Control device for human-powered vehicle

Abstract

To provide a control device for a human-powered vehicle that can execute suitable control according to the tilt angle.SOLUTION: A control device for a human-powered vehicle includes a control unit configured to control a transmission. The control unit is configured to: control the transmission to change a gear ratio on the basis of a comparison between a gear change threshold and a gear change parameter related to at least one of a driving state of the human-powered vehicle and a driving environment of the human-powered vehicle; change the gear change threshold in accordance with an output of a first sensor capable of detecting a first tilt parameter related to a predetermined tilt angle on a predetermined axis of the human-powered vehicle, and an output of a second sensor capable of detecting a second tilt parameter related to the predetermined tilt angle; change the gear change threshold on the basis of the first tilt parameter if the second tilt parameter is smaller than a first predetermined value; and change the gear change threshold on the basis of the second tilt parameter if the second tilt parameter is equal to or greater than the first predetermined value.SELECTED DRAWING: Figure 2

Description

[Technical Field]

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

[0002] Patent Document 1 discloses a control device for a human-powered vehicle that controls components according to the tilt angle. [Prior art documents] [Patent documents]

[0003] [Patent Document 1] Japanese Patent Publication No. 2023-067701 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 execute suitable control according to the tilt angle. [Means for solving the problem]

[0005] A control device according to a first aspect of the present disclosure is a control device for a human-powered vehicle, and includes a control unit configured to control a transmission configured to change a gear ratio, which is the ratio of the rotational speed of a wheel of the human-powered vehicle to the rotational speed of a crankshaft of the human-powered vehicle. The control unit is configured to control the transmission to change the gear ratio based on a comparison between a gear shift parameter related to at least one of a running state of the human-powered vehicle and a running environment of the human-powered vehicle and a gear shift threshold. The control unit is configured to change the gear shift threshold in accordance with the output of a first sensor capable of detecting a first tilt parameter related to a predetermined tilt angle of a predetermined axle of the human-powered vehicle and the output of a second sensor different from the first sensor, the second sensor being capable of detecting a second tilt parameter related to the predetermined tilt angle. The control unit is configured to change the gear shift threshold based on the first tilt parameter when the second tilt parameter is smaller than a first predetermined value, and to change the gear shift threshold based on the second tilt parameter when the second tilt parameter is equal to or greater than the first predetermined value. According to the control device of the first aspect, the transmission can be controlled in accordance with the output of a first sensor capable of detecting a first tilt parameter and the output of a second sensor capable of detecting a second tilt parameter, thereby enabling appropriate control to be performed in accordance with the tilt angle.

[0006] In the control device of a second aspect according to the first aspect of the present disclosure, the control unit is configured to change the gear shift threshold so as to suppress an increase in the gear ratio when the second tilt parameter is smaller than the first predetermined value and the first tilt parameter is greater than the second predetermined value. According to the control device of the second aspect, when the second tilt parameter is smaller than the first predetermined value and the first tilt parameter is greater than the second predetermined value, the shift threshold can be changed to suppress an increase in the gear ratio, thereby making it less likely that the rider's load will increase.

[0007] In the control device of a third aspect according to the first or second aspect of the present disclosure, the control unit is configured to change the gear shift threshold so as to promote a decrease in the gear ratio when the second slope parameter is smaller than the first predetermined value and the first slope parameter is greater than a third predetermined value. According to the control device of the third aspect, when the second tilt parameter is smaller than the first predetermined value and the first tilt parameter is greater than the third predetermined value, the shift threshold is changed to promote a decrease in the gear ratio, making it easier to reduce the rider's load.

[0008] In a control device of a fourth aspect according to any one of the first to third aspects of the present disclosure, the control unit is configured to change the shift threshold based on a direction of change of the second tilt parameter when the second tilt parameter is equal to or greater than the first predetermined value. According to the control device of the fourth aspect, when the second tilt parameter is equal to or greater than the first predetermined value, the shift threshold can be changed based on the direction of change in the second tilt parameter.

[0009] In the control device of a fifth aspect according to any one of the first to fourth aspects of the present disclosure, the control unit is configured to change the shift threshold based on both the first tilt parameter and the second tilt parameter when the second tilt parameter is equal to or greater than the first predetermined value. According to the control device of the fifth aspect, when the second tilt parameter is equal to or greater than the first predetermined value, the shift threshold can be changed based on both the first tilt parameter and the second tilt parameter.

[0010] A control device according to a sixth aspect of the present disclosure is a control device for a human-powered vehicle, comprising a control unit configured to control a transmission configured to change a gear ratio, which is the ratio of the rotational speed of the wheels of the human-powered vehicle to the rotational speed of the crankshaft of the human-powered vehicle, wherein the control unit is configured to control the transmission to change the gear ratio based on a comparison between a gear shift parameter related to at least one of the driving state of the human-powered vehicle and the driving environment of the human-powered vehicle and a gear shift threshold, and to control the transmission in accordance with the output of a first sensor capable of detecting a first tilt parameter related to a predetermined tilt angle of a predetermined axle of the human-powered vehicle and the output of a second sensor different from the first sensor, capable of detecting a second tilt parameter related to the predetermined tilt angle, and wherein the control unit is configured to change the gear shift threshold based on the first tilt parameter when the second tilt parameter is smaller than a first predetermined value, and to control the transmission to suppress the change of the gear ratio based on the second tilt parameter when the second tilt parameter is equal to or greater than the first predetermined value. According to the control device of the sixth aspect, the change in the gear ratio can be suppressed according to the output of the first sensor capable of detecting the first tilt parameter and the output of the second sensor capable of detecting the second tilt parameter, thereby enabling suitable control to be performed according to the tilt angle.

[0011] In the control device of the seventh aspect according to the sixth aspect of the present disclosure, when the second tilt parameter is equal to or greater than the first predetermined value, the control unit controls the transmission so as to suppress a change in the gear ratio based on both the first tilt parameter and the second tilt parameter. According to the control device of the seventh aspect, when the second tilt parameter is equal to or greater than the first predetermined value, the change in the gear ratio can be suppressed based on both the first tilt parameter and the second tilt parameter.

[0012] In the control device of an eighth aspect according to the sixth or seventh aspect of the present disclosure, the control unit is configured to control the transmission so as to suppress a change in the gear ratio based on a direction of change of the second tilt parameter when the second tilt parameter is equal to or greater than the first predetermined value. According to the control device of the eighth aspect, when the second tilt parameter is equal to or greater than the first predetermined value, the change in the gear ratio can be suppressed based on the direction of change in the second tilt parameter.

[0013] In the control device of a ninth aspect according to any one of the first to eighth aspects of the present disclosure, the predetermined tilt angle includes a pitch angle. According to the control device of the ninth aspect, it is possible to perform suitable control according to the pitch angle.

[0014] In the control device of a tenth aspect according to the ninth aspect of the present disclosure, the control unit is configured to change the gear shift threshold so as to promote a decrease in the gear ratio when the first tilt parameter is a value corresponding to a downhill slope and the second tilt parameter changes in a direction in which the pitch angle increases. According to the control device of the tenth aspect, when the first tilt parameter is a value corresponding to a downhill slope and the second tilt parameter changes in a direction in which the pitch angle increases, a decrease in the gear ratio can be promoted.

[0015] In the control device of an eleventh aspect according to the ninth or tenth aspect of the present disclosure, the control unit is configured to control the transmission to suppress an increase in the gear ratio when the first tilt parameter is a value corresponding to a downhill slope and the second tilt parameter changes in a direction in which the pitch angle increases. According to the control device of the eleventh aspect, when the first tilt parameter is a value corresponding to a downhill slope and the second tilt parameter changes in a direction that increases the pitch angle, an increase in the gear ratio can be suppressed.

[0016] In the control device of a twelfth aspect according to any one of the ninth to eleventh aspects of the present disclosure, the control unit is configured to control the transmission to suppress an increase in the gear ratio when the first tilt parameter is a value corresponding to an uphill slope and the second tilt parameter changes in a direction that decreases the pitch angle. According to the control device of the twelfth aspect, when the first tilt parameter is a value corresponding to an uphill slope and the second tilt parameter changes in a direction that decreases the pitch angle, an increase in the gear ratio can be suppressed.

[0017] In the control device of a thirteenth aspect according to the twelfth aspect of the present disclosure, the control unit is configured to control the transmission to suppress an increase in the gear ratio for a predetermined period of time when the first tilt parameter is a value corresponding to an uphill slope and the second tilt parameter changes in a direction that decreases the pitch angle. According to the control device of the thirteenth aspect, when the first tilt parameter is a value corresponding to an uphill slope and the second tilt parameter changes in a direction that decreases the pitch angle, an increase in the gear ratio can be suppressed for a predetermined period of time.

[0018] In the control device of a fourteenth aspect according to any one of the first to thirteenth aspects of the present disclosure, the gear change parameters include at least one of a parameter related to the human-powered driving force input to the human-powered vehicle, a parameter related to the rotational speed of the crankshaft, a parameter related to the rotational speed of the wheels, a parameter related to vehicle speed, a parameter related to acceleration, and a parameter related to road surface gradient. According to the control device of the fourteenth aspect, the control unit can suitably change the gear ratio in accordance with at least one of a parameter related to the human-powered driving force input to the human-powered vehicle, a parameter related to the rotational speed of the crankshaft, a parameter related to the rotational speed of the wheels, a parameter related to the vehicle speed, a parameter related to acceleration, and a parameter related to the road surface gradient.

[0019] A control device according to a fifteenth aspect of the present disclosure is a control device for a human-powered vehicle, comprising a control unit configured to control a motor configured to provide propulsive force to the human-powered vehicle, wherein the control unit is configured to control the motor in accordance with the output of a first sensor capable of detecting a first tilt parameter related to a predetermined tilt angle on a predetermined axis of the human-powered vehicle and the output of a second sensor capable of detecting a second tilt parameter related to the predetermined tilt angle and different from the first sensor, and is configured to control the motor based on the first tilt parameter when the second tilt parameter is smaller than a first predetermined value, and to control the motor based on the second tilt parameter when the second tilt parameter is equal to or greater than the first predetermined value. According to the control device of the fifteenth aspect, the motor can be controlled in accordance with the output of a first sensor capable of detecting a first tilt parameter and the output of a second sensor capable of detecting a second tilt parameter, thereby enabling suitable control to be performed in accordance with the tilt angle.

[0020] In the control device of the sixteenth aspect according to the fifteenth aspect of the present disclosure, the control unit is configured to control the motor based on both the first tilt parameter and the second tilt parameter when the second tilt parameter is greater than or equal to the first predetermined value. According to the control device of the sixteenth aspect, when the second tilt parameter is equal to or greater than the first predetermined value, the motor can be controlled based on both the first tilt parameter and the second tilt parameter.

[0021] In the control device of the seventeenth aspect according to the fifteenth or sixteenth aspect of the present disclosure, the control unit is configured to control the motor based on the direction of change of the second tilt parameter when the second tilt parameter is greater than or equal to the first predetermined value. According to the control device of the seventeenth aspect, when the second tilt parameter is equal to or greater than the first predetermined value, the motor can be controlled based on the direction of change of the second tilt parameter.

[0022] In the control device of an eighteenth aspect according to any one of the fifteenth to seventeenth aspects of the present disclosure, the predetermined tilt angle includes a pitch angle. According to the control device of the eighteenth aspect, it is possible to perform suitable control according to the pitch angle.

[0023] In the control device of the 19th aspect according to the 18th aspect of the present disclosure, the control unit is configured to control the motor to increase the level of assistance provided by the motor when the first tilt parameter is a value corresponding to a downhill slope and the second tilt parameter changes in a direction in which the pitch angle increases. According to the control device of the nineteenth aspect, when the first tilt parameter is a value corresponding to a downhill slope and the second tilt parameter changes in a direction in which the pitch angle increases, the assist level can be increased.

[0024] In the control device of aspect 20 according to aspect 18 or 19 of the present disclosure, the control unit is configured to control the motor so that the level of assistance by the motor decreases when the first tilt parameter is a value corresponding to an uphill slope and the second tilt parameter changes in a direction that decreases the pitch angle. According to the control device of the twentieth aspect, when the first tilt parameter is a value corresponding to an uphill slope and the second tilt parameter changes in a direction that decreases the pitch angle, the assist level can be decreased.

[0025] A control device according to a twenty-first aspect of the present disclosure is a control device for a human-powered vehicle, comprising: a control unit configured to control components for the human-powered vehicle, wherein the control unit is configured to control the components in accordance with outputs of a first sensor capable of detecting a first tilt parameter related to a predetermined tilt angle on a predetermined axis of the human-powered vehicle and a second sensor different from the first sensor capable of detecting a second tilt parameter related to the predetermined tilt angle, wherein the control unit is configured to control the components based on the first tilt parameter when the second tilt parameter is smaller than a first predetermined value, and to control the components based on the second tilt parameter when the second tilt parameter is equal to or greater than the first predetermined value, wherein the first tilt parameter has a first sensitivity to changes in the predetermined tilt angle, and the second tilt parameter has a second sensitivity to changes in the predetermined tilt angle, the second sensitivity being higher than the first sensitivity. According to the control device of the 21st aspect, the component can be controlled according to the output of a first sensor capable of detecting a first tilt parameter and the output of a second sensor capable of detecting a second tilt parameter and different from the first sensor, thereby enabling appropriate control to be performed according to the tilt angle.

[0026] In the control device of the twenty-second aspect according to the twenty-first aspect of the present disclosure, the predetermined tilt angle includes a pitch angle. According to the control device of the twenty-second aspect, it is possible to perform suitable control according to the pitch angle.

[0027] In the control device of a twenty-third aspect according to any one of the first to twenty-second aspects of the present disclosure, the first tilt parameter is a physical quantity different from the second tilt parameter. According to the control device of the twenty-third aspect, it is possible to perform suitable control based on the first gradient parameter and the second gradient parameter, which are different physical quantities from each other.

[0028] In a control device of a 24th aspect according to any one of the first to 23rd aspects of the present disclosure, the control device further includes the first sensor and the second sensor, wherein the first sensor includes an acceleration sensor and the second sensor includes a gyro sensor. According to the control device of the twenty-fourth aspect, it is possible to perform suitable control according to the tilt angle in accordance with the output of the acceleration sensor and the output of the gyro sensor. [Effects of the Invention]

[0029] The control device for a human-powered vehicle according to the present disclosure can perform suitable control according to the tilt angle. [Brief explanation of the drawings]

[0030] [Figure 1] 1 is a side view of a human-powered vehicle on which a component for a human-powered vehicle according to a first embodiment is mounted. [Figure 2] FIG. 2 is a block diagram showing the electrical configuration of the human-powered vehicle of FIG. 1. [Figure 3] 3 is a flowchart of a process executed by the control unit of FIG. 2 to control the transmission. [Figure 4] 3 is a flowchart of a process executed by the control unit of FIG. 2 to change a gear shift threshold value. [Figure 5] FIG. 4 is a block diagram showing the electrical configuration of a human-powered vehicle according to a second embodiment. [Figure 6] 6 is a flowchart of a process executed by the control unit of FIG. 5 to control a motor. [Figure 7] 10 is a flowchart of a process for changing a gear shift threshold, which is executed by a control unit of a first modified example. [Figure 8] 10 is a flowchart of a process for changing a shift threshold, which is executed by a control unit of a second modified example. [Figure 9] 10 is a flowchart of a process for changing a gear shift threshold, which is executed by a control unit of a third modified example. [Figure 10] 10 is a flowchart of a process executed by a control unit of a fourth modified example to control a motor. [Figure 11] 10 is a flowchart of a process executed by a control unit of a fifth modified example to control a motor. DETAILED DESCRIPTION OF THE INVENTION

[0031] First Embodiment A control device 60 for a human-powered vehicle according to a first embodiment will be described with reference to FIGS. 1 to 5. FIG.

[0032] A human-powered vehicle is a vehicle that has at least one wheel and can be propelled at least by human power. Human-powered vehicles include various types of bicycles, such as mountain bikes, road bikes, city bikes, cargo bikes, hand bikes, and recumbents. There is no limit to the number of wheels a human-powered vehicle has. Human-powered vehicles also include, for example, one-wheeled vehicles and vehicles with two or more wheels. Human-powered vehicles are not limited to vehicles that can be propelled solely by human power. Human-powered vehicles include E-bikes that use not only human power but also the driving force of an electric motor for propulsion. E-bikes include electrically assisted bicycles whose propulsion is assisted by an electric motor. In the following embodiments, the human-powered vehicle will be described as a bicycle.

[0033] The human-powered vehicle 10 includes at least one wheel 12 and a body 14. The at least one wheel 12 includes, for example, a front wheel 12F and a rear wheel 12R. The body 14 includes a frame 16. For example, a saddle 16A is attached to the frame 16.

[0034] The human-powered vehicle 10 further includes, for example, a crank 18 to which human-powered driving force is input. The crank 18 includes, for example, crank arms 20 and a crank shaft 22. The crank shaft 22 is rotatable with respect to, for example, the frame 16. The crank arms 20 are connected to, for example, pedals 24. The crank arms 20 are provided, for example, at each of the axial ends of the crank shaft 22.

[0035] A front fork 26 is connected to the frame 16. A front wheel 12F is attached to the front fork 26. A handlebar 28 is connected to the front fork 26 via a stem 30. A rear wheel 12R is supported by the frame 16. In this embodiment, the crank 18 is connected to the rear wheel 12R by a drive mechanism 32. The rear wheel 12R is driven by the rotation of the crankshaft 22. At least one of the front wheel 12F and the rear wheel 12R may be connected to the crank 18 by the drive mechanism 32.

[0036] The drive mechanism 32 includes at least one first rotating body 34 connected to the crankshaft 22. The at least one first rotating body 34 includes, for example, a front sprocket. The at least one first rotating body 34 may include a pulley or a bevel gear. The crankshaft 22 may be connected to the front sprocket via a one-way clutch.

[0037] The drive mechanism 32 further includes at least one second rotating body 36 and a transmission member 38. The transmission member 38 is configured to transmit the rotational force of the at least one first rotating body 34 to the at least one second rotating body 36. The transmission member 38 includes, for example, a chain. The transmission member 38 may also include a belt or a shaft. The at least one second rotating body 36 includes, for example, a rear sprocket. The at least one second rotating body 36 may also include a pulley or a bevel gear. The chain is wound around, for example, a front sprocket and a rear sprocket. The at least one second rotating body 36 is connected to, for example, the rear wheel 12R. The rear wheel 12R is configured to rotate in conjunction with the rotation of the at least one second rotating body 36.

[0038] For example, at least a part of a control system 40 for a human-powered vehicle is installed in the human-powered vehicle 10. The control system 40 has, for example, a control device 60 for a human-powered vehicle and a transmission 50 for a human-powered vehicle.

[0039] The transmission 50 is configured to change the gear ratio, which is the ratio of the rotational speed of the wheels 12 of the human-powered vehicle 10 to the rotational speed of the crankshaft 22 of the human-powered vehicle 10. The transmission 50 is configured, for example, to be able to change the gear ratio in stages. The transmission 50 is configured to be able to change the gear ratio of the human-powered vehicle 10 according to the number of gears. The gear ratio of the human-powered vehicle 10 is, for example, the ratio of the rotational speed of the rear wheels 12R to the rotational speed of the crankshaft 22. The transmission 50 is mounted on, for example, the frame 16. The transmission 50 includes, for example, at least one of a rear transmission and a front transmission. The transmission 50 includes, for example, an external transmission. The transmission 50 includes, for example, a rear derailleur. The transmission 50 may include a front derailleur. The transmission 50 may include an internal transmission. The internal transmission is provided, for example, in the hub of the rear wheel 12R. The transmission 50 may include a CVT (Continuously Variable Transmission).

[0040] The transmission 50 includes, for example, an electric transmission. The transmission 50 includes, for example, an actuator that operates by electricity. The gear ratio is changed by driving the actuator. The actuator includes, for example, an electric motor.

[0041] The control system 40 further includes, for example, a battery 42. The battery 42 includes one or more battery elements. The battery element includes a rechargeable battery. For example, the battery 42 is configured to supply power to the control device 60 and the transmission 50. For example, the battery 42 is connected to the control device 60 so as to be able to communicate with the control device 60 via a wired or wireless connection. For example, the battery 42 can communicate with the control device 60 via power line communication (PLC), a controller area network (CAN), or a universal asynchronous receiver / transmitter (UART). The battery 42 may include a first battery configured to supply power to the control device 60 and a second battery configured to supply power to the transmission 50.

[0042] The control device 60 for a human-powered vehicle includes a control unit 62. The control unit 62 includes, for example, an arithmetic processing unit that executes a predetermined control program. For example, the arithmetic processing unit included in the control unit 62 includes a CPU (Central Processing Unit) or an MPU (Micro Processing Unit). The arithmetic processing units included in the control unit 62 may be provided in multiple locations that are separate from each other. When the arithmetic processing units are provided in multiple locations that are separate from each other, each part of the arithmetic processing unit may be connected to each other so that they can communicate with each other via a wireless communication device. The control unit 62 may include one or more microcomputers.

[0043] The control device 60 further includes, for example, a storage unit 64. The storage unit 64 is, for example, connected to the control unit 62 so as to be able to communicate with it via wire or wirelessly. For example, the storage unit 64 stores a control program and information used in the control process. The storage unit 64 includes, for example, a non-volatile memory and a volatile memory. The non-volatile memory includes, for example, at least one of a read-only memory (ROM), an erasable programmable read-only memory (EPROM), an electrically erasable programmable read-only memory (EEPROM), and a flash memory. The volatile memory includes, for example, a random access memory (RAM).

[0044] The control unit 62 is configured to control the transmission 50. The control unit 62 is configured to control the transmission 50 to change the gear ratio based on transmission parameters related to at least one of the driving state of the human-powered vehicle 10 and the driving environment of the human-powered vehicle 10. The transmission parameters include, for example, at least one of a parameter related to the human-powered driving force input to the human-powered vehicle 10, a parameter related to the rotational speed of the crankshaft 22, a parameter related to the rotational speed of the wheels 12, a parameter related to the vehicle speed, a parameter related to acceleration, and a parameter related to the road gradient. The parameters related to the human-powered driving force input to the human-powered vehicle 10 include, for example, at least one of human torque and human power rate. The parameters related to the rotational speed of the crankshaft 22 include, for example, the rotational speed of the crankshaft 22. The rotational speed of the crankshaft 22 may be cadence. The parameters related to the vehicle speed include, for example, the vehicle speed. The parameters related to the acceleration include, for example, the acceleration in the traveling direction of the human-powered vehicle 10. The acceleration-related parameters may include acceleration of at least one of the pitch axis, yaw axis, and roll axis of the human-powered vehicle 10. The road gradient-related parameters include, for example, at least one of the gradient of the road on which the human-powered vehicle 10 is traveling and the angle relative to the horizontal. The control system 40 includes, for example, a detection unit 44 that detects the gear shift parameters.

[0045] If the gear change parameters include parameters related to the human-powered driving force input to the human-powered vehicle 10, the detection unit 44 includes, for example, a human-powered driving force detection unit 44A. The human-powered driving force detection unit 44A is communicably connected to the control unit 62, for example, via wire or wirelessly. The human-powered driving force detection unit 44A is configured to output, for example, a signal corresponding to the torque applied to the crankshaft 22 by the human-powered driving force. The signal corresponding to the torque applied to the crankshaft 22 by the human-powered driving force includes information related to the human-powered driving force input to the human-powered vehicle 10.

[0046] The manual driving force detection unit 44A is provided, for example, on a member included in the transmission path of the manual driving force or on a member included in the vicinity of a member included in the transmission path of the manual driving force. The manual driving force detection unit 44A includes a strain sensor, a magnetostrictive sensor, a pressure sensor, or the like. The strain sensor includes a strain gauge. The manual driving force detection unit 44A may have any configuration as long as it can acquire information related to the manual driving force.

[0047] The manual driving force detection unit 44A may be provided, for example, in at least one of the crank arm 20 and the pedal 24. When the manual driving force detection unit 44A is provided in the pedal 24, the manual driving force detection unit 44A may include a sensor that detects pressure applied to the pedal 24. The manual driving force detection unit 44A may be provided in the chain. When the manual driving force detection unit 44A is provided in the chain, the manual driving force detection unit 44A may include a sensor that detects tension in the chain.

[0048] When the gear shift parameter includes the rotation speed of the crankshaft 22, the detection unit 44 includes, for example, a crank rotation state detection unit 44B. The crank rotation state detection unit 44B is provided in, for example, the drive unit. The crank rotation state detection unit 44B is connected to the control unit 62, for example, by wire or wirelessly so as to be able to communicate with the control unit 62.

[0049] The crank rotation state detection unit 44B is configured to detect, for example, the amount of rotation of the crankshaft 22 and the amount of rotation of the first rotating body 34. The first rotating body 34 includes, for example, a front sprocket or a front pulley. The crank rotation state detection unit 44B is configured to detect, for example, at least one of information corresponding to the rotation speed of the crankshaft 22 and information corresponding to the rotation speed of the first rotating body 34. The information corresponding to the rotation speed of the crankshaft 22 includes, for example, the angular acceleration of the crankshaft 22. The information corresponding to the rotation speed of the first rotating body 34 includes, for example, the angular acceleration of the first rotating body 34.

[0050] The crank rotation state detection unit 44B is configured to output, for example, at least one of a signal corresponding to the rotation speed of the crankshaft 22 and a signal corresponding to the rotation speed of the first rotor 34. The crank rotation state detection unit 44B is configured to output, for example, at least one of a detection signal corresponding to the rotation angle of the crankshaft 22 and a detection signal corresponding to the rotation angle of the first rotor 34 during one rotation of the crankshaft 22 and the first rotor 34.

[0051] The crank rotation state detection unit 44B includes, for example, a magnetic sensor that outputs a signal corresponding to the strength of a magnetic field. The crank rotation state detection unit 44B includes, for example, an annular magnet with multiple magnetic poles arranged in the circumferential direction. The annular magnet is provided, for example, on the crankshaft 22. The annular magnet includes, for example, one south pole and one north pole. The one south pole and the one north pole each extend continuously for 180 degrees in the circumferential direction of the rotational center of the crankshaft 22. The crank rotation state detection unit 44B may include, instead of the magnetic sensor, an optical sensor, an acceleration sensor, a gyro sensor, a torque sensor, or the like.

[0052] The crank rotation state detection unit 44B may be configured to detect the amount of rotation of the second rotating body 36. The second rotating body 36 includes, for example, a rear sprocket or a rear pulley. The crank rotation state detection unit 44B may be configured to detect information corresponding to the rotation speed of the second rotating body 36. The information corresponding to the rotation speed of the second rotating body 36 includes, for example, the angular acceleration of the second rotating body 36. The crank rotation state detection unit 44B may be configured to output a signal corresponding to the rotation speed of the second rotating body 36.

[0053] The crank rotation state detection unit 44B may be configured to include a vehicle speed sensor. When the crank rotation state detection unit 44B includes the vehicle speed sensor, the control unit 62 may be configured to calculate the rotation speed of the crankshaft 22 based on the vehicle speed detected by the vehicle speed sensor and the gear ratio. The crank rotation state detection unit 44B may include a wheel speed sensor. When the crank rotation state detection unit 44B includes the wheel speed sensor, the control unit 62 may be configured to calculate the rotation speed of the crankshaft 22 based on the rotation speed of the wheels 12 detected by the wheel speed sensor and the gear ratio. The wheel speed sensor may be configured similarly to the vehicle speed detection unit 44C, for example.

[0054] When the gear shift parameter includes vehicle speed, the detection unit 44 includes, for example, a vehicle speed detection unit 44C. The vehicle speed detection unit 44C is, for example, connected to the control unit 62 so as to be able to communicate with it via wire or wirelessly. The vehicle speed detection unit 44C is configured, for example, to detect information related to the vehicle speed of the human-powered vehicle 10. The vehicle speed detection unit 44C is configured, for example, to detect information related to the rotational speed of the wheels 12. The vehicle speed detection unit 44C is configured, for example, to detect a magnet provided on at least one of the front wheels 12F and the rear wheels 12R.

[0055] The vehicle speed detection unit 44C is configured to output a detection signal a predetermined number of times during one rotation of the wheel 12, for example. The predetermined number is, for example, 1. The vehicle speed detection unit 44C outputs a signal corresponding to the rotation speed of the wheel 12. The control unit 62 can calculate the vehicle speed of the human-powered vehicle 10 based on the signal corresponding to the rotation speed of the wheel 12 and information related to the circumference of the wheel 12. The memory unit 64 stores, for example, information related to the circumference of the wheel 12.

[0056] When the shift parameters include parameters related to the rotation speed of the wheels 12, the detection unit 44 includes, for example, a wheel rotation state detection unit 44D. The wheel rotation state detection unit 44D is configured similarly to, for example, the vehicle speed detection unit 44C.

[0057] When the gear shift parameters include a parameter related to acceleration, the detection unit 44 includes, for example, an acceleration detection unit 44E. The acceleration detection unit 44E includes, for example, an acceleration sensor. The acceleration detection unit 44E may be configured to obtain the acceleration from the vehicle speed detected by the vehicle speed detection unit 44C.

[0058] If the gear shift parameters include a parameter related to road gradient, the detection unit 44 includes, for example, a road gradient detection unit 44F. The road gradient detection unit 44F may be, for example, an inclination sensor that detects at least one of the pitch angle, roll angle, and yaw angle of the human-powered vehicle 10. The inclination sensor includes, for example, at least one of a gyro sensor and an acceleration sensor. The road gradient detection unit 44F is configured to detect, for example, the gradient of the road corresponding to at least one of the pitch angle, roll angle, and yaw angle of the human-powered vehicle 10. The road gradient detection unit 44F may include a GPS (Global Positioning System) receiver. If the road gradient detection unit 44F includes a GPS receiver, for example, map information including information about the gradient of the road is stored in advance in the memory unit 64. The control unit 62 obtains the gradient of the road at the current location of the human-powered vehicle 10 based on the map information stored in the memory unit 64.

[0059] The control unit 62 is configured to control the transmission 50 to change the gear ratio based on a comparison between a gear threshold and a gear parameter related to at least one of the running state of the human-powered vehicle 10 and the running environment of the human-powered vehicle 10. The gear threshold includes, for example, at least one of a first gear threshold and a second gear threshold. The gear threshold may include only the first gear threshold, only the second gear threshold, or both the first and second gear thresholds. The second gear threshold is, for example, smaller than the first gear threshold. For example, when the gear parameter is equal to or greater than the first gear threshold, the control unit 62 controls the transmission 50 to change the gear ratio in a first gear shift direction. For example, when the gear parameter is equal to or less than the second gear shift threshold, the control unit 62 controls the transmission 50 to change the gear ratio in a second gear shift direction. For example, one of the first and second shifting directions is a shifting direction in which the gear ratio increases, and the other of the first and second shifting directions is a shifting direction in which the gear ratio decreases.

[0060] The control unit 62 is configured, for example, to control the transmission 50 so that the gear shift parameter does not exceed a gear shift threshold. The control unit 62 is configured, for example, to control the transmission 50 so that the gear shift parameter is smaller than a first gear shift threshold. The control unit 62 is configured, for example, to control the transmission 50 so that the gear shift parameter is larger than a second gear shift threshold. The control unit 62 is configured, for example, to control the transmission 50 so that the gear shift parameter is smaller than the first gear shift threshold and larger than the second gear shift threshold.

[0061] For example, if the shifting parameter is a shifting parameter that decreases as the rider's load increases, the control unit 62 is configured to control the transmission 50 to increase the gear ratio when the shifting parameter becomes equal to or greater than a first shifting threshold. For example, if the shifting parameter is a shifting parameter that decreases as the rider's load increases, the control unit 62 is configured to control the transmission 50 to decrease the gear ratio when the shifting parameter becomes equal to or less than a second shifting threshold. The shifting parameter that decreases as the rider's load increases includes, for example, a parameter related to the rotational speed of the crankshaft 22. The parameter related to the rotational speed of the crankshaft 22 includes, for example, at least one of the rotational speed of the crankshaft 22, the rotational speed of the wheels 12, and vehicle speed.

[0062] For example, if the gear shifting parameter is a parameter that increases as the rider's load increases, the control unit 62 is configured to control the transmission 50 to decrease the gear ratio when the gear shifting parameter becomes equal to or greater than a first gear shifting threshold. For example, if the gear shifting parameter is a parameter that increases as the rider's load increases, the control unit 62 is configured to control the transmission 50 to increase the gear ratio when the gear shifting parameter becomes equal to or less than a second gear shifting threshold. Gear shifting parameters that increase as the rider's load increases include, for example, at least one of manual driving force and road gradient.

[0063] The control unit 62 may be configured to control the transmission 50 so that, when the gear shifting parameter exceeds the gear shifting threshold, it becomes more likely to exceed the gear shifting threshold. When the gear shifting parameter is a gear shifting parameter that decreases as the rider's load increases, for example, when the gear shifting parameter becomes equal to or greater than a first gear shifting threshold, the control unit 62 is configured to control the transmission 50 to decrease the gear ratio. When the gear shifting parameter is a gear shifting parameter that decreases as the rider's load increases, for example, when the gear shifting parameter becomes equal to or less than a second gear shifting threshold, the control unit 62 is configured to control the transmission 50 to increase the gear ratio when the gear shifting parameter is equal to or less than a first gear shifting threshold, when the gear shifting parameter is equal to or less than a second gear shifting threshold. When the gear shifting parameter is a gear shifting parameter that increases as the rider's load increases, for example, when the gear shifting parameter becomes equal to or greater than the first gear shifting threshold, the control unit 62 is configured to control the transmission 50 to increase the gear ratio. When the gear shifting parameter is a gear shifting parameter that increases as the rider's load increases, for example, when the gear shifting parameter becomes equal to or less than a second gear shifting threshold, the control unit 62 is configured to control the transmission 50 to decrease the gear ratio.

[0064] Referring to Figure 3, the process by which control unit 62 controls transmission 50 based on a comparison between the shifting parameters and the shifting thresholds will be described. For example, when power is supplied to control unit 62, control unit 62 starts the process and proceeds to step S11 of the flowchart shown in Figure 3. When the flowchart in Figure 3 ends, control unit 62 repeats the process from step S11 after a predetermined period, for example, until the supply of power is stopped.

[0065] In step S11, control unit 62 determines whether the gear shift parameter is equal to or greater than the first gear shift threshold. If the gear shift parameter is equal to or greater than the first gear shift threshold, control unit 62 proceeds to step S12. In step S12, control unit 62 controls transmission 50 to change the gear ratio in the first gear shift direction, and then ends the process.

[0066] If the shift parameter is not equal to or greater than the first shift threshold in step S11, the control unit 62 proceeds to step S13. In step S13, the control unit 62 determines whether the shift parameter is equal to or less than the second shift threshold. If the shift parameter is not equal to or less than the second shift threshold, the control unit 62 ends the processing. If the shift parameter is equal to or less than the second shift threshold, the control unit 62 proceeds to step S14. In step S14, the control unit 62 controls the transmission 50 to change the gear ratio in the second shift direction, and then ends the processing.

[0067] The control unit 62 suppresses an increase in the gear ratio by, for example, changing the gear shift threshold. If the control unit 62 is configured to control the transmission 50 so as to increase the gear ratio when the gear shift parameter becomes equal to or greater than the first gear shift threshold, the control unit 62 suppresses an increase in the gear ratio by, for example, increasing the first gear shift threshold. If the control unit 62 is configured to control the transmission 50 so as to increase the gear ratio when the gear shift parameter becomes equal to or less than the second gear shift threshold, the control unit 62 suppresses an increase in the gear ratio by, for example, decreasing the second gear shift threshold.

[0068] The control unit 62 promotes a decrease in the gear ratio by, for example, changing the gear shift threshold. If the control unit 62 is configured to control the transmission 50 to decrease the gear ratio when the gear shift parameter becomes equal to or less than the second gear shift threshold, the control unit 62 promotes a decrease in the gear ratio by, for example, increasing the second gear shift threshold. If the control unit 62 is configured to control the transmission 50 to decrease the gear ratio when the gear shift parameter becomes equal to or greater than the first gear shift threshold, the control unit 62 promotes a decrease in the gear ratio by, for example, decreasing the first gear shift threshold.

[0069] The control unit 62 is configured to change the shifting threshold in response to the outputs of the first sensor 66 and the second sensor 68. The control unit 62 is configured, for example, to change the transmission 50 in response to the outputs of the first sensor 66 and the second sensor 68. The control unit 62 is configured, for example, to change the transmission 50 by changing the shifting threshold in response to the outputs of the first sensor 66 and the second sensor 68.

[0070] The first sensor 66 can detect a first tilt parameter related to a predetermined tilt angle on a predetermined axis of the human-powered vehicle 10. The second sensor 68 can detect a second tilt parameter related to the predetermined tilt angle, and is different from the first sensor 66. The first tilt parameter is a physical quantity different from the second tilt parameter. The predetermined axis includes, for example, the pitch axis. The predetermined tilt angle includes, for example, the pitch angle.

[0071] The control device 60 further includes, for example, a first sensor 66 and a second sensor 68. For example, one of the first sensor 66 and the second sensor 68 can detect acceleration in a predetermined axis, and the other of the first sensor 66 and the second sensor 68 can detect a tilt angle in the predetermined axis.

[0072] In this embodiment, the first sensor 66 includes, for example, an acceleration sensor. The first sensor 66 is configured to acquire, for example, the acceleration in the forward direction of the human-powered vehicle 10. The first sensor 66 is configured to acquire, for example, triaxial acceleration. In this case, the first sensor 66 is configured to acquire, for example, the acceleration in the forward direction, the acceleration in the left-right direction, and the acceleration in the up-down direction of the human-powered vehicle 10. The first sensor 66 is configured to output a first tilt parameter to the control unit 62 based on, for example, a first output voltage that changes depending on the acceleration. The first sensor 66 is configured to calculate the first tilt parameter based on, for example, the first output voltage. The first tilt parameter has a first sensitivity to changes in a predetermined tilt angle. The first sensor 66 is configured to calculate the first tilt parameter by, for example, processing the first output voltage with a first filter corresponding to the first sensitivity. The first filter is, for example, a band-pass filter.

[0073] In this embodiment, the second sensor 68 includes, for example, a gyro sensor. The second sensor 68 is configured to acquire, for example, a pitch angle. The second sensor 68 is configured to output a second tilt parameter to the control unit 62 based on, for example, a second output voltage that changes depending on the pitch angle. The second sensor 68 is configured to calculate the second tilt parameter based on, for example, the second output voltage. The second tilt parameter has a second sensitivity to changes in a predetermined tilt angle. The second sensitivity is, for example, higher than the first sensitivity. The second sensor 68 is configured to calculate the second tilt parameter by processing the second output voltage with a second filter corresponding to the second sensitivity. The second filter is, for example, a bandpass filter. When the first filter and the second filter are bandpass filters, for example, the second filter is configured to pass a different frequency band than the first filter. When the first filter and the second filter are bandpass filters, for example, the frequency band that can pass through the second filter is wider than the frequency band that can pass through the first filter. The second sensor 68 may be configured to calculate the second tilt parameter based on the second power voltage without processing by the second filter, and may be configured to output the second power voltage to the controller 62.

[0074] The control unit 62 is configured to change the gear shift threshold based on the first tilt parameter when the second tilt parameter is smaller than a first predetermined value. The control unit 62 is configured to change the gear shift threshold based on the second tilt parameter when the second tilt parameter is equal to or greater than the first predetermined value. The control unit 62 determines that the second tilt parameter is equal to the first predetermined value, for example, when the absolute value of the change in the second tilt parameter is equal to or greater than the first predetermined value. The control unit 62 may determine that the second tilt parameter is equal to or greater than the first predetermined value when the second tilt parameter changes in a direction that decreases the pitch angle. The control unit 62 may determine that the second tilt parameter is equal to or greater than the first predetermined value when the second tilt parameter changes in a direction that increases the pitch angle.

[0075] For example, when the second tilt parameter is equal to or greater than a first predetermined value, the control unit 62 is configured to control the transmission 50 to suppress a change in the gear ratio based on the second tilt parameter. For example, when the second tilt parameter is equal to or greater than the first predetermined value, the control unit 62 is configured to control the transmission 50 to suppress a change in the gear ratio by changing the shift threshold based on the second tilt parameter.

[0076] When the second tilt parameter is smaller than the first predetermined value, the control unit 62 controls the transmission 50 based on the first tilt parameter having a first sensitivity lower than the second sensitivity, thereby preventing the gear ratio from being changed frequently.

[0077] The control unit 62 is configured to change the shift threshold to suppress an increase in the gear ratio when, for example, the second tilt parameter is smaller than a first predetermined value and the first tilt parameter is greater than a second predetermined value. The second predetermined value is, for example, a pitch angle corresponding to an uphill slope. The control unit 62 is configured to change the shift threshold to promote a decrease in the gear ratio when, for example, the second tilt parameter is smaller than the first predetermined value and the first tilt parameter is greater than a third predetermined value. The third predetermined value is, for example, a pitch angle corresponding to an uphill slope. The third predetermined value may be equal to or different from the second predetermined value.

[0078] The control unit 62 may be configured to change the gear shift threshold to suppress an increase in the gear ratio when the second tilt parameter is smaller than a first predetermined value and the first tilt parameter is smaller than a fourth predetermined value. The fourth predetermined value is, for example, a pitch angle corresponding to a downhill slope. The control unit 62 may be configured to change the gear shift threshold to suppress a decrease in the gear ratio when the second tilt parameter is smaller than the first predetermined value and the first tilt parameter is smaller than a fifth predetermined value. The fifth predetermined value is, for example, a pitch angle corresponding to a downhill slope. The fifth predetermined value may be equal to or different from the fourth predetermined value.

[0079] The control unit 62 is configured, for example, when the second tilt parameter is equal to or greater than a first predetermined value, to change the shifting threshold based on the direction of change of the second tilt parameter. The control unit 62 is configured, for example, when the second tilt parameter is equal to or greater than the first predetermined value, to control the transmission 50 to suppress a change in the gear ratio based on the direction of change of the second tilt parameter. The control unit 62 is configured, for example, when the second tilt parameter is equal to or greater than the first predetermined value, to control the transmission 50 to suppress a change in the gear ratio by changing the shifting threshold based on the direction of change of the second tilt parameter. The control unit 62 is configured, for example, when the second tilt parameter is equal to or greater than the first predetermined value, to change the shifting threshold depending on whether the second tilt parameter decreases or increases. When the second tilt parameter is acceleration, the control unit 62 may be configured to change the shifting threshold depending on whether the second tilt parameter is equal to or greater than the first predetermined value and whether the second tilt parameter is positive or negative.

[0080] For example, when the second tilt parameter is equal to or greater than a first predetermined value, the control unit 62 is configured to change the shift threshold based on both the first tilt parameter and the second tilt parameter. When the second tilt parameter is equal to or greater than the first predetermined value, the control unit 62 may be configured to change the shift threshold based on the second tilt parameter and independently of the first tilt parameter. For example, when the second tilt parameter is equal to or greater than the first predetermined value, the control unit 62 controls the transmission 50 to suppress a change in the gear ratio based on both the first tilt parameter and the second tilt parameter.

[0081] For example, when the first tilt parameter is a value corresponding to a downhill slope and the second tilt parameter changes in a direction that increases the pitch angle, the control unit 62 is configured to change the gear shift threshold to promote a decrease in the gear ratio. For example, when the first tilt parameter is a value corresponding to an uphill slope and the second tilt parameter changes in a direction that decreases the pitch angle, the control unit 62 is configured to control the transmission 50 to suppress an increase in the gear ratio when this state continues for a first period of time. For example, when the first tilt parameter is a value corresponding to a downhill slope and the second tilt parameter changes in a direction that increases the pitch angle, the control unit 62 is configured to control the transmission 50 to suppress an increase in the gear ratio. Examples of cases where the first tilt parameter is a value corresponding to a downhill slope and the second tilt parameter changes in a direction that increases the pitch angle include cases where a downhill slope gradually changes to a gentler downhill slope. For example, when the human-powered vehicle 10 travels toward a valley bottom, the road changes from a steep downhill slope to a gentle downhill slope, and then changes from a downhill slope to an uphill slope. When the first tilt parameter is a value corresponding to a downhill slope and the second tilt parameter changes in a direction that increases the pitch angle, the control unit 62 suppresses an increase in the gear ratio, thereby suppressing an increase in the rider's load at the bottom of valleys and on uphill slopes.

[0082] For example, the control unit 62 is configured to control the transmission 50 to suppress an increase in the gear ratio when the first tilt parameter is a value corresponding to an uphill slope and the second tilt parameter changes in a direction that decreases the pitch angle. For example, the control unit 62 is configured to control the transmission 50 to suppress an increase in the gear ratio when the first tilt parameter is a value corresponding to an uphill slope and the second tilt parameter changes in a direction that decreases the pitch angle, and this state continues for a second period. The control unit 62 is configured to control the transmission 50 to suppress an increase in the gear ratio for a predetermined period when the first tilt parameter is a value corresponding to an uphill slope and the second tilt parameter changes in a direction that decreases the pitch angle. Examples of cases where the first tilt parameter is a value corresponding to an uphill slope and the second tilt parameter changes in a direction that decreases the pitch angle include cases where an uphill slope gradually changes to a gentler uphill slope. For example, when the human-powered vehicle 10 travels up a hill toward the top, the road changes from a steep uphill slope to a gradual uphill slope, and then from the uphill slope to a downhill slope. If the first tilt parameter is a value corresponding to an uphill slope and the second tilt parameter changes in a direction that decreases the pitch angle, the control unit 62 suppresses an increase in the gear ratio, thereby suppressing an increase in the load on the rider until the uphill slope is reached.

[0083] The predetermined period is, for example, a predetermined time. When the first tilt parameter is a value corresponding to an uphill slope and the second tilt parameter changes in a direction that decreases the pitch angle, controller 62 may be configured to control transmission 50 to cancel the suppression of an increase in the gear ratio when the first tilt parameter corresponds to an uphill slope.

[0084] The process by which the control unit 62 changes the gear shift threshold will be described with reference to Fig. 4. For example, when power is supplied to the control unit 62, the control unit 62 starts the process and proceeds to step S21 of the flowchart shown in Fig. 4. When the flowchart in Fig. 4 ends, the control unit 62 repeats the process from step S21 after a predetermined period, for example, until the supply of power is stopped.

[0085] In step S21, the control unit 62 determines whether the first tilt parameter corresponds to a downhill slope. If the first tilt parameter corresponds to a downhill slope, the control unit 62 proceeds to step S22. In step S22, the control unit 62 determines whether the second tilt parameter has changed in a direction that increases the pitch angle. If the second tilt parameter has changed in a direction that increases the pitch angle, the control unit 62 proceeds to step S23.

[0086] In step S23, the control unit 62 changes the gear shift threshold value so as to suppress an increase in the gear ratio, and proceeds to step S24. In step S24, the control unit 62 changes the gear shift threshold value so as to promote a decrease in the gear ratio, and ends the process. Steps S23 and S24 may be performed in reverse order or simultaneously. One of steps S23 and S24 may be omitted from FIG. 4.

[0087] If the second tilt parameter has not changed in the direction in which the pitch angle increases in step S22, the control unit 62 proceeds to step S25. In step S25, the control unit 62 changes the gear shift threshold based on the first tilt parameter, and ends the process.

[0088] If the first slope parameter does not correspond to a downhill slope in step S21, the control unit 62 proceeds to step S26. In step S26, the control unit 62 determines whether the first slope parameter corresponds to an uphill slope. If the first slope parameter does not correspond to an uphill slope, the control unit 62 ends the processing. If the first slope parameter corresponds to an uphill slope, the control unit 62 proceeds to step S27.

[0089] In step S27, the control unit 62 determines whether the second tilt parameter has changed in a direction that decreases the pitch angle. If the second tilt parameter has changed in a direction that decreases the pitch angle, the control unit 62 proceeds to step S28. In step S28, the control unit 62 changes the gear shift threshold so as to suppress an increase in the gear ratio for a predetermined period of time, and then ends the process.

[0090] If the second tilt parameter has not changed in the direction in which the pitch angle decreases in step S27, the control unit 62 proceeds to step S29. In step S29, the control unit 62 changes the gear shift threshold based on the first tilt parameter, and ends the process.

[0091] Second Embodiment A control device 60 for a human-powered vehicle according to a second embodiment will be described with reference to Figures 5 and 6. In the control device 60 for a human-powered vehicle according to the second embodiment, components common to those in the first embodiment are assigned the same reference numerals as in the first embodiment, and redundant explanations will be omitted.

[0092] The control system 40 of this embodiment includes, for example, a motor 52 configured to provide propulsive force to the human-powered vehicle 10. The control device 60 of this embodiment may further include a drive circuit for the motor 52. For example, the control unit 62 and the drive circuit are provided in a housing of a drive unit in which the motor 52 is provided. The control unit 62 and the drive circuit may be provided on the same circuit board. For example, the drive circuit is connected to the control unit 62 so as to be able to communicate with each other via a wire or wirelessly. For example, the drive circuit drives the motor 52 in response to a control signal from the control unit 62.

[0093] For example, the drive circuit is electrically connected to the motor 52. For example, the drive circuit controls the supply of power from the battery 42 to the motor 52. For example, the drive circuit includes an inverter circuit. For example, the inverter circuit includes a plurality of transistors. For example, the inverter circuit includes a configuration in which a plurality of inverter units, each consisting of a pair of transistors connected in series, are connected in parallel. For example, the inverter circuit may have a current sensor that detects the current flowing through the inverter circuit. For example, the current sensor is connected to the control unit 62 so as to be able to communicate with the control unit 62 via wire or wirelessly.

[0094] The control unit 62 is configured to control the motor 52. The control unit 62 is configured, for example, to control the motor 52 in accordance with the state of the human-powered vehicle 10. The control unit 62 is configured, for example, to control the motor 52 so as to change the output of the motor 52 in accordance with the human-powered driving force applied to the human-powered vehicle 10. The control unit 62 is configured, for example, to control the motor 52 so as to change the propulsion force in accordance with the human-powered driving force. The control unit 62 is configured, for example, to control the motor 52 in accordance with the human-powered driving force detected by the human-powered driving force detection unit 44A.

[0095] The control unit 62 is configured to control the motor 52 in accordance with, for example, at least one of the rotation speed of the crankshaft 22 and the rotation speed of the first rotor 34 detected by the crank rotation state detection unit 44B. The control unit 62 is configured to control the motor 52 in accordance with, for example, the vehicle speed of the human-powered vehicle 10 detected by the vehicle speed detection unit 44C.

[0096] For example, when the vehicle speed of the human-powered vehicle 10 is lower than a predetermined vehicle speed, the control unit 62 is configured to drive the motor 52 to apply a propulsive force to the human-powered vehicle 10 in accordance with at least one of the human-powered driving force and the rotational speed of the crankshaft 22. The predetermined vehicle speed is, for example, a speed prescribed by law in each country. The predetermined vehicle speed is, for example, 24 km / h, 25 km / h, 30 km / h, 32 km / h, or 45 km / h.

[0097] The manual driving force is expressed by at least one of torque and power, for example. When the manual driving force is expressed by torque, for example, the manual driving force is referred to as manual torque. When the manual driving force is expressed by power, for example, the manual driving force is referred to as manual power. The manual power is, for example, the product of the torque applied to the crankshaft 22 and the rotational speed of the crankshaft 22.

[0098] The control unit 62 is configured, for example, to control the motor 52 so that the assist level provided by the motor 52 becomes a predetermined assist level. The assist level includes, for example, at least one of the ratio of the assist force of the motor 52 to the human-powered driving force input to the human-powered vehicle 10, the upper limit of the output of the motor 52, and the response speed of the motor 52 to the rate of change of the human-powered driving force. The control unit 62 is configured, for example, to control the motor 52 in accordance with at least one of the first tilt parameter and the second tilt parameter.

[0099] The assist force is expressed by at least one of torque and power, for example. When the assist force is expressed by torque, for example, the assist force is referred to as assist torque. When the assist force is expressed by power, for example, the assist force is referred to as assist power. The ratio of the assist force to the manual driving force may be the ratio of the assist torque to the manual torque, or the ratio of the assist power to the manual power.

[0100] The control unit 62 is configured to control the motor 52 in response to the outputs of the first sensor 66 and the second sensor 68. The control unit 62 is configured to control the motor 52 based on the first tilt parameter when the second tilt parameter is less than a first predetermined value. The control unit 62 is configured to control the motor 52 based on the second tilt parameter when the second tilt parameter is equal to or greater than the first predetermined value.

[0101] For example, the control unit 62 is configured to control the motor 52 based on both the first tilt parameter and the second tilt parameter when the second tilt parameter is equal to or greater than a first predetermined value. The control unit 62 may also be configured to control the motor 52 based on the second tilt parameter, and independently of the first tilt parameter, when the second tilt parameter is equal to or greater than the first predetermined value.

[0102] For example, when the second tilt parameter is equal to or greater than a first predetermined value, the control unit 62 is configured to control the motor 52 based on the direction of change of the second tilt parameter. For example, when the second tilt parameter is equal to or greater than the first predetermined value, the control unit 62 is configured to control the motor 52 to change the assist level based on the direction of change of the second tilt parameter.

[0103] The control unit 62 is configured to control the motor 52 to increase the level of assistance by the motor 52, for example, when the first tilt parameter is a value corresponding to a downhill slope and the second tilt parameter changes in a direction in which the pitch angle increases.

[0104] The control unit 62 is configured to control the motor 52 so that the level of assistance by the motor 52 decreases, for example, when the first tilt parameter is a value corresponding to an uphill slope and the second tilt parameter changes in a direction that decreases the pitch angle.

[0105] The process of changing the assist level by the control unit 62 will be described with reference to Fig. 6. For example, when power is supplied to the control unit 62, the control unit 62 starts the process and proceeds to step S31 of the flowchart shown in Fig. 5. When the flowchart of Fig. 6 ends, the control unit 62 repeats the process from step S31 after a predetermined period, for example, until the supply of power is stopped.

[0106] In step S31, the control unit 62 determines whether the first tilt parameter corresponds to a downhill slope. If the first tilt parameter corresponds to a downhill slope, the control unit 62 proceeds to step S32. In step S32, the control unit 62 determines whether the second tilt parameter has changed in a direction that increases the pitch angle. If the second tilt parameter has changed in a direction that increases the pitch angle, the control unit 62 proceeds to step S33. In step S33, the control unit 62 increases the assist level and ends the process.

[0107] If the second tilt parameter has not changed in a direction that increases the pitch angle in step S32, the control unit 62 proceeds to step S34. In step S34, the control unit 62 changes the assist level based on the first tilt parameter and ends the process.

[0108] If the first slope parameter does not correspond to a downhill slope in step S31, the control unit 62 proceeds to step S35. In step S35, the control unit 62 determines whether the first slope parameter corresponds to an uphill slope. If the first slope parameter does not correspond to an uphill slope, the control unit 62 ends the processing. If the first slope parameter corresponds to an uphill slope, the control unit 62 proceeds to step S36.

[0109] In step S36, the control unit 62 determines whether the second tilt parameter has changed in a direction that decreases the pitch angle. If the second tilt parameter has changed in a direction that decreases the pitch angle, the control unit 62 proceeds to step S37. In step S37, the control unit 62 decreases the assist level and ends the process.

[0110] If the second tilt parameter has not changed in a direction that decreases the pitch angle in step S36, the control unit 62 proceeds to step S38. In step S38, the control unit 62 changes the assist level based on the first tilt parameter and ends the process. <Example of change> The descriptions of each embodiment are examples of possible forms of a control device for a human-powered vehicle and are not intended to limit the forms. A control device for a human-powered vehicle according to the present disclosure can take the form of, for example, modified examples of each embodiment shown below, or a combination of at least two mutually consistent modified examples. In the following modified examples, parts that are common to each embodiment are assigned the same reference numerals as in each embodiment, and descriptions thereof will be omitted.

[0111] The control unit 62 may execute the process of FIG. 7 instead of the process of FIG. 4. The process of changing the gear shift threshold by the control unit 62 will be described with reference to FIG. 7. For example, when power is supplied to the control unit 62, the control unit 62 starts the process and proceeds to step S41 of the flowchart shown in FIG. 7. When the flowchart of FIG. 7 ends, the control unit 62 repeats the process from step S41 after a predetermined period, for example, until the supply of power is stopped. In step S41, the control unit 62 determines whether the second tilt parameter is smaller than a first predetermined value. If the second tilt parameter is smaller than the first predetermined value, the control unit 62 proceeds to step S42. In step S42, the control unit 62 determines whether the first tilt parameter is greater than a second predetermined value. If the first tilt parameter is greater than the second predetermined value, the control unit 62 proceeds to step S43. If the first tilt parameter is not greater than the second predetermined value, the control unit 62 proceeds to step S44. In step S43, the control unit 62 changes the gear shift threshold so as to suppress an increase in the gear ratio, and proceeds to step S44. In step S44, the control unit 62 determines whether the first tilt parameter is greater than a third predetermined value. If the first tilt parameter is not greater than the third predetermined value, the control unit 62 ends the process. If the first tilt parameter is greater than the third predetermined value, the control unit 62 proceeds to step S45. In step S45, the control unit 62 changes the shift threshold value so as to promote a decrease in the gear ratio, and ends the process. If the second tilt parameter is not smaller than the first predetermined value in step S41, the control unit 62 proceeds to step S46. In step S46, the control unit 62 changes the gear shift threshold based on the second tilt parameter and ends the process. If the third predetermined value is equal to the second predetermined value, step S44 may be omitted from the processing in Fig. 7. If step S44 is omitted from Fig. 7, step S45 is executed after the processing in step S43.

[0112] The control unit 62 may execute the process of FIG. 8 instead of the process of FIG. 4. The process of changing the gear shift threshold by the control unit 62 will be described with reference to FIG. 8. For example, when power is supplied to the control unit 62, the control unit 62 starts the process and proceeds to step S51 of the flowchart shown in FIG. 8. When the flowchart of FIG. 8 ends, the control unit 62 repeats the process from step S51 after a predetermined period, for example, until the supply of power is stopped. In step S51, the control unit 62 determines whether the second tilt parameter is smaller than a first predetermined value. If the second tilt parameter is smaller than the first predetermined value, the control unit 62 proceeds to step S52. In step S52, the control unit 62 changes the gear shift threshold based on the first tilt parameter and ends the process. If the second tilt parameter is not smaller than the first predetermined value in step S51, the control unit 62 proceeds to step S53. In step S53, the control unit 62 changes the gear shift threshold based on the second tilt parameter and ends the process.

[0113] In the process of Fig. 8, step S61 in Fig. 9 may be executed instead of step S52. If the second tilt parameter is smaller than the first predetermined value in step S51, the control unit 62 changes the gear shift threshold based on both the first tilt parameter and the second tilt parameter in step S61.

[0114] The control unit 62 may execute the process of Fig. 10 instead of the process of Fig. 6. The process of changing the assist level by the control unit 62 will be described with reference to Fig. 10. For example, when power is supplied to the control unit 62, the control unit 62 starts the process and proceeds to step S71 of the flowchart shown in Fig. 10. When the flowchart of Fig. 10 ends, the control unit 62 repeats the process from step S71 after a predetermined period, for example, until the supply of power is stopped. In step S71, the control unit 62 determines whether the second tilt parameter is smaller than a first predetermined value. If the second tilt parameter is smaller than the first predetermined value, the control unit 62 proceeds to step S72. In step S72, the control unit 62 changes the assist level based on the first tilt parameter and ends the process. If the second tilt parameter is not smaller than the first predetermined value in step S71, the control unit 62 proceeds to step S73. In step S73, the control unit 62 changes the assist level based on the second tilt parameter and ends the process.

[0115] In the process of Fig. 10, step S72 may be replaced by step S81 of Fig. 11. If the second tilt parameter is smaller than the first predetermined value in step S71, the control unit 62 changes the assist level based on both the first tilt parameter and the second tilt parameter in step S81.

[0116] The control unit 62 may be configured to control the transmission 50 to change the gear ratio when the human-powered vehicle 10 is in a predetermined state. The predetermined state includes, for example, a state in which the human-powered vehicle 10 is stopped, a state in which the crankshaft 22 is not rotating, and a coasting state. The coasting state includes a state in which the estimated rotational speed of the crankshaft 22 is greater than the actual rotational speed of the crankshaft 22. The estimated rotational speed of the crankshaft 22 is, for example, the value obtained by dividing the rotational speed of the wheels 12 by the gear ratio. If the transmission 50 includes a derailleur and the control unit 62 controls the transmission 50 to change the gear ratio when the human-powered vehicle 10 is in a predetermined state, the control unit 62 may operate the transmission 50 to change the gear ratio by, for example, driving the motor 52. In this modified example, the control unit 62 is configured to control the transmission 50 to change the gear ratio based on the first tilt parameter when, for example, the state of the human-powered vehicle 10 is in a predetermined state and the second tilt parameter is smaller than a first predetermined value. In this modified example, the control unit 62 is configured to control the transmission 50 to suppress changes in the gear ratio based on the second tilt parameter when, for example, the state of the human-powered vehicle 10 is in a predetermined state and the second tilt parameter is equal to or greater than the first predetermined value.

[0117] In the second embodiment, the control unit 62 may be configured to control the motor 52 in accordance with an assist parameter related to at least one of the traveling state and traveling environment of the human-powered vehicle 10. The assist parameter includes, for example, the same parameters as the gear change parameters. For example, the control unit 62 is configured to change the assist level based on a comparison between the assist parameter and an assist threshold. For example, when the second tilt parameter is equal to or greater than a first predetermined value, the control unit 62 is configured to control the motor 52 to change the assist threshold based on the direction of change of the second tilt parameter.

[0118] The first sensor 66 may include a gyro sensor, and the second sensor 68 may include an acceleration sensor. In this modification, the second sensitivity of the second sensor 68 is higher than the first sensitivity of the first sensor 66. This reduces the frequency of changing the gear ratio based on the first tilt parameter when the second tilt parameter is smaller than the first predetermined value, allowing the control unit 62 to perform appropriate control according to the tilt angle.

[0119] The physical quantity of the first tilt parameter may be the same as the physical quantity of the second tilt parameter. In this modified example, the first sensor 66 may include a gyro sensor, and the second sensor 68 may also include a gyro sensor. The first sensor 66 may include an acceleration sensor, and the second sensor 68 may also include an acceleration sensor. In this modified example, the second sensitivity of the second sensor 68 is higher than the first sensitivity of the first sensor 66. This reduces the frequency of changing the gear ratio based on the first tilt parameter when the second tilt parameter is smaller than the first predetermined value, allowing the control unit 62 to perform appropriate control according to the tilt angle.

[0120] The second sensitivity of the second sensor 68 may be equal to or less than the first sensitivity of the first sensor 66. In this modified example, the control unit 62 can control the transmission 50 or the motor 52 based on the outputs of the two sensors related to the lean angle, and therefore can perform more appropriate control according to the lean angle than when the transmission 50 or the motor 52 is controlled based on only one sensor.

[0121] The predetermined inclination angle may include at least one of a yaw angle and a roll angle, instead of or in addition to a pitch angle. If the predetermined inclination angle includes a yaw angle, for example, when the human-powered vehicle 10 is passing through a corner with a constant curvature, the transmission 50 or the motor 52 can be controlled based on a first inclination parameter. If the predetermined inclination angle includes a yaw angle, for example, when the curvature of the corner decreases, such as when the human-powered vehicle 10 is exiting a corner, the transmission 50 or the motor 52 can be controlled based on a second inclination parameter. If the predetermined inclination angle includes a roll angle, for example, when the human-powered vehicle 10 is passing through a corner with a constant bank angle, the transmission 50 or the motor 52 can be controlled based on a first inclination parameter. If the predetermined inclination angle includes a roll angle, for example, when the bank angle decreases, such as when the human-powered vehicle 10 is exiting a bank, the transmission 50 or the motor 52 can be controlled based on a second inclination parameter.

[0122] In this embodiment, the second sensor 68 includes, for example, a gyro sensor. The second sensor 68 is configured to be able to acquire, for example, a pitch angle. The second sensor 68 is configured to output a second tilt parameter to the control unit 62 based on, for example, a second output voltage that changes according to the pitch angle. The second sensor 68 is configured to calculate the second tilt parameter based on, for example, the second output voltage. The second tilt parameter has a second sensitivity to changes in the predetermined tilt angle. The second sensitivity is, for example, higher than the first sensitivity.

[0123] The control unit 62 is configured to change the shift threshold in response to the output of a first sensor 66 capable of detecting a first tilt parameter and the output of a second sensor 68 capable of detecting a second tilt parameter and different from the first sensor 66, and is configured to change the shift threshold based on the first tilt parameter when the second tilt parameter is smaller than a first predetermined value, and to change the shift threshold based on the second tilt parameter when the second tilt parameter is equal to or greater than the first predetermined value. Other configurations may be omitted. In this modification, the control unit 62 may be configured, for example, to control the transmission 50 to promote a change in the gear ratio based on the second tilt parameter when the second tilt parameter is equal to or greater than the first predetermined value.

[0124] Other configurations may be omitted as long as the control unit 62 is configured to control the transmission 50 in accordance with the output of a first sensor 66 capable of detecting a first tilt parameter and the output of a second sensor 68 capable of detecting a second tilt parameter and different from the first sensor 66, to change the shift threshold based on the first tilt parameter when the second tilt parameter is smaller than a first predetermined value, and to control the transmission 50 to suppress a change in the gear ratio based on the second tilt parameter when the second tilt parameter is equal to or greater than the first predetermined value. In this modified example, the control unit 62 may control the transmission 50 to prohibit a change in the gear ratio based on the shift threshold based on the second tilt parameter when the second tilt parameter is equal to or greater than the first predetermined value.

[0125] The control unit 62 is configured to control the motor 52 in accordance with the output of a first sensor 66 capable of detecting a first tilt parameter and the output of a second sensor 68 capable of detecting a second tilt parameter and different from the first sensor 66, and is configured to control the motor 52 based on the first tilt parameter when the second tilt parameter is smaller than a first predetermined value, and is configured to control the motor 52 based on the second tilt parameter when the second tilt parameter is equal to or greater than the first predetermined value, so long as other configurations are omitted.

[0126] A control device 60 for a human-powered vehicle 10 includes a control unit 62 configured to control components for the human-powered vehicle. The control unit 62 is configured to control components in accordance with the output of a first sensor 66 capable of detecting a first tilt parameter related to a predetermined tilt angle on a predetermined axis of the human-powered vehicle 10 and the output of a second sensor 68 capable of detecting a second tilt parameter related to the predetermined tilt angle and different from the first sensor 66. The control unit 62 is configured to control the components based on the first tilt parameter when the second tilt parameter is smaller than a first predetermined value, and to control the components based on the second tilt parameter when the second tilt parameter is equal to or greater than the first predetermined value. The first tilt parameter has a first sensitivity to changes in the predetermined tilt angle, and the second tilt parameter has a second sensitivity to changes in the predetermined tilt angle. If the second sensitivity is higher than the first sensitivity, other components may be omitted. The components may include, for example, at least one of a transmission 50 and a motor 52. The components may also include at least one of a brake device, an adjustable seat post, and a suspension.

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

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

[0129] 10...human-powered vehicle, 12...wheel, 22...crankshaft, 50...transmission device, 52...motor, 60...control device, 62...control unit, 66...first sensor, 68...second sensor.

Claims

1. A control device for a human-powered vehicle, a control unit configured to control a transmission configured to change a gear ratio, which is a ratio of a rotational speed of a wheel of the human-powered vehicle to a rotational speed of a crankshaft of the human-powered vehicle; The control unit configured to control the transmission device to change the gear ratio based on a comparison between a gear shift parameter related to at least one of a running state of the human-powered vehicle and a running environment of the human-powered vehicle and a gear shift threshold; the shift threshold is changed in accordance with the output of a first sensor capable of detecting a first tilt parameter related to a predetermined tilt angle of a predetermined axle of the human-powered vehicle, and the output of a second sensor capable of detecting a second tilt parameter related to the predetermined tilt angle and different from the first sensor; When the second tilt parameter is smaller than a first predetermined value, the shift threshold is changed based on the first tilt parameter; A control device configured to modify the shift threshold based on the second tilt parameter when the second tilt parameter is greater than or equal to the first predetermined value.

2. 2. The control device according to claim 1, wherein the control unit is configured to change the gear shift threshold value so as to suppress an increase in the gear ratio when the second tilt parameter is smaller than the first predetermined value and the first tilt parameter is larger than a second predetermined value.

3. 2. The control device of claim 1, wherein the control unit is configured to modify the gear shift threshold to facilitate a decrease in the gear ratio when the second slope parameter is less than the first predetermined value and the first slope parameter is greater than a third predetermined value.

4. The control device according to claim 1 , wherein the control unit is configured to change the shift threshold based on a direction of change of the second tilt parameter when the second tilt parameter is equal to or greater than the first predetermined value.

5. The control device according to claim 1 , wherein the control unit is configured to change the shift threshold based on both the first tilt parameter and the second tilt parameter when the second tilt parameter is equal to or greater than the first predetermined value.

6. A control device for a human-powered vehicle, a control unit configured to control a transmission configured to change a gear ratio, which is a ratio of a rotational speed of a wheel of the human-powered vehicle to a rotational speed of a crankshaft of the human-powered vehicle; The control unit configured to control the transmission device to change the gear ratio based on a comparison between a gear shift parameter related to at least one of a running state of the human-powered vehicle and a running environment of the human-powered vehicle and a gear shift threshold; the transmission is controlled in accordance with an output of a first sensor capable of detecting a first tilt parameter related to a predetermined tilt angle of a predetermined axle of the human-powered vehicle, and an output of a second sensor capable of detecting a second tilt parameter related to the predetermined tilt angle and different from the first sensor; When the second tilt parameter is smaller than a first predetermined value, the shift threshold is changed based on the first tilt parameter; a control device configured to control the transmission to inhibit a change in the gear ratio based on the second tilt parameter when the second tilt parameter is equal to or greater than the first predetermined value;

7. 7. The control device according to claim 6, wherein the control unit controls the transmission so as to suppress a change in the gear ratio based on both the first tilt parameter and the second tilt parameter when the second tilt parameter is equal to or greater than the first predetermined value.

8. 7. The control device according to claim 6, wherein the control unit is configured to control the transmission so as to suppress a change in the gear ratio based on a direction of change of the second tilt parameter when the second tilt parameter is equal to or greater than the first predetermined value.

9. The control device according to claim 1 or 6, wherein the predetermined tilt angle includes a pitch angle.

10. 10. The control device according to claim 9, wherein the control unit is configured to change the gear shift threshold to promote a decrease in the gear ratio when the first tilt parameter is a value corresponding to a downhill slope and the second tilt parameter changes in a direction in which the pitch angle increases.

11. 10. The control device according to claim 9, wherein the control unit is configured to control the transmission to suppress an increase in the gear ratio when the first tilt parameter is a value corresponding to a downhill slope and the second tilt parameter changes in a direction in which the pitch angle increases.

12. 10. The control device according to claim 9, wherein the control unit is configured to control the transmission to suppress an increase in the gear ratio when the first tilt parameter is a value corresponding to an uphill slope and the second tilt parameter changes in a direction in which the pitch angle decreases.

13. 13. The control device according to claim 12, wherein the control unit is configured to control the transmission to suppress an increase in the gear ratio for a predetermined period of time when the first tilt parameter is a value corresponding to an uphill slope and the second tilt parameter changes in a direction in which the pitch angle decreases.

14. 7. The control device according to claim 1, wherein the gear change parameters include at least one of a parameter related to a human-powered driving force input to the human-powered vehicle, a parameter related to a rotational speed of the crankshaft, a parameter related to a rotational speed of the wheels, a parameter related to a vehicle speed, a parameter related to acceleration, and a parameter related to a road surface gradient.

15. A control device for a human-powered vehicle, a control unit configured to control a motor configured to provide a propulsive force to the human-powered vehicle; The control unit the motor is controlled in accordance with an output of a first sensor capable of detecting a first tilt parameter related to a predetermined tilt angle of a predetermined axis of the human-powered vehicle, and an output of a second sensor capable of detecting a second tilt parameter related to the predetermined tilt angle and different from the first sensor; configured to control the motor based on the first tilt parameter when the second tilt parameter is less than a first predetermined value; A controller configured to control the motor based on the second tilt parameter when the second tilt parameter is greater than or equal to the first predetermined value.

16. The control device of claim 15 , wherein the control unit is configured to control the motor based on both the first tilt parameter and the second tilt parameter when the second tilt parameter is greater than or equal to the first predetermined value.

17. The control device according to claim 15 , wherein the control unit is configured to control the motor based on a direction of change of the second tilt parameter when the second tilt parameter is equal to or greater than the first predetermined value.

18. The control device according to claim 15 , wherein the predetermined tilt angle includes a pitch angle.

19. 19. The control device according to claim 18, wherein the control unit is configured to control the motor to increase an assist level by the motor when the first inclination parameter is a value corresponding to a downhill slope and the second inclination parameter changes in a direction in which the pitch angle increases.

20. 19. The control device according to claim 18, wherein the control unit is configured to control the motor so that an assist level by the motor decreases when the first tilt parameter is a value corresponding to an uphill slope and the second tilt parameter changes in a direction in which the pitch angle decreases.

21. A control device for a human-powered vehicle, a controller configured to control components for the human-powered vehicle; The control unit the control unit is configured to control the component in accordance with an output of a first sensor capable of detecting a first tilt parameter related to a predetermined tilt angle of a predetermined axis of the human-powered vehicle, and an output of a second sensor capable of detecting a second tilt parameter related to the predetermined tilt angle and different from the first sensor; configured to control the component based on the first tilt parameter when the second tilt parameter is less than a first predetermined value; configured to control the component based on the second tilt parameter when the second tilt parameter is greater than or equal to the first predetermined value; the first tilt parameter has a first sensitivity to changes in the predetermined tilt angle; the second tilt parameter has a second sensitivity to changes in the predetermined tilt angle; The second sensitivity is higher than the first sensitivity.

22. The control device of claim 21 , wherein the predetermined tilt angle includes a pitch angle.

23. 22. The control device of claim 1, 6, 15, or 21, wherein the first tilt parameter is a physical quantity different from the second tilt parameter.

24. further comprising the first sensor and the second sensor; the first sensor includes an acceleration sensor; The control device of claim 1 , 6 , 15 , or 21 , wherein the second sensor includes a gyro sensor.

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