Control device for human-power drive vehicle

Abstract

To provide a control device for a human-power drive vehicle, capable of appropriately applying propulsion force by a motor to the human-power drive vehicle.SOLUTION: A control device for a human-power drive vehicle includes a control section which is configured to control a motor for applying propulsion force to the human-power drive vehicle. In a case where human-power driving force input to the human-power drive vehicle is equal to or less than first human-power driving force, when a parameter different from the human-power driving force becomes equal to or greater than a predetermined value, the control section is configured to set a control state of the motor to a first control state. In the first control state, when the human-power driving force becomes equal to or greater than second human-power driving force greater than the first human-power driving force, the control section is configured to set the control state of the motor to a second control state. In the first control state, the control section is configured to control the motor so that an output of the motor becomes a predetermined output. In the second control state, the control section is configured to control the motor according to the human-power driving force.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 impart propulsive force from a motor to the human-powered vehicle. [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 configured to control a motor that provides propulsion force to the human-powered vehicle, wherein the control unit is configured to set the control state of the motor to a first control state when a parameter different from the human-powered driving force input to the human-powered vehicle becomes equal to or greater than a predetermined value when the human-powered driving force is equal to or less than a first human-powered driving force, and to set the control state of the motor to a second control state when, in the first control state, the human-powered driving force becomes equal to or greater than a second human-powered driving force that is greater than the first human-powered driving force, and is configured to control the motor in the first control state so that the output of the motor becomes a predetermined output, and to control the motor in the second control state in accordance with the human-powered driving force. According to the control device of the first aspect, when the manual driving force is equal to or less than a first manual driving force, the control unit can set the motor control state to the first control state when a parameter different from the manual driving force reaches or exceeds a predetermined value, thereby setting the motor output to a predetermined output. Therefore, when the manual driving force is equal to or less than the first manual driving force, the control unit can preferably apply a propulsive force from the motor to the human-powered vehicle. According to the control device of the first aspect, when the human driving force reaches or exceeds a second manual driving force, the control unit can preferably apply a propulsive force from the motor to the human-powered vehicle in accordance with the human driving force.

[0006] In the control device of the second aspect according to the first aspect of the present disclosure, the parameter relates to a rotation state of a crankshaft of the human-powered vehicle. According to the control device of the second aspect, when the manual driving force is equal to or less than the first manual driving force, the control unit can set the control state to the first control state in accordance with the rotation state of the crankshaft.

[0007] In the control device of the third aspect according to the second aspect of the present disclosure, the parameter includes a rotation amount of the crankshaft, and the predetermined value is a value corresponding to the rotation amount and is greater than or equal to 0 degrees and less than or equal to 40 degrees. According to the control device of the third aspect, when the manual driving force is equal to or less than the first manual driving force, the control unit can set the control state to the first control state when the rotation amount of the crankshaft is equal to or greater than 0 degrees and equal to or less than 40 degrees.

[0008] In the control device of a fourth aspect according to the second or third aspect of the present disclosure, the parameter includes a rotational speed of the crankshaft, and the predetermined value is a value corresponding to the rotational speed, and is greater than or equal to 0 rpm and less than or equal to 10 rpm. According to the control device of the fourth aspect, when the manual driving force is equal to or less than the first manual driving force, the control unit can set the control state to the first control state when the rotation speed of the crankshaft is equal to or greater than 0 rpm and equal to or less than 10 rpm.

[0009] The control device of a fifth aspect according to any one of the second to fourth aspects of the present disclosure further includes a crank rotation angle detection unit that detects a rotation angle of the crankshaft. According to the control device of the fifth aspect, the control unit can suitably detect the rotation angle of the crankshaft by the crank rotation angle detection unit.

[0010] In the control device of a sixth aspect according to any one of the first to fifth aspects of the present disclosure, the human-powered vehicle includes a suspension, and the parameter relates to a displacement amount of the suspension. According to the control device of the sixth aspect, the control unit can set the control state to the first control state in accordance with a parameter relating to the displacement amount of the suspension.

[0011] In the control device of the seventh aspect according to the sixth aspect of the present disclosure, a displacement detection unit is further provided that detects the displacement amount of the suspension, and the displacement detection unit includes at least one of a stroke sensor, an air pressure sensor, an oil pressure sensor, an acceleration sensor, and a torque sensor. According to the control device of the seventh aspect, the control unit can suitably detect the amount of displacement of the suspension by the displacement detection unit.

[0012] In the control device of an eighth aspect according to any one of the first to seventh aspects of the present disclosure, the control unit is configured to control the motor in the second control state so that the output of the motor is equal to or less than an upper limit value, and the predetermined output is equal to the upper limit value. According to the control device of the eighth aspect, the control unit can control the motor in the first control state so that the output of the motor is equal to or less than the upper limit value.

[0013] In the control device of a ninth aspect according to any one of the first to eighth aspects of the present disclosure, the control unit is configured to control the motor to stop the motor when, in the first control state, the manual driving force remains equal to or less than the first manual driving force for a predetermined period of time or longer. According to the control device of the ninth aspect, the control unit stops the motor when the manual driving force remains equal to or less than the first manual driving force for a predetermined period of time in the first control state, thereby reducing power consumption by the motor.

[0014] In the control device of the tenth aspect according to the ninth aspect of the present disclosure, the predetermined period is a predetermined time from when driving of the motor starts in the first control state. According to the control device of the tenth aspect, the control unit can stop the motor when, in the first control state, the state in which the manual driving force is equal to or less than the first manual driving force continues for a predetermined time or longer.

[0015] In the control device of an eleventh aspect according to the ninth or tenth aspect of the present disclosure, the predetermined period is a period until the travel distance of the human-powered vehicle reaches a predetermined distance. According to the control device of the eleventh aspect, the control unit can stop the motor when, in the first control state, the state in which the manual driving force is equal to or less than the first manual driving force continues for a predetermined distance or more.

[0016] In the control device of the twelfth aspect according to the eleventh aspect of the present disclosure, the predetermined distance is greater than 0 m and equal to or less than 4 m. According to the control device of the twelfth aspect, the control unit can stop the motor when, in the first control state, the state in which the manual driving force is equal to or less than the first manual driving force continues for a predetermined distance greater than 0 m and equal to or less than 4 m.

[0017] In the control device of a thirteenth aspect according to any one of the first to twelfth aspects of the present disclosure, the control unit is configured to, when the human-powered vehicle is stopped and the human-powered driving force is equal to or less than a first human-powered driving force, set the control state of the motor to the first control state and control the motor to start driving the motor when the parameter becomes equal to or greater than the predetermined value. According to the control device of the thirteenth aspect, when the human-powered vehicle is stopped and the human-powered driving force is equal to or less than the first human-powered driving force, the control unit can set the control state of the motor to the first control state when a parameter different from the human-powered driving force reaches a predetermined value or greater.

[0018] The control device of a fourteenth aspect according to any one of the first to thirteenth aspects of the present disclosure further includes a manual driving force detection unit that detects the manual driving force. According to the control device of the fourteenth aspect, the control unit can suitably detect the manual driving force by the manual driving force detection unit.

[0019] In the control device of the fifteenth aspect according to the fourteenth aspect of the present disclosure, the first manual driving force is equal to or less than a lower limit value of the manual driving force that can be detected by the manual driving force detection section. According to the control device of the fifteenth aspect, when the manual driving force is a first manual driving force that is equal to or less than the lower limit value of the manual driving force that can be detected by the manual driving force detection unit, the control unit can set the control state of the motor to the first control state when a parameter different from the manual driving force becomes equal to or greater than a predetermined value.

[0020] In the control device of a sixteenth aspect according to any one of the first to fourteenth aspects of the present disclosure, the first manual driving force is equal to or greater than 0 Nm and equal to or less than 2 Nm. According to the control device of the sixteenth aspect, when the first manual driving force is 0 Nm or more and the manual driving force is 2 Nm or less, the control unit can set the control state of the motor to the first control state when a parameter different from the manual driving force reaches a predetermined value or more.

[0021] In the control device of a seventeenth aspect according to any one of the first to sixteenth aspects of the present disclosure, the control unit is configured to control the motor in the second control state according to a motor output obtained by multiplying the manual driving force by a predetermined assist ratio, and the second manual driving force is set based on a value obtained by dividing the predetermined output by the predetermined assist ratio. According to the control device of the seventeenth aspect, the second manual driving force is set based on a value obtained by dividing a predetermined output by a predetermined assist ratio, so that when transitioning from the first control state to the second control state, a decrease in motor output is suppressed. [Effects of the Invention]

[0022] The control device for a human-powered vehicle of the present disclosure can suitably apply propulsive force from a motor to the human-powered vehicle. [Brief explanation of the drawings]

[0023] [Figure 1] 1 is a side view of a human-powered vehicle including a control device for a human-powered vehicle according to an embodiment. [Figure 2] 1 is a block diagram showing the electrical configuration of a control device for a human-powered vehicle according to an embodiment; [Figure 3] 3 is a flowchart of a process executed by the control unit of FIG. 2 to control a motor. DETAILED DESCRIPTION OF THE INVENTION

[0024] <Embodiment> A control device 60 for a human-powered vehicle according to an embodiment will be described with reference to FIGS. 1 to 3. FIG.

[0025] 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.

[0026] 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).

[0027] 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.

[0028] 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. For example, a saddle 18A is attached to the frame 18.

[0029] 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.

[0030] 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.

[0031] 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.

[0032] 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.

[0033] 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).

[0034] 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.

[0035] The motor 38 is provided in, for example, a housing 40A. The housing 40A is provided in 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.

[0036] 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.

[0037] The human-powered vehicle 10 includes, for example, a suspension 42. The suspension 42 is configured, for example, to absorb shocks applied to the driving wheels 14A and the driven wheels 14B. The suspension 42 is provided, for example, on the frame 18. The suspension 42 includes, for example, at least one of a front suspension and a rear suspension.

[0038] The suspension 42 includes, for example, an electric suspension. The suspension 42 may be a coil suspension, a hydraulic suspension, or an air suspension. The suspension 42 includes, for example, a first portion 42A and a second portion 42B fitted into the first portion 42A and movable relative to the first portion 42A.

[0039] The first portion 42A of the suspension 42 is connected to, for example, the wheel axle of the front wheel or the rear wheel. The first portion 42A of the suspension 42 may be connected to, for example, the frame 18. The second portion 42B of the suspension 42 is connected to, for example, the frame 18. The second portion 42B of the suspension 42 moves relative to the first portion 42A, thereby absorbing shocks applied to the driving wheel 14A and the driven wheel 14B.

[0040] The suspension 42 includes, for example, an actuator that operates using electricity. The actuator of the suspension 42 is configured, for example, to be able to change the amount of movement of the second portion 42B relative to the first portion 42A. The control unit 62 is configured, for example, to control the actuator of the suspension 42. The control unit 62 is connected, for example, to the actuator of the suspension 42 by wire or wirelessly.

[0041] The human-powered vehicle 10 includes, for example, an adjustable seat post 44. The adjustable seat post 44 is configured, for example, to be able to change the height of the saddle 18A relative to the frame 18. The adjustable seat post 44 is, for example, provided on the frame 18. The adjustable seat post 44 includes, for example, an electrically adjustable seat post.

[0042] The adjustable seat post 44 includes, for example, an actuator that operates using electricity. The actuator of the adjustable seat post 44 is configured to be able to change the height of the saddle 18A relative to the frame 18 in response to, for example, a predetermined signal. The control unit 62 is configured, for example, to control the actuator of the adjustable seat post 44. The control unit 62 is connected to the actuator of the adjustable seat post 44 by wire or wirelessly, for example.

[0043] 2, a control device 60 for a human-powered vehicle includes, for example, a control unit 62. 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.

[0044] 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.

[0045] 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).

[0046] 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.

[0047] The control device 60 further includes, for example, a vehicle speed detection unit 46. The vehicle speed detection unit 46 is configured to detect information related to the vehicle speed. The vehicle speed detection unit 46 is configured to detect information related to the rotation speed of the wheels 14, for example. The vehicle speed detection unit 46 is connected to the control unit 62, for example, wirelessly or by wire.

[0048] The vehicle speed detection unit 46 is configured to detect, for example, a magnet provided on the wheel 14. The vehicle speed detection unit 46 is configured to output a detection signal a predetermined number of times during one rotation of the wheel 14. The vehicle speed detection unit 46 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 circumference of the wheel 14. The memory unit 64 stores, for example, information related to the circumference of the wheel 14.

[0049] The vehicle speed detection unit 46 includes, for example, a magnetic reed that constitutes a reed switch, or a magnetic sensor such as a Hall element. The vehicle speed detection unit 46 is attached to, for example, a chain stay of the frame 18 and is configured to detect a magnet attached to the rear wheel. The vehicle speed detection unit 46 may also be provided in the front fork 30 and is configured to detect a magnet attached to the front wheel.

[0050] The vehicle speed detection unit 46 may have any configuration as long as it can acquire information related to the vehicle speed. The vehicle speed detection unit 46 includes, for example, a Global Navigation Satellite System (GNSS) receiver. The GNSS receiver includes, for example, a Global Positioning System (GPS) receiver. For example, if the vehicle speed detection unit 46 includes a GPS receiver, the control unit 62 is configured to calculate the vehicle speed based on time and travel distance. The GNSS receiver may include a receiver of 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 vehicle speed detection unit 46 may be configured to detect slits provided in a disc brake, or may include an optical sensor or the like.

[0051] The vehicle speed detection unit 46 may include an acceleration sensor. If the vehicle speed detection unit 46 includes an acceleration sensor, the control unit 62 is configured to calculate the vehicle speed by integrating the detection value detected by the acceleration sensor. The vehicle speed detection unit 46 may include a geomagnetic sensor. The geomagnetic sensor is attached to, for example, the hub shell or the wheel 14. The geomagnetic sensor detects, for example, the rotation of the wheel 14. If the vehicle speed detection unit 46 includes a geomagnetic sensor, the control unit 62 estimates the vehicle speed according to, for example, the rotation state of the wheel 14.

[0052] The control device 60 further includes, for example, a crank rotation angle detection unit 48 that detects the rotation angle of the crankshaft 12A. The crank rotation angle detection unit 48 includes a crank rotation sensor. The crank rotation sensor is configured to detect information related to the rotation speed of the crankshaft 12A. The crank rotation sensor is provided, for example, in the frame 18 or the drive unit 40. The crank rotation sensor may also be provided in the housing 40A of the drive unit 40.

[0053] The crank rotation angle detection unit 48 includes a magnetic sensor that outputs a signal corresponding to the strength of the 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.

[0054] The crank rotation angle detection unit 48 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 body of revolution 24, the magnet may be provided on the first body of revolution 24. The crank rotation angle detection unit 48 may have any configuration as long as it can acquire information regarding the rotation speed of the crankshaft 12A. Instead of a magnetic sensor, the crank rotation angle detection unit 48 may include an optical sensor, an acceleration sensor, a gyro sensor, a torque sensor, or the like. The crank rotation angle detection unit 48 is connected to the control unit 62 wirelessly or via a wire.

[0055] The control device 60 further includes, for example, a human-powered driving force detection unit 50 that detects the human-powered driving force. The human-powered driving force detection unit 50 includes, for example, a torque sensor. The torque sensor is configured to detect information related to the human-powered driving force. The torque sensor is provided, for example, in the power transmission path or near a member included in the power transmission path. The member included in the power transmission path includes, for example, at least one of the crankshaft 12A, a member 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 may be provided in at least one of the frame 18 and the drive unit 40. The torque sensor is connected to the control unit 62 wirelessly or by wire.

[0056] The human driving force detection unit 50 is configured to output a signal corresponding to the torque applied to the crankshaft 12A by the human driving force, for example. If a first one-way clutch is provided in the power transmission path, the human driving force detection unit 50 is provided on the input side of the human driving force relative to the first one-way clutch in the power transmission path. In other words, if a first one-way clutch is provided in the power transmission path, the human driving force detection unit 50 is provided on the crankshaft 12A side of the first one-way clutch in the power transmission path. The human driving force detection unit 50 includes a strain sensor, a magnetostrictive sensor, or a pressure sensor. The strain sensor includes a strain gauge. The human driving force detection unit 50 may have any configuration as long as it can acquire information about the human 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.

[0057] The control device 60 further includes, for example, a displacement detection unit 52 that detects the amount of displacement of the suspension 42. The displacement detection unit 52 includes, for example, at least one of a stroke sensor, an air pressure sensor, an oil pressure sensor, an acceleration sensor, and a torque sensor. The control unit 62 obtains the displacement of the suspension 42 based on the detection value of, for example, at least one of the stroke sensor, the air pressure sensor, the oil pressure sensor, the acceleration sensor, and the torque sensor.

[0058] The displacement detection unit 52 detects, for example, at least one of the movement of the second portion 42B with respect to the first portion 42A, the amount of relative movement of the second portion 42B with respect to the first portion 42A, the fluid pressure inside the suspension 42, the vibration of the suspension 42, and the force applied to the suspension 42 from outside the suspension 42. The fluid pressure includes at least one of air pressure and hydraulic pressure. The amount of displacement of the suspension 42 is, for example, the amount of relative movement of the second portion 42B with respect to the first portion 42A. The displacement detection unit 52 may be configured to determine whether the second portion 42B has moved relative to the first portion 42A. The displacement detection unit 52 is connected to the control unit 62, for example, wirelessly or via a wire.

[0059] The stroke sensor is configured to detect, for example, the stroke amount of the suspension 42. The stroke amount includes, for example, the amount of relative movement of the second portion 42B with respect to the first portion 42A. The stroke sensor includes, for example, a linear encoder. The stroke sensor detects, for example, the position of one of the first portion 42A and the second portion 42B with respect to the other of the first portion 42A and the second portion 42B.

[0060] For example, if the suspension 42 is a pneumatic suspension, the air pressure sensor is configured to detect the air pressure of the suspension 42. For example, the air pressure sensor detects the air pressure in a pressure chamber provided in at least one of the first portion 42A and the second portion 42B. The control unit 62 is configured to estimate the amount of relative movement of the second portion 42B with respect to the first portion 42A based on the value detected by the air pressure sensor.

[0061] For example, if the suspension 42 is a hydraulic suspension, the hydraulic sensor is configured to detect the hydraulic pressure of the suspension 42. For example, the hydraulic sensor detects the hydraulic pressure of at least one pressure chamber provided between the first portion 42A and the second portion 42B. The control unit 62 is configured to estimate the amount of relative movement of the second portion 42B with respect to the first portion 42A based on the detection value of the hydraulic sensor.

[0062] The acceleration sensor is configured to detect, for example, the acceleration of the suspension 42 in the vertical direction. The acceleration sensor may include an inclination sensor. The acceleration sensor is provided, for example, in at least one of the first portion 42A and the second portion 42B. The acceleration sensor is configured to detect, for example, the acceleration of at least one of the first portion 42A and the second portion 42B in the vertical direction. The acceleration sensor may be configured to detect, for example, the acceleration of a biasing member provided inside the suspension 42. The control unit 62 is configured, for example, to determine whether the first portion 42A and the second portion 42B have moved relative to each other based on the detection value of the acceleration sensor. The control unit 62 may be configured to estimate the amount of relative movement of the second portion 42B with respect to the first portion 42A based on the detection value of the acceleration sensor. The acceleration sensor may be configured to detect the acceleration of the suspension 42 in the left-right and front-rear directions.

[0063] The torque sensor included in the displacement detection unit 52 is configured, for example, to detect a force applied to the suspension 42 via the frame 18. The torque sensor included in the displacement detection unit 52 is configured, for example, to detect a distortion of at least one of the first portion 42A and the second portion 42B. The torque sensor included in the displacement detection unit 52 may be configured to detect a phase difference between one of the first portion 42A and the second portion 42B and the other of the first portion 42A and the second portion 42B.

[0064] The control unit 62 is configured to determine whether the first portion 42A and the second portion 42B have moved relative to each other, for example, based on a detection value of a torque sensor included in the displacement detection unit 52. The control unit 62 may be configured to estimate the amount of relative movement of the second portion 42B with respect to the first portion 42A based on the detection value of the torque sensor included in the displacement detection unit 52. The control unit 62 may be configured to estimate the amount of relative movement of the second portion 42B with respect to the first portion 42A in accordance with an amount of change in the detection value of the torque sensor included in the displacement detection unit 52.

[0065] The torque sensor included in the displacement detection unit 52 may be configured to detect, for example, distortion of the frame 18. When the torque sensor included in the displacement detection unit 52 is configured to detect distortion of the frame 18, the torque sensor included in the displacement detection unit 52 is configured to detect, for example, a force applied by the rider to press the frame 18 against the ground via the handlebars 34 and / or the pedals 20A, 20B.

[0066] The displacement detection unit 52 may include a tire pressure sensor. The tire pressure sensor is configured to detect the air pressure of at least one of the front and rear wheels. The tire pressure sensor is provided, for example, in a valve of at least one of the front and rear wheels. The control unit 62 is configured, for example, to estimate the displacement of the suspension 42 in accordance with the detection value of the tire pressure sensor.

[0067] The displacement detection unit 52 may include a load sensor. The load sensor is configured to detect, for example, a load acting on at least one of the front wheel axle and the rear wheel axle. The control unit 62 is configured to estimate the amount of displacement of the suspension 42 based on the detected value of the load sensor.

[0068] The control device 60 may include an inclination detection unit. The inclination detection unit is configured, for example, to detect information related to the inclination angle of the human-powered vehicle 10. The inclination detection unit 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 detection unit is connected to the control unit 62, for example, wirelessly or by wire.

[0069] The tilt detection unit includes, for example, at least one of a gyro sensor and an acceleration sensor. The tilt detection unit may include a GNSS receiver. The GNSS receiver includes, for example, a 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, position information determined based on GPS information acquired by the GPS receiver and the road gradient included in map information pre-recorded in the memory unit 64. The GNSS receiver may include a receiver for a satellite positioning system other than GPS. The control unit 62 may, for example, use, as the pitch angle, a value obtained by subtracting the inclination angle of the road surface from the pitch angle detected by the tilt detection unit.

[0070] The control unit 62 is configured, for example, to control the motor 38 that provides a propulsive force to the human-powered vehicle 10. For example, when the crankshaft 12A rotates in the direction in which the human-powered vehicle 10 moves forward, the control unit 62 is configured to control the motor 38 so as to provide an assist force to the human-powered vehicle 10. For example, when the crankshaft 12A rotates in the direction opposite to the direction in which the human-powered vehicle 10 moves forward, the control unit 62 is configured to control the motor 38 so as not to provide an assist force to the human-powered vehicle 10.

[0071] For example, when an assist force is being applied by the motor 38, the control unit 62 is configured to control the motor 38 so as to stop the application of the assist force by the motor 38 when the human-powered driving force input to the human-powered vehicle 10 falls below a predetermined human-powered driving force. The predetermined human-powered driving force is set, for example, based on when the rider stops pedaling. The predetermined human-powered driving force is, for example, a value below the lower limit of the human-powered driving force that can be detected by the human-powered driving force detection unit 50. The predetermined human-powered driving force is, for example, 0 Nm.

[0072] The control unit 62 is configured to set the control state of the motor 38 to the first control state, for example, when a parameter different from the human-powered driving force reaches or exceeds a predetermined value when the human-powered driving force input to the human-powered vehicle 10 is equal to or less than a first human-powered driving force. The control unit 62 is configured to set the control state of the motor 38 to the first control state and control the motor 38 to start driving the motor 38, for example, when the parameter reaches or exceeds a predetermined value when the human-powered vehicle 10 is stopped and the human-powered driving force is equal to or less than a first human-powered driving force.

[0073] The first manual driving force is set, for example, based on the manual driving force when the rider's pedaling is stopped. The first manual driving force is, for example, equal to or less than the lower limit of the manual driving force that can be detected by the manual driving force detection unit 50. The first manual driving force is, for example, a value corresponding to the lower detection limit of the manual driving force detection unit 50. The first manual driving force is, for example, greater than the manual driving force when the crank arms 12B, 12C are slightly swinging. The first manual driving force is, for example, equal to a predetermined manual driving force. The first manual driving force may be smaller than the predetermined manual driving force. The first manual driving force is, for example, equal to or greater than 0 Nm and equal to or less than 2 Nm.

[0074] In the first control state, the control unit 62 is configured to control the motor 38 so that the output of the motor 38 becomes a predetermined output. The predetermined output is, for example, a constant value. The predetermined output is, for example, stored in advance in the storage unit 64. The predetermined output is, for example, equal to the upper limit value of the output of the motor 38. The predetermined output may be smaller than the upper limit value of the output of the motor 38. The predetermined output may be a value that changes so as to increase over time.

[0075] The parameter is, for example, a parameter that can determine whether the rider intends to start riding or whether the rider has boarded the human-powered vehicle 10. The parameter is, for example, a parameter that changes depending on the movement of the rider.

[0076] The parameter relates to, for example, the rotation state of the crankshaft 12A of the human-powered vehicle 10. The parameter includes, for example, the amount of rotation of the crankshaft 12A. The predetermined value is, for example, a value that corresponds to the amount of rotation of the crankshaft 12A and is greater than or equal to 0 degrees and less than or equal to 40 degrees. For example, when the human-powered vehicle 10 is stopped and the human-powered driving force is less than or equal to a first human-powered driving force, the control unit 62 is configured to set the control state of the motor 38 to the first control state and control the motor 38 to start driving when the amount of rotation of the crankshaft 12A becomes 30 degrees or more.

[0077] The parameter includes, for example, the rotation speed of the crankshaft 12A. The predetermined value is, for example, a value corresponding to the rotation speed of the crankshaft 12A, and is equal to or greater than 0 rpm and equal to or less than 10 rpm. For example, when the human-powered vehicle 10 is stopped and the human-powered driving force is equal to or less than a first human-powered driving force, the control unit 62 is configured to set the control state of the motor 38 to the first control state and control the motor 38 to start driving the motor 38 when the rotation speed of the crankshaft 12A becomes equal to or greater than 5 rpm.

[0078] The parameters relate to, for example, the displacement amount of the suspension 42. The parameters include, for example, at least one of the stroke amount of the suspension 42, the movement of the second portion 42B relative to the first portion 42A, the relative movement amount of the second portion 42B relative to the first portion 42A, the fluid pressure inside the suspension 42, the vibration of the suspension 42, and the force applied to the suspension 42 from outside the suspension 42.

[0079] When the parameter includes the stroke amount of the suspension 42, the predetermined value is, for example, a first stroke amount. The first stroke amount corresponds to, for example, a stroke amount that is 25% or more and 30% or less of a second stroke amount of the suspension 42. The second stroke amount corresponds to the maximum stroke amount of the suspension 42. When the parameter relates to the displacement amount of the suspension 42, the predetermined value may be a value that can determine that the first portion 42A and the second portion 42B have moved relative to each other.

[0080] For example, when the manual driving force is equal to or less than a first manual driving force, the control unit 62 is configured to set the control state of the motor 38 to the first control state and control the motor 38 to start driving the motor 38 when a parameter related to the displacement amount of the suspension 42 becomes equal to or greater than a predetermined value.

[0081] For example, when the crankshaft 12A rotates in a first direction, the control unit 62 is configured to set the control state of the motor 38 to the first control state if the parameter becomes equal to or greater than a predetermined value when the manual driving force is equal to or less than the first manual driving force. For example, when the crankshaft 12A rotates in a second direction, the control unit 62 is configured not to set the control state of the motor 38 to the first control state even if the parameter becomes equal to or greater than a predetermined value when the manual driving force is equal to or less than the first manual driving force. The first direction is, for example, the direction in which the human-powered vehicle 10 moves forward. The second direction is the opposite direction to the first direction.

[0082] The parameters include, for example, at least one of the rotation amount of the crankshaft 12A, the rotation speed of the crankshaft 12A, and the displacement amount of the suspension 42. When the parameters include two or more of the rotation amount of the crankshaft 12A, the rotation speed of the crankshaft 12A, and the displacement amount of the suspension 42, the control unit 62 is configured to set the control state of the motor 38 to the first control state when, for example, one of the two or more of the rotation amount of the crankshaft 12A, the rotation speed of the crankshaft 12A, and the displacement amount of the suspension 42 becomes equal to or greater than a predetermined value.

[0083] For example, in the first control state, the control unit 62 is configured to control the motor 38 to stop the motor 38 when the human-powered driving force remains equal to or less than the first human-powered driving force for a predetermined period of time or longer. The predetermined period is, for example, the period until the travel distance of the human-powered vehicle 10 reaches a predetermined distance. The predetermined distance is, for example, greater than 0 m and equal to or less than 4 m. The predetermined distance is, for example, 2 m.

[0084] The predetermined period may be a predetermined time from when the motor 38 starts to be driven in the first control state. The predetermined time is set, for example, based on a predetermined distance. The predetermined time is, for example, a value obtained by dividing the predetermined distance by the vehicle speed. The control unit 62 may calculate the predetermined time using the rotation speed and gear ratio of the crankshaft 12A instead of the vehicle speed. The predetermined time may be, for example, a constant value stored in advance in the storage unit 64.

[0085] The control unit 62 is configured, for example, in the first control state, to set the control state of the motor 38 to the second control state when the manual driving force becomes equal to or greater than a second manual driving force that is greater than the first manual driving force. The control unit 62 is configured, for example, in the second control state to control the motor 38 in accordance with the manual driving force. The second manual driving force is set, for example, based on the resolution of the manual driving force detection unit 50. The second manual driving force is set, for example, based on the manual driving force at which the manual driving force detection unit 50 can accurately detect the manual driving force after the rider starts pedaling.

[0086] For example, in the second control state, the control unit 62 is configured to control the motor 38 so that the assist level by the motor 38 becomes a predetermined assist level.

[0087] The control unit 62 is configured to be able to change the predetermined assist level, for example. The control unit 62 is configured to be able to select one of a plurality of predetermined assist levels, for example. The number of the plurality of predetermined assist levels is, for example, 3 or more and 9 or less.

[0088] 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.

[0089] When the assist level includes an assist ratio, the control unit 62 is configured to control the motor 38 in the second control state, for example, according to a motor output obtained by multiplying the manual driving force by a predetermined assist ratio. When the assist level includes an assist ratio, a different assist ratio is set for each of the 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 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 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 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.

[0090] 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.

[0091] When the assist level includes an upper limit value of the output of the motor 38, the control unit 62 is configured, for example, in the second control state, to control the motor 38 so that the output of the motor 38 is equal to or less than the upper limit value. 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 value 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. When the drive unit 40 includes a reducer, the assist force corresponds, for example, to the output of the reducer.

[0092] 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.

[0093] 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 corresponds to the upper limit of the output of the motor 38. 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. The maximum assist power corresponds to the upper limit of the output of the motor 38.

[0094] 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 slower the response speed when the manual driving force decreases, the higher the assist level. The faster the response speed when the manual driving force increases, the higher the assist level.

[0095] When the assist level includes an assist ratio, the second manual driving force is set based on, for example, a value obtained by dividing a predetermined output by a predetermined assist ratio. The second manual driving force is stored in advance in the storage unit 64, for example.

[0096] The process of the control unit 62 controlling the motor 38 will be described with reference to Fig. 3. For example, when power is supplied to the control unit 62, the control unit 62 starts the process of step S11 in the flowchart shown in Fig. 3. When the flowchart in Fig. 3 ends, the control unit 62 repeats the process from step S11 at predetermined intervals, for example, until the supply of power is stopped.

[0097] In the process of step S11, the control unit 62 determines whether or not the human-powered vehicle 10 is stopped. For example, if the wheels 14 are not rotating, the control unit 62 determines that the human-powered vehicle 10 is stopped. If the human-powered vehicle 10 is stopped, the control unit 62 proceeds to the process of step S12. If the human-powered vehicle 10 is not stopped, the control unit 62 ends the process.

[0098] In the process of step S12, the control unit 62 determines whether the manual driving force is equal to or less than the first manual driving force. If the manual driving force is equal to or less than the first manual driving force, the control unit 62 proceeds to the process of step S13. If the manual driving force is greater than the first manual driving force, the control unit 62 ends the process. In the process of step S13, the control unit 62 determines whether a parameter different from the manual driving force is equal to or greater than a predetermined value. If the parameter different from the manual driving force is equal to or greater than the predetermined value, the control unit 62 proceeds to the process of step S14. If the parameter different from the manual driving force is smaller than the predetermined value, the control unit 62 ends the process.

[0099] In the process of step S14, the control unit 62 sets the control state of the motor 38 to the first control state, and proceeds to the process of step S15. In the process of step S15, the control unit 62 controls the motor 38 so that the output of the motor 38 becomes a predetermined output, and proceeds to the process of step S16.

[0100] In the process of step S16, the control unit 62 determines whether the manual driving force is equal to or greater than the second manual driving force. If the manual driving force is equal to or greater than the second manual driving force, the control unit 62 proceeds to the process of step S17. In the process of step S17, the control unit 62 changes the control state of the motor 38 to the second control state, and proceeds to the process of step S18. In the process of step S18, the control unit 62 controls the motor 38 in accordance with the manual driving force and then ends the process.

[0101] If the manual driving force is smaller than the second manual driving force in the process of step S16, the control unit 62 proceeds to the process of step S18. In the process of step S19, the control unit 62 determines whether the state in which the manual driving force is equal to or less than the first manual driving force continues for a predetermined period or more. If the state in which the manual driving force is equal to or less than the first manual driving force has not continued for a predetermined period or more, the control unit 62 proceeds to the process of step S15. If the state in which the manual driving force is equal to or less than the first manual driving force has continued for a predetermined period or more, the control unit 62 proceeds to the process of step S20. In the process of step S20, the control unit 62 controls the motor 38 to stop the motor 38, and then ends the process.

[0102] The process of step S11 may be omitted. In the case where the process of step S11 is omitted, the control unit 62 starts the process of step S12 in the flowchart shown in FIG.

[0103] When the human-powered vehicle 10 is stopped and the human-powered driving force is equal to or less than the first human-powered driving force, if the motor 38 is controlled to start being driven by the human-powered driving force, a time delay may occur between when the rider starts pedaling and when the human-powered driving force detection unit 50 detects the human-powered driving force. This time delay is due to, for example, the resolution of the human-powered driving force detection unit 50, the detection limit of the human-powered driving force detection unit 50, or the location of the human-powered driving force detection unit 50. For example, when the human-powered vehicle 10 is stopped and the human-powered driving force is equal to or less than the first human-powered driving force, the control unit 62 can start driving the motor 38 when a parameter different from the human-powered driving force reaches a predetermined value or greater. Therefore, when the human-powered vehicle 10 is stopped and the human-powered driving force is equal to or less than the first human-powered driving force, the control unit 62 can start driving the motor 38 more quickly than if the motor 38 were started being driven by the human-powered driving force.

[0104] When the parameters include the displacement of the suspension 42, the rider can, for example, get on the human-powered vehicle 10 or push the body 16 of the human-powered vehicle 10 toward the ground, which allows the control unit 62 to start driving the motor 38. As a result, the displacement of the suspension 42 starts driving the motor 38 before the rider starts pedaling, reducing the rider's load when starting to pedal. When the parameters include the displacement of the suspension 42, the rider can start driving the motor 38 without having to operate a button or the like with his or her fingers, which allows the control device 60 to contribute to convenience.

[0105] <Example of change> The descriptions of the embodiments are examples of 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 following modified examples, or a combination of at least two mutually consistent modified examples. In the following modified examples, parts that are common to the embodiments are given the same reference numerals as in the embodiments, and their description will be omitted.

[0106] The control unit 62 may be configured to set the control state to the first control state when the human-powered driving force is equal to or less than a first human-powered driving force and the parameter is equal to or greater than a predetermined value, even when the human-powered vehicle 10 is traveling. In this modified example, for example, the processing of step S11 in FIG. 3 is omitted. In this modified example, for example, when power is supplied to the control unit 62, the processing of step S12 in FIG. 3 is started. In this modified example, for example, when the parameter is equal to or greater than a predetermined value while the human-powered vehicle 10 is coasting, the control state is configured to be set to the first control state.

[0107] Instead of the process of step S11 in Fig. 3, the control unit 62 may perform a process of determining whether the motor 38 is stopped. In this modified example, if the motor 38 is stopped, the control unit 62 proceeds to the process of step S12. In this modified example, if the motor 38 is not stopped, the control unit 62 ends the process of Fig. 3.

[0108] The control unit 62 may be configured to control the motor 38 so as not to stop the motor 38 even if, in the first control state, the manual driving force remains equal to or less than the first manual driving force for a predetermined period of time or longer. In this modified example, for example, the control unit 62 may be configured to control the motor 38 so as to stop the motor 38 when an operating unit for stopping the motor 38 is operated.

[0109] If the parameter relates to the displacement of the suspension 42, the control unit 62 may be configured to control the motor 38 so as to set the control state of the motor 38 to a first control state when the parameter is equal to or greater than a predetermined value, and to stop the motor 38 when the parameter is smaller than the predetermined value.

[0110] The control device 60 may further include a notification unit for notifying a change in the control state. For example, when the control state is changed from the first control state to the second control state, the control unit 62 is configured to control the notification unit so that the notification unit notifies the rider that the control state is being changed from the first control state to the second control state.

[0111] The parameters may include at least one of the steering angle of the steering unit of the human-powered vehicle 10, the displacement of the adjustable seat post 44, and the pitch angle instead of or in addition to at least one of the rotation amount of the crankshaft 12A, the rotation speed of the crankshaft 12A, and the displacement amount of the suspension 42. In this modified example, the control device 60 further includes a predetermined detection unit that detects a parameter including at least one of the steering angle of the steering unit of the human-powered vehicle 10, the displacement amount of the adjustable seat post 44, and the pitch angle, for example.

[0112] The control unit 62 may be configured to select at least one parameter from among the rotation amount of the crankshaft 12A, the rotation speed of the crankshaft 12A, and the displacement amount of the suspension 42. The control unit 62 changes the selected parameter, for example, by the user operating an operating device connected to the control unit 62. The control unit 62 sets the control state to the first control state based on the selected parameter, for example.

[0113] 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.

[0114] 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]

[0115] 10... human-powered vehicle, 12A... crankshaft, 38... motor, 42... suspension, 48... crank rotation angle detection unit, 50... human-powered driving force detection unit, 52... displacement detection unit, 60... control device, 62... control unit.

Claims

1. A control device for a human-powered vehicle, a control unit configured to control a motor that provides a propulsive force to the human-powered vehicle; The control unit and when a parameter different from the manual driving force input to the human-powered vehicle is equal to or less than a first manual driving force, the control state of the motor is set to a first control state, When the manual driving force becomes equal to or greater than a second manual driving force that is greater than the first manual driving force in the first control state, the control state of the motor is set to a second control state, In the first control state, the motor is controlled so that an output of the motor becomes a predetermined output, A control device configured to control the motor in accordance with the manual driving force in the second control state.

2. The control device according to claim 1 , wherein the parameter relates to a rotational state of a crankshaft of the human-powered vehicle.

3. the parameter includes a rotation amount of the crankshaft, The control device according to claim 2 , wherein the predetermined value is a value corresponding to the amount of rotation, and is equal to or greater than 0 degrees and equal to or less than 40 degrees.

4. the parameter includes a rotational speed of the crankshaft; The control device according to claim 2 , wherein the predetermined value is a value corresponding to the rotation speed, and is equal to or greater than 0 rpm and equal to or less than 10 rpm.

5. The control device according to claim 2 , further comprising a crank rotation angle detection unit that detects a rotation angle of the crankshaft.

6. the human-powered vehicle includes a suspension; The control device according to claim 1 , wherein the parameter relates to a displacement of the suspension.

7. a displacement detection unit that detects a displacement amount of the suspension; The control device according to claim 6 , wherein the displacement detection unit includes at least one of a stroke sensor, an air pressure sensor, an oil pressure sensor, an acceleration sensor, and a torque sensor.

8. the control unit is configured to control the motor in the second control state so that an output of the motor is equal to or less than an upper limit value, The control device according to claim 1 , wherein the predetermined output is equal to the upper limit value.

9. 2. The control device according to claim 1, wherein the control unit is configured to control the motor to stop the motor when, in the first control state, the manual driving force remains equal to or less than the first manual driving force for a predetermined period of time or longer.

10. The control device according to claim 9 , wherein the predetermined period is a predetermined time from when driving of the motor starts in the first control state.

11. The control device according to claim 9 , wherein the predetermined period is a period until the travel distance of the human-powered vehicle reaches a predetermined distance.

12. The control device according to claim 11 , wherein the predetermined distance is greater than 0 m and equal to or less than 4 m.

13. 2. The control device according to claim 1, wherein when the human-powered vehicle is stopped and the human-powered driving force is equal to or less than a first human-powered driving force, if the parameter becomes equal to or greater than the predetermined value, the control unit sets the control state of the motor to the first control state and controls the motor to start driving the motor.

14. The control device according to claim 1 , further comprising a manual driving force detection unit that detects the manual driving force.

15. The control device according to claim 14 , wherein the first manual driving force is equal to or less than a lower limit value of the manual driving force that can be detected by the manual driving force detection unit.

16. The control device according to claim 1 , wherein the first manual driving force is equal to or greater than 0 Nm and equal to or less than 2 Nm.

17. the control unit is configured to control the motor in the second control state in accordance with a motor output obtained by multiplying the manual driving force by a predetermined assist ratio, The control device according to claim 1 , wherein the second manual driving force is set based on a value obtained by dividing the predetermined output by the predetermined assist ratio.

Images