Control device for human-powered vehicle

Abstract

To provide a control device for a human-powered vehicle that can suitably control components according to the attitude of the human-powered vehicle.SOLUTION: A control device for a human-powered vehicle includes a control unit configured to control components for the human-powered vehicle on the basis of predetermined conditions. The control unit is configured to: change the predetermined conditions on the basis of attitude parameters related to an attitude of the human-powered vehicle; change the predetermined conditions on the basis of the attitude parameters if the driving state of the human-powered vehicle is a first driving state; and change the predetermined conditions on the basis of each fluctuation center value of the attitude parameters if the driving state is a second driving state different from the first driving state. Therein the second driving state corresponds to a state in which a rider is standing up and pedaling.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 changes the conditions for controlling components according to the tilt angle. [Prior art documents] [Patent documents]

[0003] [Patent Document 1] Japanese Patent Publication No. 2023-067251 Summary of the Invention [Problem to be solved by the invention]

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

[0005] A control device according to a first aspect of the present disclosure is a control device for a human-powered vehicle, and includes a control unit configured to control components for the human-powered vehicle based on predetermined conditions, the control unit being configured to change the predetermined conditions based on attitude parameters related to the attitude of the human-powered vehicle, and to change the predetermined conditions based on the attitude parameters when the driving state of the human-powered vehicle is a first driving state, and to change the predetermined conditions based on a center value of fluctuation of the attitude parameters when the driving state is a second driving state different from the first driving state, the second driving state corresponding to a state in which the rider is standing up while pedaling. According to the control device of the first aspect, in the second riding state corresponding to a state in which the rider is standing up while pedaling, the predetermined condition is changed based on the center value of fluctuation of the posture parameter, so the predetermined condition is changed using a value that reduces the effect on the posture parameter caused by the rider standing up while pedaling. This allows the control unit to suitably control the components according to the posture parameter.

[0006] In the control device of a second aspect according to the first aspect of the present disclosure, the component includes a transmission configured to change a gear ratio, which is a ratio of the rotational speed of a wheel to the rotational speed of a crankshaft, the predetermined condition includes a gear change condition for changing the gear ratio, the gear change condition relates to a first driving parameter related to the driving of the human-powered vehicle, and the control unit is configured to control the transmission to change the gear ratio based on the gear change condition, and is configured to change the gear change condition based on the attitude parameter when the driving state is the first driving state, and is configured to change the gear change condition based on the fluctuation center value when the driving state is the second driving state. According to the control device of the second aspect, in the second riding state corresponding to a state in which the rider is standing up to pedal, the shifting conditions are changed based on the center value of fluctuation of the posture parameter, so the shifting conditions can be changed using values ​​that reduce the effect on the posture parameter caused by the rider standing up to pedal. This allows the control unit to suitably control the transmission in accordance with the posture parameter.

[0007] In the control device of a third aspect according to the second aspect of the present disclosure, the shifting condition is defined by a shifting threshold related to the first driving parameter, and the control unit is configured to control the transmission to change the gear ratio based on a comparison between the first driving parameter and the shifting threshold, and when the driving state is the first driving state, to change the shifting threshold based on the attitude parameter, and when the driving state is the second driving state, to change the shifting threshold based on the fluctuation center value. According to the control device of the third aspect, the shifting conditions can be changed by changing the shifting threshold value.

[0008] In a control device of a fourth aspect according to any one of the first to third aspects of the present disclosure, the component includes a motor that provides propulsive force to the human-powered vehicle, the predetermined condition includes an assist condition for changing an assist level by the motor, the assist condition relates to a second driving parameter related to the driving of the human-powered vehicle, and the control unit is configured to control the motor to change the assist level based on the assist condition, and when the driving state is the first driving state, to change the assist condition based on the attitude parameter, and when the driving state is the second driving state, to change the assist condition based on the fluctuation center value. According to the control device of the fourth aspect, in the second riding state corresponding to a state in which the rider is standing up to pedal, the assist conditions are changed based on the center value of fluctuation of the posture parameter, so the assist conditions can be changed using a value that reduces the effect on the posture parameter caused by the rider standing up to pedal. This allows the control unit to suitably control the motor according to the posture 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 set the fluctuation center value based on the attitude parameters at multiple points in time during a predetermined period when the driving state is maintained in the second driving state for more than a predetermined period. According to the control device of the fifth aspect, the fluctuation central value can be suitably set based on the attitude parameters at a plurality of points in time during a predetermined period when the running state is maintained in the second running state for at least the predetermined period.

[0010] In the control device of a sixth aspect according to the fifth aspect of the present disclosure, the control unit is configured to set the fluctuation center value based on the posture parameter of a predetermined phase in a fluctuation cycle of the posture parameter and the posture parameter of an opposite phase to the predetermined phase in the fluctuation cycle during the predetermined period. According to the control device of the sixth aspect, the fluctuation central value can be suitably set based on the posture parameter of a predetermined phase in the fluctuation cycle of the posture parameter and the posture parameter of the opposite phase to the predetermined phase in the fluctuation cycle during a predetermined period.

[0011] In the control device of a seventh aspect according to a fifth aspect of the present disclosure, the control unit is configured to set the fluctuation central value based on an average value of the posture parameter in the predetermined period. According to the control device of the seventh aspect, the fluctuation central value can be suitably set based on the average value of the posture parameter over a predetermined period of time.

[0012] In the control device of the eighth aspect according to the fifth aspect of the present disclosure, the predetermined period corresponds to one cycle of a fluctuation cycle of the attitude parameter. According to the control device of the eighth aspect, the fluctuation central value can be suitably set based on the posture parameters at a plurality of time points in one fluctuation period of the posture parameters.

[0013] In the control device of a ninth aspect according to any one of the first to fourth aspects of the present disclosure, the control unit is configured to set the fluctuation center value based on the attitude parameter when the running state changes from the first running state to the second running state. According to the control device of the ninth aspect, the fluctuation central value can be suitably set based on the attitude parameter when the running state changes from the first running state to the second running state.

[0014] A control device according to a tenth 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 based on predetermined conditions, the control unit being configured to change the predetermined conditions based on attitude parameters related to the attitude of the human-powered vehicle, and to change the predetermined conditions based on the attitude parameters when the human-powered vehicle is in a first running state, and to change the predetermined conditions based on a fluctuation center value of the attitude parameters when the running state is a second running state different from the first running state, and to set the fluctuation center value based on the attitude parameter at a predetermined phase in a fluctuation cycle of the attitude parameter and the attitude parameter at an opposite phase to the predetermined phase in the fluctuation cycle. According to the control device of the tenth aspect, in the second running state, the predetermined condition is changed based on the fluctuation center value of the attitude parameter, so the predetermined condition can be changed using a value that reduces the fluctuation of the attitude parameter. Therefore, the control unit can suitably control the components according to the attitude parameter. According to the control device of the tenth aspect, the fluctuation center value can be suitably set based on the attitude parameter of a predetermined phase in the fluctuation cycle of the attitude parameter and the attitude parameter of the opposite phase to the predetermined phase in the fluctuation cycle during a predetermined period.

[0015] In the control device of an eleventh aspect according to any one of the first to tenth aspects of the present disclosure, the running state corresponds to an amplitude of a predetermined parameter related to running of the human-powered vehicle. According to the control device of the eleventh aspect, the predetermined condition can be suitably changed based on the amplitude of the predetermined parameter and the corresponding running state.

[0016] In the control device of the twelfth aspect according to the eleventh aspect of the present disclosure, the amplitude of the predetermined parameter in the second running state is greater than the amplitude of the predetermined parameter in the first running state. According to the control device of the twelfth aspect, the predetermined condition can be suitably changed in the second running state in which the amplitude of the predetermined parameter is large.

[0017] In the control device of a thirteenth aspect according to the eleventh or twelfth aspect of the present disclosure, the predetermined parameters include parameters related to at least one of the human-powered driving force input to the human-powered vehicle, the rotational speed of the crankshaft, the vehicle speed, the wheel speed, the acceleration, the lean angle, the suspension stroke amount, and the saddle load. According to the control device of the thirteenth aspect, the predetermined conditions can be suitably changed based on parameters related to at least one of the manual driving force, crankshaft rotation speed, vehicle speed, wheel speed, acceleration, lean angle, suspension stroke amount, and saddle load.

[0018] In the control device of the fourteenth aspect according to the thirteenth aspect of the present disclosure, the predetermined parameter includes at least one of the manual driving force and the saddle load, and the predetermined parameter in the second driving state is greater than the predetermined parameter in the first driving state. According to the control device of the fourteenth aspect, the predetermined conditions can be suitably changed in the second traveling state in which the predetermined parameter including at least one of the manual driving force and the saddle load is large.

[0019] In the control device of the 15th aspect according to the 13th aspect of the present disclosure, the predetermined parameters include at least one of the manual driving force and the saddle load, and an average value of the predetermined parameters in the second driving state is greater than an average value of the predetermined parameters in the first driving state. According to the control device of the fifteenth aspect, the predetermined conditions can be suitably changed in the second traveling state in which the average value of the predetermined parameters including at least one of the manual driving force and the saddle load is large.

[0020] A control device according to a sixteenth 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 based on attitude parameters related to the attitude of the human-powered vehicle, the control unit being configured to control the components based on the attitude parameters when a predetermined parameter related to the driving of the human-powered vehicle is in a first state, and to control the components based on a median value of fluctuation of the attitude parameters when the predetermined parameter is in a second state in which fluctuation is greater than in the first state. According to the control device of the sixteenth aspect, in the second state where the fluctuation of the predetermined parameter is large, the predetermined condition is changed based on the central value of the fluctuation of the attitude parameter, so that the predetermined condition is changed by a value that reduces the fluctuation of the attitude parameter. Therefore, the control unit can suitably control the component according to the attitude parameter.

[0021] In the control device of the seventeenth aspect according to any one of the eleventh to sixteenth aspects of the present disclosure, the predetermined parameter is different from the attitude parameter. According to the control device of the seventeenth aspect, it is possible to determine whether the predetermined condition can be changed by the attitude parameter or the central value of the fluctuation of the attitude parameter, using a predetermined parameter different from the attitude parameter.

[0022] The control device of an eighteenth aspect according to any one of the eleventh to seventeenth aspects of the present disclosure further comprises a travel detection unit that detects the predetermined parameter. According to the control device of the eighteenth aspect, the predetermined parameter can be suitably detected by the travel detection unit.

[0023] The control device of a nineteenth aspect according to any one of the first to eighteenth aspects of the present disclosure further comprises an attitude detection unit that detects the attitude parameter. According to the control device of the nineteenth aspect, the attitude parameter can be suitably detected by the attitude detection section.

[0024] In the control device of a twentieth aspect according to any one of the first to nineteenth aspects of the present disclosure, the attitude parameter includes at least one of a pitch angle, a roll angle, and a yaw angle of the human-powered vehicle. According to the control device of the twentieth aspect, the predetermined condition can be changed based on at least one of the pitch angle, roll angle, and yaw angle of the human-powered vehicle. [Effects of the Invention]

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

[0026] [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 change condition. [Figure 5] 10 is a timing chart showing an example of the relationship between the manual driving force and pitch angle and the traveling state. [Figure 6] FIG. 4 is a block diagram showing the electrical configuration of a human-powered vehicle according to a second embodiment. [Figure 7] 7 is a flowchart of a process executed by the control unit of FIG. 6 to control a motor. [Figure 8] 7 is a flowchart of a process executed by the control unit of FIG. 6 to change the assist condition. [Figure 9] 10 is a flowchart of a process for changing a predetermined condition, which is executed by a control unit in a modified example. DETAILED DESCRIPTION OF THE INVENTION

[0027] First Embodiment A control device 60 for a human-powered vehicle according to a first embodiment will be described with reference to FIGS. 1 to 5. FIG.

[0028] 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.

[0029] 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.

[0030] 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.

[0031] 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.

[0032] 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.

[0033] 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.

[0034] For example, at least a part of a control system 40 for a human-powered vehicle is mounted on the human-powered vehicle 10. The control system 40 has, for example, a control device 60 for a human-powered vehicle and components 50 for a human-powered vehicle.

[0035] In this embodiment, the component 50 includes a transmission 52 configured to change the gear ratio, which is the ratio of the rotational speed of the wheel 12 to the rotational speed of the crankshaft 22. The transmission 52 is configured, for example, to be able to change the gear ratio in stages. The transmission 52 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 wheel 12R to the rotational speed of the crankshaft 22. The transmission 52 is provided, for example, on the frame 16. The transmission 52 includes, for example, at least one of a rear transmission and a front transmission. The transmission 52 includes, for example, an external transmission. The transmission 52 includes, for example, a rear derailleur. The transmission 52 may include a front derailleur. The transmission 52 may include an internal transmission. The internal transmission is provided, for example, on the hub of the rear wheel 12R. The transmission 52 may include a CVT (Continuously Variable Transmission).

[0036] The transmission 52 includes, for example, an electric transmission. The transmission 52 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.

[0037] 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 52. 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 52.

[0038] 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.

[0039] 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).

[0040] The control unit 62 is configured to control the components 50 for the human-powered vehicle based on predetermined conditions. In this embodiment, the control unit 62 is configured to control the transmission 52 based on the predetermined conditions. The predetermined conditions include, for example, a gear change condition for changing the gear ratio. The gear change condition relates, for example, to a first driving parameter related to the driving of the human-powered vehicle 10. The control unit 62 is configured to control the transmission 52 to change the gear ratio based on the gear change condition. The first driving parameter relates, for example, 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 first driving parameter includes, 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 parameter related to the human-powered driving force input to the human-powered vehicle 10 includes, for example, at least one of human torque and human power. The parameter related to the rotational speed of the crankshaft 22 includes, for example, the rotational speed of the crankshaft 22. The rotational speed of the crankshaft 22 may be cadence. The parameter related to the vehicle speed includes, for example, the vehicle speed. The parameter related to acceleration includes, for example, the acceleration in the traveling direction of the human-powered vehicle 10. The acceleration-related parameter may include the acceleration of at least one of the pitch axis, yaw axis, and roll axis of the human-powered vehicle 10. The parameter related to the road gradient includes, for example, at least one of the gradient of the road on which the human-powered vehicle 10 is traveling and the angle with respect to the horizontal direction. The control system 40 includes, for example, a detection unit 44 that detects the first traveling parameter.

[0041] When the first traveling 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, for example, to output 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.

[0042] 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.

[0043] 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.

[0044] When the first traveling 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, for example, in 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.

[0045] 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.

[0046] 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.

[0047] 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.

[0048] 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.

[0049] 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.

[0050] When the first traveling 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 the control unit 62 via wired or wireless communication. 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.

[0051] 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.

[0052] When the first driving parameter includes a parameter 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.

[0053] When the first driving parameter includes 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 acquire the acceleration from the vehicle speed detected by the vehicle speed detection unit 44C.

[0054] When the first driving 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. When 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.

[0055] The gear shift condition is defined, for example, by a gear shift threshold related to a first driving parameter. The control unit 62 is configured, for example, to control the transmission 52 to change the gear ratio based on a comparison between the first driving parameter and the gear shift threshold. The gear shift threshold includes, for example, at least one of a first gear shift threshold and a second gear shift threshold. The gear shift threshold may include only the first gear shift threshold, only the second gear shift threshold, or both the first and second gear shift thresholds. The second gear shift threshold is, for example, smaller than the first gear shift threshold. For example, when the first driving parameter becomes equal to or greater than the first gear shift threshold, the control unit 62 controls the transmission 52 to change the gear ratio in the first gear shift direction. For example, when the first driving parameter becomes equal to or less than the second gear shift threshold, the control unit 62 controls the transmission 52 to change the gear ratio in the 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.

[0056] The control unit 62 is configured, for example, to control the transmission 52 so that the first driving parameter does not exceed the gear shift threshold. The control unit 62 is configured, for example, to control the transmission 52 so that the first driving parameter is smaller than the first gear shift threshold. The control unit 62 is configured, for example, to control the transmission 52 so that the first driving parameter is larger than the second gear shift threshold. The control unit 62 is configured, for example, to control the transmission 52 so that the first driving parameter is smaller than the first gear shift threshold and larger than the second gear shift threshold.

[0057] For example, if the first traveling parameter is a first traveling parameter that decreases as the rider's load increases, the control unit 62 is configured to control the transmission 52 to increase the gear ratio when the first traveling parameter becomes equal to or greater than a first gear-shift threshold. For example, if the first traveling parameter is a first traveling parameter that decreases as the rider's load increases, the control unit 62 is configured to control the transmission 52 to decrease the gear ratio when the first traveling parameter becomes equal to or less than a second gear-shift threshold. The first traveling 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.

[0058] For example, if the first traveling parameter is a first traveling parameter that increases as the rider's load increases, the control unit 62 is configured to control the transmission 52 to decrease the gear ratio when the first traveling parameter becomes equal to or greater than a first gear shift threshold. For example, if the first traveling parameter is a first traveling parameter that increases as the rider's load increases, the control unit 62 is configured to control the transmission 52 to increase the gear ratio when the first traveling parameter becomes equal to or less than a second gear shift threshold. The first traveling parameter that increases as the rider's load increases includes, for example, at least one of the manual driving force and the road gradient.

[0059] The control unit 62 may be configured to control the transmission 52 so that, when the first riding parameter exceeds the gear shift threshold, it becomes more likely to exceed the gear shift threshold. When the first riding parameter is a first riding parameter that decreases as the rider's load increases, for example, when the first riding parameter becomes equal to or greater than the first gear shift threshold, the control unit 62 is configured to control the transmission 52 to decrease the gear ratio. When the first riding parameter is a first riding parameter that decreases as the rider's load increases, for example, when the first riding parameter becomes equal to or less than the second gear shift threshold, the control unit 62 is configured to control the transmission 52 to increase the gear ratio. When the first riding parameter is a first riding parameter that increases as the rider's load increases, for example, when the first riding parameter becomes equal to or greater than the first gear shift threshold, the control unit 62 is configured to control the transmission 52 to increase the gear ratio. The control unit 62 is configured to control the transmission 52 to reduce the gear ratio when the first riding parameter is a first riding parameter that increases as the rider's load increases, for example, when the first riding parameter becomes equal to or less than the second gear shift threshold.

[0060] Referring to Figure 3, a process in which the control unit 62 controls the transmission 52 based on a comparison between the first driving parameter and the shift threshold will be described. For example, when power is supplied to the control unit 62, the control unit 62 starts the process and proceeds to step S11 of the flowchart shown in Figure 3. When the flowchart in Figure 3 ends, the control unit 62 repeats the process from step S11 after a predetermined period, for example, until the supply of power is stopped.

[0061] In step S11, the control unit 62 determines whether the first driving parameter is equal to or greater than the first gear shift threshold. If the first driving parameter is equal to or greater than the first gear shift threshold, the control unit 62 proceeds to step S12. In step S12, the control unit 62 controls the transmission 52 to change the gear ratio in the first gear shift direction, and then ends the process.

[0062] If the first driving parameter is not equal to or greater than the first gear shift threshold in step S11, the control unit 62 proceeds to step S13. In step S13, the control unit 62 determines whether the first driving parameter is equal to or less than the second gear shift threshold. If the first driving parameter is not equal to or less than the second gear shift threshold, the control unit 62 ends the processing. If the first driving parameter is equal to or less than the second gear shift threshold, the control unit 62 proceeds to step S14. In step S14, the control unit 62 controls the transmission 52 to change the gear ratio in the second gear shift direction, and then ends the processing.

[0063] The control unit 62 is configured to, for example, change the predetermined condition. The control unit 62 suppresses a change in the gear ratio by, for example, changing the predetermined condition. The control unit 62 suppresses at least one of an increase and a decrease in the gear ratio by, for example, changing the predetermined condition. The control unit 62 promotes a change in the gear ratio by, for example, changing the predetermined condition. The control unit 62 promotes at least one of an increase and a decrease in the gear ratio by, for example, changing the predetermined condition.

[0064] 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 52 to increase the gear ratio when the first driving 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 52 to increase the gear ratio when the first driving 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.

[0065] 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 52 to decrease the gear ratio when the first driving 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 52 to decrease the gear ratio when the first driving 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.

[0066] The control unit 62 is configured to change the predetermined conditions based on attitude parameters related to the attitude of the human-powered vehicle 10. The attitude parameters include, for example, at least one of the pitch angle, roll angle, and yaw angle of the human-powered vehicle 10. The attitude parameters may be the same as or different from the first traveling parameters.

[0067] The control device 60 further includes, for example, an attitude detection unit 66 that detects attitude parameters. The attitude detection unit 66 includes, 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.

[0068] The control unit 62 is configured to change the predetermined condition based on the attitude parameter when the traveling state of the human-powered vehicle 10 is a first traveling state. The control unit 62 is configured to change the predetermined condition based on the fluctuation median value of the attitude parameter when the traveling state is a second traveling state different from the first traveling state.

[0069] The first riding state is, for example, a riding state in which the fluctuation of the posture parameter is smaller than that of the second riding state. The first riding state corresponds, for example, to a state in which the rider is pedaling while sitting. The second riding state corresponds, for example, to a state in which the rider is pedaling while standing.

[0070] The control unit 62 determines the driving state based on, for example, a predetermined parameter related to the driving of the human-powered vehicle 10. The predetermined parameter is, for example, different from the posture parameter. The predetermined parameter may be the same as or different from the first driving parameter. The predetermined parameter may be any parameter that can determine whether the rider is standing up to pedal. For example, the predetermined parameter is a parameter that fluctuates more when the rider is standing up to pedal than when the rider is sitting down to pedal. The predetermined parameter may be a parameter that fluctuates more when the rider is standing up to pedal than when the rider is sitting down to pedal. The predetermined parameter may be a parameter that fluctuates less when the rider is standing up to pedal than when the rider is sitting down to pedal.

[0071] The predetermined parameters include, for example, parameters related to at least one of the human-powered driving force input to the human-powered vehicle 10, the rotational speed of the crankshaft 22, vehicle speed, wheel speed, acceleration, lean angle, stroke amount of the suspension 46, and saddle load. The predetermined parameters include, for example, at least one of the human-powered driving force input to the human-powered vehicle 10, the rotational speed of the crankshaft 22, vehicle speed, wheel speed, acceleration, lean angle, stroke amount of the suspension 46, and saddle load. The lean angle includes at least one of the pitch angle, roll angle, and yaw angle. The predetermined parameter may be the load applied to the handlebar 28. The predetermined parameter may be the load applied to the vehicle body 14. The predetermined parameter may be the distortion of the frame 16.

[0072] The control device 60 further includes, for example, a travel detection unit 68 that detects predetermined parameters. When the predetermined parameters include parameters related to manual driving force, the travel detection unit 68 is configured similarly to, for example, the manual driving force detection unit 44A. When the predetermined parameters include parameters related to the rotational speed of the crankshaft 22, the travel detection unit 68 is configured similarly to, for example, the crank rotation state detection unit 44B. When the predetermined parameters include parameters related to vehicle speed, the travel detection unit 68 is configured similarly to, for example, the vehicle speed detection unit 44C. When the predetermined parameters include parameters related to wheel speed, the travel detection unit 68 is configured similarly to, for example, the wheel rotation state detection unit 44D. When the predetermined parameters include parameters related to acceleration, the travel detection unit 68 is configured similarly to, for example, the acceleration detection unit 44E. When the predetermined parameters include parameters related to inclination angle, the travel detection unit 68 is configured similarly to, for example, the road surface gradient detection unit 44F.

[0073] When the predetermined parameters include parameters related to the stroke amount of the suspension 46, the control system 40 may include, for example, the suspension 46 shown in FIG. 1 . The suspension 46 may include, for example, at least one of a rear suspension and a front suspension. The suspension 46 may include, for example, a first portion and a second portion movable relative to the first portion. The stroke amount may include, for example, the amount of movement of the second portion relative to the first portion. When the predetermined parameters include parameters related to the stroke amount of the suspension 46, the travel detection unit 68 may be configured to detect, for example, the amount of movement of the second portion of the suspension 46 relative to the first portion. When the predetermined parameters include parameters related to the stroke amount of the suspension 46, the travel detection unit 68 may be configured to detect a load acting on the suspension 46. When the predetermined parameters include parameters related to the stroke amount of the suspension 46, the travel detection unit 68 may be configured to detect a fluid pressure inside the suspension 46.

[0074] When the predetermined parameters include parameters related to the saddle load, the traveling detection unit 68 is configured to detect, for example, a load acting on the saddle 16A. When the predetermined parameters include parameters related to the saddle load, the traveling detection unit 68 includes, for example, at least one of a weight sensor and a pressure sensor provided on the saddle 16A.

[0075] When the traveling state of the human-powered vehicle 10 is the first traveling state, the control unit 62 is configured to change the gear-shift conditions, for example, based on the attitude parameter most recently detected by the attitude detection unit 66. When the traveling state of the human-powered vehicle 10 is the second traveling state, the control unit 62 is configured to change the gear-shift conditions, for example, based on a fluctuation center value of the attitude parameter that is set by performing predetermined processing on the detection value detected by the attitude detection unit 66. When the traveling state of the human-powered vehicle 10 is the first traveling state, the control unit 62 is configured to change the gear-shift conditions, for example, based on an attitude parameter that is not subjected to predetermined processing on the detection value detected by the attitude detection unit 66.

[0076] The control unit 62 is configured to change the gear shift threshold so that an increase in the gear ratio is suppressed when, for example, the attitude parameter or the central value of the attitude parameter fluctuation is equal to or greater than a first predetermined value. The first predetermined value is, for example, a pitch angle corresponding to an uphill slope. When the pitch angle or the central value of the pitch angle fluctuation is equal to or greater than the first predetermined value corresponding to an uphill slope, an increase in the gear ratio is suppressed, thereby suppressing an increase in the rider's load on an uphill slope.

[0077] The control unit 62 is configured to change the gear shift threshold so as to promote a decrease in the gear ratio when, for example, the attitude parameter or the central value of the attitude parameter fluctuation is equal to or greater than a second predetermined value. The second predetermined value is, for example, a pitch angle corresponding to an uphill slope. The second predetermined value may be the same as or different from the first predetermined value. When the pitch angle or the central value of the pitch angle fluctuation is equal to or greater than the second predetermined value corresponding to an uphill slope, a decrease in the gear ratio is promoted, thereby suppressing an increase in the rider's load on uphill slopes.

[0078] The control unit 62 is configured to change the gear shift threshold so as to suppress an increase in the gear ratio when, for example, the attitude parameter or the central value of the attitude parameter fluctuation is equal to or less than a third predetermined value. The third predetermined value is, for example, a pitch angle corresponding to a downhill slope. By suppressing an increase in the gear ratio when the pitch angle or the central value of the pitch angle fluctuation is equal to or less than the third predetermined value corresponding to a downhill slope, the rider is prevented from pedaling under heavy load when the road changes from a downhill slope to a flat road or an uphill slope.

[0079] The control unit 62 is configured to change the gear shift threshold so as to promote a decrease in the gear ratio when, for example, the attitude parameter or the central value of the attitude parameter fluctuation is equal to or less than a fourth predetermined value. The fourth predetermined value is, for example, a pitch angle corresponding to a downhill slope. The fourth predetermined value may be the same as or different from the third predetermined value. By promoting a decrease in the gear ratio when the pitch angle or the central value of the pitch angle fluctuation is equal to or less than the fourth predetermined value corresponding to a downhill slope, the rider can pedal with less load when the riding path changes from a downhill slope to a flat road or an uphill slope.

[0080] The running state corresponds to, for example, the amplitude of a predetermined parameter related to the running of the human-powered vehicle 10. For example, the amplitude of the predetermined parameter in the second running state is larger than the amplitude of the predetermined parameter in the first running state. The control unit 62 determines that the running state is the first running state, for example, when the amplitude of the predetermined parameter is smaller than the predetermined amplitude. The control unit 62 determines that the running state is the second running state, for example, when the amplitude of the predetermined parameter is equal to or greater than the predetermined amplitude. The control unit 62 may determine that the running state is the first running state when the maximum peak value of the predetermined parameter is smaller than the predetermined peak value. The control unit 62 may determine that the running state is the second running state when the maximum peak value of the predetermined parameter is equal to or greater than the predetermined peak value.

[0081] The predetermined parameter includes, for example, at least one of the manual driving force and the saddle load, and the predetermined parameter in the second running state is greater than the predetermined parameter in the first running state. For example, when the predetermined parameter is smaller than a predetermined value, the control unit 62 determines that the running state is the first running state. For example, when the predetermined parameter is equal to or greater than a predetermined value, the control unit 62 determines that the running state is the second running state.

[0082] The predetermined parameters include at least one of the manual driving force and the saddle load, and the average value of the predetermined parameters in the second running state is greater than the average value of the predetermined parameters in the first running state. For example, if the average value of the predetermined parameters is smaller than the predetermined average value, the control unit 62 determines that the running state is the first running state. For example, if the average value of the predetermined parameters is equal to or greater than the predetermined average value, the control unit 62 determines that the running state is the second running state.

[0083] In this embodiment, the control unit 62 is configured to change the gear shift conditions based on the attitude parameters, for example, when the running state is the first running state. In this embodiment, the control unit 62 is configured to change the gear shift conditions based on the fluctuation center value, for example, when the running state is the second running state. The control unit 62 is configured to change the gear shift threshold based on the attitude parameters, for example, when the running state is the first running state. The control unit 62 is configured to change the gear shift threshold based on the fluctuation center value, for example, when the running state is the second running state.

[0084] The process of changing the gear shift conditions by the control unit 62 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 of 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 running state is the first running state. If the running state is the first running state, the control unit 62 proceeds to step S22. In step S22, the control unit 62 changes the gear change conditions based on the attitude parameters and ends the process.

[0086] If the running state is not the first running state in step S21, the control unit 62 proceeds to step S23. In step S23, the control unit 62 determines whether the running state is the second running state. If the running state is not the second running state, the control unit 62 ends the processing. If the running state is the second running state, the control unit 62 proceeds to step S24. In step S24, the control unit 62 changes the gear change conditions based on the fluctuation center value of the attitude parameter, and ends the processing.

[0087] The first running state and the second running state may be mutually exclusive. If the first running state and the second running state are mutually exclusive, step S23 may be omitted from Fig. 4. If step S23 is omitted from Fig. 4, the control unit 62 proceeds to step S24 if step S21 is NO.

[0088] The control unit 62 is configured to set the central fluctuation value of the posture parameter by at least one of, for example, a first setting example, a second setting example, and a third setting example. When the control unit 62 sets the central fluctuation value of the posture parameter by two or more of, for example, the first setting example, the second setting example, and the third setting example, the control unit 62 may set the largest central fluctuation value of the two or more of the first setting example, the second setting example, and the third setting example as the central fluctuation value of the posture parameter.

[0089] In a first setting example, the control unit 62 is configured to set the fluctuation center value based on posture parameters at multiple points in a predetermined period when the running state is maintained in the second running state for a predetermined period or longer. The control unit 62 is configured to set the fluctuation center value based on, for example, a posture parameter at a predetermined phase in a fluctuation cycle of the posture parameter and a posture parameter at the opposite phase to the predetermined phase in the fluctuation cycle during the predetermined period. The posture parameters at the multiple points in time include, for example, a first posture parameter and a second posture parameter. The first posture parameter is, for example, the posture parameter most recently detected. The second posture parameter is, for example, a posture parameter that is in the opposite phase to the first posture parameter. The first posture parameter may be, for example, the maximum peak value of the posture parameter in one cycle of the fluctuation of the posture parameter, and the second posture parameter may be the minimum peak value of the posture parameter in one cycle of the fluctuation of the posture parameter. The control unit 62 sets, for example, the average value of the first posture parameter and the second posture parameter as the fluctuation center value. When the posture parameter is a value that fluctuates between a positive value and a negative value, the control unit 62 may set the sum of the first posture parameter and the second posture parameter as the central value of fluctuation.

[0090] In a second setting example, the control unit 62 is configured to set the fluctuation center value based on the average value of the posture parameter over a predetermined period. The predetermined period corresponds, for example, to one period of the fluctuation cycle of the posture parameter. The control unit 62 is configured to set the fluctuation center value based on, for example, the average value of a plurality of posture parameters detected over one period of the fluctuation cycle of the posture parameter. The control unit 62 may set the fluctuation center value using one period of the fluctuation cycle of a predetermined parameter instead of one period of the fluctuation cycle of the posture parameter.

[0091] In a third setting example, the control unit 62 is configured to set the fluctuation center value based on the attitude parameter when the running state changes from the first running state to the second running state. The control unit 62 is configured, for example, to set the attitude parameter at the time when the running state changes from the first running state to the second running state as the fluctuation center value. The control unit 62 is configured, for example, to set the attitude parameter before the time when the running state changes from the first running state to the second running state as the fluctuation center value.

[0092] A method for setting the fluctuation center value in each example will be described with reference to FIG. 5. FIG. 5 is a timing chart showing the relationship between the driving state and the manual driving force, which is an example of a predetermined parameter, and the pitch angle, which is an example of an attitude parameter. The manual driving force fluctuates periodically according to the rotational phase of the crankshaft 22. The amplitude DA of the manual driving force in the second driving state is greater than the amplitude DB of the manual driving force in the first driving state. The maximum peak value of the manual driving force in the second driving state is greater than the maximum peak value of the manual driving force in the first driving state. Because the pitch angle fluctuates little in the first driving state, the control unit 62 can execute control suited to, for example, the actual road gradient by changing the predetermined condition using the pitch angle detected by the attitude detection unit 66. In the second driving state, the pitch angle fluctuates more than in the first driving state, for example, because the pitch angle changes as the vehicle body 14 swings left and right. In the second driving state, the pitch angle fluctuates at a frequency similar to that of the manual driving force. In the second driving state, the pitch angle has a predetermined amplitude DX. Because the pitch angle fluctuates greatly in the second driving state, the control unit 62 can execute control based on the road surface gradient with reduced influence of the driving state by, for example, changing the predetermined condition using the fluctuation center value. Fig. 5 shows an example for the pitch angle, but because the roll angle and yaw angle also fluctuate more greatly in the second driving state than in the first driving state, the control unit 62 can execute control with reduced influence of the driving state by using the fluctuation center value.

[0093] Time t10 indicates the time when the driving state transitions from the first driving state to the second driving state, and time t12 indicates an arbitrary time when the driving state is the second driving state.

[0094] When the control unit 62 sets the fluctuation center value at time t13, in a first setting example, the control unit 62 calculates one period TX of the pitch angle fluctuation based on, for example, the peak value of the pitch angle. Time t11 in FIG. 5 corresponds to the time one period TX before time t13 of the pitch angle fluctuation. For example, the control unit 62 sets the pitch angle at time t12, which is half a period TX before time t13, to a pitch angle that is in opposite phase to the pitch angle at time t13 in one period of the pitch angle fluctuation. The control unit 62 sets the fluctuation center value of the pitch angle based on, for example, the pitch angle PX at time t13 and the pitch angle PY at time t12.

[0095] When the control unit 62 sets the fluctuation center value at time t13, in a second setting example, the control unit 62 calculates one period TX of the fluctuation of the pitch angle based on, for example, the peak value of the pitch angle. The control unit 62 sets, for example, the average value of the detected values ​​of the pitch angle acquired from time t11 to time t13 as the fluctuation center value of the pitch angle.

[0096] In a third setting example, when the control unit 62 sets the fluctuation center value at time t13, the control unit 62 calculates one period TX of the fluctuation of the pitch angle based on, for example, the peak value of the pitch angle. The control unit 62 sets, for example, the pitch angle PZ at time t10 as the fluctuation center value of the pitch angle.

[0097] 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.

[0098] The component 50 of this embodiment includes a motor 54 that provides propulsive force to the human-powered vehicle 10. The control device 60 of this embodiment may further include a drive circuit for the motor 54. For example, the control unit 62 and the drive circuit are provided in a drive unit in which the motor 54 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 54 in response to a control signal from the control unit 62.

[0099] For example, the drive circuit is electrically connected to the motor 54. For example, the drive circuit controls the supply of power from the battery 42 to the motor 54. 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.

[0100] The control unit 62 is configured to control the motor 54. The control unit 62 is configured, for example, to control the motor 54 in accordance with the state of the human-powered vehicle 10. The control unit 62 is configured, for example, to control the motor 54 so as to change the output of the motor 54 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 54 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 54 in accordance with the human-powered driving force detected by the human-powered driving force detection unit 44A.

[0101] The control unit 62 is configured to control the motor 54 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 54 in accordance with, for example, the vehicle speed of the human-powered vehicle 10 detected by the vehicle speed detection unit 44C.

[0102] 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 54 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.

[0103] 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.

[0104] The control unit 62 is configured, for example, to control the motor 54 so that the assist level provided by the motor 54 becomes a predetermined assist level. The assist level includes, for example, at least one of the ratio of the assist force of the motor 54 to the human-powered driving force input to the human-powered vehicle 10, the upper limit of the output of the motor 54, and the response speed of the motor 54 to the rate of change of the human-powered driving force. The control unit 62 is configured, for example, to control the motor 54 in accordance with at least one of the first tilt parameter and the second tilt parameter.

[0105] 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.

[0106] The predetermined conditions in this embodiment include assist conditions for changing the level of assistance provided by the motor 54. The assist conditions relate to second travel parameters related to the travel of the human-powered vehicle 10. The control unit 62 is configured to control the motor 54 to change the assist level based on the assist conditions. The second travel parameters relate to, for example, at least one of the travel state of the human-powered vehicle 10 and the travel environment of the human-powered vehicle 10. The second travel 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 vehicle speed, a parameter related to acceleration, and a parameter related to road gradient. The second travel parameters may be the same as or different from the first travel parameters in the first embodiment. The predetermined parameters may be the same as or different from the second travel parameters.

[0107] The assist condition includes, for example, an assist threshold. The assist threshold includes, for example, at least one of a first assist threshold and a second assist threshold. The assist threshold may include only the first assist threshold, only the second assist threshold, or both the first assist threshold and the second assist threshold. The second assist threshold is, for example, smaller than the first assist threshold. For example, the control unit 62 changes the assist level when the second driving parameter is equal to or greater than the first assist threshold. For example, the control unit 62 changes the assist level when the second driving parameter is equal to or less than the second assist threshold.

[0108] For example, if the second traveling parameter is a second traveling parameter that decreases as the rider's load increases, the control unit 62 is configured to control the motor 54 to decrease the assist level when the second traveling parameter becomes equal to or greater than the first assist threshold. For example, if the second traveling parameter is a second traveling parameter that decreases as the rider's load increases, the control unit 62 is configured to control the motor 54 to increase the assist level when the second traveling parameter becomes equal to or less than the second assist threshold. The second traveling parameter that decreases as the rider's load increases includes, for example, at least one of the rotational speed of the crankshaft 22, the rotational speed of the wheels 12, and the vehicle speed.

[0109] For example, if the second traveling parameter is a second traveling parameter that increases as the rider's load increases, the control unit 62 is configured to control the motor 54 to increase the assist level when the second traveling parameter becomes equal to or greater than the first assist threshold. For example, if the second traveling parameter is a second traveling parameter that increases as the rider's load increases, the control unit 62 is configured to control the motor 54 to decrease the assist level when the second traveling parameter becomes equal to or less than the second assist threshold. The second traveling parameter that increases as the rider's load increases includes, for example, at least one of the manual driving force and the road gradient.

[0110] For example, if the second running parameter is a second running parameter that decreases as the rider's load increases, the control unit 62 may be configured to control the motor 54 to, for example, decrease the assist level when the second running parameter becomes equal to or greater than the first assist threshold. If the second running parameter is a second running parameter that decreases as the rider's load increases, the control unit 62 may be configured to control the motor 54 to decrease the assist level when the second running parameter becomes equal to or less than the second assist threshold. For example, if the second running parameter is a second running parameter that increases as the rider's load increases, the control unit 62 may be configured to control the motor 54 to decrease the assist level when the second running parameter becomes equal to or greater than the first assist threshold. For example, if the second running parameter is a second running parameter that increases as the rider's load increases, the control unit 62 may be configured to control the motor 54 to increase the assist level when the second running parameter becomes equal to or less than the second assist threshold.

[0111] The process of the control unit 62 controlling the motor 54 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 S31 of the flowchart shown in Fig. 7. When the flowchart of Fig. 7 ends, the control unit 62 repeats the process from step S31 after a predetermined period, for example, until the supply of power is stopped.

[0112] In step S31, the control unit 62 determines whether or not the assist condition is satisfied. If the assist condition is not satisfied, the control unit 62 ends the processing. If the assist condition is satisfied, the control unit 62 proceeds to step S32. In step S32, the control unit 62 changes the assist level and ends the processing.

[0113] The control unit 62 is configured to change the assist condition based on the attitude parameter when the running state is the first running state. The control unit 62 is configured to change the assist condition based on the fluctuation center value when the running state is the second running state. The attitude parameter may be the same as or different from the second running parameter.

[0114] When the traveling state of the human-powered vehicle 10 is the first traveling state, the control unit 62 is configured to change the assist conditions, for example, based on the attitude parameter most recently detected by the attitude detection unit 66. When the traveling state of the human-powered vehicle 10 is the second traveling state, the control unit 62 is configured to change the assist conditions, for example, based on a fluctuation center value of the attitude parameter that is set by performing predetermined processing on the detection value detected by the attitude detection unit 66. When the traveling state of the human-powered vehicle 10 is the first traveling state, the control unit 62 is configured to change the assist conditions, for example, based on an attitude parameter that is not subjected to predetermined processing on the detection value detected by the attitude detection unit 66.

[0115] The control unit 62 is configured to change the assist conditions so that a decrease in the assist level is suppressed when, for example, the attitude parameter or the central value of the attitude parameter fluctuation is equal to or greater than a fifth predetermined value. The fifth predetermined value is, for example, a pitch angle corresponding to an uphill slope. When the pitch angle or the central value of the pitch angle fluctuation is equal to or greater than the fifth predetermined value corresponding to an uphill slope, a decrease in the assist level is suppressed, thereby suppressing an increase in the rider's load on an uphill slope.

[0116] The control unit 62 is configured to change the assist conditions so as to promote an increase in the assist level, for example, when the attitude parameter or the central value of the attitude parameter fluctuation is equal to or greater than a sixth predetermined value. The sixth predetermined value is, for example, a pitch angle corresponding to an uphill slope. The sixth predetermined value may be the same as or different from the fifth predetermined value. When the pitch angle or the central value of the pitch angle fluctuation is equal to or greater than the sixth predetermined value corresponding to an uphill slope, an increase in the assist level is promoted, thereby suppressing an increase in the rider's load on uphill slopes.

[0117] The control unit 62 is configured to change the assist conditions so as to suppress a decrease in the assist level when, for example, the attitude parameter or the central value of the attitude parameter fluctuation is equal to or less than a seventh predetermined value. The seventh predetermined value is, for example, a pitch angle corresponding to a downhill slope. By suppressing a decrease in the assist level when the pitch angle or the central value of the pitch angle fluctuation is equal to or less than the seventh predetermined value corresponding to a downhill slope, the rider is prevented from pedaling under heavy load when the riding road changes from a downhill slope to a flat road or an uphill slope.

[0118] The control unit 62 is configured to change the assist conditions so as to promote an increase in the assist level, for example, when the attitude parameter or the central value of the attitude parameter fluctuation is equal to or less than an eighth predetermined value. The eighth predetermined value is, for example, a pitch angle corresponding to a downhill slope. The eighth predetermined value may be the same as or different from the seventh predetermined value. By promoting an increase in the assist level when the pitch angle or the central value of the pitch angle fluctuation is equal to or less than the eighth predetermined value corresponding to a downhill slope, the rider can pedal with less load when the riding road changes from a downhill slope to a flat road or an uphill slope.

[0119] The process of changing the assist conditions 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 S41 of the flowchart shown in Fig. 8. When the flowchart of Fig. 8 ends, the control unit 62 repeats the process from step S41 after a predetermined period, for example, until the supply of power is stopped.

[0120] In step S41, the control unit 62 determines whether the running state is the first running state. If the running state is the first running state, the control unit 62 proceeds to step S42. In step S42, the control unit 62 changes the assist conditions based on the attitude parameters and ends the process.

[0121] If the running state is not the first running state in step S41, the control unit 62 proceeds to step S43. In step S43, the control unit 62 determines whether the running state is the second running state. If the running state is not the second running state, the control unit 62 ends the processing. If the running state is the second running state, the control unit 62 proceeds to step S44. In step S44, the control unit 62 changes the assist conditions based on the fluctuation center value of the attitude parameter, and ends the processing.

[0122] The first running state and the second running state may be mutually exclusive. If the first running state and the second running state are mutually exclusive, step S43 may be omitted from Fig. 8. If step S43 is omitted from Fig. 8, the control unit 62 proceeds to step S44 if step S41 is NO.

[0123] <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.

[0124] The control device 60 includes a control unit 62 configured to control the component 50 for the human-powered vehicle 10 based on an attitude parameter related to the attitude of the human-powered vehicle 10. The control unit 62 may be configured to control the component 50 based on the attitude parameter when a predetermined parameter related to the traveling of the human-powered vehicle 10 is in a first state, and to control the component 50 based on a median value of the attitude parameter when the predetermined parameter is in a second state in which the predetermined parameter fluctuates more than in the first state. The first state corresponds, for example, to the fluctuation state of the predetermined parameter in the first traveling state. The second state corresponds, for example, to the fluctuation state of the predetermined parameter in the second traveling state. The control unit 62 determines that the predetermined parameter is in the first state when, for example, the amplitude of the predetermined parameter is smaller than a predetermined amplitude. The control unit 62 determines that the predetermined parameter is in the second state when, for example, the amplitude of the predetermined parameter is equal to or greater than a predetermined amplitude. The control unit 62 may also determine that the predetermined parameter is in the first state when the maximum peak value of the predetermined parameter is smaller than the predetermined peak value. The control unit 62 may determine that the predetermined parameter is in the second state when the maximum peak value of the predetermined parameter is equal to or greater than the predetermined peak value. A process in which the control unit 62 changes a predetermined condition based on the state of a predetermined parameter will be described with reference to Fig. 9. 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. 9. When the flowchart of Fig. 9 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 predetermined parameter is in the first state. If the predetermined parameter is in the first state, the control unit 62 proceeds to step S52. In step S52, the control unit 62 changes the predetermined condition based on the posture parameter and ends the process. If the predetermined parameter is not in the first state in step S51, the control unit 62 proceeds to step S53. In step S53, the control unit 62 determines whether the predetermined parameter is in the second state. If the predetermined parameter is not in the second state, the control unit 62 ends the processing. If the predetermined parameter is in the second state, the control unit 62 proceeds to step S54. In step S54, the control unit 62 changes the predetermined condition based on the fluctuation center value of the posture parameter, and ends the processing. The first state and the second state may be mutually exclusive. If the first state and the second state are mutually exclusive, step S53 may be omitted from Fig. 9. If step S53 is omitted from Fig. 9, the control unit 62 proceeds to step S54 if the determination in step S51 is NO.

[0125] The predetermined parameters may be the same as the attitude parameters.

[0126] The component 50 may include, for example, components other than the transmission 52 and the motor 54. The component 50 may include at least one of a brake device, an adjustable seat post, and a suspension.

[0127] The control unit 62 is configured to change the predetermined condition based on the attitude parameter when the human-powered vehicle 10 is in a first running state, and to change the predetermined condition based on the center value of the attitude parameter when the running state is a second running state different from the first running state, and other components can be omitted as appropriate as long as the second running state corresponds to a state in which the rider is standing up and pedaling. In this modified example, the control unit 62 may be configured to set the center value of the attitude parameter fluctuation using at least one of the second setting example and the third setting example.

[0128] The control unit 62 is configured to change the predetermined condition based on the attitude parameter when the human-powered vehicle 10 is in a first driving state, and to change the predetermined condition based on the center value of the attitude parameter when the human-powered vehicle 10 is in a second driving state different from the first driving state. The center value of the attitude parameter is set based on the attitude parameter at a predetermined phase in the fluctuation cycle of the attitude parameter and the attitude parameter at the opposite phase to the predetermined phase in the fluctuation cycle. Other configurations may be omitted as appropriate. In this modified example, the control unit 62 may be configured to set the center value of the attitude parameter fluctuation based on at least one of the second and third setting examples. In this modified example, the second driving state does not have to correspond to a state in which the rider is standing and pedaling. In this modified example, the second driving state includes, for example, a state in which the fluctuation of the attitude parameter is greater than that in the first driving state due to at least one of the rider's posture and the driving environment of the human-powered vehicle 10. In this modified example, the second driving state corresponds, for example, to a state in which the rider drives the human-powered vehicle 10 in a zigzag pattern. In this modified example, the second traveling state corresponds to, for example, a state in which the human-powered vehicle 10 is traveling on an uneven road surface.

[0129] 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.

[0130] 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]

[0131] 10...human-powered vehicle, 12...wheel, 22...crankshaft, 50...component, 52...transmission device, 54...motor, 60...control device, 62...control unit, 66...attitude detection unit, 68...travel detection unit.

Claims

1. A control device for a human-powered vehicle, a control unit configured to control components for the human-powered vehicle based on a predetermined condition; The control unit The predetermined condition is changed based on an attitude parameter relating to the attitude of the human-powered vehicle, when the traveling state of the human-powered vehicle is a first traveling state, the predetermined condition is changed based on the attitude parameter; When the running state is a second running state different from the first running state, the predetermined condition is changed based on a fluctuation center value of the attitude parameter, The control device, wherein the second riding state corresponds to a state in which the rider is standing up and pedaling.

2. the component includes a transmission configured to change a transmission ratio, which is a ratio of a rotational speed of the wheels to a rotational speed of the crankshaft; the predetermined condition includes a gear change condition for changing the gear ratio, the gear change condition relates to a first travel parameter related to travel of the human-powered vehicle, The control unit The transmission is configured to control the transmission so as to change the gear ratio based on the gear change condition, When the running state is the first running state, the gear shift condition is changed based on the attitude parameter, The control device according to claim 1 , wherein when the driving state is the second driving state, the control device is configured to change the gear change condition based on the fluctuation center value.

3. the gear shift condition is defined by a gear shift threshold related to the first driving parameter, The control unit The transmission is configured to control the transmission to change the gear ratio based on a comparison between the first driving parameter and the gear shift threshold; When the running state is the first running state, the shift threshold is changed based on the attitude parameter, The control device according to claim 2 , wherein when the driving state is the second driving state, the control device is configured to change the shift threshold value based on the fluctuation center value.

4. the components include a motor that provides propulsive force to the human-powered vehicle; the predetermined condition includes an assist condition for changing an assist level by the motor, the assist condition relates to a second travel parameter related to travel of the human-powered vehicle, The control unit The motor is controlled to change the assist level based on the assist condition, When the running state is the first running state, the assist condition is changed based on the attitude parameter, The control device according to claim 1 , wherein when the running state is the second running state, the control device is configured to change the assist condition based on the fluctuation center value.

5. 5. The control device according to claim 1, wherein the control unit is configured to set the fluctuation center value based on the attitude parameters at multiple points in time during a predetermined period when the running state is maintained in the second running state for at least the predetermined period.

6. 6. The control device according to claim 5, wherein the control unit is configured to set the fluctuation center value based on the posture parameter at a predetermined phase in a fluctuation cycle of the posture parameter and the posture parameter at an opposite phase to the predetermined phase in the fluctuation cycle during the predetermined period.

7. The control device according to claim 5 , wherein the control unit is configured to set the fluctuation central value based on an average value of the posture parameter in the predetermined period.

8. The control device according to claim 5 , wherein the predetermined period corresponds to one period of the fluctuation period of the attitude parameter.

9. 5. The control device according to claim 1, wherein the control unit is configured to set the fluctuation center value based on the attitude parameter when the running state changes from the first running state to the second running state.

10. A control device for a human-powered vehicle, a control unit configured to control components for the human-powered vehicle based on a predetermined condition; The control unit The predetermined condition is changed based on an attitude parameter relating to the attitude of the human-powered vehicle, when the traveling state of the human-powered vehicle is a first traveling state, the predetermined condition is changed based on the attitude parameter; When the running state is a second running state different from the first running state, the predetermined condition is changed based on a fluctuation center value of the attitude parameter, a control device configured to set the fluctuation center value based on the attitude parameter at a predetermined phase in a fluctuation cycle of the attitude parameter and the attitude parameter at an opposite phase to the predetermined phase in the fluctuation cycle.

11. The control device according to claim 1 or 10, wherein the running state corresponds to an amplitude of a predetermined parameter related to the running of the human-powered vehicle.

12. The control device according to claim 11 , wherein the amplitude of the predetermined parameter in the second driving state is greater than the amplitude of the predetermined parameter in the first driving state.

13. 12. The control device according to claim 11, wherein the predetermined parameters include parameters related to at least one of a human-powered driving force input to the human-powered vehicle, a rotational speed of a crankshaft, a vehicle speed, a wheel speed, an acceleration, a lean angle, a stroke amount of a suspension, and a saddle load.

14. the predetermined parameter includes at least one of the manual driving force and the saddle load; The control device according to claim 13 , wherein the predetermined parameter in the second driving state is greater than the predetermined parameter in the first driving state.

15. the predetermined parameter includes at least one of the manual driving force and the saddle load; The control device according to claim 13 , wherein an average value of the predetermined parameter in the second driving state is greater than an average value of the predetermined parameter in the first driving state.

16. A control device for a human-powered vehicle, a control unit configured to control components for the human-powered vehicle based on an attitude parameter related to an attitude of the human-powered vehicle; The control unit when a predetermined parameter related to the traveling of the human-powered vehicle is in a first state, the component is controlled based on the attitude parameter; a control device configured to control the component based on a center value of variation of the attitude parameter when the predetermined parameter is in a second state in which the variation is greater than that in the first state;

17. The control device of claim 11 , wherein the predetermined parameter is different from the attitude parameter.

18. The control device according to claim 11 , further comprising a travel detection unit that detects the predetermined parameter.

19. The control device according to claim 1 , further comprising a posture detection unit that detects the posture parameter.

20. The control device according to claim 1 , 10 or 16 , wherein the attitude parameter includes at least one of a pitch angle, a roll angle and a yaw angle of the human-powered vehicle.

Images