Control device for human-driven vehicle

Abstract

To provide a control device for a human-driven vehicle that can appropriately control a component for a human-driven vehicle.SOLUTION: A control device for a human-driven vehicle includes a control part that controls a component in accordance with at least one output of a first detecting part and of a second detecting part when output of the first detecting part is in a first state and when output of the second detecting part is in a second state, controls the component so that the component is brought into a predetermined state without depending on output of the second detecting part, when output of the first detecting part is not in the first state, and controls the component so that the component is brought into the predetermined state without depending on output of the first detecting part, when output of the second detecting part is not in the second state.SELECTED DRAWING: Figure 2

Description

[Technical Field]

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

[0002] For example, the human-powered vehicle disclosed in Patent Document 1 includes a detection unit that detects information about the human-powered vehicle. [Prior art documents] [Patent documents]

[0003] [Patent Document 1] Japanese Patent Application Laid-Open No. 2016-7905 Summary of the Invention [Problem to be solved by the invention]

[0004] One object of the present disclosure is to provide a control device for a human-powered vehicle that can suitably control components for 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, comprising: a component for the human-powered vehicle; and a plurality of detection units configured to detect information regarding the vehicle speed of the human-powered vehicle, the detection units having different information regarding the vehicle speed, the plurality of detection units including at least a first detection unit; and the control device includes a control unit configured to control the component in accordance with the output of the first detection unit when the output of the first detection unit is in a first state, and to control the component in accordance with the output of a predetermined detection unit of the plurality of detection units that is different from the first detection unit when the output of the first detection unit is not in the first state. According to the control device of the first aspect, when the output of the first detector is not in the first state, the component can be controlled in accordance with the output of a predetermined detector different from the first detector among the plurality of detectors, thereby enabling optimal control of the component for the human-powered vehicle.

[0006] In a control device of a second aspect according to the first aspect of the present disclosure, the human-powered vehicle includes a crank to which a human-powered driving force is input, and the control unit is configured to control the component in accordance with the output of the first detection unit when the human-powered driving force input to the crank is greater than a predetermined driving force and the output of the first detection unit is in a first state, and to control the component in accordance with the output of a predetermined detection unit different from the first detection unit among the plurality of detection units when the human-powered driving force input to the crank is greater than the predetermined driving force and the output of the first detection unit is not in the first state. According to the control device of the second aspect, when the manual driving force input to the crank is greater than a predetermined driving force and when the output of the first detection unit is not in the first state, the component can be suitably controlled.

[0007] In the control device of a third aspect according to the first or second aspect of the present disclosure, the plurality of detection units further includes a second detection unit, the predetermined detection unit includes the second detection unit, and when the output of the first detection unit is not in the first state and the output of the second detection unit is in the second state, the control unit is configured to control the component according to the output of the second detection unit. According to the control device of the third aspect, when the output of the first detection unit is not in the first state and the output of the second detection unit is in the second state, the component can be controlled according to the output of the second detection unit.

[0008] In the control device of a fourth aspect according to the third aspect of the present disclosure, the plurality of detection units further includes a third detection unit, the predetermined detection unit includes the third detection unit, and when the output of the first detection unit is not in the first state and the output of the second detection unit is not in the second state, the control unit is configured to control the component according to the output of the third detection unit. According to the control device of the fourth aspect, when the output of the first detection unit is not in the first state and the output of the second detection unit is not in the second state, the component can be controlled according to the output of the third detection unit.

[0009] In the control device of a fifth aspect according to the third aspect of the present disclosure, the plurality of detection units further include a third detection unit and a fourth detection unit, the predetermined detection units include the third detection unit and the fourth detection unit, the control unit is configured to control the component according to the output of the third detection unit when the output of the first detection unit is not in the first state, the output of the second detection unit is not in the second state, and the third detection unit is in the third state, and the control unit is configured to control the component according to the output of the fourth detection unit when the output of the first detection unit is not in the first state, the output of the second detection unit is not in the second state, and the third detection unit is not in the third state. According to the control device of the fifth aspect, when the output of the first detection unit is not in the first state, the output of the second detection unit is not in the second state, and the third detection unit is in the third state, the component can be controlled according to the output of the third detection unit. According to the control device of the fifth aspect, when the output of the first detection unit is not in the first state, the output of the second detection unit is not in the second state, and the third detection unit is not in the third state, the component can be controlled according to the output of the fourth detection unit.

[0010] In the control device of a sixth aspect according to any one of the third to fifth aspects of the present disclosure, the control unit is configured to control the component in accordance with the output of at least one of the first detection unit and the second detection unit when the output of the first detection unit is in the first state and the output of the second detection unit is in the second state, to control the component in accordance with the output of the second detection unit and independently of the output of the first detection unit when the output of the first detection unit is not in the first state and the output of the second detection unit is in the second state, and to control the component in accordance with the output of the first detection unit and independently of the output of the second detection unit when the output of the first detection unit is in the first state and the output of the second detection unit is not in the second state. According to the control device of the sixth aspect, when the output of the first detection unit is not in the first state and the output of the second detection unit is in the second state, the component can be controlled in accordance with the output of the second detection unit and independently of the output of the first detection unit. According to the control device of the sixth aspect, when the output of the first detection unit is in the first state and the output of the second detection unit is not in the second state, the component can be controlled in accordance with the output of the first detection unit and independently of the output of the second detection unit.

[0011] A control device according to a seventh aspect of the present disclosure is a control device for a human-powered vehicle, the human-powered vehicle comprising a component for the human-powered vehicle and a plurality of detection units, the plurality of detection units comprising a first detection unit configured to detect first information about the human-powered vehicle and a second detection unit configured to detect second information about the human-powered vehicle, the first information and the second information being mutually related, and the control device includes a control unit configured to control the component in response to an output of at least one of the first detection unit and the second detection unit, when the output of the first detection unit is in a first state and the output of the second detection unit is in a second state, to control the component in response to the output of the second detection unit and independently of the output of the first detection unit, when the output of the first detection unit is not in the first state and the output of the second detection unit is in the second state, and to control the component in response to the output of the first detection unit and independently of the output of the second detection unit, when the output of the first detection unit is in the first state and the output of the second detection unit is not in the second state. According to the control device of the seventh aspect, when the output of the first detection unit is in the first state and the output of the second detection unit is in the second state, the component can be controlled in accordance with the output of at least one of the first detection unit and the second detection unit. According to the control device of the seventh aspect, when the output of the first detection unit is not in the first state and the output of the second detection unit is in the second state, the component can be controlled in accordance with the output of the second detection unit and independently of the output of the first detection unit. According to the control device of the seventh aspect, when the output of the first detection unit is in the first state and the output of the second detection unit is not in the second state, the component can be controlled in accordance with the output of the first detection unit and independently of the output of the second detection unit. This allows for suitable control of components for human-powered vehicles.

[0012] In the control device of an eighth aspect according to the seventh aspect of the present disclosure, the control unit is configured to control the component in response to at least one of a first parameter related to the first information and a second parameter related to the second information. According to the control device of the eighth aspect, the component can be controlled in response to at least one of a first parameter related to the first information and a second parameter related to the second information.

[0013] In the control device of a ninth aspect according to the eighth aspect of the present disclosure, when the output of the first detection unit is not in the first state and the output of the second detection unit is in the second state, the control unit is configured to estimate the first parameter according to the second parameter calculated according to the second information, and control the component according to the estimated first parameter. According to the control device of the ninth aspect, when the output of the first detection unit is not in the first state and the output of the second detection unit is in the second state, the first parameter can be estimated according to the second parameter calculated according to the second information, and the component can be controlled according to the estimated first parameter.

[0014] In the control device of a tenth aspect according to the eighth or ninth aspect of the present disclosure, the control unit is configured to, when the output of the first detection unit is in the first state and the output of the second detection unit is not in the second state, estimate the second parameter according to the first parameter calculated according to the first information, and control the component according to the estimated second parameter. According to the control device of the tenth aspect, when the output of the first detection unit is in a first state and the output of the second detection unit is not in a second state, a second parameter is estimated based on a first parameter calculated based on first information, and a component can be controlled based on the estimated second parameter.

[0015] A control device according to an eleventh aspect of the present disclosure is a control device for a human-powered vehicle, the human-powered vehicle comprising: a component for the human-powered vehicle; and a plurality of detection units configured to detect information regarding the vehicle speed of the human-powered vehicle, the detection units having different information regarding the vehicle speed, the plurality of detection units including a first detection unit and a second detection unit. The control device also includes a control unit that, when the output of the first detection unit is in a first state and the output of the second detection unit is in a second state, controls the component in accordance with the output of at least one of the first detection unit and the second detection unit; when the output of the first detection unit is not in the first state, controls the component so that the component is in a predetermined state independently of the output of the second detection unit; and when the output of the second detection unit is not in the second state, controls the component so that the component is in the predetermined state independently of the output of the first detection unit. According to the control device of the eleventh aspect, when the output of the first detection unit is not in the first state, the component is controlled so that the component is in a predetermined state without depending on the output of the second detection unit, and when the output of the second detection unit is not in the second state, the component is controlled so that the component is in the predetermined state without depending on the output of the first detection unit. This makes it possible to suitably control components for human-powered vehicles.

[0016] In the control device of the twelfth aspect according to the eleventh aspect of the present disclosure, the first detection unit is configured to detect third information regarding the vehicle speed, and the second detection unit is configured to detect fourth information regarding the vehicle speed, and the third information and the fourth information are mutually related. According to the control device of the twelfth aspect, the component can be controlled in accordance with the third information and the fourth information.

[0017] In the control device of the thirteenth aspect according to the twelfth aspect of the present disclosure, the control unit is configured to control the component in accordance with at least one of the third information and the fourth information when the output of the first detection unit is in the first state and the output of the second detection unit is in the second state. According to the control device of the thirteenth aspect, when the output of the first detection unit is in the first state and the output of the second detection unit is in the second state, the component can be controlled according to at least one of the third information and the fourth information.

[0018] In the control device of the 14th aspect according to the 12th or 13th aspect of the present disclosure, the control unit is configured to control the component in accordance with both the third information and the fourth information when the output of the first detection unit is in the first state and the output of the second detection unit is in the second state. According to the control device of the fourteenth aspect, when the output of the first detection unit is in the first state and the output of the second detection unit is in the second state, the component can be controlled according to both the third information and the fourth information.

[0019] A control device according to a fifteenth aspect of the present disclosure is a control device for a human-powered vehicle, the human-powered vehicle comprising: a component for the human-powered vehicle; and a plurality of detection units configured to detect information regarding the vehicle speed of the human-powered vehicle, the detection units having different information regarding the vehicle speed, the plurality of detection units including a first detection unit and a second detection unit. The control device includes a control unit that controls the component to enter a predetermined state when at least one of third information regarding the vehicle speed of the human-powered vehicle output by the first detection unit and fourth information regarding the vehicle speed of the human-powered vehicle output by the second detection unit corresponds to the vehicle speed of the human-powered vehicle being equal to or greater than a predetermined speed. According to the control device of the fifteenth aspect, when at least one of the third information related to the vehicle speed of the human-powered vehicle output by the first detection unit and the fourth information related to the vehicle speed of the human-powered vehicle output by the second detection unit corresponds to the vehicle speed of the human-powered vehicle being equal to or greater than a predetermined speed, the control device can control the components so that the components are in a predetermined state. This allows the components for the human-powered vehicle to be controlled in an optimal manner.

[0020] In the control device of the sixteenth aspect according to the fifteenth aspect of the present disclosure, when one of the third information and the fourth information corresponds to a case where the vehicle speed of the human-powered vehicle is equal to or greater than a predetermined speed, the control unit controls the component so that the component is in the predetermined state. According to the control device of the sixteenth aspect, when one of the third information and the fourth information corresponds to the vehicle speed of the human-powered vehicle being equal to or greater than a predetermined speed, the component can be controlled so that the component is in a predetermined state.

[0021] In the control device of the seventeenth aspect according to the sixteenth aspect of the present disclosure, when both the third information and the fourth information correspond to a case where the vehicle speed of the human-powered vehicle is equal to or greater than a predetermined speed, the control unit controls the component so that the component is in the predetermined state. According to the control device of the seventeenth aspect, when both the third information and the fourth information correspond to the case where the vehicle speed of the human-powered vehicle is equal to or greater than a predetermined speed, the component can be controlled so that the component is in a predetermined state.

[0022] In the control device of aspect 18 according to any one of aspects 11 to 16 of the present disclosure, the component includes an electric actuator, and the predetermined state includes a state in which the electric actuator is not operating. According to the control device of the eighteenth aspect, the electric actuator can be suitably controlled.

[0023] In a control device of a 19th aspect according to any one of the third to fourteenth aspects of the present disclosure, when the output of the second detection unit is not in the second state, the signal output from the second detection unit includes a predetermined second signal. According to the control device of the nineteenth aspect, it is possible to determine whether the output of the second detection unit is in the second state based on whether the signal output from the second detection unit includes a predetermined signal.

[0024] In the control device of aspect 20 according to any one of aspects 1 to 19 of the present disclosure, the plurality of detection units include at least one of a vehicle speed sensor configured to detect information corresponding to the rotational speed of the wheels of the human-powered vehicle, a crank rotation sensor configured to detect information corresponding to the rotational speed of the crank of the human-powered vehicle, an acceleration sensor configured to detect information corresponding to the acceleration of the human-powered vehicle, a position information detection sensor configured to detect information corresponding to the position of the human-powered vehicle, and a motor rotation sensor configured to detect information corresponding to the rotational speed of a motor that provides propulsive force to the human-powered vehicle. According to the control device of the twentieth aspect, the components can be suitably controlled in accordance with the output of at least one of the vehicle speed sensor, the crank rotation sensor, the acceleration sensor, the position information detection sensor, and the motor rotation sensor.

[0025] In the control device of the 21st aspect according to the fourth aspect of the present disclosure, the plurality of detection units include at least one of a vehicle speed sensor configured to detect information corresponding to the rotational speed of the wheels of the human-powered vehicle, a crank rotation sensor configured to detect information corresponding to the rotational speed of the crank of the human-powered vehicle, an acceleration sensor configured to detect information corresponding to the acceleration of the human-powered vehicle, a position information detection sensor configured to detect information corresponding to the position of the human-powered vehicle, and a motor rotation sensor configured to detect information corresponding to the rotational speed of a motor that provides propulsive force to the human-powered vehicle, and the first detection unit includes the vehicle speed sensor. According to the control device of the 21st aspect, components can be suitably controlled in accordance with the output of at least one of the vehicle speed sensor, crank rotation sensor, acceleration sensor, position information detection sensor, and motor rotation sensor, and when the vehicle speed sensor is in the first state, components can be controlled in accordance with the output of the vehicle speed sensor.

[0026] In the control device of a twenty-second aspect according to the twenty-first aspect of the present disclosure, the second detection unit includes one of the crank rotation sensor and the acceleration sensor. According to the control device of the twenty-second aspect, when the vehicle speed sensor is not in the first state, the component can be controlled in accordance with the output of one of the crank rotation sensor and the acceleration sensor.

[0027] In the control device of a twenty-third aspect according to the twenty-second aspect of the present disclosure, the third detection unit includes the other of the crank rotation sensor and the acceleration sensor. According to the control device of the 23rd aspect, when the vehicle speed sensor is not in the first state and the output of one of the crank rotation sensor and the acceleration sensor is not in the second state, the component can be controlled according to the output of the other of the crank rotation sensor and the acceleration sensor.

[0028] In a control device of a 24th aspect according to any one of the 1st to 14th and 20th to 23rd aspects of the present disclosure, when the output of the first detection unit is not in the first state, the signal output from the first detection unit includes a predetermined first signal. According to the control device of the twenty-fourth aspect, it is possible to determine whether the output of the first detection unit is in the first state based on whether the signal output from the first detection unit includes a predetermined first signal.

[0029] In the control device of the 25th aspect according to the 24th aspect of the present disclosure, the first signal includes a signal that is generated in at least one of the following cases: when the first detection unit is faulty; when there is an abnormality in the connection between the first detection unit and the control unit; when the first detection unit is not in a predetermined configuration; and when the connection between the first detection unit and the control unit is not in a predetermined configuration. According to the control device of the 25th aspect, the components can be controlled appropriately when the first detection unit is malfunctioning, when there is an abnormality in the connection between the first detection unit and the control unit, when the first detection unit is not of a predetermined configuration, and when the connection between the first detection unit and the control unit is not of a predetermined configuration.

[0030] In a control device of a 26th aspect according to any one of the first to fourteenth and twentieth to twenty-fifth aspects of the present disclosure, when the output of the first detection unit is not in the first state, no signal is output from the first detection unit. According to the control device of the twenty-sixth aspect, it is possible to determine whether the output of the first detection unit is in the first state based on whether or not a signal is output from the first detection unit.

[0031] In the control device of aspect 27 according to any one of aspects 1 to 14 and aspects 20 to 26 of the present disclosure, the control unit causes the alarm unit to notify predetermined alarm information when the output of the first detection unit is not in the first state. According to the control device of the twenty-seventh aspect, the user can know from the notification section that the output of the first detection section is not in the first state.

[0032] In the control device of the 28th aspect according to any one of the 1 to 27 aspects of the present disclosure, the component includes a motor that provides propulsive force to the human-powered vehicle. According to the control device of the twenty-eighth aspect, the motor can be suitably controlled in accordance with the output of the detection unit included in the plurality of detection units. [Effects of the Invention]

[0033] The control device for a human-powered vehicle of the present disclosure can suitably control components for a human-powered vehicle. [Brief explanation of the drawings]

[0034] [Figure 1] 1 is a side view of a human-powered vehicle including a control device for a human-powered vehicle according to a first embodiment. [Figure 2] 1 is a block diagram showing the electrical configuration of a human-powered vehicle including a control device for a human-powered vehicle according to a first embodiment. [Figure 3] 3 is a first part of a flowchart of a process executed by the control unit of FIG. 2 to control components. [Figure 4] 3 is a second part of the flowchart of the process executed by the control unit of FIG. 2 to control components. [Figure 5] 10 is a flowchart of a process executed by a control unit according to a second embodiment to control components. [Figure 6]FIG. 10 is a block diagram showing the electrical configuration of a human-powered vehicle including a control device for a human-powered vehicle according to a third embodiment. [Figure 7] 7 is a flowchart of a process executed by the control unit in FIG. 6 to control components. [Figure 8] 10 is a flowchart of a process executed by a control unit according to a fourth embodiment to control components. [Figure 9] 13 is a flowchart of a process executed by a control unit according to a fifth embodiment to control components. [Figure 10] 13 is a flowchart of a process executed by a control unit according to a first modified example of the third embodiment to control a component. [Figure 11] 13 is a flowchart of a process executed by a control unit according to a second modified example of the third embodiment to control a component. [Figure 12] 10 is a first part of a flowchart of a process executed by a control unit in a third modified example of the third embodiment to control a component. [Figure 13] 10 is a second part of the flowchart of the process executed by the control unit to control components according to a third modification of the third embodiment. [Figure 14] 10 is a flowchart of a process executed by a control unit according to a modification of the second embodiment to control components. [Figure 15] 13 is a flowchart of a process executed by a control unit in a modification of the fourth embodiment to control components. [Figure 16] 13 is a flowchart of a process executed by a control unit in a modification of the fifth embodiment to control components. DETAILED DESCRIPTION OF THE INVENTION

[0035] First Embodiment A control device 70 for a human-powered vehicle according to a first embodiment will be described with reference to FIGS. 1 to 4. The human-powered vehicle 10 is a vehicle that can be driven by at least a human-powered driving force H. The human-powered vehicle 10 is not limited in the number of wheels, and includes, for example, one-wheeled vehicles and vehicles with three or more wheels. The human-powered vehicle 10 includes various types of bicycles, such as mountain bikes, road bikes, city bikes, cargo bikes, and recumbent bikes, as well as electric bicycles (E-bikes). Electric bicycles include power-assisted bicycles that use an electric motor to assist the vehicle's propulsion. In the following embodiments, the human-powered vehicle 10 will be described as a bicycle.

[0036] The human-powered vehicle 10 includes a crank 12 to which a human-powered driving force H is input. The human-powered vehicle 10 further includes wheels 14 and a vehicle body 16. The wheels 14 include a rear wheel 14A and a front wheel 14B. The vehicle body 16 includes a frame 18. The crank 12 includes a crankshaft 12A that is rotatable relative to the frame 18, and crank arms 12B that are respectively provided at the axial ends of the crankshaft 12A. Pedals 20 are connected to each crank arm 12B. The rear wheel 14A is driven by the rotation of the crank 12. The rear wheel 14A is supported by the frame 18. The crank 12 and the rear wheel 14A are connected by a drive mechanism 22. The drive mechanism 22 includes a first rotor 24 that is connected to the crankshaft 12A. The crankshaft 12A and the first rotating body 24 may be connected to rotate integrally, or may be connected via a first one-way clutch. The first one-way clutch is configured to rotate the first rotating body 24 forward when the crank 12 rotates forward, and to allow relative rotation between the crank 12 and the first rotating body 24 when the crank 12 rotates backward. The first rotating body 24 includes a sprocket, a pulley, or a bevel gear. The drive mechanism 22 further includes a second rotating body 26 and a connecting member 28. The connecting member 28 transmits the rotational force of the first rotating body 24 to the second rotating body 26. The connecting member 28 includes, for example, a chain, a belt, or a shaft.

[0037] The second rotating body 26 is connected to the rear wheel 14A. The second rotating body 26 includes a sprocket, a pulley, or a bevel gear. A second one-way clutch is preferably provided between the second rotating body 26 and the rear wheel 14A. The second one-way clutch is configured to rotate the rear wheel 14A forward when the second rotating body 26 rotates forward, and to allow relative rotation between the second rotating body 26 and the rear wheel 14A when the second rotating body 26 rotates backward.

[0038] A front wheel 14B is attached to the frame 18 via a front fork 30. A handlebar 34 is connected to the front fork 30 via a stem 32. In this embodiment, the rear wheel 14A is connected to the crank 12 by the drive mechanism 22, but at least one of the rear wheel 14A and the front wheel 14B may be connected to the crank 12 by the drive mechanism 22.

[0039] The human-powered vehicle 10 includes a human-powered vehicle battery 36. The battery 36 includes one or more battery elements. The battery element includes a rechargeable battery. The battery 36 supplies power to the control device 70. The battery 36 is preferably connected to a control unit 72 of the control device 70 so as to be able to communicate with the control unit 72 via wired or wireless communication. The battery 36 can communicate with the control unit 72 via, for example, power line communication (PLC), a controller area network (CAN), or a universal asynchronous receiver / transmitter (UART).

[0040] The human-powered vehicle 10 includes a component 38 for a human-powered vehicle. Preferably, the component 38 includes an electric actuator 39. Preferably, the component 38 includes a motor 40 that provides propulsion force to the human-powered vehicle 10. When the component 38 includes the motor 40, the electric actuator 39 is the motor 40. The motor 40 includes one or more electric motors. The motor 40 is configured to transmit rotation to a power transmission path of the human-powered driving force H from the pedals 20 to the rear wheel 14A and to at least one of the front wheels 14B. The power transmission path of the human-powered driving force H from the pedals 20 to the rear wheel 14A includes the rear wheel 14A. In this embodiment, the motor 40 is provided on the frame 18 of the human-powered vehicle 10 and configured to transmit rotation to the first rotating body 24. The motor 40 and a housing in which the motor 40 is provided constitute a drive unit. A third one-way clutch is preferably provided in the power transmission path between the motor 40 and the crankshaft 12A so that the motor 40 does not rotate due to the rotational force of the crank 12 when the crankshaft 12A is rotated in the direction in which the human-powered vehicle 10 moves forward. When a motor 40 is provided on at least one of the rear wheel 14A and the front wheel 14B, the motor 40 may include a hub motor.

[0041] Preferably, the human-powered vehicle 10 further includes an alarm unit 42. The alarm unit 42 includes a display unit. The display unit may, for example, include a display panel. The display unit may, for example, include at least one of a portable electronic device, a display, a smartphone, a tablet computer, and a cycle computer. The alarm unit 42 may also include a speaker.

[0042] Preferably, the human-powered vehicle 10 includes a transmission 44 configured to change the gear ratio R of the human-powered vehicle 10. The gear ratio R of the human-powered vehicle 10 is the ratio of the rotational speed of the drive wheel to the rotational speed N of the crank 12. In this embodiment, the drive wheel is the rear wheel 14A. The transmission 44 includes, for example, at least one of a front derailleur, a rear derailleur, and an internal gearbox. When the transmission 44 includes an internal gearbox, the internal gearbox is provided, for example, in the hub of the rear wheel 14A. The transmission 44 includes at least one of an electric gearbox configured to be operated by an electric actuator and a cable-type gearbox configured to be operated by a Bowden cable.

[0043] The control device 70 includes a control unit 72. The control unit 72 includes an arithmetic processing unit that executes a predetermined control program. The arithmetic processing unit includes, for example, a CPU (Central Processing Unit) or an MPU (Micro Processing Unit). The arithmetic processing units may be provided in multiple locations that are separate from each other. The control unit 72 may include one or more microcomputers. Preferably, the control device 70 further includes a memory unit 74. The memory unit 74 stores various control programs and information used for various control processes. The memory unit 74 includes, for example, a non-volatile memory and a volatile memory. The non-volatile memory includes, for example, at least one of a ROM (Read-Only Memory), an EPROM (Erasable Programmable Read-Only Memory), an EEPROM (Electrically Erasable Programmable Read-Only Memory), and a flash memory. The volatile memory includes, for example, a RAM (Random Access Memory).

[0044] The control device 70 preferably further includes a drive circuit 76 for the motor 40. The drive circuit 76 and the control unit 72 are preferably provided in the housing in which the motor 40 is provided. The drive circuit 76 and the control unit 72 may be provided on the same circuit board, for example. The drive circuit 76 includes an inverter circuit. The drive circuit 76 controls the power supplied from the battery 36 to the motor 40. The drive circuit 76 is connected to the control unit 72 by wire or wirelessly. The drive circuit 76 drives the motor 40 in response to a control signal from the control unit 72.

[0045] The human-powered vehicle 10 includes a plurality of detectors 46 configured to detect information related to the vehicle speed V of the human-powered vehicle 10, the detectors 46 having mutually different information related to the vehicle speed V. The plurality of detectors 46 are connected to the control unit 72 via a wireless communication device or an electric cable. The plurality of detectors 46 include at least a first detector 48. Preferably, the plurality of detectors 46 further include a second detector 50. The first detector 48 is configured to detect first information related to the vehicle speed V. The first information includes a first parameter P1. The second detector 50 is configured to detect second information related to the vehicle speed V. The second information includes a second parameter P2. Preferably, the first information and the second information are mutually related. The first parameter P1 and the second parameter P2 are correlated. The first information can be estimated from the second information.

[0046] Preferably, the multiple detection units 46 include at least one of a vehicle speed sensor 54, a crank rotation sensor 56, an acceleration sensor 58, a position information detection sensor 60, and a motor rotation sensor 62. Preferably, the first detection unit 48 includes the vehicle speed sensor 54. Preferably, the second detection unit 50 includes one of the crank rotation sensor 56 and the acceleration sensor 58. Preferably, the second detection unit 50 includes the crank rotation sensor 56. In this embodiment, the first detection unit 48 includes the vehicle speed sensor 54, and the second detection unit 50 includes the crank rotation sensor 56, but the combination of the sensors included in the first detection unit 48 and the second detection unit 50 is not limited to this. The first detection unit 48 may include the crank rotation sensor 56, and the second detection unit 50 may include the vehicle speed sensor 54. The human-powered vehicle 10 shown in FIG. 2 is equipped with a vehicle speed sensor 54, a crank rotation sensor 56, an acceleration sensor 58, a position information detection sensor 60, and a motor rotation sensor 62, but in this embodiment, at least one of the acceleration sensor 58, the position information detection sensor 60, and the motor rotation sensor 62 may be omitted.

[0047] The vehicle speed sensor 54 is configured to detect information corresponding to the rotational speed of the wheels 14 of the human-powered vehicle 10. The vehicle speed sensor 54 is configured, for example, to detect magnets attached to the wheels 14 of the human-powered vehicle 10. The vehicle speed sensor 54 is configured, for example, to output a detection signal a predetermined number of times per rotation of the wheels 14. The predetermined number is, for example, 1. The vehicle speed sensor 54 outputs a signal corresponding to the rotational speed of the wheels 14. The control unit 72 can calculate the vehicle speed V of the human-powered vehicle 10 based on the rotational speed of the wheels 14 and information related to the circumference of the wheels 14. Information related to the circumference of the wheels 14 is stored in the memory unit 74. The vehicle speed sensor 54 includes, for example, magnetic reeds forming a reed switch, or a Hall element. The vehicle speed sensor 54 may be attached to the chainstay of the frame 18 of the human-powered vehicle 10 and configured to detect a magnet attached to the rear wheel 14A, or may be attached to the front fork 30 and configured to detect a magnet attached to the front wheel 14B. In this embodiment, the vehicle speed sensor 54 is configured such that the reed switch detects the magnet once for each rotation of the wheel 14. The vehicle speed sensor 54 is not limited to a configuration that detects the magnet provided on the wheel 14, and may be configured to include, for example, an optical sensor. The vehicle speed sensor 54 is connected to the control unit 72 via a wireless communication device or an electric cable.

[0048] The crank rotation sensor 56 is configured to detect information corresponding to the rotation speed N of the crank 12 of the human-powered vehicle 10. The crank rotation sensor 56 is provided, for example, on the frame 18 or drive unit of the human-powered vehicle 10. The crank rotation sensor 56 includes a magnetic sensor that outputs a signal corresponding to the strength of a magnetic field. An annular magnet, whose magnetic field strength varies circumferentially, is provided on the crankshaft 12A, a member that rotates in conjunction with the crankshaft 12A, or the power transmission path from the crankshaft 12A to the first rotating body 24. The member that rotates in conjunction with the crankshaft 12A includes the output shaft of the motor 40. The crank rotation sensor 56 outputs a signal corresponding to the rotation speed N of the crank 12. The magnet may be provided on a member that rotates integrally with the crankshaft 12A in the power transmission path of the human-powered driving force H from the crankshaft 12A to the first rotating body 24. For example, if a first one-way clutch is not provided between the crankshaft 12A and the first rotor 24, the magnet may be provided on the first rotor 24. The crank rotation sensor 56 may include an optical sensor, an acceleration sensor, a gyro sensor, or a torque sensor instead of a magnetic sensor. The crank rotation sensor 56 is connected to the control unit 72 via a wireless communication device or an electric cable.

[0049] The acceleration sensor 58 is configured to detect information corresponding to the acceleration D of the human-powered vehicle 10. Preferably, the acceleration sensor 58 is configured to detect information corresponding to the acceleration D in the front-to-rear direction of the human-powered vehicle 10 when the human-powered vehicle 10 is standing upright with its front wheels 14B and rear wheels 14A on a horizontal surface. The acceleration sensor 58 is connected to the control unit 72 via a wireless communication device or an electric cable.

[0050] The position information detection sensor 60 is configured to detect information corresponding to the position of the human-powered vehicle 10. The position information detection sensor 60 includes, for example, a GPS (Global Positioning System) receiver. The position information detection sensor 60 is connected to the control unit 72 via a wireless communication device or an electric cable. The position information detection sensor 60 may be provided in, for example, an electronic device such as a smartphone. When the rider carries the electronic device or when the electronic device is attached to the frame, the position information detection sensor 60 can detect information corresponding to the position of the human-powered vehicle 10.

[0051] The motor rotation sensor 62 is configured to detect information corresponding to the rotation speed of the motor 40 that provides propulsive force to the human-powered vehicle 10. The motor rotation sensor 62 is provided on the motor 40 or around the motor 40. The motor rotation sensor 62 includes, for example, a resolver or an encoder. If a reducer is included between the motor 40 and the transmission path of the human-powered driving force H, the motor rotation sensor 62 may be configured to detect the rotation speed of a rotating body that constitutes the reducer. The motor rotation sensor 62 is connected to the control unit 72 via a wireless communication device or an electric cable.

[0052] Preferably, the human-powered vehicle 10 further includes a torque sensor 64. The torque sensor 64 is configured to output a signal corresponding to the torque applied to the crank 12 by the human-powered driving force H. For example, if a first one-way clutch is provided in the power transmission path, the torque sensor 64 is preferably provided upstream of the first one-way clutch in the power transmission path. The torque sensor 64 includes a strain sensor, a magnetostrictive sensor, or a pressure sensor. The strain sensor includes a strain gauge. The torque sensor 64 is provided in the power transmission path or on a component included in the power transmission path or in the vicinity of a component included in the power transmission path. The component included in the power transmission path is, for example, the crankshaft 12A, a component that transmits the human-powered driving force H between the crankshaft 12A and the first rotor 24, the crank arm 12B, or the pedal 20. The torque sensor 64 is connected to the control unit 72 via a wireless communication device or an electric cable.

[0053] Preferably, the human-powered vehicle 10 further includes a gear shift state sensor 65. The gear shift state sensor 65 outputs information related to the gear shift state of the transmission 44. The gear shift state includes, for example, a gear shift stage. The gear shift state sensor 65 may be provided in the transmission 44, or may be provided in the Bowden cable or the gear shift operating device. If the transmission 44 is an electric transmission, the gear shift state sensor 65 is configured to detect, for example, the operation of an electric actuator of the electric transmission. The electric actuator of the electric transmission includes, for example, an electric motor and a reducer. The gear shift state sensor 65 is configured to detect the operation of the electric motor or the reducer of the electric actuator. If the transmission 44 is a cable-type transmission, the gear shift state sensor 65 is configured to detect, for example, at least one of the operation of a moving part of the transmission 44, the operation of the Bowden cable, and the operation of the gear shift operating device. The gear shift state sensor 65 is configured to include, for example, a magnetic sensor, a potentiometer, a rotary encoder, a linear encoder, or an optical sensor. The storage unit 74 stores information about the gear shift state output from the gear shift state sensor 65 and information about the gear ratio R of the human-powered vehicle 10, in association with each other. The control unit can obtain information about the current gear ratio R of the human-powered vehicle 10 based on the information about the gear shift state output from the gear shift state sensor 65 and the information stored in the storage unit 74.

[0054] The control unit 72 controls the component 38 in accordance with the outputs of the multiple detection units 46. When the component 38 is a motor 40, the control unit 72 controls the motor 40 in accordance with the outputs of the multiple detection units 46.

[0055] The control unit 72 controls the motor 40 in response to at least one of the vehicle speed V of the human-powered vehicle 10 and the rotation speed N of the crank 12. Preferably, the control unit 72 also controls the motor 40 in response to the human-powered driving force H. The control unit 72 may be configured to control the motor 40 in the assist mode and the walk mode. In the walk mode, the control unit 72 is configured to drive the motor 40 when the human-powered driving force H input to the crank 12 is equal to or less than a predetermined driving force HX. The predetermined driving force HX is, for example, 0 Nm. The walk mode is used, for example, when a user walks while pushing the human-powered vehicle 10. In the walk mode, the control unit 72 is configured to drive the motor 40 when the human-powered driving force H is equal to or less than a predetermined driving force HX. The predetermined driving force HX is, for example, 0 Nm. In the assist mode, the control unit 72 is further configured to control the motor 40 in response to the human-powered driving force H, and to drive the motor 40 when the human-powered driving force H is greater than the predetermined driving force HX. The manual driving force H may be expressed by torque HT or power WH. When the manual driving force H is expressed by power, the manual driving force H is obtained by multiplying the torque detected by the torque sensor 64 by the rotation speed N of the crank 12 detected by the crank rotation sensor 56.

[0056] The control unit 72 is configured to control the motor 40 so that the assist force M by the motor 40 becomes a predetermined assist ratio X relative to the manual driving force H. The predetermined assist ratio X is not constant, but may vary, for example, depending on the manual driving force H, the vehicle speed V, or both the manual driving force H and the vehicle speed V. The manual driving force H and the assist force M may be expressed in terms of torque or power. When the manual driving force H and the assist force M are expressed in terms of torque, the manual driving force H is referred to as the manual torque TH, and the assist force M is referred to as the assist torque TM. When the manual driving force H and the assist force M are expressed in terms of power, the manual driving force H is referred to as the manual power WH, and the assist force M is referred to as the assist power WM. The torque ratio of the assist torque TM to the manual torque TH of the human-powered vehicle 10 may be referred to as the assist ratio AT. The ratio of the assist power WM by the motor 40 to the manual power WH may be referred to as the assist ratio AW. The control unit 72 is configured to control the motor 40 using one control state selected from a plurality of control states in which at least a portion of the correspondence between the manual driving force H and the assist ratio X differs from one another. The manual power WH is calculated by multiplying the manual torque TH by the rotational speed N of the crank 12. When the output of the motor 40 is input to the power path of the manual driving force H via a reducer, the output of the reducer is used as the assist force M. When a reducer is not present, the assist power WM is calculated by multiplying the output torque of the motor 40 by the rotational speed of the motor 40. When a reducer is present, the assist power WM is calculated by multiplying the output torque of the reducer by the output rotational speed of the reducer. When a reducer is present, the memory unit 74 is configured to store information related to the reduction ratio of the reducer. The control unit 72 can calculate the output rotational speed of the reducer based on the rotational speed of the motor 40 and information related to the reduction ratio of the reducer. The memory unit 74 stores, for example, information indicating the relationship between the control command for the motor 40 and the output torque of the motor 40. The control unit 72 can calculate the output torque of the motor 40 according to information that indicates the relationship between the control command for the motor 40 and the output torque of the motor 40, which is stored in the storage unit 74, for example.The control unit 72 can calculate the output torque of the reducer, for example, in accordance with the output torque of the motor 40 and information related to the reduction ratio of the reducer. The control unit 72 is configured to output a control command to a drive circuit 76 of the motor 40 in accordance with the manual torque TH or the manual power WH. The control command includes, for example, a torque command value. The multiple control states may include a control state in which the motor 40 is not driven.

[0057] The control unit 72 controls the motor 40 so that the assist force M is equal to or less than the upper limit value MX. When the assist force M is expressed by torque, the control unit 72 controls the motor 40 so that the assist torque TM is equal to or less than the upper limit value MTX. Preferably, the upper limit value MTX is a value in the range of 30 Nm to 90 Nm. The upper limit value MTX is, for example, 80 Nm. The upper limit value MTX is determined, for example, by the output characteristics of the motor 40. When the assist force M is expressed by power, the control unit 72 controls the motor 40 so that the assist power WM is equal to or less than the upper limit value MWX.

[0058] For example, the control unit 72 stops the motor 40 when the vehicle speed V becomes equal to or greater than a predetermined vehicle speed VX. The predetermined vehicle speed VX is, for example, 45 km / h. The predetermined vehicle speed VX may be less than 45 km / h, for example, 25 km / h.

[0059] For example, the control unit 72 stops the motor 40 when the rotation speed N of the crank 12 is less than a predetermined first rotation speed N1. The predetermined first rotation speed N1 is, for example, 0 rpm. For example, the control unit 72 may stop the motor 40 or control the motor 40 so that the assist force M becomes smaller when the rotation speed N of the crank 12 becomes equal to or greater than a predetermined second rotation speed N2.

[0060] The control unit 72 is configured to control the component 38 in accordance with the output of the first detection unit 48 when the output of the first detection unit 48 is in the first state. The control unit 72 is configured to control the component 38 in accordance with the output of a predetermined detection unit different from the first detection unit 48 among the multiple detection units 46 when the output of the first detection unit 48 is not in the first state. In this embodiment, the predetermined detection unit includes the second detection unit 50.

[0061] When the output of first detection unit 48 is in the first state, control unit 72 determines that the output of first detection unit 48 input to control unit 72 is normal. When the output of first detection unit 48 is not in the first state, control unit 72 determines that the output of first detection unit 48 input to control unit 72 is not normal.

[0062] In a first example, when the output of first detection unit 48 is not in the first state, the signal output from first detection unit 48 includes a predetermined first signal. The predetermined first signal includes an abnormal signal in the output of first detection unit 48. The abnormal signal is generated, for example, in at least one of the following cases: when first detection unit 48 is malfunctioning; when there is an abnormality in the connection between first detection unit 48 and control unit 72; when first detection unit 48 does not have a predetermined configuration; and when the connection between first detection unit 48 and control unit 72 does not have a predetermined configuration.

[0063] In a second example, when the output of the first detection unit 48 is not in the first state, no signal is output from the first detection unit 48. Cases where no signal is output from the first detection unit 48 include at least one of the following cases: when the first detection unit 48 is not installed in the human-powered vehicle 10; when power is not being supplied to the first detection unit 48; and when the first detection unit 48 is not connected to the control unit 72. The control unit 72 may determine that the output of the first detection unit 48 is not in the first state in at least one of the cases of the first example and the second example.

[0064] Preferably, the control unit 72 is configured to control the component 38 in response to at least one of a first parameter P1 related to the first information and a second parameter P2 related to the second information. The control unit 72 is configured to control the component 38 without depending on the output of the first detection unit 48 when the output of the first detection unit 48 is not in the first state. The control unit 72 may be configured to control the component 38 in response to the output of the second detection unit 50 when the output of the first detection unit 48 is not in the first state. For example, when the control unit 72 estimates the first parameter P1 in response to the second parameter P2 related to the second information, the control unit 72 uses the output of the first detection unit 48 in any one of a first process of correcting the first parameter P1 in response to the output of the first detection unit 48, a second process of correcting a control command value for the component 38 in response to the output of the first detection unit 48, and a third process independent of the series of processes of controlling the component 38 in response to the output of the second detection unit 50.

[0065] In this embodiment, the first parameter P1 includes the vehicle speed V, and the second parameter P2 includes the rotation speed N of the crank 12. The control unit 72 is configured to estimate the vehicle speed V according to the rotation speed N of the crank 12. The control unit 72 estimates the vehicle speed V by multiplying the rotation speed N of the crank 12 by the gear ratio R of the human-powered vehicle 10 and the circumferential length of the rear wheel 14A. The gear ratio R of the human-powered vehicle 10 corresponds to the ratio of the rotation speed of the wheel 14 to the rotation speed N of the crank 12 of the human-powered vehicle 10. The memory unit 74 is configured to store information related to the circumferential length of the rear wheel 14A in advance.

[0066] If the second detection unit 50 includes an acceleration sensor 58, the second parameter P2 includes acceleration D. The control unit 72 is configured to estimate the vehicle speed V by accumulating the acceleration D since the human-powered vehicle 10 started traveling.

[0067] When the second detection unit 50 includes the position information detection sensor 60, the second parameter P2 includes the travel distance of the human-powered vehicle 10. The control unit 72 is configured to estimate the vehicle speed V based on the GPS information acquired by the GPS receiving unit, map information pre-recorded in the storage unit 74, and time. When the second detection unit 50 includes the position information detection sensor 60, the control unit 72 preferably includes at least one of a clock and a timing circuit for measuring time.

[0068] When the second detection unit 50 includes the motor rotation sensor 62, the second parameter P2 includes the rotation speed of the motor 40. The control unit 72 is configured to estimate the vehicle speed V by multiplying the rotation speed of the motor 40 by the gear ratio of the motor 40 and the circumferential length of the rear wheel 14A. The gear ratio of the motor 40 corresponds to the ratio of the rotation speed of the wheel 14 to the rotation speed of the motor 40. When the second detection unit 50 includes the motor rotation sensor 62, the memory unit 74 stores information related to the circumferential length of the rear wheel 14A in advance.

[0069] Preferably, when the output of the first detection unit 48 is not in the first state, the control unit 72 causes the notification unit 42 to issue predetermined notification information. The predetermined notification information is configured to be able to notify the user of an error in the first detection unit 48. When the notification unit 42 includes a display unit, for example, the predetermined notification information includes at least one of text and an image. When the notification unit 42 includes a speaker, for example, the predetermined notification information includes at least one of voice and a warning sound. When the output of the first detection unit 48 is not in the first state, the notification unit 42 may issue the notification continuously or intermittently until the output of the first detection unit 48 is in the first state, for example.

[0070] 3 and 4, a process for controlling the component 38 in accordance with the output state of the first detector 48 will be described. When power is supplied to the controller 72, the controller 72 starts the process and proceeds to step S11 of the flowchart shown in FIG. 3. When the flowcharts of FIGS. 3 and 4 end, the controller 72 repeats the process from step S11 after a predetermined period until the power supply is stopped. The processes of FIGS. 3 and 4 illustrate an example in which the component 38 is the motor 40. In parallel with the process of the flowcharts shown in FIGS. 3 and 4, the controller 72 executes, for example, an assist process for driving the motor 40 in accordance with the manual driving force H. For example, the controller 72 drives the motor 40 when the manual driving force H becomes greater than a predetermined driving force HX, and stops the motor 40 when the manual driving force H becomes equal to or less than the predetermined driving force HX. The process of the controller 72 in the flowcharts of FIGS. 3 and 4 is executed with priority over the assist process. When the component 38 is the motor 40, the control unit 72 is configured to drive the motor 40 in accordance with the manual driving force H when the output of the first detection unit 48 is in the first state and the vehicle speed V calculated in accordance with the output of the first detection unit 48 is not equal to or greater than a predetermined vehicle speed VX and the manual driving force H is greater than a predetermined driving force HX. When the component 38 is the motor 40, the control unit 72 is configured to drive the motor 40 in accordance with the manual driving force H when the output of the first detection unit 48 is not in the first state and the vehicle speed V estimated in accordance with the output of a predetermined detection unit different from the first detection unit 48 among the multiple detection units 46 is not equal to or greater than the predetermined vehicle speed VX and the manual driving force H is greater than the predetermined driving force HX.

[0071] In step S11, the control unit 72 determines whether the output of the vehicle speed sensor 54 is in the first state. If the output of the vehicle speed sensor 54 is in the first state, the control unit 72 proceeds to step S12. In step S12, the control unit 72 calculates the vehicle speed V in accordance with the output of the vehicle speed sensor 54, and proceeds to step S13.

[0072] In step S13, the control unit 72 determines whether the vehicle speed V is equal to or greater than a predetermined vehicle speed VX. If the vehicle speed V is equal to or greater than the predetermined vehicle speed VX, the control unit 72 proceeds to step S14. In step S14, the control unit 72 stops the motor 40 and ends the process. If the motor 40 is being driven, the control unit 72 stops the motor 40 in step S14. If the motor 40 is stopped, the control unit 72 keeps the motor 40 stopped in step S14. If the vehicle speed V is not equal to or greater than the predetermined vehicle speed VX in step S13, the control unit 72 ends the process.

[0073] If the output of the vehicle speed sensor 54 is not in the first state in step S11, the control unit 72 proceeds to step S15. In step S15, the control unit 72 determines whether the crank 12 is rotating in the normal rotation direction. If the crank 12 is not rotating in the normal rotation direction, the control unit 72 ends the processing. The normal rotation direction is equal to the forward rotation direction. If the crank 12 is rotating in the normal rotation direction, the control unit 72 proceeds to step S16.

[0074] In step S16, the control unit 72 determines whether or not to acquire information related to the gear shift state. If the control unit 72 does not acquire information related to the gear shift stage, the control unit 72 proceeds to step S17. For example, if the gear shift state sensor 65 is not connected to the control unit 72, the control unit 72 does not acquire information related to the gear shift stage. Whether or not the gear shift state sensor 65 is connected may be determined based on information stored in advance in the storage unit 74, or may be determined based on whether or not a signal from the gear shift state sensor 65 is input to the control unit 72.

[0075] In step S17, the control unit 72 determines whether the rotation amount C of the crank 12 is equal to or greater than a predetermined rotation amount CX. For example, if the rotation amount C after the crank 12 starts to rotate is equal to or greater than a predetermined first rotation amount CX1, the control unit 72 determines that the rotation amount C of the crank 12 is equal to or greater than the predetermined first rotation amount CX1. If the rotation amount C of the crank 12 is not equal to or greater than the predetermined first rotation amount CX1, the control unit 72 ends the processing. If the rotation amount C of the crank 12 is equal to or greater than the predetermined first rotation amount CX1, the control unit 72 proceeds to step S18. In step S18, the control unit 72 causes the notification unit 42 to notify an error in the vehicle speed sensor 54, and proceeds to step S19. The predetermined first rotation amount CX1, expressed in terms of the rotation angle of the crank 12, is within a range of, for example, 20 degrees to 720 degrees.

[0076] In step S19, the control unit 72 estimates the vehicle speed V based on the maximum value of the gear ratio R of the human-powered vehicle 10 and the rotation speed N of the crank 12, and then proceeds to step S20. The maximum value of the gear ratio R of the human-powered vehicle 10 is stored in advance in the memory unit 74. The control unit 72 estimates the vehicle speed V by multiplying the maximum value of the gear ratio R stored in the memory unit 74 by the rotation speed N of the crank 12 detected by the crank rotation sensor 56, and the circumferential length of the rear wheel 14A.

[0077] In step S20, the control unit 72 determines whether the vehicle speed V estimated in step S19 is equal to or greater than a predetermined vehicle speed VX. If the vehicle speed V is equal to or greater than the predetermined vehicle speed VX, the control unit 72 proceeds to step S21. In step S21, the control unit 72 stops the motor 40 and ends the process. If the motor 40 is being driven, the control unit 72 stops the motor 40 in step S21. If the motor 40 is stopped, the control unit 72 keeps the motor 40 stopped in step S21. If the vehicle speed V is not equal to or greater than the predetermined vehicle speed VX in step S20, the control unit 72 ends the process.

[0078] If the control unit 72 acquires information about the gear shifting state in step S16, the control unit 72 proceeds to step S22. In step S22, the control unit 72 determines whether the rotation amount C of the crank 12 is equal to or greater than a predetermined second rotation amount CX2. The control unit 72 can acquire the current gear ratio R based on the information about the gear shifting stage and the information stored in the storage unit 74. If the rotation amount C of the crank 12 is not equal to or greater than the predetermined second rotation amount CX2, the control unit 72 ends the processing. If the rotation amount C of the crank 12 is equal to or greater than the predetermined second rotation amount CX2, the control unit 72 proceeds to step S23. The predetermined second rotation amount CX2 may be the same as or different from the predetermined first rotation amount CX1. The predetermined second rotation amount CX2 may be a different value corresponding to each gear shifting stage, for example. When the predetermined second rotation amount CX2 corresponding to each gear change stage is different, the storage unit 74 stores information about each gear change stage and the predetermined second rotation amount CX2 in association with each other. In this case, the predetermined second rotation amount CX2 corresponding to the gear change stage at which the gear ratio R is maximized is preferably equal to the predetermined first rotation amount CX1. For example, when proceeding from step S22 to step S23 when the human-powered vehicle 10 has traveled the same distance at each gear change ratio R, the predetermined second rotation amount CX2 can be associated with a larger value as the gear change ratio R decreases. In step S23, the control unit 72 causes the notification unit 42 to notify the error in the vehicle speed sensor 54, and proceeds to step S24.

[0079] In step S24, the control unit 72 estimates the vehicle speed V based on the current gear ratio R and the rotation speed N of the crank 12, and proceeds to step S25. The control unit 72 estimates the vehicle speed V by multiplying the current gear ratio R, the rotation speed N of the crank 12 detected by the crank rotation sensor 56, and the circumferential length of the rear wheel 14A.

[0080] In step S25, the control unit 72 determines whether the vehicle speed V estimated in step S24 is equal to or greater than a predetermined vehicle speed VX. If the vehicle speed V is equal to or greater than the predetermined vehicle speed VX, the control unit 72 proceeds to step S26. In step S26, the control unit 72 stops the motor 40 and ends the process. If the motor 40 is being driven, the control unit 72 stops the motor 40 in step S26. If the motor 40 is stopped, the control unit 72 keeps the motor 40 stopped in step S26. If the vehicle speed V is not equal to or greater than the predetermined vehicle speed VX in step S25, the control unit 72 ends the process.

[0081] The control unit 72 may be configured to set a flag prohibiting driving of the motor 40 in steps S14, S21, and S26, and to cancel the flag prohibiting driving of the motor 40 if the results are NO in steps S13, S20, and S25. The control unit 72 is configured not to drive the motor 40 when the flag prohibiting driving of the motor 40 is set. The control unit 72 is configured to be able to drive the motor 40 in accordance with the manual driving force H when the flag prohibiting driving of the motor 40 is canceled.

[0082] When the crank 12 is stopped or when the crank 12 is spinning freely, it is difficult to estimate the vehicle speed V in accordance with the output of the crank rotation sensor 56. When the human-powered vehicle 10 is being driven by the rotation of the crank 12 and the vehicle speed sensor 54 is not in the first state, the control unit 72 controls the motor 40 in accordance with the output of the crank rotation sensor 56. Therefore, when there is a small deviation between the vehicle speed V estimated in accordance with the output of the crank rotation sensor 56 and the actual vehicle speed V, the control unit 72 can control the motor 40 in accordance with the output of the crank rotation sensor 56.

[0083] If the determination in step S15 is YES, the control unit 72 may determine whether the manual torque TH is equal to or greater than a predetermined value THX. If the manual torque TH is equal to or greater than the predetermined value THX, the control unit 72 proceeds to step S16. If the manual torque TH is less than the predetermined value THX, the control unit 72 terminates the process. The predetermined value THX is, for example, a value in the range of 5 Nm to 10 Nm. In this case, since the output of the crank rotation sensor 56 can be estimated when the manual torque TH is being transmitted to the rear wheel 14A, the motor 40 can be controlled in accordance with the output of the crank rotation sensor 56 when the difference between the vehicle speed V estimated in accordance with the output of the crank rotation sensor 56 and the actual vehicle speed V is small.

[0084] Second Embodiment A control device 70 of the second embodiment will be described with reference to Figures 2 and 5. The same components as those in the first embodiment are denoted by the same reference numerals as those in the first embodiment, and redundant description will be omitted.

[0085] In this embodiment, the first detection unit 48 includes one of a vehicle speed sensor 54, a crank rotation sensor 56, an acceleration sensor 58, a position information detection sensor 60, and a motor rotation sensor 62, and the second detection unit 50 includes one of the vehicle speed sensor 54, the crank rotation sensor 56, the acceleration sensor 58, the position information detection sensor 60, and the motor rotation sensor 62 that is different from the first detection unit 48.

[0086] The control unit 72 is configured to control the component 38 in accordance with the output of the first detection unit 48 when the output of the first detection unit 48 is in the first state. The control unit 72 is configured to control the component 38 in accordance with the output of a predetermined detection unit different from the first detection unit 48 among the multiple detection units 46 when the output of the first detection unit 48 is not in the first state. The predetermined detection unit includes the second detection unit 50, but the combination of the sensors included in the first detection unit 48 and the second detection unit 50 is not limited to this. The first detection unit 48 may include the crank rotation sensor 56, and the second detection unit 50 may include the vehicle speed sensor 54. Table 1 shows example combinations of the sensors included in the first detection unit 48 and the second detection unit 50.

[0087] [Table 1]

[0088] Referring to Fig. 5, a process for controlling component 38 in accordance with the output state of first detection unit 48 will be described. When power is supplied to control unit 72, control unit 72 starts the process and proceeds to step S32 of the flowchart shown in Fig. 5. When the flowchart of Fig. 5 ends, control unit 72 repeats the process from step S32 after a predetermined period until the supply of power is stopped.

[0089] In step S32, the control unit 72 determines whether the output state of the first detection unit 48 is the first state. If the output state of the first detection unit 48 is the first state, the control unit 72 proceeds to step S33. In step S33, the control unit 72 controls the component 38 in accordance with the output of the first detection unit 48. In step S33, the control unit 72 controls the motor 40 in accordance with the output of the first detection unit 48, for example, in the same manner as in steps S13 and S14.

[0090] If the output state of the first detection unit 48 is not the first state in step S32, the control unit 72 proceeds to step S34. In step S34, the control unit 72 causes the notification unit 42 to notify predetermined notification information, and proceeds to step S35. The control unit 72 causes the notification unit 42 to notify, for example, of an error in the first detection unit 48. In step S35, the control unit 72 controls the component 38 in accordance with the output of the predetermined detection unit. If the second detection unit 50 is the crank rotation sensor 56, the control unit 72 controls the motor 40 in step S35 in accordance with the output of the crank rotation sensor 56, for example, in the same manner as in steps S16, S17, S19 to S21, and S22 to S26 of FIG. 4.

[0091] Third Embodiment A control device 70 of the third embodiment will be described with reference to Figures 6 and 7. The control device 70 of the third embodiment is similar to the control device 70 of the first and second embodiments except that the control unit 72 can control the component 38 in accordance with the third detection unit 66 and the fourth detection unit 68. Therefore, the same reference numerals as in the first embodiment are used for the configurations common to the first and second embodiments, and redundant explanations will be omitted.

[0092] The plurality of detection units 46 includes a first detection unit 48. The plurality of detection units 46 further includes a second detection unit 50. The plurality of detection units 46 further includes a third detection unit 66. The plurality of detection units 46 further includes a fourth detection unit 68. The third detection unit 66 is configured to detect third information related to the vehicle speed V. The third information includes a third parameter P3. The first parameter P1 and the third parameter P3 are correlated. The first information can be estimated from the third information. The fourth detection unit 68 is configured to detect fourth information related to the vehicle speed V. The fourth information includes a fourth parameter P4. The first parameter P1 and the fourth parameter P4 are correlated. The first information can be estimated from the fourth information.

[0093] The first detection unit 48, the second detection unit 50, the third detection unit 66, and the fourth detection unit 68 each include a different one of the vehicle speed sensor 54, the crank rotation sensor 56, the acceleration sensor 58, the position information detection sensor 60, and the motor rotation sensor 62. Preferably, the first detection unit 48 includes the vehicle speed sensor 54. Preferably, the second detection unit 50 includes one of the crank rotation sensor 56 and the acceleration sensor 58. Preferably, the third detection unit 66 includes the other of the crank rotation sensor 56 and the acceleration sensor 58. For example, the first detection unit 48 includes a vehicle speed sensor 54, the second detection unit 50 includes a crank rotation sensor 56, the third detection unit 66 includes an acceleration sensor 58, and the fourth detection unit 68 includes a position information detection sensor 60. However, the combinations of the sensors included in the first detection unit 48, the second detection unit 50, the third detection unit 66, and the fourth detection unit 68 are not limited to this. Table 2 shows two example combinations of sensors included in the first detection unit 48, the second detection unit 50, the third detection unit 66, and the fourth detection unit 68. Because there are many possible combinations of sensors included in the first detection unit 48, the second detection unit 50, the third detection unit 66, and the fourth detection unit 68, Table 2 shows only two examples of preferred combinations.

[0094] [Table 2]

[0095] Preferably, the predetermined detector includes the second detector 50. When the output of the first detector 48 is not in the first state and the output of the second detector 50 is in the second state, the controller 72 is configured to control the component 38 in accordance with the output of the second detector 50.

[0096] Preferably, the predetermined detector includes a third detector 66. When the output of the first detector 48 is not in the first state and the output of the second detector 50 is not in the second state, the controller 72 is configured to control the component 38 in accordance with the output of the third detector 66.

[0097] When the output of the second detection unit 50 is in the second state, the control unit 72 determines that the output of the second detection unit 50 input to the control unit 72 is normal. When the output of the second detection unit 50 is not in the second state, the control unit 72 determines that the output of the second detection unit 50 input to the control unit 72 is not normal.

[0098] In a third example, when the output of the second detection unit 50 is not in the second state, the signal output from the second detection unit 50 includes a predetermined second signal. The predetermined second signal includes an abnormal signal in the output of the second detection unit 50. The abnormal signal is generated, for example, when the second detection unit 50 is malfunctioning, when there is an abnormality in the connection between the second detection unit 50 and the control unit 72, when the second detection unit 50 does not have a predetermined configuration, or when the connection between the second detection unit 50 and the control unit 72 does not have a predetermined configuration.

[0099] In a fourth example, when the output of the second detection unit 50 is not in the second state, no signal is output from the second detection unit 50. Cases in which no signal is output from the second detection unit 50 include at least one of the following: when the second detection unit 50 is not installed in the human-powered vehicle 10; when power is not being supplied to the second detection unit 50; and when the second detection unit 50 and the control unit 72 are not connected. The control unit 72 may determine that the output of the second detection unit 50 is not in the second state in at least one of the third and fourth examples.

[0100] Preferably, the predetermined detectors include a third detector 66 and a fourth detector 68. The controller 72 is configured to control the component 38 in accordance with the output of the third detector 66 when the output of the first detector 48 is not in the first state, the output of the second detector 50 is not in the second state, and the third detector 66 is in the third state. The controller 72 is configured to control the component 38 in accordance with the output of the fourth detector 68 when the output of the first detector 48 is not in the first state, the output of the second detector 50 is not in the second state, and the third detector 66 is not in the third state.

[0101] When the output of the third detection unit 66 is in the third state, the control unit 72 determines that the output of the third detection unit 66 input to the control unit 72 is normal. When the output of the third detection unit 66 is not in the third state, the control unit 72 determines that the output of the third detection unit 66 input to the control unit 72 is not normal.

[0102] In a fifth example, when the output of the third detection unit 66 is not in the third state, the signal output from the third detection unit 66 includes a predetermined third signal. The predetermined third signal includes an abnormal signal in the output of the third detection unit 66. The abnormal signal is generated, for example, in at least one of the following cases: when the third detection unit 66 is malfunctioning; when there is an abnormality in the connection between the third detection unit 66 and the control unit 72; when the third detection unit 66 is not configured as predetermined; and when the connection between the third detection unit 66 and the control unit 72 is not configured as predetermined.

[0103] In a sixth example, when the output of the third detection unit 66 is not in the third state, no signal is output from the third detection unit 66. Cases where no signal is output from the third detection unit 66 include at least one of the following cases: when the third detection unit 66 is not installed in the human-powered vehicle 10; when power is not being supplied to the third detection unit 66; and when the third detection unit 66 is not connected to the control unit 72. The control unit 72 may determine that the output of the third detection unit 66 is not in the third state in at least one of the cases of the fifth example and the sixth example.

[0104] Preferably, when the output of the first detection unit 48 is not in the first state and the output of the second detection unit 50 is in the second state, the control unit 72 is configured to estimate the first parameter P1 in accordance with the second parameter P2 calculated in accordance with the second information, and to control the component 38 in accordance with the estimated first parameter P1.

[0105] Preferably, the control unit 72 is configured to control the component 38 in response to the output of at least one of the first detection unit 48 and the second detection unit 50 when the output of the first detection unit 48 is in the first state and the output of the second detection unit 50 is in the second state. Preferably, the control unit 72 is configured to control the component 38 in response to the output of the second detection unit 50 and independently of the output of the first detection unit 48 when the output of the first detection unit 48 is in the first state and the output of the second detection unit 50 is not in the second state. Preferably, the control unit 72 is configured to control the component 38 in response to the output of the first detection unit 48 and independently of the output of the second detection unit 50 when the output of the first detection unit 48 is in the first state and the output of the second detection unit 50 is not in the second state.

[0106] Preferably, the control unit 72 causes the notification unit 42 to notify predetermined first notification information when the output of the first detection unit 48 is not in the first state. The predetermined first notification information includes the same information as the predetermined notification information. Preferably, the control unit 72 causes the notification unit 42 to notify predetermined second notification information when the output of the second detection unit 50 is not in the second state. Preferably, the control unit 72 causes the notification unit 42 to notify predetermined third notification information when the output of the third detection unit 66 is not in the third state. The predetermined first notification information is configured to be able to notify the user of an error in the first detection unit 48. The predetermined second notification information is configured to be able to notify the user of at least one error in the first detection unit 48 and the second detection unit 50. The predetermined second notification information is preferably configured to be able to notify the user of an error in the first detection unit 48 and the second detection unit 50. The predetermined third notification information is configured to notify the user of at least one error in the first detection unit 48, the second detection unit 50, and the third detection unit 66. The predetermined third notification information is preferably configured to notify the user of an error in the first detection unit 48, the second detection unit 50, and the third detection unit 66. If the notification unit 42 includes a display unit, the predetermined first notification information, the predetermined second notification information, and the predetermined third notification information include, for example, at least one of text and an image. If the notification unit 42 includes a speaker, the predetermined first notification information, the predetermined second notification information, and the predetermined third notification information include, for example, at least one of voice and a warning sound. Preferably, if the output of the first detection unit 48 is not in the first state, the notification unit 42 continues to notify until the output becomes in the first state. The alarm unit 42 may continuously or intermittently issue an alert, for example, until the output of the first detection unit 48 becomes the first state and the output of the second detection unit becomes the second state. The alarm unit 42 may continuously or intermittently issue an alert, for example, until the output of the first detection unit 48 becomes the first state, the output of the second detection unit becomes the second state, and the output of the third detection unit becomes the third state.

[0107] Referring to Fig. 7, a process for controlling component 38 in accordance with the output state of first detection unit 48 will be described. When power is supplied to control unit 72, control unit 72 starts the process and proceeds to step S42 of the flowchart shown in Fig. 7. When the flowchart of Fig. 7 ends, control unit 72 repeats the process from step S42 after a predetermined period until the supply of power is stopped.

[0108] In step S42, the control unit 72 determines whether the output state of the first detection unit 48 is the first state. If the output state of the first detection unit 48 is the first state, the control unit 72 proceeds to step S43. In step S43, the control unit 72 controls the component 38 in accordance with the output of the first detection unit 48. In step S43, the control unit 72 controls the motor 40 in accordance with the output of the first detection unit 48, for example, in the same manner as in steps S13 and S14.

[0109] If the output state of the first detection unit 48 is not the first state in step S42, the control unit 72 proceeds to step S44. In step S44, the control unit 72 determines whether the output state of the second detection unit 50 is the second state. If the output state of the second detection unit 50 is the second state, the control unit 72 proceeds to step S45. In step S45, the control unit 72 causes the notification unit 42 to notify predetermined first notification information, and proceeds to step S46. In step S46, the control unit 72 controls the component 38 in accordance with the output of the second detection unit 50. If the second detection unit 50 is the crank rotation sensor 56, the control unit 72 controls the motor 40 in step S46 in accordance with the output of the crank rotation sensor 56, for example, in the same manner as in steps S16, S17, S19 to S21, and S22 to S26 of FIG. 4.

[0110] If the output state of the second detection unit 50 is not the second state in step S44, the control unit 72 proceeds to step S47. In step S47, the control unit 72 determines whether the output state of the third detection unit 66 is the third state. If the output state of the third detection unit 66 is the third state, the control unit 72 proceeds to step S48. In step S48, the control unit 72 causes the notification unit 42 to notify predetermined second notification information, and proceeds to step S49. In step S49, the control unit 72 controls the component 38 in accordance with the output of the third detection unit 66. If the third detection unit 66 includes an acceleration sensor 58, the control unit 72 controls the motor 40 in step S49, similar to steps S13 and S14 of FIG. 3, using the vehicle speed V estimated from the output of the acceleration sensor 58.

[0111] If the output state of the third detection unit 66 is not the third state in step S47, the control unit 72 proceeds to step S50. In step S50, the control unit 72 causes the notification unit 42 to notify predetermined third notification information, and proceeds to step S51. In step S51, the control unit 72 controls the component 38 in accordance with the output of the fourth detection unit 68. If the fourth detection unit 68 includes the position information detection sensor 60, the control unit 72 controls the motor 40 in step S51 in the same manner as in steps S13 and S14 of FIG. 3 using the vehicle speed V estimated from the output of the position information detection sensor 60.

[0112] <Fourth embodiment> A control device 70 of the fourth embodiment will be described with reference to Figures 2 and 8. The control device 70 of the fourth embodiment is similar to the control device 70 of the first embodiment except that a control unit 72 controls the component 38 to be in a predetermined state depending on the output states of the first detection unit 48 and the second detection unit 50. Therefore, the same reference numerals as in the first embodiment are used for the configurations common to the first embodiment, and redundant explanations will be omitted.

[0113] In this embodiment, the human-powered vehicle 10 includes a component 38 for human-powered vehicles, and a plurality of detectors 46 configured to detect information relating to the vehicle speed V of the human-powered vehicle 10, the detectors 46 providing different information relating to the vehicle speed V. The plurality of detectors 46 include a first detector 48 and a second detector 50.

[0114] The control device 70 includes a control unit 72. When the output of the first detection unit 48 is in the first state and the output of the second detection unit 50 is in the second state, the control unit 72 controls the component 38 in accordance with the output of at least one of the first detection unit 48 and the second detection unit 50. When the output of the first detection unit 48 is not in the first state, the control unit 72 controls the component 38 so that the component 38 is in a predetermined state, without depending on the output of the second detection unit 50. When the output of the second detection unit 50 is not in the second state, the control unit 72 controls the component 38 so that the component 38 is in a predetermined state, without depending on the output of the first detection unit 48.

[0115] Preferably, the first detection unit 48 is configured to detect third information related to the vehicle speed V, and the second detection unit 50 is configured to detect fourth information related to the vehicle speed V, and the third information and the fourth information are mutually related. In this embodiment, the combination of the first detection unit 48 and the second detection unit 50 can be, for example, the combinations in Table 1 of the second embodiment.

[0116] Preferably, the control unit 72 is configured to control the component 38 in accordance with both the third information and the fourth information when the output of the first detection unit 48 is in the first state and the output of the second detection unit 50 is in the second state. Preferably, the control unit 72 controls the component 38 that is pre-associated with the third information and controls the component 38 that is pre-associated with the fourth information when the output of the first detection unit 48 is in the first state and the output of the second detection unit 50 is in the second state. For example, if one of the first detection unit 48 and the second detection unit 50 includes a vehicle speed sensor 54 and the other of the first detection unit 48 and the second detection unit 50 includes a crank rotation sensor 56, the control unit 72 controls the component 38 in accordance with the vehicle speed V corresponding to the output of the vehicle speed sensor 54 and controls the component 38 in accordance with the rotation speed N of the crank 12 corresponding to the output of the crank rotation sensor 56 when the output of the first detection unit 48 is in the first state and the output of the second detection unit 50 is in the second state. Preferably, when the output of the first detection unit 48 is in the first state and the output of the second detection unit 50 is in the second state, the control unit 72 does not control the component 38 using a value obtained by estimating the fourth information from the third information or a value obtained by estimating the third information from the fourth information.

[0117] In this embodiment, the component 38 preferably includes an electric actuator 39. The predetermined state includes a state in which the electric actuator 39 does not operate. When the electric actuator 39 is a motor 40, the predetermined state preferably includes a state in which the motor 40 is stopped. When the electric actuator 39 is a motor 40, the predetermined state may include a state in which the assist force M by the motor 40 is suppressed.

[0118] Referring to Fig. 8, a process for controlling the component 38 in accordance with the output states of the plurality of detectors 46 will be described. When power is supplied to the controller 72, the controller 72 starts the process and proceeds to step S81 of the flowchart shown in Fig. 8. When the flowchart of Fig. 8 ends, the controller 72 repeats the process from step S81 after a predetermined period until the supply of power is stopped.

[0119] In step S81, the control unit 72 determines whether the output of the first detection unit 48 is in the first state. If the output of the first detection unit 48 is in the first state, the control unit 72 proceeds to step S82. In step S82, the control unit 72 determines whether the output of the second detection unit 50 is in the second state. If the output of the second detection unit 50 is in the second state, the control unit 72 proceeds to step S83. In step S83, the control unit 72 controls the component 38 in accordance with the outputs of the first detection unit 48 and the second detection unit 50, and ends the process.

[0120] If the output of the first detection unit 48 is not in the first state in step S81, the control unit 72 proceeds to step S84. If the output of the second detection unit 50 is not in the second state in step S82, the control unit 72 proceeds to step S84. The control unit 72 may interchange the contents of the processes in steps S81 and S82. If the output of the first detection unit 48 is not in the first state and the output of the second detection unit 50 is not in the second state in steps S81 and S82, the control unit 72 proceeds to step S84.

[0121] In step S84, the control unit 72 causes the notification unit 42 to notify predetermined notification information, and proceeds to step S85. In step S85, the control unit 72 controls the component 38 so that the component 38 is in a predetermined state, and then ends the process.

[0122] Fifth Embodiment A control device 70 of the fifth embodiment will be described with reference to Figures 2 and 9. The control device 70 of the fourth embodiment is similar to the control device 70 of the first embodiment except that the control unit 72 controls the component 38 to be in a predetermined state in accordance with the third information and the fourth information. Therefore, the same reference numerals as in the first embodiment are used for the configurations common to the first embodiment, and redundant explanations will be omitted.

[0123] In this embodiment, the human-powered vehicle 10 includes a component 38 for human-powered vehicles, and a plurality of detectors 46 configured to detect information relating to the vehicle speed V of the human-powered vehicle 10, the detectors 46 providing different information relating to the vehicle speed V. The plurality of detectors 46 include a first detector 48 and a second detector 50.

[0124] The control device 70 includes a control unit 72. The control unit 72 controls the component 38 so that the component 38 enters a predetermined state when at least one of the third information about the vehicle speed V of the human-powered vehicle 10 output by the first detection unit 48 and the fourth information about the vehicle speed V of the human-powered vehicle 10 output by the second detection unit 50 corresponds to the vehicle speed V of the human-powered vehicle 10 being equal to or greater than a predetermined speed VX. In this embodiment, the combination of the first detection unit 48 and the second detection unit 50 can be, for example, the combinations shown in Table 1 of the second embodiment. For example, if the first detection unit 48 is a vehicle speed sensor 54 and the second detection unit 50 is a crank rotation sensor 56, the third information is the vehicle speed V calculated based on the output of the vehicle speed sensor 54, and the fourth information is the vehicle speed V estimated based on the output of the crank rotation sensor 56.

[0125] Preferably, when one of the third information and the fourth information corresponds to a case where the vehicle speed V of the human-powered vehicle 10 is equal to or greater than a predetermined speed VX, the control unit 72 controls the component 38 so that the component 38 is in a predetermined state. When one of the third information and the fourth information corresponds to a case where the vehicle speed V of the human-powered vehicle 10 is equal to or greater than a predetermined speed VX, the control unit 72 controls the component 38 so that the component 38 is in a predetermined state. Therefore, even when, for example, the first detection unit 48 is not in the first state or the second detection unit 50 is not in the second state, the control unit 72 can prevent the component 38 from not being in the predetermined state when the vehicle speed V is equal to or greater than the predetermined speed VX.

[0126] In this embodiment, the component 38 preferably includes an electric actuator 39. The predetermined state includes a state in which the electric actuator 39 does not operate. If the electric actuator 39 is a motor 40, the predetermined state includes a state in which the motor 40 is stopped. If the electric actuator 39 is a motor 40, the predetermined state includes a state in which the assist force M by the motor 40 is suppressed.

[0127] Preferably, the control unit 72 causes the notification unit 42 to notify the user of predetermined notification information when at least one of the third information and the fourth information corresponds to a state in which the vehicle speed V of the human-powered vehicle 10 is equal to or greater than a predetermined speed VX. The predetermined notification information is configured to notify the user of a state in which at least one of the third information and the fourth information corresponds to a state in which the vehicle speed V of the human-powered vehicle 10 is equal to or greater than a predetermined speed VX. If the notification unit 42 includes a display unit, the predetermined notification information may include at least one of text and images, for example. If the notification unit 42 includes a speaker, the predetermined notification information may include at least one of voice and a warning sound, for example. If the output of the first detection unit 48 is not in the first state, the notification unit 42 may provide the notification continuously or intermittently until the output of the first detection unit 48 is in the first state, for example.

[0128] Referring to Fig. 9, a process for controlling the component 38 in accordance with the output states of the plurality of detectors 46 will be described. When power is supplied to the controller 72, the controller 72 starts the process and proceeds to step S91 of the flowchart shown in Fig. 9. When the flowchart of Fig. 9 ends, the controller 72 repeats the process from step S91 after a predetermined period until the supply of power is stopped.

[0129] In step S91, the control unit 72 determines whether the third information corresponds to a case where the vehicle speed V is equal to or greater than a predetermined speed VX. If the third information does not correspond to a case where the vehicle speed V is equal to or greater than the predetermined speed VX, the control unit 72 proceeds to step S92. In step S92, the control unit 72 determines whether the fourth information corresponds to a case where the vehicle speed V is equal to or greater than a predetermined speed VX. If the fourth information does not correspond to a case where the vehicle speed V is equal to or greater than the predetermined speed VX, the control unit 72 ends the processing.

[0130] In step S91, if the third information corresponds to a case where the vehicle speed V is equal to or greater than a predetermined speed VX, the control unit 72 proceeds to step S93. In step S92, if the fourth information corresponds to a case where the vehicle speed V is equal to or greater than a predetermined speed VX, the control unit 72 proceeds to step S93. The control unit 72 may interchange the processing contents of step S91 and step S92. In steps S91 and S92, if the third information corresponds to a case where the vehicle speed V is equal to or greater than a predetermined speed VX, and if the fourth information corresponds to a case where the vehicle speed V is equal to or greater than a predetermined speed VX, the control unit 72 proceeds to step S93.

[0131] In step S93, the control unit 72 causes the notification unit 42 to notify predetermined notification information, and proceeds to step S94. In step S94, the control unit 72 controls the component 38 so that the component 38 is in a predetermined state, and then ends the process.

[0132] <Modification> 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 form of, for example, a modified version of the embodiment shown below, or a combination of at least two mutually consistent modified versions. In the following modified versions, parts that are common to the embodiment will be assigned the same reference numerals as in the embodiment, and their description will be omitted.

[0133] In the first embodiment or an embodiment including a modified example of the first embodiment, step S16 and steps S22 to S26 may be omitted from the flowcharts of Figures 3 and 4. In this case, if the answer is YES in step S15, the process proceeds to step S17.

[0134] In the first embodiment or an embodiment including a modification of the first embodiment, steps S16 to S21 may be omitted from the flowcharts of Figures 3 and 4. In this case, if the answer to step S15 is YES, the process proceeds to step S22. In this modification, the human-powered vehicle 10 includes a gear change state sensor 65 that detects the gear ratio R of the human-powered vehicle 10, and the control unit 72 estimates the vehicle speed V using the current gear change ratio R obtained in response to the output of the gear change state sensor 65.

[0135] In the third embodiment or an embodiment including a modification of the third embodiment, the multiple detectors 46 may include five or more detectors 46. In this case, when the first detector 48, the second detector 50, the third detector 66, and the fourth detector 68 cannot be used to control the component 38, the component 38 is controlled in accordance with the outputs of the detectors 46 other than the first detector 48, the second detector 50, the third detector 66, and the fourth detector 68. When the output of the fourth detector 68 is in the fourth state, the control unit 72 determines that the output of the fourth detector 68 input to the control unit 72 is normal. When the output of the fourth detector 68 is not in the fourth state, the control unit 72 determines that the output of the fourth detector 68 input to the control unit 72 is abnormal. In a seventh example, when the output of the fourth detection unit 68 is not in one of four states, the signal output from the fourth detection unit 68 includes a predetermined fourth signal. The predetermined fourth signal includes an abnormal signal in the output of the fourth detection unit 68. The abnormal signal is generated, for example, in at least one of the following cases: when the fourth detection unit 68 is malfunctioning; when there is an abnormality in the connection between the fourth detection unit 68 and the control unit 72; when the fourth detection unit 68 does not have a predetermined configuration; and when the connection between the fourth detection unit 68 and the control unit 72 does not have a predetermined configuration. In an eighth example, when the output of the fourth detector 68 is not in the fourth state, no signal is output from the fourth detector 68. The cases where no signal is output from the fourth detector 68 include at least one of the following: when the human-powered vehicle 10 is not equipped with a fourth detector; when power is not being supplied to the fourth detector; and when the fourth detector 68 and the control unit 72 are not connected. The control unit 72 may determine that the output of the fourth detector 68 is not in the fourth state in at least one of the seventh and eighth examples. When the output of the first detector 48 is not in the first state, the output of the second detector 50 is not in the second state, the third detector 66 is not in the third state, or the fourth detector 68 is not in the fourth state, the control unit 72 is configured to control the component 38 in accordance with the outputs of the detectors 46 other than the first detector 48, the second detector 50, the third detector 66, and the fourth detector 68.

[0136] In the third embodiment or an embodiment including a modification of the third embodiment, steps S47, S50, and S51 may be omitted from the flowchart of Fig. 7 to form the flowchart of Fig. 8. In Fig. 8, if the determination in step S44 is NO, the control unit 72 proceeds to step S48. In this modification, the fourth detection unit 68 may be omitted from the multiple detection units 46.

[0137] In the second embodiment, the third embodiment, the modified example of the second embodiment, or an embodiment including the modified example of the third embodiment, when all of the multiple detectors 46 cannot be used to control the component 38, the control unit 72 may stop controlling the component 38 or may control the component 38 to stop. When all of the multiple detectors 46 cannot be used to control the component 38 and the component 38 includes a motor 40, the control unit 72 may stop the motor 40. The state in which the first detector 48 cannot be used to control the component 38 corresponds to a case where the first state is not present. The state in which the second detector 50 cannot be used to control the component 38 corresponds to a case where the second state is not present. The state in which the third detector 66 cannot be used to control the component 38 corresponds to a case where the third state is not present. The state in which the fourth detector 68 cannot be used to control the component 38 corresponds to a case where the fourth state is not present. For example, step S49 in FIG. 8 is changed to step S60 in FIG. 11. 11, the control unit 72 executes the process of step S48 and then proceeds to step S60. In step S60, the control unit 72 stops the motor 40 and ends the process. If the motor 40 is being driven, the control unit 72 stops the motor 40 in step S60. If the motor 40 is stopped, the control unit 72 maintains the motor 40 stopped in step S60.

[0138] In the first embodiment or an embodiment including the first modified example, if the output of the vehicle speed sensor 54 is not in the first state and the output of the crank rotation sensor 56 is in the second state, the control unit 72 may stop control of the component 38 or may control the component 38 to stop. For example, if the answer is YES in step S15, the control unit 72 may determine whether the output of the crank rotation sensor 56 is in the second state. If the output of the crank rotation sensor 56 is in the second state, the control unit 72 may proceed to step S16, step S17, or step S18.

[0139] In the second embodiment, the third embodiment, the modified example of the second embodiment, or an embodiment including the modified example of the third embodiment, the control unit 72 may be configured to estimate a second parameter P2 based on a first parameter P1 calculated based on the first information when the output of the first detection unit 48 is in the first state and the output of the second detection unit 50 is not in the second state, and to control the component 38 based on the estimated second parameter P2. For example, if the first detection unit 48 is the vehicle speed sensor 54 and the second detection unit 50 is the crank rotation sensor 56, when the output of the first detection unit 48 is in the first state and the output of the second detection unit 50 is not in the second state, the control unit 72 controls the component 38 based on the rotation speed N of the crank 12 estimated from the vehicle speed V calculated based on the output of the vehicle speed sensor 54. The control unit 72 estimates the rotation speed N of the crank 12, for example, by dividing the vehicle speed V by the gear ratio R and the circumferential length of the rear wheel 14A.

[0140] In embodiments including the first embodiment, the second embodiment, the third embodiment, the fourth embodiment, the fifth embodiment, the modified example of the first embodiment, the modified example of the second embodiment, the modified example of the third embodiment, the modified example of the fourth embodiment, or the modified example of the fifth embodiment, the component 38 may include a component other than the motor 40. For example, the component 38 may include at least one of an alarm unit 42, a transmission 44, an electric brake device, an electric adjustable seat post, an electric suspension, and a lamp, instead of or in addition to the motor 40. In this modified example, when the fourth embodiment, the fifth embodiment, the modified example of the fourth embodiment, or the modified example of the fifth embodiment is included, the predetermined state may be a state in which the frequency at which the component 38 is driven is reduced. For example, when the component 38 includes the transmission 44, the predetermined state includes a state in which the frequency at which the gear ratio R is changed by the transmission 44 is reduced.

[0141] In the second embodiment, the third embodiment, the modified example of the second embodiment, or an embodiment including the modified example of the third embodiment, at least one of the first detector 48 and the second detector 50 may be a sensor that does not detect information related to the vehicle speed V. In this case, the first information detected by the first detector 48 and the second information detected by the second detector 50 are correlated with each other, thereby enabling the component 38 to be controlled appropriately. For example, the first detector 48 includes an inclination sensor that detects the pitch angle of the body 16 of the human-powered vehicle 10, and the second detector 50 includes a position information detection sensor 60. The control unit 72 is configured to estimate the pitch angle of the body 16 of the human-powered vehicle 10 from the position information received from the GPS receiver using road gradient information included in map information previously stored in the memory unit 74. The control unit 72 is configured to control the component 38 in accordance with the output of at least one of the first detector 48 and the second detector 50 when the output of the first detector 48 is in the first state and the output of the second detector 50 is in the second state. The control unit 72 is configured to control the component 38 in accordance with the output of the second detection unit 50 and independently of the output of the first detection unit 48 when the output of the first detection unit 48 is not in the first state and the output of the second detection unit 50 is in the second state. The control unit 72 is configured to control the component 38 in accordance with the output of the first detection unit 48 and independently of the output of the second detection unit 50 when the output of the first detection unit 48 is in the first state and the output of the second detection unit 50 is not in the second state.

[0142] In the third embodiment or an embodiment including a modified example of the third embodiment, the control unit 72 may be configured to perform different processes depending on whether or not information about the gear shift stage is acquired. For example, if the determination in step S42 of FIG. 7 is NO, the control unit 72 proceeds to step S61 of FIG. 12. In step S61, the control unit 72 determines whether or not to acquire information about the gear shift stage. If the information about the gear shift stage is acquired, the control unit 72 proceeds to step S44. From step S44 onward, the control unit 72 performs the same processes as in FIG. 7. If the information about the gear shift stage is not acquired, the control unit 72 proceeds to step S62 of FIG. 13. In step S62, the control unit 72 determines whether or not the output of the third detection unit 66 is in the third state. If the output of the third detection unit 66 is in the third state, the control unit 72 proceeds to step S63. In step S63, the control unit 72 causes the notification unit 42 to notify predetermined first notification information, and the control unit 72 proceeds to step S64. In step S64, the control unit 72 controls the component 38 in accordance with the output of the third detection unit 66. If the output of the third detection unit 66 is not in the third state in step S62, the control unit 72 proceeds to step S65. In step S65, the control unit 72 determines whether the output state of the second detection unit 50 is the second state. If the output state of the second detection unit 50 is in the second state, the control unit 72 proceeds to step S66. In step S66, the control unit 72 causes the notification unit 42 to notify predetermined third notification information, and proceeds to step S67. In step S67, the control unit 72 controls the component 38 in accordance with the output of the second detection unit 50, and ends the process. If the output of the second detection unit 50 is not in the second state in step S65, the control unit 72 proceeds to step S68. In step S68, the control unit 72 causes the notification unit 42 to notify the predetermined second information, and proceeds to step S69. In step S69, the control unit 72 controls the component 38 in accordance with the output of the fourth detection unit 68, and ends the process.In this modified example, for example, if the detection unit 46 that can more appropriately estimate the first parameter P1 when information about the shift stage can be obtained is different from the detection unit 46 that can more appropriately estimate the first parameter P1 when information about the shift stage cannot be obtained, the component 38 can be controlled by preferentially using the detection unit 46 that can more appropriately estimate the first parameter P1 in each of the cases where information about the shift stage can be obtained and where it cannot be obtained.

[0143] The control unit 72 may be configured to control the component 38 in accordance with the output of the first detector 48 when the manual driving force H input to the crank 12 is greater than a predetermined driving force HX and the output of the first detector 48 is in the first state. Alternatively, the control unit 72 may be configured to control the component 38 in accordance with the output of a predetermined detector different from the first detector 48 among the multiple detectors 46 when the manual driving force H input to the crank 12 is greater than the predetermined driving force HX and the output of the first detector 48 is not in the first state. For example, the process of step S71 in FIG. 14 may be added to the process of FIG. 5. In the flowchart of FIG. 14, the control unit 72 starts the process and proceeds to step S71 when power is supplied to the control unit 72. After the flowchart of FIG. 14 ends, the control unit 72 repeats the process from step S71 after a predetermined interval until the supply of power is stopped. In step S71, the control unit 72 determines whether the manual driving force H input to the crank 12 is greater than or equal to the predetermined driving force HX. If the manual driving force H input to the crank 12 is equal to or greater than the predetermined driving force HX, the control unit 72 proceeds to step S32. If the manual driving force H input to the crank 12 is not equal to or greater than the predetermined driving force HX, the control unit 72 ends the process.

[0144] In the fourth embodiment or an embodiment including a modification of the fourth embodiment, the control unit 72 may be configured to control the component 38 in accordance with at least one of the third information and the fourth information when the output of the first detection unit 48 is in the first state and the output of the second detection unit 50 is in the second state. For example, the control unit 72 executes the process of the flowchart of FIG. 15 instead of the process of the flowchart of FIG. 8. In the flowchart of FIG. 15, the process of step S83 in the flowchart of FIG. 8 is changed to the process of step S86. In step S82, if the output of the first detection unit 48 is in the second state, the control unit 72 proceeds to step S86. In step S86, the control unit 72 controls the component 38 in accordance with the output of the first detection unit 48 and ends the process. In this modification, the second detection unit 50 does not have to be used to control the component 38.

[0145] In the fifth embodiment or an embodiment including a modification of the fifth embodiment, the control unit 72 may control the component 38 so that the component 38 is in a predetermined state when both the third information and the fourth information correspond to a case where the vehicle speed V of the human-powered vehicle 10 is equal to or greater than a predetermined speed VX. For example, the control unit 72 executes the process of the flowchart of FIG. 16 instead of the process of the flowchart of FIG. 9. The process of controlling the component 38 in accordance with the output states of the multiple detection units 46 will be described with reference to FIG. 16. When power is supplied to the control unit 72, the control unit 72 starts the process and proceeds to step S95 of the flowchart shown in FIG. 16. After the flowchart of FIG. 16 ends, the control unit 72 repeats the process from step S95 after a predetermined interval until the supply of power is stopped. In step S95, the control unit 72 determines whether the third information corresponds to a case where the vehicle speed V is equal to or greater than a predetermined speed VX. If the third information does not correspond to a case where the vehicle speed V is equal to or greater than the predetermined speed VX, the control unit 72 ends the process. If the third information corresponds to a case where the vehicle speed V is equal to or greater than a predetermined speed VX, the control unit 72 proceeds to step S96. In step S96, the control unit 72 determines whether the fourth information corresponds to a case where the vehicle speed V is equal to or greater than a predetermined speed VX. If the fourth information does not correspond to a case where the vehicle speed V is equal to or greater than a predetermined speed VX, the control unit 72 ends the processing. If the fourth information corresponds to a case where the vehicle speed V is equal to or greater than a predetermined speed VX, the control unit 72 proceeds to step S97. In step S97, the control unit 72 causes the notification unit 42 to notify predetermined notification information, and proceeds to step S98. In step S98, the control unit 72 controls the component 38 so that the component 38 is in a predetermined state, and ends the processing.

[0146] The fourth embodiment or an embodiment including a modified example of the fourth embodiment may be combined with the fifth embodiment or an embodiment including a modified example of the fifth embodiment. For example, the control unit 72 may independently execute the process of the flowchart of FIG. 8 or FIG. 15 and the process of the flowchart of FIG. 9 or FIG. 16. For example, the control unit 72 may execute the process of the flowchart of FIG. 9 or FIG. 16 in step S83 of the flowchart of FIG. 8. For example, when the control unit 72 controls the component 38 so that the component 38 is in a predetermined state in the process of the flowchart of FIG. 8 or FIG. 15, the control unit 72 controls the component 38 so that the component 38 is in the predetermined state, independently of the process of the flowchart of FIG. 9 or FIG. 16. For example, when the control unit 72 controls the component 38 so that the component 38 is in a predetermined state in the process of the flowchart of FIG. 9 or FIG. 16, the control unit 72 controls the component 38 so that the component 38 is in the predetermined state, independently of the process of the flowchart of FIG. 8 or FIG. 15.

[0147] In the fourth embodiment, the fifth embodiment, the modified example of the first embodiment, the modified example of the second embodiment, the modified example of the third embodiment, the modified example of the fourth embodiment, or the modified example of the fifth embodiment, the notification unit 42 may be omitted. In this modified example, for example, step S18 of Figure 4, step S23 of Figure 4, step S34 of Figure 5, step S45 of Figure 7, step S48 of Figure 7, step S50 of Figure 7, step S84 of Figure 8, step S93 of Figure 9, step S45 of Figure 10, step S48 of Figure 10, step S45 of Figure 11, step S48 of Figure 11, step S45 of Figure 12, step S48 of Figure 12, step S50 of Figure 12, step S63 of Figure 13, step S66 of Figure 13, and step S68 of Figure 13, step S34 of Figure 14, step S84 of Figure 15, and step S97 of Figure 16 can be omitted.

[0148] 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. [Explanation of symbols]

[0149] 10...human-powered vehicle, 12...crank, 14...wheel, 38...component, 39...electric actuator, 40...motor, 42...alarm unit, 46...detection unit, 48...first detection unit, 50...second detection unit, 54...vehicle speed sensor, 56...crank rotation sensor, 58...acceleration sensor, 60...position information detection sensor, 62...motor rotation sensor, 66...third detection unit, 68...fourth detection unit, 70...control device, 72...control unit.

Claims

1. A control device for a human-powered vehicle, the human-powered vehicle includes a component for the human-powered vehicle; and a plurality of detectors configured to detect information relating to a vehicle speed of the human-powered vehicle, the detectors providing information relating to the vehicle speed being different from one another; the plurality of detectors include a first detector and a second detector; The control device When an output of the first detection unit is in a first state and an output of the second detection unit is in a second state, the component is controlled in accordance with an output of at least one of the first detection unit and the second detection unit; When the output of the first detection unit is not in the first state, the component is controlled so as to be in a predetermined state without depending on the output of the second detection unit; A control device including a control unit that controls the component so that the component is in the predetermined state without depending on the output of the first detection unit when the output of the second detection unit is not in the second state.

2. the first detection unit is configured to detect third information related to the vehicle speed; the second detection unit is configured to detect fourth information related to the vehicle speed, The control device according to claim 1 , wherein the third information and the fourth information are mutually related.

3. 3. The control device according to claim 2, wherein the control unit is configured to control the component in accordance with at least one of the third information and the fourth information when the output of the first detection unit is in the first state and the output of the second detection unit is in the second state.

4. 4. The control device according to claim 2 or 3, wherein the control unit is configured to control the component in accordance with both the third information and the fourth information when the output of the first detection unit is in the first state and the output of the second detection unit is in the second state.

5. A control device for a human-powered vehicle, the human-powered vehicle includes a component for the human-powered vehicle; and a plurality of detectors configured to detect information relating to a vehicle speed of the human-powered vehicle, the detectors providing information relating to the vehicle speed being different from one another; the plurality of detectors include a first detector and a second detector; The control device a control device comprising: a control unit that controls the component to be in a predetermined state when at least one of third information regarding the vehicle speed of the human-powered vehicle output by the first detection unit and fourth information regarding the vehicle speed of the human-powered vehicle output by the second detection unit corresponds to a case where the vehicle speed of the human-powered vehicle is equal to or greater than a predetermined speed.

6. 6. The control device according to claim 5, wherein when one of the third information and the fourth information corresponds to a case where the vehicle speed of the human-powered vehicle is equal to or greater than a predetermined speed, the control unit controls the component so that the component is in the predetermined state.

7. 7. The control device according to claim 6, wherein when both the third information and the fourth information correspond to a case where the vehicle speed of the human-powered vehicle is equal to or greater than a predetermined speed, the control unit controls the component so that the component is in the predetermined state.

8. the component includes an electric actuator; The control device according to claim 1 , wherein the predetermined state includes a state in which the electric actuator does not operate.

9. A control device for a human-powered vehicle, The human-powered vehicle includes a component for a human-powered vehicle and a plurality of detection units; the plurality of detectors include a first detector configured to detect first information related to the human-powered vehicle and a second detector configured to detect second information related to the human-powered vehicle; the first information and the second information are related to each other; The control device configured to control the component in response to an output of at least one of the first detector and the second detector when the output of the first detector is in a first state and the output of the second detector is in a second state; when the output of the first detector is not in the first state and the output of the second detector is in the second state, the component is controlled in accordance with the output of the second detector and independently of the output of the first detector; A control device including a control unit configured to control the component in accordance with the output of the first detection unit and independently of the output of the second detection unit when the output of the first detection unit is in the first state and the output of the second detection unit is not in the second state.

10. The control device according to claim 9 , wherein the control unit is configured to control the component in response to at least one of a first parameter related to the first information and a second parameter related to the second information.

11. 11. The control device according to claim 10, wherein, when the output of the first detection unit is not in the first state and the output of the second detection unit is in the second state, the control unit estimates the first parameter in accordance with the second parameter calculated in accordance with the second information, and controls the component in accordance with the estimated first parameter.

12. 12. The control device according to claim 10, wherein when the output of the first detection unit is in the first state and the output of the second detection unit is not in the second state, the control unit estimates the second parameter in accordance with the first parameter calculated in accordance with the first information, and controls the component in accordance with the estimated second parameter.

13. 13. The control device according to claim 1, wherein when the output of the second detection unit is not in the second state, the signal output from the second detection unit includes a predetermined second signal.

14. 14. The control device according to claim 1, wherein when the output of the first detection unit is not in the first state, the signal output from the first detection unit includes a predetermined first signal.

15. 15. The control device according to claim 14, wherein the first signal includes a signal that is generated in at least one of the following cases: when the first detection unit is faulty; when there is an abnormality in the connection between the first detection unit and the control unit; when the first detection unit is not in a predetermined configuration; and when the connection between the first detection unit and the control unit is not in a predetermined configuration.

16. The control device according to claim 1 , wherein when the output of the first detection unit is not in the first state, no signal is output from the first detection unit.

17. 17. The control device according to claim 1, wherein the control unit causes a notification unit to notify predetermined notification information when the output of the first detection unit is not in the first state.

18. 18. The control device according to any one of claims 1 to 17, wherein the plurality of detection units include at least one of a vehicle speed sensor configured to detect information corresponding to the rotational speed of a wheel of the human-powered vehicle, a crank rotation sensor configured to detect information corresponding to the rotational speed of a crank of the human-powered vehicle, an acceleration sensor configured to detect information corresponding to the acceleration of the human-powered vehicle, a position information detection sensor configured to detect information corresponding to the position of the human-powered vehicle, and a motor rotation sensor configured to detect information corresponding to the rotational speed of a motor that provides propulsive force to the human-powered vehicle.

19. The control device according to claim 18 , wherein the first detection unit includes the vehicle speed sensor.

20. The control device according to claim 19, wherein the second detection unit includes one of the crank rotation sensor and the acceleration sensor.

21. The control device according to claim 1 , wherein the component includes a motor that provides propulsive force to the human-powered vehicle.

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