycle 1.

[0031] On the other hand, if the detection unit 1021 does not detect a predetermined event for which a warning should be output (step S3: No route), it notifies the control unit 1022 of this, and the control unit 1022 determines whether a flag indicating the presence or absence of an event for which a warning should be output is on (step S15). If the flag is on, a warning output has already been instructed, so the control unit 1022 instructs the warning output to be canceled (step S17). This stops the warning output by the warning output unit. On the other hand, if the flag is off, the process proceeds to step S23.

[0032] Then, the control unit 1022 sets off a flag indicating whether or not there is an event for which a warning should be output, and initializes to 0 a timer that measures the duration of the event for which a warning should be output (step S19). Furthermore, if the control unit 1022 has instructed to suppress driving in step S13, it cancels the suppression of driving (step S21). That is, it instructs the drive unit 1024 to stop the forced regenerative braking by the motor 105.

[0033] Thereafter, the control unit 1022 determines whether an instruction or a state that should end the process has occurred (step S23). If an instruction or a state that should end the process has not occurred, the process returns to step S1. On the other hand, if an instruction or a state that should end the process has occurred, the process ends.

[0034] By performing this processing, it is possible to output a warning at an appropriate time using a method suitable for the power-assisted bicycle 1. Furthermore, for users who ignore the warning output, safety can be improved by forcibly restricting their riding.

[0035] Next, the processing content on the warning output unit side will be described with reference to Fig. 6. When there is an instruction to output a warning from the control unit 1022 (step S31: Yes route), a warning output operation is executed (step S33). In the case of the display device 106, a display is made on the display unit 1063 or a warning sound is output from the speaker 1065. In the case of the helmet 3, the control unit 32 may cause the vibration generating device, which is the output unit 33, to generate vibrations, or may output a warning sound from the speaker, which is the output unit 33. In the case of the motor 105, the control unit 1022 may control the drive unit 1024 to vibrate the motor 105 or to cause the motor 105 to generate sound.

[0036] One method for vibrating the motor 105 is to vibrate the torque output from the motor 105. For example, control is performed so that a target output torque as shown in FIG. 7 is generated. FIG. 7 shows the time variation of the target output torque, and the target output torque is vibrated during the warning output period, that is, from the instruction to output the warning to the instruction to cancel the warning output. This causes the motor acceleration to change periodically, and the user feels the vibration of the motor 105, causing a rattle or a sense of discomfort.

[0037] In the example shown in FIG. 7, the target output torque is vibrated, but other variables such as the motor driving force may be vibrated as long as a similar effect is obtained. The vibration frequency is arbitrary, for example, about 5 Hz. The amplitude of the fluctuating torque is arbitrary, for example, ±10 Nm from the center of vibration. In addition, while FIG. 7 shows an example in which the target output torque changes in a rectangular wave, other waveforms, such as a triangular wave or a sine wave, may be used as long as a similar effect is obtained. In addition, to prevent breakdowns in the motor 105 or mechanisms such as gears connected to the motor 105, an upper limit may be set on the amount of change in torque over time.

[0038] 7 shows an example in which the average target output torque is 0, but the torque may be oscillated around any target output torque. For example, if the average value of the target output torque is set to -10 Nm and oscillation of ±10 Nm is superimposed (i.e., varying between -20 and 0 Nm), it is possible to notify the user while performing regenerative braking, thereby simultaneously suppressing driving and issuing a warning.

[0039] In the case of a motor that is not capable of regenerative braking, a negative target output torque cannot be set and control must be performed to output a positive target output torque on average, resulting in unnecessary acceleration, etc. Therefore, when vibrating motor 105 using this method, it is preferable to use a motor that is capable of regenerative braking, or to implement it using a system that has a clutch or the like that separates motor drive from vehicle drive.

[0040] Another method for generating sound in the motor 105 is to utilize the sound (e.g., sound due to magnetostriction) caused by switching of the drive unit 1024 when the motor 105 is driven under PWM (Pulse Width Modulation) control. FIG. 8 shows the time variation of the carrier frequency in PWM control. During the warning output period, a frequency f2 within the human audible range is used as the carrier frequency, while outside the warning output period, the normally used carrier frequency f1 is used. More specifically, during normal operation outside the warning output period, the carrier frequency for PWM control is set to f1 (e.g., 20 kHz), and during the warning output period, it is set to f2 (e.g., 5 kHz). 20 kHz is near the upper end of the audible range, and normally, the sound caused by the carrier wave is almost inaudible. However, 5 kHz is within the audible range, so the user and nearby people can recognize the sound caused by the carrier wave. This allows the motor 105 to generate sound.

[0041] By adopting such a method, it is possible to combine vibration and sound, and as described above, it is also possible to combine a warning output by the helmet 3 or the display 106.

[0042] Returning to the explanation of FIG. 6, after step S33, the process proceeds to step S35. On the other hand, if there is no instruction to output a warning (step S31: No route) and no instruction to cancel the warning output (step S37: No route), the process proceeds to step S35. On the other hand, if there is an instruction to cancel the warning output (step S37: Yes route), the warning output operation is stopped (step S39). The output of sound and vibration is stopped. Thereafter, it is determined whether an instruction or a state that should end the process has occurred (step S35). If an instruction or a state that should end the process has not occurred, the process returns to step S31. On the other hand, if an instruction or a state that should end the process has occurred, the process is ended.

[0043] By adopting such a configuration, it becomes possible to output a warning and stop the output of a warning in a manner suitable for the power-assisted bicycle 1.

[0044] [Embodiment 2] In the first embodiment, an example of processing was shown in which the warning output and riding restraint are stopped when a predetermined event that should issue a warning is no longer detected, but there are also cases in which it is preferable to ensure safety. Therefore, in this embodiment, a case will be described in which the warning output and riding restraint are not stopped until the electrically assisted bicycle 1 has been stopped for a predetermined time or more after an event that should issue a warning is no longer detected.

[0045] Fig. 9 shows a basic processing flow mainly performed by the control unit 1022. However, steps S1 to S13 and S23 are the same as those in Fig. 5, and therefore their explanation will be omitted. On the other hand, in this embodiment, a release process in step S41 is executed instead of steps S15 to S21. Details of the release process will be explained using Fig. 10.

[0046] In the cancellation process, the control unit 1022 determines whether a predetermined flag indicating the presence or absence of an event for which a warning should be output is on (step S51). If the flag is off, a warning has not been output, and the process returns to the caller process.

[0047] On the other hand, if the predetermined flag indicating the presence or absence of an event for which a warning should be output is on, the control unit 1022 determines whether the power-assisted bicycle 1 is stopped based on a hall signal from the motor 105 or the like (step S53). If the power-assisted bicycle 1 is not stopped, the control unit 1022 sets a second flag indicating whether the power-assisted bicycle 1 is stopped to off, and initializes a second timer for measuring the time the power-assisted bicycle 1 has been stopped to 0 (step S55). Then, the process returns to the process that called the process.

[0048] On the other hand, if the power-assisted bicycle 1 is stopped, the control unit 1022 determines whether a second flag indicating whether the power-assisted bicycle 1 is stopped is on (step S57). If the second flag is on, the process proceeds to step S61. On the other hand, if the second flag is off, the control unit 1022 sets the second flag to on and starts measurement by a second timer for measuring the time that the power-assisted bicycle 1 is stopped (step S59).

[0049] Then, the control unit 1022 determines whether the time measured by the second timer is equal to or longer than a predetermined time (step S61). If the time measured by the second timer is less than the predetermined time, the process returns to the original process that called the process.

[0050] If the time measured by the second timer is equal to or longer than the predetermined time, the control unit 1022 instructs the cancellation of the warning output (step S63). This stops the warning output by the warning output unit. Then, the control unit 1022 sets off a flag indicating whether or not an event for which a warning should be output exists, and initializes to 0 a timer that measures the duration of the event for which a warning should be output (step S65). Furthermore, if the control unit 1022 instructed the driving suppression in step S13, it cancels the driving suppression (step S67). That is, it instructs the drive unit 1024 to stop the forced regenerative braking by the motor 105.

[0051] By performing such processing, even if a predetermined event that should cause a warning to be issued is no longer detected, if it is detected that the electric assist bicycle 1 has stopped for a predetermined period of time or longer, the warning output and riding restriction will be stopped, thereby ensuring the safety of the electric assist bicycle 1.

[0052] [Modification of the second embodiment] In the second embodiment, the only requirement was that the electric assist bicycle 1 be stopped for a predetermined period of time or longer, but other operations, such as pressing a button on the display 106, may also be required to issue a warning and release the riding restriction.

[0053] Furthermore, the warning output and the travel restriction may be cancelled under different conditions. For example, the predetermined time may be different for the warning output and the travel restriction, or the warning output may be cancelled when the electrically assisted vehicle 1 is stopped for a predetermined time or longer, and the travel restriction may be cancelled after some button on the display device 106 is pressed, for example.

[0054] [Embodiment 3] In the first embodiment, an example was shown in which driving restraint is also released when an event that requires the output of a warning is no longer detected. However, since driving restraint is implemented when a warning is ignored for a certain period of time or more, it may be preferable to continue driving restraint more firmly and impose a penalty for ignoring the warning, thereby deterring ignoring the warning.

[0055] An example of such strong continuation of travel restraint will be described with reference to FIGS. 11 and 12. FIG.

[0056] FIG. 11 shows a basic processing flow mainly performed by the control unit 1022. However, steps S1 to S19 and S23 are the same as those in FIG. 5, and therefore their explanation will be omitted. On the other hand, in this embodiment, after step S19, a driving restriction release process is executed (step S73). Also, after step S13, the control unit 1022 locks the power on state (step S71). In this embodiment, once driving restriction is initiated, the power cannot be manually turned off unless certain conditions are met, and the penalty continues. After step S71, the process proceeds to step S23.

[0057] Next, the riding restriction release process executed in step S73 will be described with reference to FIG. 12. The control unit 1022 executes step S13 to determine whether riding is restricted or not (step S81). If riding is not restricted, the process returns to the process that called the process. On the other hand, if riding is restricted, the control unit 1022 determines whether the power-assisted bicycle 1 is stopped or not based on a hall signal from the motor 105 or the like (step S83). If the power-assisted bicycle 1 is not stopped, the control unit 1022 sets off a third flag indicating whether the power-assisted bicycle 1 is stopped or not, and initializes to 0 a third timer that measures the duration of the power-assisted bicycle 1 being stopped (step S85). The process then returns to the process that called the process.

[0058] On the other hand, if the power-assisted bicycle 1 is stopped, the control unit 1022 determines whether the third flag is on or not (step S87). If the third flag is already on, the process proceeds to step S91. On the other hand, if the third flag is off, the control unit 1022 sets the third flag on and starts measuring the duration that the power-assisted bicycle 1 is stopped using the third timer (step S89).

[0059] Then, the control unit 1022 determines whether the time measured by the third timer is equal to or greater than a predetermined time (step S91). If the time measured by the third timer is less than the predetermined time, the process returns to the process that called the process. On the other hand, if the time measured by the third timer is equal to or greater than the predetermined time, the control unit 1022 instructs the drive unit 1024 to release the travel suppression, thereby stopping the forced regenerative braking (step S93). The control unit 1022 also releases the lock on the power-on state (step S95). Then, the process returns to the process that called the process.

[0060] By performing this process, an event that requires a warning to be output is not detected, and unless the electrically assisted bicycle 1 is stopped for a predetermined time or longer, the riding restriction is not released, and the user cannot manually turn the power off. Therefore, the riding restriction penalty cannot be released even if the user tries to turn the power off, and the electrically assisted bicycle 1 must be stopped for the predetermined time, which encourages riding in a way that avoids the penalty.

[0061] The predetermined time in the second embodiment and the predetermined time in the present embodiment may be the same or different.

[0062] Although the embodiments of the present invention have been described above, the present invention is not limited to these. For example, depending on the purpose, any technical feature in each of the above-described embodiments may be deleted, or any technical feature described in another embodiment may be added. Furthermore, any technical feature in any of the embodiments may be combined.

[0063] Furthermore, the functional block diagram described above is an example, and one functional block may be divided into multiple functional blocks, or multiple functional blocks may be integrated into one functional block. Regarding the processing flow, the order of steps may be changed, or multiple steps may be executed in parallel, as long as the processing content remains the same.

[0064] The above-described embodiment can be summarized as follows.

[0065] The control device for an electrically power assisted vehicle according to this embodiment includes (A) a drive unit for a motor that drives the electrically power assisted vehicle, and (B) a control unit that, when a predetermined driving state that should output a warning is detected while the electrically power assisted vehicle is in motion, instructs at least one of a helmet that has a warning output unit and is worn by the user, the drive unit for the motor, and a display device that is fixedly installed on the electrically power assisted vehicle to output a predetermined warning to the user.

[0066] When a driving state in which a warning should be issued is detected in this way, a warning for safe driving can be issued using a method suitable for electrically assisted vehicles, that is, by means of a helmet, motor, or display.

[0067] To ensure safety, the above-mentioned control unit may instruct the control unit to stop outputting the predetermined warning when it does not detect the running state, when it does not detect the running state and detects that the electrically assisted vehicle has been stopped for a predetermined period of time or longer, or when it does not detect the running state and detects that the electrically assisted vehicle has been stopped for a predetermined period of time or longer and a predetermined operation is performed.

[0068] The motor drive unit described above may operate the motor in a manner that forces the motor to vibrate or to emit a predetermined sound in response to an instruction from the control unit, thereby causing the motor to output a predetermined warning.Since electrically assisted vehicles are usually equipped with a motor, this makes effective use of the motor.

[0069] The control unit may also instruct the helmet's warning output unit, such as a speaker or vibration unit, to output a predetermined sound or vibration. Wearing a helmet is recommended when riding an electrically assisted bicycle, and wearing a helmet increases safety and makes it easier for the user to perceive warnings.

[0070] Furthermore, the control unit may instruct the display device to output a predetermined display or sound. Since a display device is usually provided on an electrically assisted vehicle, this makes effective use of the display device.

[0071] Furthermore, the control unit may be configured to control the drive unit to forcibly perform regenerative braking if it does not detect an event that instructs it to stop issuing the predetermined warning within a certain time after issuing the predetermined warning, thereby forcibly taking safety measures against users who ignore the warning.

[0072] Furthermore, the control unit may be configured to stop the forced regenerative braking when it is determined that the electrically assisted vehicle has been stopped for a second certain period of time or longer after the start of regenerative braking, in order to penalize the user who ignored the warning.

[0073] Furthermore, the control unit may ignore a user's instruction to turn off the power until it confirms that the electrically assisted vehicle has been stopped for a second certain period of time after regenerative braking has started. This makes it possible to prevent the user from avoiding a penalty by turning off the power.

[0074] Such a configuration is not limited to the matters described in the embodiment, and may be implemented in other configurations that provide substantially the same effects. [Explanation of symbols]

[0075] 501,1025 Status input section 1021 detection unit, 1022 control unit, 1024 drive unit 1023 Communication unit 105 Motor 3 Helmet 106 Display

Claims

1. A motor drive unit that drives the electrically assisted vehicle; a control unit that, when a predetermined traveling state that requires a warning to be output is detected while the electrically assisted vehicle is traveling, instructs at least one of a helmet that has a warning output unit and is worn by a user, a drive unit of the motor, and a display device that is fixedly installed on the electrically assisted vehicle to output a predetermined warning to the user; A control device for an electrically assisted vehicle.

2. The control unit When the running state is not detected, when the running state is not detected and the stopping of the electrically assisted vehicle for a predetermined period or longer is detected, or when the running state is not detected and the stopping of the electrically assisted vehicle for a predetermined period or longer and a predetermined operation are detected, an instruction is given to stop outputting the predetermined warning. The control device according to claim 1 .

3. The motor drive unit includes: In response to an instruction from the control unit, the motor is operated in a manner that the motor is forcibly vibrated or in a manner that the motor is forcibly made to generate a predetermined sound, thereby causing the motor to output the predetermined warning. The control device according to claim 1 .

4. The control unit Instructing the speaker or vibration unit, which is the warning output unit of the helmet, to output a predetermined sound or a predetermined vibration. The control device according to claim 1 .

5. The control unit Instructing the display device to output a predetermined display or a predetermined sound. The control device according to claim 1 .

6. The control unit If an event that instructs the stopping of the output of the predetermined warning is not detected within a certain time after the output of the predetermined warning, the driving unit is controlled to forcibly perform regenerative braking. The control device according to claim 1 .

7. The control unit When it is confirmed that the electrically assisted vehicle has been stopped for a second predetermined time or longer after the start of the regenerative braking, the forced regenerative braking is controlled to be stopped. The control device according to claim 6.

8. The control unit A power-off instruction from the user is ignored until it is confirmed that the electrically assisted vehicle has been stopped for at least the second predetermined time after the start of the regenerative braking. The control device according to claim 7.

9. An electrically assisted vehicle equipped with the control device according to claim 1.

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