Control device for human-powered vehicle

Abstract

To provide a control device for a human-powered vehicle capable of suitably controlling a motor.SOLUTION: A control device for a human-powered vehicle includes a control unit for controlling a motor for applying propulsion force to the human-powered vehicle, where the control unit is configured to be able change an assist level by the motor, reduce the assist level of the motor in a case where a first operation unit configured to be operated by a user is operated, and control the motor to increase the assist level in a case where a predetermined condition different from operation to the first operation unit by the user is satisfied in a state where the assist level is reduced.SELECTED DRAWING: Figure 2

Description

[Technical Field]

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

[0002] Patent Document 1, for example, discloses a component for a human-powered vehicle, including a motor that assists the propulsion of the human-powered vehicle. [Prior art documents] [Patent documents]

[0003] [Patent Document 1] Japanese Patent Application Laid-Open No. 2015-209159 Summary of the Invention [Problem to be solved by the invention]

[0004] One object of the present disclosure is to provide a control device for a human-powered vehicle that can suitably control a motor. [Means for solving the problem]

[0005] A control device according to a first aspect of the present disclosure is a control device for a human-powered vehicle, and includes a control unit that controls a motor that provides propulsion force to the human-powered vehicle, and the control unit is configured to be able to change the assist level provided by the motor, and when a first operating unit configured to be operated by a user is operated, the control unit is configured to control the motor to decrease the assist level provided by the motor, and when a predetermined condition different from the operation of the first operating unit by the user is satisfied in a state in which the assist level has been decreased, the control unit is configured to control the motor to increase the assist level. According to the control device of the first aspect, the control unit can reduce the assist level in accordance with the user's intention, thereby enabling appropriate control of the motor. According to the control device of the first aspect, the control unit can eliminate the need for the user to operate the first operating unit to increase the assist level from a state in which the assist level has been reduced, thereby contributing to usability.

[0006] In the control device of a second aspect according to the first aspect of the present disclosure, the control unit is configured to set the control state of the motor to either a first control state or a second control state, and when the control state is the first control state, to control the motor so that the assist level is a predetermined assist level, and when the control state is the second control state, to control the motor so that the assist level is lower than the predetermined assist level, and when the first operating unit is operated in the first control state, to set the control state to the second control state, and when the predetermined condition is satisfied in the second control state, to change the control state from the second control state to the first control state. According to the control device of the second aspect, the control unit can switch the control state from the first control state to the second control state in accordance with the user's intention. According to the control device of the second aspect, the control unit can switch the control state from the second control state to the first control state without the user operating the first operating unit.

[0007] In the control device of a third aspect according to the second aspect of the present disclosure, the control unit is configured to be able to change the assist level in the first control state in accordance with at least one of the driving state of the human-powered vehicle, the driving environment of the human-powered vehicle, and an operation on a second operating unit configured to be operated by a user. According to the control device of the third aspect, in the first control state, the control unit can suitably change the assist level depending on at least one of the driving state of the human-powered vehicle, the driving environment of the human-powered vehicle, and the operation of the second operating unit.

[0008] In the control device of a fourth aspect according to the second or third aspect of the present disclosure, the control unit is configured to control the motor in the second control state so that the assist level is maintained at a first assist level lower than the predetermined assist level. According to the control device of the fourth aspect, the control section can maintain the assist level in the second control state at the first assist level, making it easy for the rider to grasp the assist level.

[0009] In the control device of a fifth aspect according to any one of the second to fourth aspects of the present disclosure, the control unit is configured to control the motor in the second control state so that the assist level is equal to or less than a second assist level. According to the control device of the fifth aspect, the control unit can set the assist level in the second control state to be equal to or lower than the second assist level.

[0010] In the control device of a sixth aspect according to any one of the first to fifth aspects of the present disclosure, the predetermined condition includes a parameter relating to at least one of a traveling state of the human-powered vehicle and a traveling environment of the human-powered vehicle. According to the control device of the sixth aspect, when the assist level is reduced, the control unit can increase the assist level in accordance with parameters related to at least one of the driving state of the human-powered vehicle and the driving environment of the human-powered vehicle.

[0011] In the control device of the seventh aspect according to the sixth aspect of the present disclosure, the parameter includes a vehicle speed, and the predetermined condition is satisfied when the vehicle speed is equal to or greater than a predetermined vehicle speed. According to the control device of the seventh aspect, the control unit can increase the assist level when the vehicle speed is equal to or greater than a predetermined vehicle speed in a state where the assist level has been reduced.

[0012] In the control device of the eighth aspect according to the seventh aspect of the present disclosure, the predetermined vehicle speed is equal to or greater than 35 km / h and equal to or less than 45 km / h. According to the control device of the eighth aspect, the control unit can suitably increase the assist level in accordance with the vehicle speed when the assist level is reduced.

[0013] In the control device of a ninth aspect according to any one of the sixth to eighth aspects of the present disclosure, the parameter includes a rotation amount of a crankshaft of the human-powered vehicle, and the predetermined condition is satisfied when the rotation amount is equal to or greater than a predetermined rotation amount. According to the control device of the ninth aspect, the control unit can increase the assist level when the rotation amount of the crankshaft is equal to or greater than a predetermined rotation amount in a state where the assist level is reduced.

[0014] In the control device of the tenth aspect according to the ninth aspect of the present disclosure, the predetermined amount of rotation is equal to or greater than 720 degrees and equal to or less than 2160 degrees. According to the control device of the tenth aspect, the control unit can suitably increase the assist level in accordance with the amount of rotation of the crankshaft when the assist level is reduced.

[0015] In the control device of an eleventh aspect according to any one of the sixth to tenth aspects of the present disclosure, the parameter includes a rotational speed of a crankshaft of the human-powered vehicle, and the predetermined condition is satisfied when the rotational speed is equal to or greater than a predetermined rotational speed. According to the control device of the eleventh aspect, the control unit can increase the assist level when the rotation speed of the crankshaft is equal to or higher than a predetermined rotation speed while the assist level is reduced.

[0016] In the control device of the twelfth aspect according to the eleventh aspect of the present disclosure, the predetermined rotation speed is equal to or greater than 70 rpm and equal to or less than 100 rpm. According to the control device of the twelfth aspect, the control unit can suitably increase the assist level in accordance with the rotation speed of the crankshaft when the assist level is reduced.

[0017] In the control device of the thirteenth aspect according to any one of the sixth to twelfth aspects of the present disclosure, the parameters include a human-powered driving force input to the human-powered vehicle, and the predetermined condition is satisfied when the human-powered driving force is equal to or greater than a predetermined human-powered driving force. According to the control device of the thirteenth aspect, the control unit can increase the assist level when the manual driving force is equal to or greater than a predetermined manual driving force in a state where the assist level has been reduced.

[0018] In the control device of a fourteenth aspect according to a thirteenth aspect of the present disclosure, the predetermined manual driving force is equal to or greater than 30 Nm and equal to or less than 50 Nm. According to the control device of the fourteenth aspect, the control unit can suitably increase the assist level in accordance with the manual driving force when the assist level is reduced.

[0019] In the control device of a fifteenth aspect according to any one of the sixth to fourteenth aspects of the present disclosure, the parameters include a gradient of a roadway along which the human-powered vehicle is traveling, and the predetermined condition is satisfied when the gradient is equal to or greater than a first gradient, the first gradient corresponding to an uphill slope. According to the control device of the fifteenth aspect, when the assist level is reduced, the control unit can increase the assist level if the gradient of the road is equal to or greater than a first gradient corresponding to an uphill slope.

[0020] In the control device of aspect 16 according to any one of aspects 6 to 15 of the present disclosure, the parameter includes an elapsed time since the first operating unit was operated, and the specified condition is satisfied when the elapsed time is equal to or greater than a specified elapsed time. According to the control device of the 16th aspect, when the assist level is reduced, the control unit can increase the assist level when the elapsed time since the first operating unit was operated is equal to or greater than a predetermined elapsed time.

[0021] In the control device of the seventeenth aspect according to the sixteenth aspect of the present disclosure, the predetermined elapsed time is not less than 2 seconds and not more than 4 seconds. According to the control device of the seventeenth aspect, when the assist level is reduced, the control unit can preferably increase the assist level in accordance with the time that has elapsed since the first operating unit was operated.

[0022] In the control device of aspect 18 according to any one of aspects 6 to 17 of the present disclosure, the parameter includes an angular velocity of the human-powered vehicle about a predetermined axis, and the predetermined condition is satisfied when the angular velocity is equal to or greater than a predetermined angular velocity. According to the control device of the eighteenth aspect, the control unit can increase the assist level when the angular velocity of the human-powered vehicle about a predetermined axis is equal to or greater than a predetermined angular velocity while the assist level is reduced.

[0023] In the control device of a 19th aspect according to any one of the 6th to 18th aspects of the present disclosure, the parameter includes a first acceleration of the human-powered vehicle in a lateral direction, and the predetermined condition is satisfied when the first acceleration is greater than or equal to a predetermined acceleration. According to the control device of the nineteenth aspect, the control unit can increase the assist level when the first acceleration is equal to or greater than a predetermined acceleration in a state where the assist level has been reduced.

[0024] In the control device of aspect 20 according to any one of aspects 1 to 19 of the present disclosure, the assist level includes at least one of an assist ratio, which is the ratio of the motor output to the human-powered driving force input to the human-powered vehicle, an upper limit value of the motor output, and the motor output. According to the control device of the twentieth aspect, the control unit can suitably control at least one of the assist ratio, the upper limit of the motor output, and the motor output. [Effects of the Invention]

[0025] The control device for a human-powered vehicle of the present disclosure can suitably control the motor. [Brief explanation of the drawings]

[0026] [Figure 1]1 is a side view of a human-powered vehicle including a control device for a human-powered vehicle according to a first embodiment. [Figure 2] 1 is a block diagram showing the electrical configuration of a control device for a human-powered vehicle according to a first embodiment. [Figure 3] 3 is a plan view showing the first operating unit and the second operating unit of FIG. 2 and a part of the handlebar. FIG. [Figure 4] 3 is a flowchart of a process executed by the control unit of FIG. 2 to control a motor. [Figure 5] FIG. 10 is a plan view showing a first operating unit and a part of a handlebar in a second embodiment. [Figure 6] 10 is a flowchart showing a first part of a process executed by a control unit of a second embodiment to control a motor. [Figure 7] 10 is a flowchart showing a second part of the process for controlling the motor, which is executed by the control unit of the second embodiment. [Figure 8] FIG. 10 is a plan view showing a first operating section and a second operating section of a modified example, and a part of a handlebar. DETAILED DESCRIPTION OF THE INVENTION

[0027] First Embodiment A control device 60 for a human-powered vehicle according to a first embodiment will be described with reference to FIGS. 1 to 4. FIG.

[0028] The human-powered vehicle 10 is a vehicle that has at least one wheel and can be propelled at least by human driving force. The human-powered vehicle 10 includes various types of bicycles, such as mountain bikes, road bikes, city bikes, cargo bikes, hand bikes, and recumbent bikes. The number of wheels that the human-powered vehicle 10 has is not limited. The human-powered vehicle 10 also includes, for example, one-wheeled vehicles and vehicles with two or more wheels. The human-powered vehicle 10 is not limited to vehicles that can be propelled solely by human driving force. The human-powered vehicle 10 also includes E-bikes that use not only human driving force but also the driving force of an electric motor for propulsion. E-bikes include electrically assisted bicycles whose propulsion is assisted by an electric motor. In the following embodiments, the human-powered vehicle 10 will be described as an electrically assisted bicycle.

[0029] In this specification, the following directional terms "front," "rear," "forward," "backward," "left," "right," "sideways," "upward," and "downward," as well as any other similar directional terms, refer to those directions determined with reference to a rider facing the handlebars in a reference position on the human-powered vehicle (e.g., on a saddle or seat).

[0030] As shown in FIG. 1, the human-powered vehicle 10 includes, for example, a crank 12 to which human-powered driving force is input. The human-powered vehicle 10 includes, for example, wheels 14 and a vehicle body 16. The wheels 14 include, for example, drive wheels 14A and driven wheels 14B. The drive wheels 14A are, for example, rear wheels of the human-powered vehicle 10. The driven wheels 14B are, for example, front wheels of the human-powered vehicle 10. The drive wheels 14A may be front wheels of the human-powered vehicle 10. If the drive wheels 14A are front wheels, the driven wheels 14B are rear wheels.

[0031] The vehicle body 16 includes, for example, a frame 18. The crank 12 includes, for example, a crankshaft 12A that is rotatable relative to the frame 18, and a pair of crank arms 12B, 12C that are respectively provided at axial ends of the crankshaft 12A. A pair of pedals 20A, 20B are connected to each of the crank arms 12B, 12C. The drive wheel 14A is driven, for example, by the rotation of the crank 12. The drive wheel 14A is supported, for example, by the frame 18.

[0032] The crank 12 is connected to the drive wheel 14A by, for example, a drive mechanism 22. The drive mechanism 22 includes, for example, a first rotating body 24 connected to the crankshaft 12A. The crankshaft 12A may be connected to the first rotating body 24 so as to rotate integrally with it, or may be connected to it via a first one-way clutch. The first one-way clutch is configured, for example, to rotate the first rotating body 24 forward when the crank 12 rotates forward. The first one-way clutch is configured, for example, 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, for example, a sprocket, a pulley, or a bevel gear.

[0033] The drive mechanism 22 further includes, for example, 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.

[0034] The second rotating body 26 is coupled to, for example, the drive wheel 14A. The second rotating body 26 includes, for example, a sprocket, a pulley, or a bevel gear. In the power transmission path of the human-powered driving force, a second one-way clutch is provided between the second rotating body 26 and the drive wheel 14A. The second one-way clutch is configured, for example, to rotate the drive wheel 14A forward when the second rotating body 26 rotates forward. The second one-way clutch is configured, for example, to allow relative rotation between the second rotating body 26 and the drive wheel 14A when the second rotating body 26 rotates backward.

[0035] A driven wheel 14B is attached to the frame 18 via, for example, a front fork 30. A handlebar 34 is connected to the front fork 30 via a stem 32. In this embodiment, the driving wheel 14A is connected to the crank 12 by a drive mechanism 22. At least one of the driving wheel 14A and the driven wheel 14B may be connected to the crank 12 by the drive mechanism 22.

[0036] The human-powered vehicle 10 further includes a battery 36. The battery 36 includes, for example, one or more battery elements. The battery element includes, for example, a rechargeable battery. The battery 36 is configured to supply power to, for example, the control device 60. The battery 36 is communicatively connected to, for example, a control unit 62 of the control device 60 via an electric cable or a wireless communication device. The battery 36 can communicate with the control unit 62 via, for example, power line communication (PLC), a controller area network (CAN), or a universal asynchronous receiver / transmitter (UART).

[0037] The human-powered vehicle 10 includes a motor 38 configured to provide propulsive force to the human-powered vehicle 10. The motor 38 includes, for example, one or more electric motors. The electric motor is, for example, a brushless motor. The motor 38 is configured to transmit rotational force to a human-powered driving force transmission path from the pedals 20A, 20B to the driving wheel 14A and to at least one of the driven wheels 14B. The power transmission path of the human-powered driving force from the pedals 20A, 20B to the driving wheel 14A also includes the driving wheel 14A. In this embodiment, the motor 38 is provided on the frame 18 of the human-powered vehicle 10 and configured to transmit rotational force to the first rotor 24.

[0038] The motor 38 is provided in a housing 40A. The housing 40A is provided on the frame 18. The housing 40A is, for example, detachably attached to the frame 18. The drive unit 40 includes the motor 38 and the housing 40A in which the motor 38 is provided. The drive unit 40 may be provided with a reducer connected to the output shaft of the motor 38.

[0039] In this embodiment, the housing 40A rotatably supports the crankshaft 12A. A third one-way clutch, for example, is provided in the power transmission path between the motor 38 and the crankshaft 12A. The third one-way clutch prevents the rotational force of the crankshaft 12A from being transmitted to the motor 38, for example, when the crankshaft 12A is rotated in the direction in which the human-powered vehicle 10 moves forward. The motor 38 may be provided in the hub of at least one of the driving wheels 14A and the driven wheels 14B. When the motor 38 is provided in the hub of at least one of the driving wheels 14A and the driven wheels 14B, the motor 38, together with the hub, constitutes, for example, a hub motor.

[0040] The control device 60 for a human-powered vehicle includes a control unit 62 that controls the motor 38 that provides propulsive force to the human-powered vehicle 10. The control device 60 is provided, for example, in the housing 40A of the drive unit 40. The control device 60 may also be provided on the frame 18.

[0041] As shown in FIG. 2, the control device 60 includes, for example, a control unit 62. The control unit 62 includes an arithmetic processing unit that executes a predetermined control program. The arithmetic processing unit included in the control unit 62 includes, for example, a CPU (Central Processing Unit) or an MPU (Micro Processing Unit). The arithmetic processing units included in the control unit 62 may be provided in multiple locations that are separate from each other. When one part of the arithmetic processing unit and another part of the arithmetic processing unit are provided in multiple locations that are separate from each other, the one part of the arithmetic processing unit and the other part of the arithmetic processing unit may be connected to each other so that they can communicate with each other. The control unit 62 may include one or more microcomputers.

[0042] The control device 60 further includes, for example, a storage unit 64. The storage unit 64 stores control programs and information used in the control processing. The storage unit 64 includes, for example, a nonvolatile memory and a volatile memory. The nonvolatile memory includes, for example, at least one of a read-only memory (ROM), an erasable programmable read-only memory (EPROM), an electrically erasable programmable read-only memory (EEPROM), and a flash memory. The volatile memory includes, for example, a random access memory (RAM).

[0043] The control device 60 may further include a drive circuit for the motor 38. The drive circuit is provided, for example, in the housing 40A of the drive unit 40. The drive circuit is provided, for example, on the same circuit board as the control unit 62. The drive circuit includes an inverter circuit. The drive circuit controls the power supplied from the battery 36 to the motor 38. The drive circuit is connected to the control unit 62 via a conductive wire, an electric cable, a wireless communication device, or the like. The drive circuit drives the motor 38 in response to a control signal from the control unit 62.

[0044] The human-powered vehicle 10 includes a vehicle speed sensor 42. The vehicle speed sensor 42 is configured to detect information related to the vehicle speed. The vehicle speed sensor 42 is configured to detect information related to the rotational speed of the wheels 14, for example. The vehicle speed sensor 42 is connected to the control unit 62, for example, wirelessly or by wire.

[0045] The vehicle speed sensor 42 is configured to detect, for example, a magnet provided on the wheel 14. The vehicle speed sensor 42 is configured to output a detection signal a predetermined number of times during one rotation of the wheel 14. The vehicle speed sensor 42 outputs, for example, a signal corresponding to the rotation speed of the wheel 14. The control unit 62 is configured to calculate the vehicle speed based on, for example, the signal corresponding to the rotation speed of the wheel 14 and information related to the circumferential length of the wheel 14. The memory unit 64 stores, for example, information related to the circumferential length of the wheel 14.

[0046] The vehicle speed sensor 42 includes, for example, a magnetic reed that constitutes a reed switch, or a magnetic sensor such as a Hall element. The vehicle speed sensor 42 is attached, for example, to a chain stay of the frame 18 of the human-powered vehicle 10 and is configured to detect a magnet attached to the rear wheel. The vehicle speed sensor 42 may also be provided on the front fork 30 and configured to detect a magnet attached to the front wheel.

[0047] The vehicle speed sensor 42 may have any configuration as long as it can acquire information related to the vehicle speed. The vehicle speed sensor 42 may be configured to include, for example, a GPS (Global Positioning System) receiver. For example, if the vehicle speed sensor 42 includes a GPS receiver, the control unit 62 is configured to calculate the vehicle speed based on the time and the traveled distance. The vehicle speed sensor 42 may be configured to detect slits provided in a disc brake, or may be configured to include an optical sensor or the like.

[0048] The human-powered vehicle 10 includes, for example, a crank rotation sensor 44. The crank rotation sensor 44 is configured to detect information related to the rotational speed of the crankshaft 12A. The crank rotation sensor 44 is provided, for example, on the frame 18 of the human-powered vehicle 10 or on the drive unit 40. The crank rotation sensor 44 may also be provided on the housing 40A of the drive unit 40.

[0049] The crank rotation sensor 44 includes a magnetic sensor that outputs a signal corresponding to the strength of a magnetic field. The magnetic sensor detects an annular magnet whose magnetic field strength varies circumferentially. The annular magnet is provided, for example, on the crankshaft 12A, a member that rotates in conjunction with the crankshaft 12A, or a power transmission path from the crankshaft 12A to the first rotor 24. The member that rotates in conjunction with the crankshaft 12A may include the output shaft of the motor 38.

[0050] The crank rotation sensor 44 outputs a signal corresponding to, for example, the rotation speed of the crankshaft 12A. For example, if a first one-way clutch is not provided between the crankshaft 12A and the first rotating body 24, the magnet may be provided on the first rotating body 24. The crank rotation sensor 44 may have any configuration as long as it can acquire information related to the rotation speed of the crankshaft 12A. Instead of a magnetic sensor, the crank rotation sensor 44 may include an optical sensor, an acceleration sensor, a gyro sensor, a torque sensor, or the like. The crank rotation sensor 44 is connected to the control unit 62 wirelessly or by wire.

[0051] The human-powered vehicle 10 includes, for example, a torque sensor 46. The torque sensor 46 is configured to detect information related to the human-powered driving force. The torque sensor 46 is provided, for example, in the power transmission path or near a component included in the power transmission path. The component included in the power transmission path includes, for example, at least one of the crankshaft 12A, a component that transmits the human-powered driving force between the crankshaft 12A and the first rotor 24, the crank arms 12B, 12C, and the pedals 20A, 20B. The torque sensor 46 may be provided in at least one of the frame 18 and the drive unit 40 of the human-powered vehicle 10. The torque sensor 46 is connected to the control unit 62 wirelessly or by wire.

[0052] The torque sensor 46 is configured to output a signal corresponding to the torque applied to the crankshaft 12A by, for example, manual driving force. For example, if a first one-way clutch is provided in the power transmission path, the torque sensor 46 is provided upstream of the first one-way clutch in the power transmission path. The torque sensor 46 includes a strain sensor, a magnetostrictive sensor, or a pressure sensor. The strain sensor includes a strain gauge. The torque sensor 46 may have any configuration as long as it can acquire information related to the manual driving force, 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.

[0053] The human-powered vehicle 10 includes, for example, an acceleration sensor 48. The acceleration sensor 48 is configured to detect a signal corresponding to at least one acceleration of the human-powered vehicle 10 in the longitudinal, lateral, and vertical directions. In this embodiment, the acceleration sensor 48 is configured to detect a first acceleration of the human-powered vehicle 10 in the lateral direction. The acceleration sensor 48 is connected to the control unit 62, for example, wirelessly or by wire.

[0054] The control unit 62 may be configured to calculate the acceleration of the human-powered vehicle 10 in at least one of the longitudinal, lateral, and vertical directions using the vehicle speed sensor 42 instead of the acceleration sensor 48. The control unit 62 is configured to calculate the acceleration of the human-powered vehicle 10 in at least one of the longitudinal, lateral, and vertical directions by, for example, differentiating the vehicle speed.

[0055] The human-powered vehicle 10 includes, for example, an angular velocity sensor 50. The angular velocity sensor 50 is configured to detect, for example, the angular velocity of the human-powered vehicle 10 around a predetermined axis. The predetermined axis includes, for example, at least one of the roll axis, pitch axis, and yaw axis of the human-powered vehicle 10. In this embodiment, the predetermined axis includes the roll axis. The angular velocity sensor 50 includes, for example, a gyro sensor. The angular velocity sensor 50 is connected to the control unit 62, for example, by wire or wirelessly.

[0056] The human-powered vehicle 10 includes, for example, an inclination sensor 52. The inclination sensor 52 is configured to detect information related to the inclination angle of the human-powered vehicle 10. The inclination sensor 52 is configured, for example, to detect the gradient of the road corresponding to the inclination angle of the human-powered vehicle 10. The inclination angle of the human-powered vehicle 10 is, for example, the inclination angle in the traveling direction of the human-powered vehicle 10. The inclination angle of the human-powered vehicle 10 corresponds, for example, to the pitch angle of the human-powered vehicle 10. The inclination sensor 52 is connected to the control unit 62, for example, wirelessly or by wire.

[0057] The tilt sensor 52 includes, for example, at least one of a gyro sensor and an acceleration sensor. The tilt sensor 52 may include a Global Navigation Satellite System (GNSS) receiver. The GNSS receiver includes, for example, a Global Positioning System (GPS) receiver. The control unit 62 is configured to obtain the gradient of the current road on which the human-powered vehicle 10 is traveling based on, for example, GPS information acquired by the GPS receiver and the road gradient included in map information pre-recorded in the storage unit 64. The GNSS receiver may include a receiver for a satellite positioning system other than GPS. Examples of satellite positioning systems other than GPS include the Quasi-Zenith Satellite System (QZSS), the Global Navigation Satellite System (GLONASS), and Galileo. The control unit 62 may use, for example, a value obtained by subtracting the inclination angle of the road surface from the pitch angle detected by the tilt sensor 52 as the pitch angle.

[0058] The control unit 62 is configured, for example, to control the motor 38. The control unit 62 is configured, for example, to be able to change the assist level provided by the motor 38. The control unit 62 is configured, for example, to control the motor 38 so that the assist level provided by the motor 38 becomes a predetermined assist level. The control unit 62 is configured, for example, to be able to select one of a plurality of predetermined assist levels. The number of the plurality of predetermined assist levels is, for example, 3 or more and 9 or less.

[0059] The assist level includes, for example, at least one of the assist ratio, which is the ratio of the output of the motor 38 to the human-powered driving force input to the human-powered vehicle 10, the upper limit of the output of the motor 38, and the output of the motor 38. The higher the assist level, the greater the assist ratio, the upper limit of the output of the motor 38, and the output of the motor 38. The lower the assist level, the smaller the assist ratio, the upper limit of the output of the motor 38, and the output of the motor 38.

[0060] When the assist level includes an assist ratio, a different assist ratio is set for each of the plurality of predetermined assist levels. When the assist level includes an upper limit value for the output of the motor 38, a different upper limit value for the output of the motor 38 is set for each of the plurality of predetermined assist levels. When the assist level includes the output of the motor 38, a different output of the motor 38 is set for each of the plurality of predetermined assist levels. When the assist level includes two or more elements of the assist ratio, the upper limit value for the output of the motor 38, and the output of the motor 38, each of the plurality of predetermined assist levels is set so that at least one of the elements included in the predetermined assist level is different from the other predetermined assist levels.

[0061] The manual driving force corresponds to, for example, the propulsive force of the human-powered vehicle 10 generated by the user rotating the crankshaft 12A. The manual driving force corresponds to, for example, the driving force input to the first rotor 24 by the user rotating the crankshaft 12A. The manual driving force is expressed, for example, by torque. In this embodiment, when the manual driving force is expressed by torque, it is referred to as manual torque. The manual driving force may also be expressed by power. The power of the manual driving force is, for example, the product of the torque applied to the crankshaft 12A and the rotational speed of the crankshaft 12A. In this embodiment, when the manual driving force is expressed by power, it is referred to as manual power.

[0062] The control unit 62 is configured, for example, to control the motor 38 so that the assist force is equal to or less than the maximum assist force. The maximum assist force corresponds, for example, to the upper limit of the output of the motor 38. The assist force includes, for example, a driving force input to the first rotor 24 according to the output of the motor 38. The assist force corresponds, for example, to the propulsion force of the human-powered vehicle 10 generated by the rotation of the motor 38. If the drive unit 40 includes a reducer, the assist force corresponds, for example, to the output of the reducer.

[0063] The assist force is expressed, for example, by torque. In this embodiment, when the assist force is expressed by torque, the assist force is referred to as assist torque. The assist force may also be expressed by power. In this embodiment, when the assist force is expressed by power, the assist force is referred to as assist power. The assist power is, for example, the product of the output torque of the reducer and the rotational speed of the output shaft of the reducer. The ratio of the assist force to the manual driving force may be the ratio of the assist torque to the manual torque, or the ratio of the assist power to the manual power.

[0064] The control unit 62 is configured, for example, to control the motor 38 so that the assist torque is equal to or less than the maximum assist torque. The maximum assist torque is, for example, a value in the range of 20 Nm or more and 200 Nm or less. The maximum assist torque is determined, for example, by at least one of the output characteristics and the control state of the motor 38. The control unit 62 may be configured to control the motor 38 so that the assist power is equal to or less than the maximum assist power.

[0065] The control unit 62 is configured, for example, to control the motor 38 so that the response speed of the assist torque relative to the manual driving force becomes a predetermined value. For example, the control unit 62 is configured to control the motor 38 so that the response speed when the manual driving force decreases is slower than the response speed when the manual driving force increases. For example, when the manual driving force decreases, the control unit 62 slows the response speed by performing a filter process. The filter includes, for example, a time constant. The assist level may include the response speed. The lower the response speed when the manual driving force decreases, the higher the assist level. The higher the response speed when the manual driving force increases, the higher the assist level.

[0066] As shown in FIGS. 2 and 3, the human-powered vehicle 10 includes, for example, a first operating unit 54. The first operating unit 54 is configured to be operated by a user. The first operating unit 54 is operated, for example, by the user's hand or finger. The first operating unit 54 is provided, for example, on the handlebar 34. The first operating unit 54 includes, for example, a push button or a lever. The first operating unit 54 includes, for example, an electric switch. The electric switch is, for example, a normally-off electric switch. The first operating unit 54 may be configured as a touch panel. The first operating unit 54 may be included, for example, in a cycle computer or a smartphone. The first operating unit 54 is connected to the control unit 62 wirelessly or via a wire.

[0067] In the present embodiment, an operation on the first operation unit 54 by the user includes a pressing operation on the first operation unit 54. For example, when the first operation unit 54 is pressed, the control unit 62 determines that the first operation unit 54 has been operated. The operation on the first operation unit 54 may also include, for example, a release operation from the pressing operation on the first operation unit 54. For example, the control unit 62 may determine that the first operation unit 54 has been operated when the user releases their hand from the state in which they are pressing the first operation unit 54.

[0068] The human-powered vehicle 10 includes, for example, a second operation unit 56 different from the first operation unit 54. The second operation unit 56 is operated, for example, by the user's hand or finger. The second operation unit 56 is provided, for example, on the handlebar 34. The second operation unit 56 includes, for example, a push button or a lever. The second operation unit 56 includes, for example, a third operation unit 56A and a fourth operation unit 56B. The third operation unit 56A and the fourth operation unit 56B are, for example, normally-off electric switches. The second operation unit 56 may be configured as a touch panel. The second operation unit 56 may be included, for example, in a cycle computer or a smartphone. The second operation unit 56 is connected to the control unit 62 wirelessly or via a wire.

[0069] The first operating unit 54 and the second operating unit 56 are provided, for example, in locations that are easily accessible to the user's hands. The first operating unit 54 and the second operating unit 56 are provided, for example, on the handlebar 34 so as to be located near the rider's thumb or index finger when the rider grips the handlebar 34. The first operating unit 54 and the second operating unit 56 may be provided in the same housing or in separate housings.

[0070] In this embodiment, the operation of the second operation unit 56 by the user includes a pressing operation of the second operation unit 56. For example, when the second operation unit 56 is pressed, the control unit 62 determines that the second operation unit 56 has been operated. The operation of the second operation unit 56 may also include, for example, an operation of releasing the pressing operation of the second operation unit 56. For example, the control unit 62 may determine that the second operation unit 56 has been operated when the user releases their hand from the state in which they are pressing the second operation unit 56.

[0071] The control unit 62 is configured, for example, to set the control state of the motor 38 to either a first control state or a second control state. The control unit 62 may also be configured, for example, to set the control state of the motor 38 to either the first control state, the second control state, or a control state different from the first control state and the second control state.

[0072] For example, when the control state is the first control state, the control unit 62 is configured to control the motor 38 so that the assist level becomes a predetermined assist level. In the first control state, the control unit 62 is configured to control the motor 38 according to one of a plurality of predetermined assist levels.

[0073] The control unit 62 is configured to be able to change the assist level in the first control state, for example, in response to at least one of the traveling state of the human-powered vehicle 10, the traveling environment of the human-powered vehicle 10, and an operation on the second operating unit 56 configured to be operated by the user. The control unit 62 is configured to change the assist level from one selected from a plurality of predetermined assist levels to another when an assist level change condition is satisfied in the first control state, for example. The assist level change condition relates to at least one of the traveling state of the human-powered vehicle 10, the traveling environment of the human-powered vehicle 10, and an operation on the second operating unit 56. The traveling state and the traveling environment of the human-powered vehicle 10 include, for example, at least one of the human-powered driving force, the rotational speed of the crankshaft 12A, the vehicle speed, and the pitch angle of the human-powered vehicle 10.

[0074] For example, in the first control state, when at least one of the manual driving force, the rotational speed of the crankshaft 12A, the vehicle speed, and the pitch angle of the human-powered vehicle 10 corresponds to a state in which the rider's load is heavy, the control unit 62 changes the assist level to a predetermined assist level that is higher than the current predetermined assist level. For example, in the first control state, when at least one of the manual driving force, the rotational speed of the crankshaft 12A, the vehicle speed, and the pitch angle of the human-powered vehicle 10 corresponds to a state in which the rider's load is light, the control unit 62 changes the assist level to a predetermined assist level that is lower than the current predetermined assist level.

[0075] For example, in the first control state, when the third operating unit 56A of the second operating unit 56 is operated, the control unit 62 changes the assist level to a predetermined assist level that is one step higher than the current predetermined assist level. For example, in the first control state, when the fourth operating unit 56B of the second operating unit 56 is operated, the control unit 62 changes the assist level to a predetermined assist level that is one step lower than the current predetermined assist level.

[0076] The human-powered vehicle 10 includes, for example, an alarm unit 58. The alarm unit 58 includes, for example, a speaker. The control unit 62 is configured to control the alarm unit 58 to emit an alarm sound from the speaker when the third operating unit 56A of the second operating unit 56 is operated in the first control state when the assist level is at the maximum predetermined assist level. The control unit 62 is configured to control the motor 38 to maintain the assist level at the maximum predetermined assist level when the third operating unit 56A of the second operating unit 56 is operated in the first control state when the assist level is at the maximum predetermined assist level. The control unit 62 is configured to stop driving the motor 38 when the third operating unit 56A of the second operating unit 56 is operated two or more times in the first control state when the assist level is at the maximum predetermined assist level. The alarm sound includes, for example, a voice, a melody, a beep, etc. The alarm unit 58 may include a light-emitting unit including a light-emitting diode or a display.

[0077] The control unit 62 is configured, for example, to decrease the assist level of the motor 38 when the first operating unit 54 is operated. The control unit 62 is configured, for example, to set the control state to the second control state when the first operating unit 54 is operated in the first control state. The control unit 62 is configured, for example, to control the motor 38 when the control state is the second control state so that the assist level is lower than the predetermined assist level. For example, when the control state is changed from the first control state to the second control state, the control unit 62 changes the assist level to a predetermined assist level that is equal to or lower than the predetermined assist level selected in the first control state. For example, when the control state is changed from the first control state to the second control state, the control unit 62 changes the assist level to a predetermined assist level that is two or more levels lower than the predetermined assist level selected in the first control state. For example, when the control state is changed from the first control state to the second control state, the control unit 62 changes the assist level to the smallest predetermined assist level among the plurality of predetermined assist levels.

[0078] For example, in the second control state, the control unit 62 is configured to control the motor 38 so that the assist level is maintained at a first assist level that is lower than the predetermined assist level. The first assist level in this embodiment corresponds to the second assist level. For example, in the second control state, the control unit 62 does not change the predetermined assist level even if the assist level change condition used in the first control state is satisfied.

[0079] For example, in the second control state, the control unit 62 is configured to control the motor 38 so that the assist level is equal to or less than a second assist level. The second assist level is, for example, an assist level different from the plurality of predetermined assist levels. The second assist level may be one of the plurality of predetermined assist levels. The second assist level may be an assist level corresponding to assist off. When the assist level corresponding to assist off is selected, the control unit 62 is configured to control the motor 38 so that the output torque of the motor 38 is zero, for example.

[0080] The control unit 62 is configured to control the motor 38 to increase the assist level when, for example, a predetermined condition different from the user's operation of the first operating unit 54 is satisfied in a state in which the assist level has decreased. The state in which the assist level has decreased is, for example, a state in which the assist level has decreased as the control state has changed from the first control state to the second control state. The control unit 62 is configured to change the control state from the second control state to the first control state when, for example, a predetermined condition is satisfied in the second control state. The control unit 62 is configured to control the motor 38 to increase the assist level by changing the control state from the second control state to the first control state when, for example, a predetermined condition is satisfied in the second control state.

[0081] For example, when a predetermined condition is satisfied in a state in which the assist level has been reduced, the control unit 62 increases the assist level so that it becomes the predetermined assist level before the control state was changed from the first control state to the second control state. When a predetermined condition is satisfied in a state in which the assist level has been reduced, the control unit 62 may increase the assist level so that it becomes a predetermined assist level different from the predetermined assist level before the control state was changed from the first control state to the second control state.

[0082] The predetermined condition includes, for example, a parameter related to at least one of the traveling state of the human-powered vehicle 10 and the traveling environment of the human-powered vehicle 10. The predetermined condition is different from, for example, operations on the operating units provided on the human-powered vehicle 10, including operations on the first operating unit 54 and the second operating unit 56.

[0083] The parameter includes, for example, vehicle speed. The predetermined condition is satisfied, for example, when the vehicle speed is equal to or greater than a predetermined vehicle speed. The predetermined vehicle speed is, for example, equal to or greater than 35 km / h and equal to or less than 45 km / h. For example, in the second control state, the control unit 62 is configured to change the control state from the second control state to the first control state when the vehicle speed becomes equal to or greater than 40 km / h.

[0084] The parameter includes, for example, the amount of rotation of the crankshaft 12A of the human-powered vehicle 10. The predetermined condition is satisfied when the amount of rotation of the crankshaft 12A is equal to or greater than a predetermined amount. The predetermined amount of rotation is, for example, equal to or greater than 720 degrees and equal to or less than 2160 degrees. The predetermined condition is satisfied, for example, depending on the direction of rotation of the crankshaft 12A in addition to the predetermined amount of rotation. For example, the control unit 62 is configured to change the control state from the second control state to the first control state when, in the second control state, the crankshaft 12A rotates by more than the predetermined amount in the direction in which the human-powered vehicle 10 moves forward. For example, the control unit 62 is configured to maintain the second control state when, in the second control state, the crankshaft 12A rotates by more than the predetermined amount in the direction opposite to the direction in which the human-powered vehicle 10 moves forward. The predetermined condition may be satisfied depending on the predetermined amount of rotation, regardless of the direction of rotation of the crankshaft 12A. In this case, the predetermined amount of rotation is an absolute value that does not depend on the direction of rotation of the crankshaft 12A.

[0085] The parameter includes, for example, the rotational speed of the crankshaft 12A of the human-powered vehicle 10. The predetermined condition is satisfied, for example, when the rotational speed of the crankshaft 12A is equal to or greater than a predetermined rotational speed. The predetermined rotational speed is equal to or greater than 70 rpm and equal to or less than 100 rpm. For example, in the second control state, the control unit 62 is configured to change the control state from the second control state to the first control state when the rotational speed of the crankshaft 12A becomes equal to or greater than 80 rpm.

[0086] The parameters include, for example, the human-powered driving force input to the human-powered vehicle 10. The predetermined condition is satisfied, for example, when the human-powered driving force is equal to or greater than a predetermined human-powered driving force. The predetermined human-powered driving force is, for example, equal to or greater than 30 Nm and equal to or less than 50 Nm. For example, the control unit 62 is configured to change the control state from the second control state to the first control state when the human-powered driving force becomes equal to or greater than 40 Nm in the second control state.

[0087] The parameters include, for example, the gradient of the road on which the human-powered vehicle 10 is traveling. The predetermined condition is satisfied, for example, when the gradient of the road is equal to or greater than a first gradient. The first gradient corresponds to an uphill slope. For example, in the second control state, the control unit 62 is configured to change the control state from the second control state to the first control state when the gradient of the uphill slope becomes equal to or greater than the first gradient.

[0088] The parameter includes, for example, the time elapsed since the first operating unit 54 was operated. The predetermined condition is satisfied, for example, when the time elapsed since the first operating unit 54 was operated is equal to or longer than a predetermined time. The predetermined time elapsed is, for example, equal to or longer than 2 seconds and equal to or shorter than 4 seconds. For example, the control unit 62 is configured to change the control state from the second control state to the first control state when, in the second control state, the time elapsed since the first operating unit 54 was operated is equal to or longer than 3 seconds. The time elapsed since the first operating unit 54 was operated may be the time elapsed since the control state was changed from the first control state to the second control state.

[0089] The parameter includes, for example, the angular velocity of the human-powered vehicle 10 about a predetermined axis. The predetermined condition is satisfied, for example, when the angular velocity of the human-powered vehicle 10 about the predetermined axis is equal to or greater than a predetermined angular velocity. For example, the control unit 62 is configured to change the control state from the second control state to the first control state when, in the second control state, the angular velocity of the human-powered vehicle 10 about the predetermined axis becomes equal to or greater than the predetermined angular velocity.

[0090] The parameter includes, for example, a first acceleration of the human-powered vehicle 10 in the lateral direction. The predetermined condition is satisfied, for example, when the first acceleration is equal to or greater than a predetermined acceleration. For example, the control unit 62 is configured to change the control state from the second control state to the first control state when, in the second control state, the first acceleration becomes equal to or greater than the predetermined acceleration.

[0091] The process by which the control unit 62 changes the assist level of the motor 38 will be described with reference to Fig. 4. For example, when power is supplied to the control unit 62, the control unit 62 starts the process and proceeds to step S11 of the flowchart shown in Fig. 4. When the flowchart of Fig. 4 ends, the control unit 62 repeats the process from step S11 after a predetermined period, for example, until the supply of power is stopped.

[0092] In step S11, the control unit 62 determines whether the control state is the first control state. If the control state is the first control state, the control unit 62 proceeds to step S12.

[0093] In step S12, the control unit 62 determines whether or not the assist level change condition is satisfied. If the assist level change condition is satisfied, the control unit 62 proceeds to step S13. In step S13, the control unit 62 changes the predetermined assist level and proceeds to step S14. If the assist level change condition is not satisfied, the control unit 62 proceeds to step S14. For example, when assist is started by operating the second operating unit 56, the control unit 62 selects the first control state and selects the predetermined assist level that is the minimum assist level among the multiple predetermined assist levels. For example, after assist is started, the control unit 62 controls the motor 38 at the predetermined assist level that corresponds to the minimum assist level until the first assist level change condition is satisfied in the first control state.

[0094] In step S14, the control unit 62 controls the motor 38 so that the assist level becomes the predetermined assist level, and then proceeds to step S15. If the initial assist level change condition is not satisfied in the first control state, the control unit 62 controls the motor 38 based on the predetermined assist level selected at the start of assist. If the predetermined assist level is changed in step S12, the control unit 62 controls the motor 38 based on the changed predetermined assist level.

[0095] In step S15, the control unit 62 determines whether the first operation unit 54 has been operated. If the first operation unit 54 has not been operated, the control unit 62 ends the processing. If the first operation unit 54 has been operated, the control unit 62 proceeds to step S16. In step S16, the control unit 62 changes the control state to the second control state and ends the processing.

[0096] If the control state is not the first control state in step S11, the control unit 62 proceeds to step S17. In step S17, the control unit 62 determines whether the control state is the second control state. If the control state is the second control state, the control unit 62 proceeds to step S18. If the control state is not the second control state, the control unit 62 ends the process.

[0097] In step S18, the control unit 62 controls the motor 38 so that the assist level is maintained at the first assist level, and then proceeds to step S19. In step S19, the control unit 62 determines whether or not a predetermined condition is satisfied. If the predetermined condition is satisfied, the control unit 62 proceeds to step S20. If the predetermined condition is not satisfied, the control unit 62 proceeds to step S18. In step S20, the control unit 62 changes the control state to the first control state and ends the processing. For example, in step S20, when the control state is changed to the first control state, the control unit 62 sets the assist level to the predetermined assist level before the control state was changed to the second control state.

[0098] For example, the control unit 62 does not change the assist level even if the assist level change condition is satisfied from the time the control state is changed to the second control state in step S17 until the time the control state is changed to the first control state in step S20.

[0099] In this embodiment, the control state includes at least one additional control state different from the first control state and the second control state. In step S17, if the control state is the additional control state, the control unit 62 determines that the control state is not the second control state. The additional control state is, for example, a control state in which changing the assist level is prohibited.

[0100] The first control state may be in a mutually exclusive relationship with the second control state. When the first control state is in a mutually exclusive relationship with the second control state, the control unit 62 may determine in step S11 that the control state is not the first control state and that the control state is the second control state. In this case, the processing of step S17 is omitted. When the control unit 62 determines in step S17 that the control state is not the second control state, the control unit 62 may determine that the control state is the first control state and proceed to step S12.

[0101] When the control state is changed from the first control state to the second control state, the control unit 62 reduces the assist level. Therefore, for example, in a driving environment such as a road with many obstacles, the reduced assist level makes it easier for the rider to operate the human-powered vehicle 10 with their own power. When the control state is changed from the first control state to the second control state, the control unit 62 maintains the assist level at the first assist level. Therefore, for example, in a driving environment such as a road with many obstacles, the maintained assist level makes it easier for the rider to grasp the behavior of the human-powered vehicle 10.

[0102] The control unit 62 changes the control state to the second control state in response to the user's operation of the first operation unit 54, and then changes the control state to the first control state in response to a predetermined condition other than the user's operation of an operation unit included in the human-powered vehicle 10. Therefore, after changing the control state to the second control state, the user does not need to operate the operation unit again, and can concentrate on driving the human-powered vehicle 10.

[0103] Second Embodiment A control device 60 of the second embodiment will be described with reference to Figures 5 to 7. In the control device 60 of the second embodiment, the same components as those of the control device 60 of the first embodiment are denoted by the same reference numerals as those of the first embodiment, and redundant description will be omitted.

[0104] The first operating unit 54 of this embodiment is configured to be operable by, for example, a plurality of operating methods. The control unit 62 is configured, for example, to change the control state to a second control state when the first operating unit 54 is operated by a first operating method of the plurality of operating methods. The control unit 62 is configured, for example, not to change the control state to the second control state when the first operating unit 54 is operated by an operating method other than the first operating method of the plurality of operating methods.

[0105] As shown in FIG. 5 , the first operating unit 54 of this embodiment includes, for example, a lever 54A. In this embodiment, the operating method of the first operating unit 54 corresponds, for example, to the operating direction of the lever 54A. For example, when the first operating unit 54 moves in a first direction A1 toward the user, the control unit 62 determines that the first operating unit 54 has been operated using the first operating method. For example, when the first operating unit 54 moves in a second direction A2 different from the first direction A1, the control unit 62 determines that the first operating unit 54 has been operated using a second operating method different from the first operating method. The first direction A1 is, for example, the opposite direction to the second direction A2. In FIG. 5 , the first direction A1 and the second direction A2 are aligned with the pivoting direction of the lever 54A. However, the first direction A1 and the second direction A2 may also be aligned with the longitudinal direction of the human-powered vehicle 10, the vertical direction of the human-powered vehicle 10, or the lateral direction of the human-powered vehicle 10. When the first direction A1 and the second direction A2 are aligned along the vertical direction of the human-powered vehicle 10, for example, one of the first direction A1 and the second direction A2 is a direction from the bottom to the top of the human-powered vehicle 10, and the other of the first direction A1 and the second direction A2 is a direction from the top to the bottom of the human-powered vehicle 10.

[0106] The control unit 62 of this embodiment is configured to control the motor 38 in, for example, a first control state, a second control state, and an additional control state. The additional control states of this embodiment include, for example, a third control state in which the motor 38 is controlled to increase the assist level above a predetermined assist level. The control unit 62 is configured to control the motor 38 in the third control state, for example, so that the assist level becomes a second assist level. The second assist level may be the maximum assist level among the predetermined assist levels, may be an assist level greater than the predetermined assist level, or may be an assist level greater than the assist level before the control state was changed to the third control state.

[0107] For example, when the first operating unit 54 is operated by the second operating method in the first control state, the control unit 62 changes the control state to the third control state. When the first operating unit 54 is operated by the second operating method in the second control state, the control unit 62 may change the control state to the third control state.

[0108] The control unit 62 is configured, for example, to control the motor 38 to change the control state from the third control state to the second control state when the first operating unit 54 is operated by the first operating method in the third control state. The control unit 62 may be configured to control the motor 38 to change the control state from the third control state to the second control state when the first operating unit 54 is operated by the second operating method in the third control state. The control unit 62 is configured, for example, to change the control state from the third control state to the second control state when a predetermined period has elapsed in the third control state.

[0109] The control unit 62 may be configured to control the motor 38 to change the control state from the third control state to the first control state when the first operating unit 54 is operated by the first operating method in the third control state. The control unit 62 may be configured to control the motor 38 to change the control state from the third control state to the first control state when the first operating unit 54 is operated by the second operating method in the third control state. The control unit 62 may be configured to change the control state from the third control state to the first control state when a predetermined period has elapsed in the third control state.

[0110] For example, the control unit 62 is configured to control the motor 38 to change the control state from the second control state to the first control state when a predetermined condition is satisfied after the control state has been changed from the third control state to the second control state. The control unit 62 may also be configured to control the motor 38 to change the control state from the second control state to the third control state when a predetermined condition is satisfied after the control state has been changed from the third control state to the second control state.

[0111] 4, 6, and 7, the process by which the control unit 62 changes the assist level of the motor 38 will be described. For example, when power is supplied to the control unit 62, the control unit 62 starts the process and proceeds to step S11 of the flowchart shown in Fig. 4. When the flowchart in Fig. 4 ends, the control unit 62 repeats the process from step S11 after a predetermined period, for example, until the supply of power is stopped.

[0112] In this embodiment, when the processing of step S14 in Fig. 4 is completed, the process proceeds to step S21 in Fig. 6. In step S21, the control unit 62 determines whether the first operation unit 54 has been operated by the first operation method. If the first operation unit 54 has been operated by the first operation method, the control unit 62 proceeds to step S16 in Fig. 4.

[0113] If the first operation unit 54 is not operated by the first operation method in step S21, the control unit 62 proceeds to step S23. In step S23, the control unit 62 determines whether the first operation unit 54 is operated by the second operation method. If the first operation unit 54 is operated by the second operation method, the control unit 62 proceeds to step S23. In step S23, the control unit 62 changes the control state to the third control state and ends the processing. If the first operation unit 54 is not operated by the second operation method in step S22, the control unit 62 ends the processing.

[0114] In this embodiment, if the control state is not the second control state in step S17 of Fig. 4, the control unit 62 proceeds to step S31 of Fig. 7. In step S31, the control unit 62 determines whether the control state is the third control state. If the control state is the third control state, the control unit 62 proceeds to step S32. In step S32, the control unit 62 controls the motor 38 so that the assist level becomes the second assist level, and then proceeds to step S33.

[0115] In step S33, the control unit 62 determines whether the first operation unit 54 has been operated using the change operation method. The change operation method includes at least one of the first operation method and the second operation method. The change operation method is stored in advance in the storage unit 64. If the first operation unit 54 has been operated using the change operation method, the control unit 62 proceeds to step S34. If the first operation unit 54 has not been operated using the change operation method, the control unit 62 proceeds to step S35. In step S35, the control unit 62 determines whether a predetermined period has elapsed. For example, the control unit 62 determines that the predetermined period has elapsed if the elapsed period since the control state became the third control state is equal to or longer than the predetermined period. If the predetermined period has elapsed in step S35, the control unit 62 proceeds to step S34. If the predetermined period has not elapsed in step S35, the control unit 62 proceeds to step S32. In step S34, the control unit 62 changes the control state to the first control state, and ends the process.

[0116] If the control state is not the third control state in step S31, the control unit 62 ends the processing. If the control state is an additional control state different from the third control state in step S31, the control unit 62 determines that the control state is not the third control state. An additional control state different from the third control state is, for example, a control state in which changing the assist level is prohibited. If the control state includes only the first control state, the second control state, and the third control state, step S31 may be omitted. If step S31 is omitted, the control unit 62 may proceed to step S32 if step S17 in FIG. 4 is NO.

[0117] The control unit 62 may change the control state to the second control state in step S34. The control unit 62 may determine whether to change to the first control state or the second control state in accordance with the content of the change operation method in step S33, and may change the control state in step S34 to the control state determined in accordance with the content of the change operation method in step S33.

[0118] <Example of change> The descriptions of each embodiment are intended to exemplify possible forms of a control device for a human-powered vehicle according to the present disclosure, and are not intended to limit the forms. A control device for a human-powered vehicle according to the present disclosure can take the form of, for example, modified examples of the embodiments shown below, or a combination of at least two mutually consistent modified examples. In the following modified examples, parts that are common to the forms of the respective embodiments are assigned the same reference numerals as the respective embodiments, and descriptions thereof will be omitted.

[0119] The control unit 62 may be configured to change the control state to the first control state when, in the second control state, the first operating unit 54 is operated in addition to the predetermined condition being met.

[0120] The control unit 62 may be configured to, when the first operating unit 54 is operated in the first control state, maintain the control state in the second control state while the operation of the first operating unit 54 continues.

[0121] As shown in FIG. 8 , the human-powered vehicle 10 may include a predetermined operation unit 59 for changing the control state to the third control state. The predetermined operation unit 59 is, for example, different from the first operation unit 54 and the second operation unit 56. The predetermined operation unit 59 includes, for example, an electric switch. The electric switch is, for example, a normally-off electric switch. The predetermined operation unit 59 may be configured as a touch panel. The predetermined operation unit 59 is, for example, arranged alongside the first operation unit 54. For example, when the first operation unit 54 is operated, the control unit 62 is configured to perform the same control as when the first operation unit 54 is operated by the first operation method in the second embodiment. For example, when the predetermined operation unit 59 is operated, the control unit 62 is configured to perform the same control as when the first operation unit 54 is operated by the second operation method in the second embodiment.

[0122] The control unit 62 may be configured to change the assist level when an assist change condition is satisfied in the second control state. The control unit 62 may be configured not to change the assist level when an assist change condition based on the traveling state and traveling environment of the human-powered vehicle 10 is satisfied in the second control state, and to change the assist level when an assist change condition based on the operation of the second operating unit 56 is satisfied. The control unit 62 may be configured to change the assist level when an assist change condition based on the traveling state and traveling environment of the human-powered vehicle 10 is satisfied in the second control state, and not to change the assist level when an assist change condition based on the operation of the second operating unit 56 is satisfied.

[0123] The control unit 62 may be configured to control the motor 38 in the second control state so that the assist level is equal to or less than the second assist level, and may be configured to control the motor 38 so that the assist level is changeable below the second assist level. In this modified example, the control unit 62 does not maintain the assist level at the first assist level in the second control state.

[0124] The control unit 62 may be configured to control the motor 38 so as not to reduce the assist level and to maintain the selected predetermined assist level when the first operating unit 54 is operated. In this modified example, for example, after the first operating unit 54 is operated, the control unit 62 does not change the assist level even if an assist change condition is met until a predetermined condition is met.

[0125] When the control state is changed from the second control state to the first control state, the control unit 62 may cause the notification unit 58 to notify the rider that the control state is being changed from the second control state to the first control state.

[0126] The control unit 62 may be configured to change a parameter included in the predetermined condition. For example, the control unit 62 changes the parameter by the user operating an operating device connected to the control unit 62.

[0127] The phrase "at least one" as used herein means "one or more" of the desired options. As an example, the phrase "at least one" as used herein means "only one option" or "both of two options" when the number of options is two. As another example, the phrase "at least one" as used herein means "only one option" or "any combination of two or more options" when the number of options is three or more.

[0128] As used in this specification, ordinal numbers such as "first, second, and third" are used merely to distinguish between multiple elements having the same name and do not have any special meaning. [Explanation of symbols]

[0129] 10...human-powered vehicle, 12A...crankshaft, 38...motor, 54...first operating unit, 56...second operating unit, 60...control device, 62...control unit.

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, When a first operation unit configured to be operated by a user is operated, the assist level by the motor is reduced; A control device configured to control the motor to increase the assist level when a predetermined condition different from the user's operation of the first operating unit is satisfied when the assist level is reduced.

2. The control unit a control state of the motor is set to either a first control state or a second control state; When the control state is the first control state, the motor is controlled so that the assist level becomes a predetermined assist level, When the control state is the second control state, the motor is controlled so that the assist level is lower than the predetermined assist level, When the first operating unit is operated in the first control state, the control state is set to the second control state; The control device according to claim 1 , configured to change the control state from the second control state to the first control state when the predetermined condition is satisfied in the second control state.

3. 3. The control device according to claim 2, wherein the control unit is configured to be able to change the assist level in the first control state in accordance with at least one of a traveling state of the human-powered vehicle, a traveling environment of the human-powered vehicle, and an operation on a second operating unit configured to be operated by a user.

4. The control device according to claim 2 , wherein the control unit is configured to control the motor in the second control state so that the assist level is maintained at a first assist level that is lower than the predetermined assist level.

5. The control device according to claim 2 , wherein the control unit is configured to control the motor in the second control state so that the assist level is equal to or lower than a second assist level.

6. The control device according to claim 1 , wherein the predetermined condition includes a parameter relating to at least one of a running state of the human-powered vehicle and a running environment of the human-powered vehicle.

7. The parameters include a vehicle speed. The control device according to claim 6 , wherein the predetermined condition is satisfied when the vehicle speed is equal to or greater than a predetermined vehicle speed.

8. 8. The control device according to claim 7, wherein the predetermined vehicle speed is equal to or greater than 35 km / h and equal to or less than 45 km / h.

9. the parameter includes a rotation amount of a crankshaft of the human-powered vehicle; The control device according to claim 6 , wherein the predetermined condition is satisfied when the rotation amount is equal to or greater than a predetermined rotation amount.

10. The control device according to claim 9 , wherein the predetermined rotation amount is equal to or greater than 720 degrees and equal to or less than 2160 degrees.

11. the parameters include a rotation speed of a crankshaft of the human-powered vehicle; The control device according to claim 6 , wherein the predetermined condition is satisfied when the rotational speed is equal to or greater than a predetermined rotational speed.

12. The control device according to claim 11, wherein the predetermined rotation speed is equal to or greater than 70 rpm and equal to or less than 100 rpm.

13. the parameters include a human-powered driving force input to the human-powered vehicle; The control device according to claim 6 , wherein the predetermined condition is satisfied when the manual driving force is equal to or greater than a predetermined manual driving force.

14. The control device according to claim 13, wherein the predetermined manual driving force is equal to or greater than 30 Nm and equal to or less than 50 Nm.

15. the parameters include a gradient of a road on which the human-powered vehicle is traveling; the predetermined condition is satisfied when the gradient is greater than or equal to a first gradient; The control system of claim 6 , wherein the first gradient corresponds to an uphill slope.

16. the parameter includes an elapsed time since the first operation unit was operated, The control device according to claim 6 , wherein the predetermined condition is satisfied when the elapsed time is equal to or greater than a predetermined elapsed time.

17. The control device according to claim 16, wherein the predetermined elapsed time is equal to or greater than 2 seconds and equal to or less than 4 seconds.

18. the parameters include an angular velocity of the human-powered vehicle about a predetermined axis; The control device according to claim 6 , wherein the predetermined condition is satisfied when the angular velocity is equal to or greater than a predetermined angular velocity.

19. the parameter includes a first acceleration of the human-powered vehicle in a lateral direction; The control device according to claim 6 , wherein the predetermined condition is satisfied when the first acceleration is equal to or greater than a predetermined acceleration.

20. 20. The control device according to claim 1, wherein the assist level includes at least one of an assist ratio, which is a ratio of the output of the motor to the human-powered driving force input to the human-powered vehicle, an upper limit value of the output of the motor, and an output of the motor.

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