Drive control device

Abstract

To alert a rider of a bicycle by using the control of a motor of an electric assist function when it is detected that the bicycle is performing or is about to perform dangerous riding.SOLUTION: A drive control device 1 includes: a traveling state information acquisition unit 21 that acquires traveling state information of a bicycle; a traveling state determination unit 25 that detects a state of inappropriate riding of the bicycle or a state of being about to start inappropriate riding of the bicycle, based on the traveling state information acquired by the traveling state information acquisition unit 21 and that determines whether a rider of the bicycle needs to be alerted; and a restricting driving force control unit 26 that controls a motor 16 so as to generate a restricting driving force for restricting propulsion of the bicycle, based on the traveling state information acquired by the traveling state information acquisition unit 21 and based on a command for generating the restricting driving force included in a traveling state determination result by the traveling state determination unit 25.SELECTED DRAWING: Figure 1

Description

[Technical Field]

[0001] The present invention relates to a drive control device. [Background technology]

[0002] In recent years, electrically assisted bicycles have become widely used. Electrically assisted bicycles have a motor that provides auxiliary propulsion force. They adjust the electric assist force in response to the signal detected by a torque sensor that detects pedaling force, thereby assisting the bicycle's propulsion. Some electrically assisted bicycles also have a regenerative function that operates the motor as a generator to recover energy and charge the battery when the brake lever is operated, when the pedals are spinning, or when the rider is not under any load. While the regenerative function exerts a force that suppresses the bicycle's propulsion, its sole purpose is to charge the battery; it must not impede the bicycle's propulsion or strongly suppress the drive of the wheels, causing the bicycle to tip over.

[0003] There is a technique for applying an appropriate regenerative brake that is adjusted in accordance with the amount of lever operation by the user (for example, Patent Document 1). [Prior art documents] [Patent documents]

[0004] [Patent Document 1] Japanese Patent Application Laid-Open No. 2011-83081 Summary of the Invention [Problem to be solved by the invention]

[0005] The technology described in Patent Document 1 above realizes appropriate regenerative braking that is adjusted according to the amount of lever operation by the user without interfering with the function of the manual brake, and efficiently charges the battery. While the regenerative braking is in operation, the motor is used as a generator, so it handles the force that suppresses the propulsion of the bicycle, as opposed to the electric assist function that helps propel the bicycle.

[0006] However, conventional regenerative braking techniques, such as those described in Patent Document 1, that restrict the bicycle's propulsion are intended solely for the purpose of charging the battery and do not assist in safe bicycle riding. Furthermore, while automatic braking functions are becoming commonplace in automobiles, sudden automatic braking on bicycles can cause the rear wheel to lift off the ground, resulting in a jackknife condition that makes it impossible for the rider to react. Because bicycles generally do not have seat belts, it is not easy to implement an automatic braking system similar to that used in automobiles.

[0007] The present invention was made in consideration of such problems, and provides a drive control device that uses control of the motor of the electric assist function to warn the bicycle rider when it is detected that the bicycle is being driven dangerously or is about to be driven dangerously. [Means for solving the problem]

[0008] One aspect of the drive control device of the present invention is characterized by having a riding state information acquisition unit that acquires riding state information of the bicycle, a riding state determination unit that detects a state in which the bicycle is being driven improperly or a state in which improper driving is about to begin based on the riding state information acquired by the riding state information acquisition unit and determines whether the bicycle rider needs to be warned, and a suppression drive force control unit that controls the motor to generate a suppression drive force that suppresses the propulsion of the bicycle based on the riding state information acquired by the riding state information acquisition unit and a command for the generation of a suppression drive force included in the riding state determination result by the riding state determination unit. [Effects of the Invention]

[0009] According to the present invention, if it is detected that a cyclist is engaged in or about to engage in dangerous driving, the regeneration function can be used to warn the cyclist. [Brief explanation of the drawings]

[0010] [Figure 1] FIG. 1 is a functional block diagram of the drive control device 1. [Figure 2] FIG. 2 is a flowchart illustrating the drive control process. [Figure 3] FIG. 3 is a flowchart for explaining the running state determination process. [Figure 4] FIG. 4 is a flowchart for explaining the suppression drive force control process. DETAILED DESCRIPTION OF THE INVENTION

[0011] [One embodiment] A drive control device according to an embodiment of the present invention will be described below.

[0012] 1 is a functional block diagram showing the functional configuration of a drive control device 1 according to one embodiment of the present invention. The drive control device 1 is mounted on a bicycle with an electrically assisted function and has a conventional regenerative function.

[0013] The drive control device 1 is configured to include an information acquisition unit 11, a memory unit 12, various sensors 13 provided at various locations on the bicycle, a control unit 14, a drive circuit 15, a motor 16, and a battery 17. The drive control device 1 may be configured from multiple devices rather than a single device, and may also have other functions.

[0014] The information acquisition unit 11 acquires various information necessary for setting the processing of the control unit 14, and supplies the acquired information to the control unit 14. The information acquisition unit 11 also acquires riding restriction information (details of which will be described later) supplied from various information providing services, and supplies this information to the control unit 14. The information acquisition unit 11 also acquires information about the bicycle rider, such as age and gender, and supplies this information to the control unit 14. The information acquisition unit 11 may also cooperate with, for example, a smartphone, and acquire various information via a network (not shown).

[0015] The storage unit 12 is configured, for example, by a non-volatile memory such as a ROM (Read Only Memory) or a RAM (Random Access Memory). The storage unit 12 stores information necessary for the control unit 14 to execute various functions described later. The storage unit 12 may be configured in combination with an external storage connected via a network (not shown).

[0016] The various sensors 13 are provided at various locations on the bicycle and acquire information necessary for the processing performed by the control unit 14. The various sensors 13 include, for example, a torque sensor provided around the crankshaft of the pedal, a brake sensor provided near the brake lever on the handlebars, a speed sensor that detects the traveling speed of the bicycle, an acceleration sensor that detects the acceleration of the bicycle, an inclination sensor that detects the tilt of the bicycle, and a rotation angle detection sensor that detects handlebar operation.

[0017] The control unit 14 is composed of an arithmetic circuit such as a CPU (Central Processing Unit), a memory circuit (ROM, RAM) (not shown), hardware, and other elements. The control unit 14 controls the entire drive control device 1 by executing a control application program (not shown) stored in the memory circuit, memory unit 12, etc.

[0018] For example, the control unit 14 can execute processing using the travel restriction information (details of which will be described later) supplied from the information acquisition unit 11, or store the information in the storage unit 12 and use it for processing. Also, for example, the control unit 14 can execute processing using information about the bicycle rider (hereinafter referred to as rider information) supplied from the information acquisition unit 11, or store the information in the storage unit 12, i.e., register the rider information and use it for subsequent processing.

[0019] The control unit 14 has functions from a driving state information acquisition unit 21 to a suppressed driving force control unit 26, which will be described later, and controls the driving of the motor 16. The control unit 14 executes processing to realize conventional assisted driving, and a function to operate the motor 16 as a generator and recover energy during deceleration such as when the brake lever is operated or the pedal is spinning, or when there is no load on the driver's pedal depression, i.e., processing to realize a regenerative function. Hereinafter, the regenerative function executed when the brake lever is operated will be referred to as regenerative braking, and the regenerative function executed regardless of the brake lever operation such as when the pedal is spinning will be referred to as regenerative charging, and they will be distinguished as necessary.

[0020] Furthermore, the control unit 14 detects whether the bicycle is being driven improperly or is about to be driven improperly based on information supplied from various sensors 13 mounted on the bicycle, bicycle position information, and riding restriction information, and determines whether a warning is required for the bicycle rider.Based on the determination result and the riding state of the bicycle, the control unit 14 controls the motor 16 to suppress forward propulsion of the bicycle.

[0021] Drive circuit 15 drives motor 16 based on the control of control unit 14. Specifically, when drive circuit 15 receives a command from control unit 14 to execute the assist drive function, it rotates motor 16 at a predetermined rotation speed in a direction that assists in driving the wheels in the forward direction of travel, and when drive circuit 15 receives a command from control unit 14 to execute a regenerative braking function, a regenerative charging function, or a function that suppresses forward propulsion of the bicycle, it controls motor 16 to function as a generator.

[0022] In addition to performing the regenerative braking or regenerative charging functions, the driving force generated by the motor 16 to suppress forward propulsion of the bicycle based on the control of the control unit 14 is hereinafter referred to as suppressed driving force to distinguish it from regenerative braking or regenerative charging. The suppressed driving force is not limited to causing the motor 16 to function as a generator, but also includes control to supply power to drive the motor 16 in the opposite direction to the bicycle's traveling direction, separate from energy recovery by the regenerative function as needed. While the suppressed driving force can also be expected to reduce the bicycle's traveling speed, its main purpose is to make the rider feel that the pedals are "heavy," thereby ensuring that they pay attention to safe driving.

[0023] The motor 16 is provided, for example, near the hub of the front wheel of the bicycle, and supplies a driving force in the forward direction to the front wheel, or functions as a regenerative mechanism or supplies a suppressed driving force based on a signal from the drive circuit 15. When functioning as a regenerative mechanism or generating a suppressed driving force, the motor 16 functions as a generator.

[0024] Battery 17 is a known rechargeable battery such as a nickel-metal hydride battery or a lithium-ion battery, and is installed, for example, near the rear wheel of the bicycle. It supplies power to drive circuit 15 to drive motor 16 in the forward direction, and when motor 16 is functioning as a generator, it receives power generated by motor 16 and charges itself.

[0025] Here, it has been described that one motor 16 and one battery 17 are each provided in a predetermined position, but the installation locations and numbers of each are not limited to this, and the motors 16 and batteries 17 may be provided in different positions, a motor 16 may be provided on both the front and rear wheels, or multiple batteries 17 may be provided.

[0026] (Control unit 14) The control unit 14 has functions as a driving state information acquisition unit 21, a position information acquisition unit 22, a driving restriction information acquisition unit 23, an assist drive and regeneration function control unit 24, a driving state determination unit 25, and a suppressed drive force control unit 26.

[0027] The driving state information acquisition unit 21 acquires the detection results from the various sensors 13 as driving state information, and supplies information necessary for the processing of the assist drive and regeneration function control unit 24, the driving state determination unit 25, and the suppression drive force control unit 26.

[0028] The position information acquisition unit 22 acquires the current position information of the bicycle detected using, for example, a GPS (Global Positioning System) and supplies it to the riding state determination unit 25. The position information may also be acquired via the information acquisition unit 11 from a smartphone carried by the rider.

[0029] The driving restriction information acquisition unit 23 acquires driving restriction information that indicates information about driving restriction areas where caution is required when riding a bicycle or where particularly safe driving is required, the area speed limit in each driving restriction area, and driving conditions that are considered inappropriate, such as meandering or wrong-way driving, and supplies this information to the driving condition determination unit 25. Specifically, the driving restriction information is information that indicates driving restriction areas such as roads with heavy traffic and no sidewalks, roads with sidewalks but many pedestrians, pedestrian zones, shopping districts, school routes, areas near elderly care facilities, intersections with poor visibility, and the start of downhill slopes, as well as the area speed limit, which is the speed at which driving in each driving restriction area should be determined to be dangerous, and driving conditions.

[0030] The driving restriction information acquisition unit 23 may acquire driving restriction information stored in the memory unit 12, or may acquire driving restriction information as needed that is acquired from an external device via a network (not shown) and supplied to the information acquisition unit 11. Furthermore, an oscillator that generates signals such as radio waves of a specific frequency or a location beacon may be installed in advance in a predetermined location where safe bicycle riding is required, and the driving restriction information for the surrounding area may be acquired by receiving these signals with a wireless receiving unit (not shown).

[0031] The assist drive and regenerative function control unit 24 controls the drive circuit 15 to realize the functions of assist drive, regenerative braking, and regenerative charging, based on the information supplied from the driving state information acquisition unit 21.

[0032] The driving condition determination unit 25 determines whether the driver needs to be warned, specifically whether the driving condition is dangerous or whether there is a high possibility that the driving condition will become dangerous, based on the information supplied from the driving condition information acquisition unit 21, the position information acquisition unit 22, and the driving restriction information acquisition unit 23, as well as information about the driver acquired by the information acquisition unit 11 or stored in the memory unit 12, and if a warning is required, i.e., the generation of a suppression drive force is required, the driving condition determination unit 25 supplies the suppression drive force control unit 26 with a driving condition determination result including a command to generate a suppression drive force.

[0033] (Requirements for the occurrence of inhibitory driving force) Examples of conditions for generating the suppression driving force are shown below.

[0034] For example, the riding condition determination unit 25 can determine whether the riding condition of the bicycle requires a rider's attention by using only the riding condition information acquired from the riding condition information acquisition unit 21.

[0035] Specifically, for example, if the bicycle is traveling at a speed equal to or greater than a predetermined first speed that is estimated to be a dangerous speed, the riding condition determination unit 25 determines that it is necessary to generate a suppressed driving force, and supplies the riding condition determination result to the suppressed driving force control unit 26. Furthermore, if the detection value of a handlebar rotation angle detection sensor is frequently fluctuating significantly, that is, if it is estimated that the bicycle is meandering, the riding condition determination unit 25 determines that it is necessary to generate a suppressed driving force, and supplies the riding condition determination result to the suppressed driving force control unit 26. Furthermore, if the riding condition determination unit 25 detects that the bicycle is being further depressed while traveling at a predetermined second speed that is slower than but close to the above-mentioned predetermined first speed, it determines that it is necessary to generate a suppressed driving force before the dangerous first speed is reached, and supplies the riding condition determination result to the suppressed driving force control unit 26.

[0036] Furthermore, the riding condition determination unit 25 can use the riding condition information acquired from the riding condition information acquisition unit 21, as well as information supplied from the position information acquisition unit 22 and the riding restriction information acquisition unit 23, to determine whether the bicycle is in a riding condition that requires the rider's attention.

[0037] Specifically, for example, if the bicycle is traveling at a speed equal to or greater than the area speed limit in an area specified by the traveling restriction information, the traveling condition determination unit 25 determines that it is necessary to generate a suppressed driving force, and supplies the traveling condition determination result to the suppressed driving force control unit 26. Furthermore, if the traveling condition determination unit 25 detects that the bicycle is stopped or that the bicycle is moving at a predetermined speed that is assumed to be associated with a bicycle being pushed while walking, for example, on a sidewalk, pedestrian zone, shopping district, or road with very heavy traffic, the traveling condition determination unit 25 determines that it is necessary to generate a suppressed driving force to call the driver's attention when starting to drive, and supplies the traveling condition determination result to the suppressed driving force control unit 26. An example of the predetermined speed that is assumed to be associated with a bicycle being pushed while walking is less than 4 km / h.

[0038] Furthermore, when the riding condition determination unit 25 detects pedal depression from the riding restriction information, for example, in an area where riding is prohibited or when the bicycle is traveling on the right side of the road, and the bicycle is stopped or traveling at a predetermined speed that is assumed to be a bicycle being pushed and walked, it determines that there is a high possibility that dangerous driving will occur thereafter and that it is necessary to generate a suppressed driving force, and supplies the riding condition determination result to the suppressed driving force control unit 26. When the riding condition determination unit 25 detects, for example, continued acceleration on a downhill slope or no braking operation at all from the riding restriction information, it determines that there is a high possibility that dangerous driving will occur thereafter and that it is necessary to generate a suppressed driving force, and supplies the riding condition determination result to the suppressed driving force control unit 26.

[0039] The conditions for generating the suppression drive force may be set as appropriate in addition to the above-mentioned examples, and may also depend on the type of sensor attached.

[0040] Furthermore, the riding condition determination unit 25 can determine whether the bicycle is in a riding condition that requires the rider to be alerted, using not only the riding condition information acquired from the riding condition information acquisition unit 21 and the information supplied from the position information acquisition unit 22 and the riding restriction information acquisition unit 23, but also the rider information acquired by the information acquisition unit 11 or stored in the memory unit 12.

[0041] That is, the riding condition determination unit 25 may use different conditions for determining the riding conditions of a bicycle that require a driver's attention depending on the driver. For example, by making it possible to set the driver's age as driver information, the speed and handle operation details that serve as the criteria for determining the riding conditions of a bicycle that require a driver's attention, or the handling of riding restriction information, may be changed. For example, children under the age of 13 may be allowed to ride on sidewalks in accordance with the Road Traffic Act. Furthermore, the registration information may be set on an individual basis, rather than by age or gender. Furthermore, it may be possible to set whether or not to use driver information. These settings can be set as appropriate.

[0042] In this way, the driving condition determination unit 25 can determine that the driving condition requires a warning not only when it is estimated that dangerous driving is currently being performed, but also when there is a high possibility that dangerous driving will be performed in the future, and can instruct the suppression driving force control unit 26 to generate a suppression driving force.

[0043] The driving condition determination unit 25 constantly determines the driving condition, and when a warning is no longer required, specifically, for example, when the driving speed has dropped, when it is determined that the vehicle is not meandering, or when the vehicle has moved outside the area specified by the driving restriction information and is no longer subject to the area speed limit, the driving condition determination unit 25 supplies the driving condition determination result, which cancels the command to generate the suppression driving force, to the suppression driving force control unit 26.

[0044] The suppression driving force control unit 26 calculates a suppression driving force according to the driving state based on the driving state information supplied from the driving state information acquisition unit 21 and the command to generate a suppression driving force contained in the driving state judgment result supplied from the driving state judgment unit 25, adjusts the value based on various conditions, and controls the drive circuit 15 as necessary to cause the motor 16 to generate a suppression driving force.

[0045] Even when the assist drive and regenerative function control unit 24 is executing control to realize the regenerative function, the suppressed drive force control unit 26 controls the generation of the suppressed drive force depending on whether or not the brake lever is being operated. Specifically, when the regenerative function without brake lever operation, i.e., the regenerative charging function, is being executed, the suppressed drive force control unit 26 controls the drive circuit 15 to generate the suppressed drive force in the motor 16 based on a command to generate the suppressed drive force and driving state information included in the driving state determination result supplied from the driving state determination unit 25. In this case, the suppressed drive force is controlled to be added to the state of energy recovery through regenerative charging. On the other hand, when the regenerative function with brake lever operation, i.e., the regenerative braking function, is being executed, the suppressed drive force control unit 26 does not generate the suppressed drive force even when it receives a command to generate the suppressed drive force from the driving state determination unit 25, or controls the suppressed drive force to be generated at a level that does not cause the driver to feel uncomfortable operating the brake lever. Here, whether or not the brake lever is being operated can be detected by determining whether or not control for energy recovery through regenerative braking is being executed. The determination of whether or not a brake operation is being performed may be made, for example, by outputting information (not shown) relating to the control of the regenerative function (regenerative braking, regenerative charging) from the assist drive and regenerative function control unit 24, and the suppression drive force control unit 26 acquiring that information and making the determination.

[0046] The suppression drive force control unit 26 also adjusts the suppression drive force according to the driving speed to prevent the rider from tipping over due to a sudden load applied during high-speed riding. Specifically, for example, when traveling at a speed higher than a predetermined speed at which a strong suppression drive force could result in a risk of tipping over, the suppression drive force is adjusted to a value lower than the suppression drive force appropriate for the riding conditions, depending on the excess speed, and the drive circuit 15 is controlled to generate a suppression drive force estimated to reduce the risk of tipping over at that speed. The suppression drive force control unit 26 then continues adjusting the suppression drive force until a predetermined time has elapsed, and after the predetermined time has elapsed, controls the drive circuit 15 to generate a suppression drive force appropriate for the riding conditions. The predetermined speed at which a risk of tipping over occurs, the rate of adjustment, and the predetermined time can be set as appropriate depending on various conditions, such as the bicycle's structure, vehicle weight, and rider weight, and may also use values ​​determined experimentally.

[0047] Furthermore, in order to prevent a sudden decrease in the load on the pedal, an increase in speed, or jerky driving when the generation of the suppressed driving force changes from a state in which the generation of the suppressed driving force is no longer necessary, the suppressed driving force control unit 26 controls the drive circuit 15 to reduce the suppressed driving force by a predetermined amount without suddenly stopping the suppressed driving force when the suppressed driving force is greater than or equal to a predetermined value. The magnitude of the drive suppression force that serves as the threshold for not suddenly stopping the suppressed driving force is a value that can be set appropriately depending on various conditions such as the weight of the vehicle.

[0048] The suppression driving force control unit 26 may also adjust the magnitude of the suppression driving force depending on the driver. For example, by allowing the driver's age and gender to be set, a stronger suppression driving force may be applied to drivers who are not likely to drive at high speeds, such as women or elderly people, because the risk of falling due to the suppression driving force is low. Furthermore, it is believed that elderly people are encouraged to drive safely by receiving stronger warnings. On the other hand, children, for example, are likely to frequently drive aggressively due to their weak strength or inexperience with driving. Therefore, a weaker suppression driving force may be applied to prevent a heavy burden on the driver. Furthermore, the driver information used to adjust the suppression driving force may be determined on an individual basis in addition to attributes such as age and gender. For example, the suppression driving force may be adjustable to match individual conditions, such as when the driver is injured.

[0049] In addition, the suppression drive force control unit 26 may not only generate the suppression drive force, but also output information to a display unit or audio output unit (not shown) to call attention to the driver.

[0050] In this way, when the drive control device 1 detects that the bicycle is being driven dangerously or is about to be driven dangerously, it uses the regenerative function to generate a suppressing drive force, making the rider feel like "the pedals are heavy," thereby alerting the rider. This is a very intuitive way of alerting the rider to the need to pedal, which requires the rider to pedal. For example, if the alert were only provided by a display or audio message, the rider's attention would be focused on the screen or sound, which would distract the rider and delay the rider's detection of surrounding dangers. Compared to alerts provided by a display or audio message only, alerting the rider by making the rider feel like "the pedals are heavy" does not significantly interfere with driving, and can effectively alert the rider without being noticed by those around them.

[0051] Furthermore, the drive control device 1 can not only detect when the bicycle is being driven dangerously, but also when it detects when there is a high possibility that dangerous driving will occur in the future, and issue a warning. In particular, when there is a high possibility that dangerous driving will occur in the future, warnings using displays and audio messages will be issued frequently, which may be unacceptable to the rider and may be ignored or the function may be turned off. Warnings that make the rider feel that the pedals are "heavy" can effectively and reliably alert the rider.

[0052] Furthermore, the drive control device 1 can issue warnings at an early stage that match the conditions of an area, not just when a warning is required due to driving conditions such as speeding or meandering, but also in areas where safer driving is desired.The drive control device 1 can also issue warnings in a more appropriate manner based on information about the driver, such as age and gender.

[0053] Furthermore, if the bicycle is traveling at a predetermined speed or above, an adjusted suppression drive force is generated that is estimated to reduce the likelihood of tipping over at that speed, preventing the bicycle from tipping over due to the generation of the suppression drive force.Furthermore, even if the drive control device 1 detects that the bicycle is being driven dangerously or is about to be driven dangerously, it does not generate a suppression drive force while the brake lever is being operated, or generates a suppression drive force at a level that does not cause the rider to feel uncomfortable when operating the brake lever, so the rider's feel when operating the brake lever is not impaired.

[0054] Furthermore, in the drive control device 1, when a suppression drive force equal to or greater than a predetermined value is generated, the drive circuit 15 is controlled so as not to suddenly stop the suppression drive force but to reduce the suppression drive force by a predetermined amount, thereby preventing the load on the pedal from suddenly decreasing, causing an increase in speed or jerky driving.

[0055] (Drive control processing) Next, the drive control process executed by the drive control device 1 will be described with reference to the flowchart of FIG.

[0056] In step S1, the control unit 14 acquires information about the driver from the information acquisition unit 11 or the storage unit 12. The acquired driver information is used in the processing of the driving state determination unit 25 and the suppression drive force control unit 26.

[0057] In step S2, the driving state information acquisition unit 21 starts detecting the driving state using the various sensors 13, and supplies information necessary for the processing of the assist drive and regenerative function control unit 24, the driving state determination unit 25, and the suppression drive force control unit 26. The assist drive and regenerative function control unit 24 executes conventional control processing of the regenerative function based on the supplied information.

[0058] In step S3, the position information acquisition unit 22 starts acquiring the current position of the bicycle using, for example, a GPS, and supplies this to the riding state determination unit 25.

[0059] In step S4, the driving restriction information acquisition unit 23 begins acquiring driving restriction information, which is information indicating driving restriction areas where caution is required when riding a bicycle or where particularly safe driving is required, the area speed limit in each driving restriction area, and driving conditions that are considered inappropriate, such as meandering or driving in the wrong direction, and supplies this information to the driving condition determination unit 25.

[0060] In step S5, a running state determination process, which will be described later with reference to the flowchart of FIG. 3, is executed.

[0061] In step S6, the suppressed driving force control unit 26 determines, based on the information supplied from the running state determination unit 25, whether or not a command to generate the suppressed driving force has been issued.

[0062] If it is determined in step S6 that a command to generate a suppression driving force has been issued, then in step S7, a suppression driving force control process, which will be described later using the flowchart of FIG. 4, is executed, and the process returns to step S5, where the subsequent processes are repeated.

[0063] If it is determined in step S6 that the generation of the suppression drive force has not been commanded, in step S8, the suppression drive force control unit 26 determines whether or not a suppression drive force equal to or greater than a predetermined value is being generated.

[0064] If it is determined in step S8 that a suppression driving force greater than or equal to a predetermined value is already being generated, in step S9, the suppression driving force control unit 26 reduces the suppression driving force, and the process returns to step S5, where the subsequent processes are repeated.

[0065] If it is determined in step S8 that the suppression driving force is not generated at a value greater than or equal to the predetermined value, in step S10, the suppression driving force control unit 26 does not generate the suppression driving force, and the process returns to step S5, and the subsequent processes are repeated.

[0066] (Driving state determination processing) Next, the running state determination process executed in step S5 of FIG. 2 will be described with reference to the flowchart of FIG.

[0067] In step S21, the driving state determination unit 25 determines whether or not the driving state is set to be determined using driver information.

[0068] If it is determined in step S21 that the setting is to determine the driving state using the driver information, then in step S22, the driving state determination unit 25 determines the driving state based on the driving state information and the setting of the driver information.

[0069] In step S23, the riding condition determination unit 25 determines, based on the result of the determination in step S22 and the setting of the driver information, whether the bicycle riding condition is such that the driver needs to be alerted, for example, by speeding or meandering, and whether an alert is necessary.

[0070] If it is determined in step S23 that a warning is not necessary, in step S24, the driving condition determination unit 25 determines the driving condition based on the settings of the driving condition information, the position information, the driving restriction information, and the driver information.

[0071] In step S25, the driving condition determination unit 25 determines whether a warning is necessary based on the driver information settings in the area specified by the driving restriction information as a result of the determination in step S24, for example, if the bicycle is traveling at a speed equal to or greater than the area speed limit, or if pedal depression is detected while the bicycle is stopped or traveling at a predetermined speed that is assumed to be caused by walking the bicycle on a sidewalk, pedestrian zone, shopping district, road with heavy traffic, etc. If it is determined in step S25 that a warning is not necessary, the process returns to step S6 in FIG. 2.

[0072] If it is determined in step S21 that the setting is not to determine the driving state using the driver information, then in step S26, the driving state determination unit 25 determines the driving state based on the driving state information.

[0073] In step S27, the riding condition determination unit 25 determines whether or not the result of the determination in step S26 indicates that the bicycle is in a riding condition that requires the rider's attention, such as speeding or meandering, and whether or not a warning is necessary.

[0074] If it is determined in step S27 that a warning is not required, then in step S28, the driving condition determination unit 25 determines the driving condition based on the driving condition information, the position information, and the driving restriction information.

[0075] In step S29, the riding condition determination unit 25 determines whether a warning is necessary in the case where, as a result of the determination in step S28, the bicycle is traveling at a speed equal to or greater than the area speed limit in the area specified by the riding restriction information, or where pedal depression is detected while the bicycle is stopped or traveling at a predetermined speed that is assumed to be caused by walking the bicycle on a sidewalk, pedestrian zone, shopping district, road with heavy traffic, etc. If, in step S29, it is determined that a warning is not necessary, the process proceeds to step S6 in FIG. 2.

[0076] If it is determined in step S23, step S25, step S27, or step S29 that a warning is necessary, in step S30, the riding state determination unit 25 outputs a command to generate a suppressed driving force and information regarding the riding state of the bicycle to the suppressed driving force control unit 26, and the processing returns to step S6 in Figure 2.

[0077] (Suppression driving force control processing) Next, the suppression drive force control process executed in step S7 of FIG. 2 will be described with reference to the flowchart of FIG.

[0078] In step S41, the suppressed drive force control unit 26 determines, based on information relating to the riding state of the bicycle supplied from the riding state determination unit 25, whether or not the brake lever is being operated.

[0079] If it is determined in step S41 that the brake lever is being operated, then in step S42 the suppressed drive force control unit 26 does not generate the suppressed drive force, and the process returns to step S5 in Fig. 2. Note that, here, if it is determined that the brake lever is being operated, the suppressed drive force is not generated, but as described above, the suppressed drive force may be generated at a level that does not cause the driver to feel uncomfortable when operating the brake lever.

[0080] If it is determined in step S41 that the brake lever has not been operated, in step S43, the suppression driving force control unit 26 calculates a suppression driving force according to the driving state based on the driving state information supplied from the driving state information acquisition unit 21 and the driving state judgment result supplied from the driving state judgment unit 25.

[0081] In step S44, the suppressed driving force control unit 26 determines whether the bicycle is traveling at a speed higher than a predetermined speed.

[0082] If it is determined in step S44 that the vehicle is traveling at a speed higher than the predetermined speed, the suppressed driving force control unit 26 determines in step S45 whether a predetermined time has elapsed.

[0083] If it is determined in step S45 that the predetermined time has not elapsed, in step S46, the suppression driving force control unit 26 adjusts the suppression driving force to a value smaller than the suppression driving force corresponding to the driving state, i.e., a suppression driving force that is estimated to have a low possibility of tipping over at that speed, depending on the amount of speed exceedance.

[0084] If it is determined in step S44 that the vehicle is not traveling at a speed faster than the predetermined speed, if it is determined in step S45 that the predetermined time has elapsed, or after the processing of step S46 is completed, in step S47 the suppression driving force control unit 26 determines whether the suppression driving force that is adjusted according to the traveling state matches the conditions indicated by the age, gender, and other driver information.

[0085] If it is determined in step S47 that the suppression driving force according to the driving state or adjusted does not match the conditions indicated by the age, gender, and other driver information, in step S48, the suppression driving force control unit 26 adjusts the suppression driving force according to the conditions indicated by the driver information.

[0086] In step S47, if it is determined that the suppression driving force according to the driving state or adjusted conforms to the conditions indicated by the age, gender, and other driver information, or after the processing of step S48 is completed, in step S49, the suppression driving force control unit 26 controls the drive circuit 15 to generate the suppression driving force adjusted as necessary, and the processing returns to step S5 in Figure 2.

[0087] If the processing described using Figures 2 to 4 detects that a bicycle is being driven dangerously or is about to be driven dangerously, it is possible to alert the bicycle rider by utilizing the suppression driving force generated by controlling the motor of the electric assist function.

[0088] [Supplementary explanation of the embodiment] The above-described embodiments each illustrate a preferred specific example of the present invention. The numerical values, components, the arrangement and connection order of the components, the processing order in the flowcharts, and the like shown in the embodiments are merely examples and are not intended to limit the present invention. Furthermore, the drawings are not necessarily rigorous illustrations. For example, a regenerative function is not an essential feature for a bicycle with an electrically assisted function. It will be understood by those skilled in the art that the present invention can also be applied to electrically assisted bicycles that do not have a circuit configuration for a regenerative function that operates the motor as a generator to charge the battery.

[0089] The above-described series of processes can be executed by hardware or software. When the series of processes are executed by software, the programs constituting the software are installed from a program recording medium into a computer incorporated in dedicated hardware, or into, for example, a general-purpose computer that can execute various functions by installing various programs.

[0090] The program executed by the computer may be a program that processes in chronological order according to the order described in this specification, or may be a program that processes in parallel or at the required timing, such as when called.

[0091] [Note] The contents of the above-described embodiments can be understood, for example, as follows.

[0092] (1) Attention to drivers The drive control device 1 described above is A riding condition information acquisition unit 21 acquires riding condition information of the bicycle (step S2); a riding condition determination unit 25 (steps S26 and S27 of step S5) that detects whether the bicycle is being driven improperly or whether improper riding is about to begin, based on the riding condition information acquired by the riding condition information acquisition unit 21, and determines whether a warning needs to be issued to the bicycle rider; a suppression driving force control unit 26 that controls the motor 16 to generate a suppression driving force that suppresses the propulsion of the bicycle based on the riding state information acquired by the riding state information acquisition unit 21 and a command to generate a suppression driving force included in the riding state determination result by the riding state determination unit 25 (step S49); It has.

[0093] With this configuration, if it is detected that the bicycle is being driven dangerously or is about to be driven dangerously, the motor control of the electric assist function is used to generate a suppressing driving force, making the bicycle rider feel that the pedals are "heavy," thereby alerting the rider.

[0094] (2) Consider the area conditions In addition, the drive control device 1 A location information acquisition unit 22 acquires bicycle location information (step S3); a driving restriction information acquisition unit 23 that acquires driving restriction information indicating areas with driving restrictions and the details of the driving restrictions for each area (step S4); Furthermore, Based on the riding state information acquired by the riding state information acquisition unit 21, as well as the location information acquired by the location information acquisition unit 22 and the riding restriction information acquired by the riding restriction information acquisition unit 23, the riding state determination unit 25 detects whether the bicycle is being driven improperly or whether riding is about to begin improperly, and determines whether a warning needs to be issued to the bicycle rider (steps S5 to S28, 29).

[0095] With this configuration, it is possible to issue warnings that match the conditions of an area, not just when a warning is required due to conditions detected based on the driving conditions, such as speeding or meandering, but also in areas where safer driving is desired.

[0096] (3) Changing the detection criteria for inappropriate driving based on driver information In addition, the drive control device 1 The riding condition determination unit 25 can change the detection conditions for detecting a state in which the bicycle is being ridden improperly or a state in which improper riding is about to begin, based on information about the bicycle rider (step S21).

[0097] (4) Changing the restraining driving force taking into account driver information In addition, the drive control device 1 The suppressed drive force control unit 26 can change the control of the suppressed drive force based on the information about the bicycle rider (step S47).

[0098] With this configuration, it is possible to call attention in a more appropriate manner based on information about the driver, such as age and gender.

[0099] (5) Preventing falls In addition, the drive control device 1 When the bicycle is traveling at a speed above a predetermined speed, the suppressed driving force control unit 26 can control the motor so that a suppressed driving force adjusted to be smaller than the suppressed driving force is generated until a predetermined period of time has elapsed (steps S44 to S46).

[0100] With this configuration, it is possible to prevent the bicycle from tipping over due to the generation of the suppression drive force. [Explanation of symbols]

[0101] 1...Drive control device, 11...Information acquisition unit, 12...Storage unit, 13...Various sensors, 14...Control unit, 15...Drive circuit, 16...Motor, 17...Battery, 21...Driving state information acquisition unit, 22...Location information acquisition unit, 23...Driving restriction information acquisition unit, 24...Assist drive and regeneration function control unit, 25...Driving state determination unit, 26...Reduced drive force control unit

Claims

1. A drive control device that controls the drive of a motor of a bicycle with an electrically assisted drive, a riding state information acquisition unit that acquires riding state information of the bicycle; a riding condition determination unit that detects whether the bicycle is being driven improperly or is about to be driven improperly based on the riding condition information acquired by the riding condition information acquisition unit, and determines whether a warning is required for the bicycle rider; a suppression drive force control unit that controls the motor to generate a suppression drive force that suppresses the forward movement of the bicycle, based on a command to generate a suppression drive force included in the riding state information acquired by the riding state information acquisition unit and the riding state determination result by the riding state determination unit; and A drive control device comprising:

2. The drive control device according to claim 1, a location information acquisition unit that acquires location information of the bicycle; a driving restriction information acquisition unit that acquires driving restriction information indicating areas with driving restrictions and details of the driving restrictions for each of the areas; Furthermore, The riding condition determination unit detects whether the bicycle is being driven improperly or whether improper driving is about to begin based on the riding condition information acquired by the riding condition information acquisition unit, the position information acquired by the position information acquisition unit, and the riding restriction information acquired by the riding restriction information acquisition unit, and determines whether a warning is required for the rider of the bicycle. A drive control device characterized by:

3. The drive control device according to claim 1, The riding condition determination unit changes the detection conditions for detecting a state in which the bicycle is being driven improperly or a state in which improper riding is about to begin, based on information about the bicycle rider. A drive control device characterized by:

4. The drive control device according to claim 1, The suppressed drive force control unit changes the control of the suppressed drive force based on information about the rider of the bicycle. A drive control device characterized by:

5. The drive control device according to claim 1, The suppressed driving force control unit controls the motor so that, when the bicycle is traveling at a predetermined speed or faster, a suppressed driving force adjusted to be smaller than the suppressed driving force is generated until a predetermined period of time has elapsed. A drive control device characterized by:

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