Control system and human-powered vehicle

Abstract

To provide a control system capable of contributing to comfortable traveling of a human-powered vehicle.SOLUTION: The electronic controller is configured to control an actuator and at least one transmission so that the actuator drives a chain and the at least one transmission performs a shifting action. The electronic controller is configured to control the actuator to stop the shifting action in accordance with a comparison result with a predetermined threshold value in a case where a pedal is operated during the shifting action.SELECTED DRAWING: Figure 3

Description

[Technical Field]

[0001] The present disclosure relates to control systems and human-powered vehicle technology. [Background technology]

[0002] Conventionally, control systems for controlling human-powered vehicles have been known. For example, Patent Document 1 discloses a control system that controls a motor configured to provide a propulsive force to a human-powered vehicle so as to stop the motor immediately before a gear change. [Prior art documents] [Patent documents]

[0003] [Patent Document 1] WO2011 / 158220A2 publication Summary of the Invention [Problem to be solved by the invention]

[0004] One object of the present disclosure is to provide a control system and a human-powered vehicle that can contribute to a comfortable driving experience for the human-powered vehicle. [Means for solving the problem]

[0005] A control system according to a first aspect of the present disclosure is a control system for controlling a human-powered vehicle having pedals, a crank to which the pedals are attached, a front sprocket that can rotate independently of the crank, a rear wheel, a rear sprocket that can rotate independently of the rear wheel, a chain that meshes with the front sprocket and the rear sprocket, an actuator that drives the chain, and at least one transmission, and further comprising a control unit that controls the actuator and the at least one transmission so that the actuator drives the chain and the at least one transmission performs a gear shifting operation, and when the pedal is operated during the gear shifting operation, the control unit controls the actuator to stop the gear shifting operation depending on the result of a comparison with a predetermined threshold. The control system of the first aspect can contribute to a comfortable driving experience for human-powered vehicles.

[0006] In the control system of a second aspect according to the first aspect, the actuator is configured to provide a propulsive force to the human-powered vehicle, and the control system includes a detection unit that detects detection information related to the running state of the human-powered vehicle, and the control unit controls the actuator to operate according to a comparison result between the detection information detected by the detection unit and at least one predetermined threshold value while the gear shift operation is stopped. According to the control system of the second aspect, the chain can be driven by the actuator while the gear shifting operation is stopped.

[0007] In the control system of the third aspect according to the second aspect, the detection information includes at least one of torque information that changes according to the torque input to the human-powered vehicle, cadence information that changes according to the cadence of the human-powered vehicle, crank angle information that changes according to the angle of the crank, speed information that changes according to the vehicle speed of the human-powered vehicle, inclination information that changes according to the inclination angle of the human-powered vehicle, and acceleration information that changes according to the acceleration of the human-powered vehicle. According to the control system of the third aspect, the actuator can drive the chain while the gear shifting operation is stopped, depending on the result of comparing at least one of torque information, cadence information, crank angle information, speed information, inclination information, and acceleration information with a threshold value.

[0008] In the control system of a fourth aspect according to the second or third aspect, the detection information includes at least one of torque information that changes according to the torque input to the human-powered vehicle and speed information that changes according to the vehicle speed of the human-powered vehicle, and the control unit controls the actuator so that the actuator operates when, during a stop of the gear shifting operation, at least one of the speed information being equal to or less than the threshold value or the torque information being equal to or greater than the threshold value is satisfied, according to a comparison result between the detection information and the threshold value, and controls the actuator and the at least one transmission so that the gear shifting operation resumes when, during a stop of the gear shifting operation, at least one of the speed information being equal to or greater than the threshold value or the torque information being less than the threshold value is satisfied, according to a comparison result between the detection information and the threshold value. According to the control system of the fourth aspect, the gear shifting operation can be resumed depending on the result of comparing the detection information with a threshold value, which can further contribute to a comfortable driving experience for human-powered vehicles.

[0009] In the control system of a fifth aspect according to the second or third aspect, the detection information includes at least one of torque information that changes according to the torque input to the human-powered vehicle and speed information that changes according to the vehicle speed of the human-powered vehicle, and the control unit controls the actuator so that the actuator operates when at least one of the speed information being equal to or less than the threshold or the torque information being equal to or greater than the threshold is satisfied according to a comparison result between the detection information and the threshold while the gear shifting operation is stopped, and controls the actuator and the at least one transmission so that the gear shifting operation is resumed when at least one of the speed information being equal to or greater than the threshold or the torque information being less than the threshold is satisfied. According to the control system of the fifth aspect, it is possible to switch between control to operate the actuator and control to resume the gear shift operation depending on the results of comparing the detection information with a threshold value, thereby further contributing to the comfortable driving of human-powered vehicles.

[0010] A human-powered vehicle according to a sixth aspect of the present disclosure includes pedals, a crank to which the pedals are attached, a front sprocket rotatable independently of the crank, a rear wheel, a rear sprocket rotatable independently of the rear wheel, a chain that meshes with the front sprocket and the rear sprocket, an actuator that drives the chain, at least one transmission, and the control system described in the first aspect. According to the sixth aspect of the human-powered vehicle, it is possible to contribute to the comfortable running of the human-powered vehicle.

[0011] In a human-powered vehicle of a seventh aspect according to the sixth aspect, the actuator is configured to apply a propulsive force to the human-powered vehicle, the human-powered vehicle includes a detection unit that detects detection information relating to the running state of the human-powered vehicle, and the control unit controls the actuator to operate according to a comparison result between the detection information detected by the detection unit and at least one predetermined threshold value while the gear shift operation is stopped. According to the human-powered vehicle of the seventh aspect, the chain can be driven by the actuator while the gear shifting operation is stopped.

[0012] In the human-powered vehicle of an eighth aspect according to the seventh aspect, the detection information includes at least one of torque information that changes according to the torque input to the human-powered vehicle, cadence information that changes according to the cadence of the human-powered vehicle, crank angle information that changes according to the angle of the crank, speed information that changes according to the vehicle speed of the human-powered vehicle, inclination information that changes according to the inclination angle of the human-powered vehicle, and acceleration information that changes according to the acceleration of the human-powered vehicle. According to the human-powered vehicle of the eighth aspect, the chain can be driven by the actuator while the gear shifting operation is stopped, depending on the results of comparing at least one of torque information, cadence information, crank angle information, speed information, inclination information, and acceleration information with a threshold value.

[0013] In a human-powered vehicle of a ninth aspect according to the seventh or eighth aspect, the detection information includes at least speed information that changes according to the vehicle speed of the human-powered vehicle, and torque information that changes according to the torque input to the human-powered vehicle, and the control unit controls the actuator so that the actuator operates when at least one of the speed information being equal to or less than the threshold or the torque information being equal to or greater than the threshold is satisfied, according to a comparison result between the detection information and the threshold, while the gear shifting operation is stopped, and controls the actuator and the at least one transmission so that the gear shifting operation resumes when at least one of the speed information being equal to or greater than the threshold or the torque information being less than the threshold is satisfied, according to a comparison result between the detection information and the threshold. According to the human-powered vehicle of the ninth aspect, the gear shifting operation can be resumed depending on the result of comparing the detection information with a threshold value, which further contributes to a comfortable driving experience for the human-powered vehicle.

[0014] In a human-powered vehicle of a tenth aspect according to the seventh or eighth aspect, the detection information includes at least speed information that changes according to the vehicle speed of the human-powered vehicle, and torque information that changes according to the torque input to the human-powered vehicle, and the control unit controls the actuator so that the actuator operates when at least one of the speed information being equal to or less than the threshold or the torque information being equal to or greater than the threshold is satisfied according to a comparison result between the detection information and the threshold while the gear shifting operation is stopped, and controls the actuator and the at least one transmission so that the gear shifting operation is resumed when at least one of the speed information being equal to or greater than the threshold or the torque information being less than the threshold is satisfied. According to the human-powered vehicle of the tenth aspect, the control for operating the actuator and the control for resuming the gear shift operation can be switched depending on the result of comparing the detection information with a threshold value, which further contributes to a comfortable driving experience for the human-powered vehicle. [Effects of the Invention]

[0015] The control system and human-powered vehicle of the present disclosure can contribute to a comfortable driving experience for the human-powered vehicle. [Brief explanation of the drawings]

[0016] [Figure 1] 1 is a side view showing a human-powered vehicle equipped with a control system according to a first embodiment. [Figure 2] FIG. [Figure 3] FIG. 1 is a block diagram showing the electrical configuration of a human-powered vehicle equipped with a control system. [Figure 4] 4 is a flowchart showing a gear shift control process. [Figure 5] 10 is a flowchart showing a shift control process according to a first modified example. [Figure 6] 10 is a flowchart showing a gear shift control process according to a second modified example. DETAILED DESCRIPTION OF THE INVENTION

[0017] (First embodiment) A human-powered vehicle 1 including a control system 33 according to the first embodiment will be described. Figures 1 to 4 will be used to describe the human-powered vehicle 1 according to the first embodiment.

[0018] The human-powered vehicle 1 is a vehicle that has at least one wheel and can be propelled at least by human driving force. The human-powered vehicle 1 includes 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 that the human-powered vehicle 1 has. The human-powered vehicle 1 includes, for example, a unicycle and a vehicle with two or more wheels. The human-powered vehicle 1 is not limited to vehicles that can be propelled solely by human driving force. The human-powered vehicle 1 also includes E-bikes that use not only human driving force but also the driving force of an electric motor for propulsion. E-bikes include electrically assisted bicycles whose propulsion is assisted by an electric motor. In the following embodiments, the human-powered vehicle 1 is described as an electrically assisted bicycle.

[0019] In this specification, the following directional terms, such as "front," "rear," "forward," "backward," "left," "right," "sideways," "upward," and "downward," as well as any other similar directional terms, refer to those directions determined with reference to a rider facing the handlebars 13 in a reference position on the human-powered vehicle 1 (e.g., on the saddle or seat 12).

[0020] The human-powered vehicle 1 includes pedals 10c, a crank 10 to which the pedals 10c are attached, a front sprocket 17 that can rotate independently of the crank 10, a rear wheel 16, a rear sprocket 18 that can rotate independently of the rear wheel 16, a chain 19 that meshes with the front sprocket 17 and the rear sprocket 18, an actuator 29 that drives the chain 19, at least one transmission 20, and a control system 33.

[0021] As shown in Figures 1 and 3, in this embodiment, the human-powered vehicle 1 includes a crank 10, a frame 11, a seat 12, a handlebar 13, a front fork 14, a front wheel 15, a rear wheel 16, a front sprocket 17, a rear sprocket 18, a chain 19, a transmission 20, an electric actuator 21, a gear shift operation unit 22, a battery 23, a drive unit 24, and a control system 33.

[0022] The crank 10 includes a crank shaft 10a that is rotatable relative to the frame 11, and a pair of crank arms 10b that are provided at both axial ends of the crank shaft 10a. Pedals 10c are connected to the pair of crank arms 10b, respectively.

[0023] A seat 12 is attached to the frame 11 via a seat post 12a. The frame 11 rotatably supports a handlebar 13 and a front fork 14. The handlebar 13 is configured so that it can be grasped by a rider. When the handlebar 13 rotates relative to the frame 11, the front fork 14 rotates, and the traveling direction of the human-powered vehicle 1 changes.

[0024] The front wheel 15 is rotatably attached to the front fork 14. The rear wheel 16 is rotatably attached to the frame 11. The front sprocket 17 includes, for example, one front sprocket 17. The front sprocket 17 may include multiple front sprockets 17. The front sprocket 17 is configured to rotate in conjunction with the rotation of the crankshaft 10a in a first rotational direction.

[0025] The rear sprocket 18 may include, for example, multiple rear sprockets 18. The rear sprocket 18 may include one rear sprocket 18. The rear sprocket 18 is connected to the rear wheel 16 via a one-way clutch. The one-way clutch transmits the rotation of the rear sprocket 18 to the rear wheel 16 when the crankshaft 10a rotates in a first rotational direction and the rear sprocket 18 rotates via the front sprocket 17 and the chain 19. The transmission of the rotation of the rear sprocket 18 to the rear wheel 16 causes the human-powered vehicle 1 to move forward. The one-way clutch does not transmit the rotation of the rear sprocket 18 to the rear wheel 16 when the crankshaft 10a rotates in a second rotational direction opposite to the first rotational direction.

[0026] The rear sprocket 18 is connected to the rear wheel 16 via a one-way clutch, and is thereby able to rotate independently of the rear wheel 16. Because the rear sprocket 18 is able to rotate independently of the rear wheel 16, when the rotational speed of the rear wheel 16 is faster than the rotational speed of the rear sprocket 18, the rotation of the rear sprocket 18 is not transmitted to the rear wheel 16.

[0027] The transmission 20 includes at least one of an externally mounted transmission and an internally mounted transmission. In this embodiment, the transmission 20 includes an externally mounted transmission. When the transmission 20 includes an externally mounted transmission, the gear ratio of the human-powered vehicle 1 is calculated, for example, by dividing the number of teeth of the front sprocket 17 with which the chain 19 engages by the number of teeth of the rear sprocket 18 with which the chain 19 engages. The externally mounted transmission includes at least one of a front derailleur and a rear derailleur 20a. In this embodiment, the externally mounted transmission includes the rear derailleur 20a. When the front sprocket 17 includes multiple front sprockets 17, the externally mounted transmission may include a front derailleur.

[0028] The electric actuator 21 is configured to operate the rear derailleur 20a. The electric actuator 21 includes, for example, a motor. The electric actuator 21 may further include, for example, a reducer connected to the output shaft of the motor. The electric actuator 21 may be provided on the rear derailleur 20a, or may be provided at a position on the human-powered vehicle 1 away from the rear derailleur 20a. When the electric actuator 21 is driven to operate the rear derailleur 20a, the chain 19 is shifted between the multiple rear sprockets 18. When the chain 19 is shifted between the multiple rear sprockets 18, the gear ratio of the human-powered vehicle 1 is changed.

[0029] The gear shift operating unit 22 is configured to be operated by the rider with his / her hands or fingers. The gear shift operating unit 22 is provided, for example, on the handlebar 13. By operating the gear shift operating unit 22, the rider can perform gear shifting operations to change the gear ratio of the human-powered vehicle 1.

[0030] The battery 23 includes, for example, at least one of a non-rechargeable battery and a rechargeable battery. The rechargeable battery is configured to be rechargeable by power from an external power source. The battery 23 is provided on the frame 11.

[0031] The drive unit 24 is configured to provide propulsive force to the human-powered vehicle 1 in response to the human-powered driving force input to the human-powered vehicle 1. As shown in FIG. 2 , the drive unit 24 includes a housing 25, an output shaft 26, a transmission shaft 27, a first one-way clutch 28, an actuator 29, a reducer 30, and a second one-way clutch 31.

[0032] The housing 25 is hollow. The housing 25 includes a pair of through holes 25a that penetrate the housing 25 in the axial direction relative to the rotational center axis C10 of the crankshaft 10a. The crankshaft 10a is inserted into the pair of through holes 25a. The crankshaft 10a protrudes into the external space of the housing 25 through the pair of through holes 25a.

[0033] The output shaft 26 is directly or indirectly connected to the crankshaft 10a. The output shaft 26 has a substantially cylindrical shape. The output shaft 26 is arranged coaxially with the crankshaft 10a. The output shaft 26 is arranged outward of the crankshaft 10a in the radial direction relative to the rotational center axis C10 of the crankshaft 10a. A portion of the output shaft 26 protrudes into the external space of the housing 25 through one of the pair of through holes 25a. The front sprocket 17 is fixed to the output shaft 26 in the external space of the housing 25. The front sprocket 17 is not shown in FIG. 2.

[0034] The crankshaft 10a is rotatably supported relative to the housing 25 by a first bearing 25b. The output shaft 26 is rotatably supported relative to the housing 25 by a second bearing 25c. The first bearing 25b and the second bearing 25c are disposed, for example, in the internal space of the housing 25. The output shaft 26 rotatably supports the crankshaft 10a via a third bearing 25d. The third bearing 25d is disposed between the outer peripheral surface of the crankshaft 10a and the inner peripheral surface of the output shaft 26.

[0035] The transmission shaft 27 and the first one-way clutch 28 are disposed between the crankshaft 10a and the output shaft 26 in the path of transmission of human-powered driving force from the crankshaft 10a to the rear sprocket 18. The transmission shaft 27 is disposed coaxially with the crankshaft 10a. The transmission shaft 27 is fixed to the outer peripheral surface of the crankshaft 10a. A portion of the transmission shaft 27 is disposed in the internal space of the output shaft 26. The first one-way clutch 28 is disposed between the outer peripheral surface of the transmission shaft 27 and the inner peripheral surface of the output shaft 26. The first one-way clutch 28 is configured to rotate the front sprocket 17 when the crankshaft 10a rotates in a first rotational direction, and to allow relative rotation between the crankshaft 10a and the front sprocket 17 when the crankshaft 10a rotates in a second rotational direction. The front sprocket 17 is connected to the crankshaft 10a via the first one-way clutch 28, allowing it to rotate independently of the crankshaft 10a.

[0036] The actuator 29 is configured to apply a propulsive force to the human-powered vehicle 1. The actuator 29 includes, for example, a motor 29a. The motor 29a is configured to transmit a rotational force to the chain 19 via, for example, the output shaft 26. The motor 29a is provided in the housing 25. The motor 29a is disposed in the internal space of the housing 25. The motor 29a includes a motor output shaft 29b.

[0037] The reducer 30 is configured to connect the motor 29a and the output shaft 26. The reducer 30 is provided in the housing 25. The reducer 30 is arranged in the internal space of the housing 25. The reducer 30 includes, for example, a plurality of external gears 30a. When the motor output shaft 29b rotates, the plurality of external gears 30a rotate. As the plurality of external gears 30a rotate, the motor driving force is transmitted to the output shaft 26, and the output shaft 26 rotates. As the plurality of external gears 30a rotate, the rotation speed of the output shaft 26 decreases relative to the rotation speed of the motor output shaft 29b.

[0038] The second one-way clutch 31 is provided in the reducer 30. The second one-way clutch 31 is configured to transmit the rotation of the motor output shaft 29b to the output shaft 26, but not to transmit the rotation of the output shaft 26 to the motor output shaft 29b.

[0039] 1 is configured to be operated by the rider with his / her hand or finger. The assist operating unit 32 includes, for example, at least one assist switch. By operating the assist operating unit 32, the rider can perform an assist operation to change the mode of the drive unit 24.

[0040] 3 is configured to control the human-powered vehicle 1. The control system 33 includes a control unit 35 that controls the actuator 29 and at least one transmission 20 so that the actuator 29 drives the chain 19 and the at least one transmission 20 performs a gear shifting operation. In this embodiment, the control system 33 further includes a memory unit 34.

[0041] The storage unit 34 is configured to store the control program and information used in the control process, and includes at least one of a non-volatile memory, a volatile memory, and a hard disk, for example.

[0042] The control unit 35 is configured to execute control related to the control system 33. The control unit 35 includes an arithmetic processing unit that executes a predetermined control program. The arithmetic processing unit includes, for example, a CPU (Central Processing Unit) or an MPU (Micro Processing Unit). The control unit 35 may include one or more microcomputers. The control unit 35 further includes an inverter circuit connected to the motor 29a.

[0043] The control unit 35 is configured to communicate with the electric actuator 21, the gear shift operating unit 22, the actuator 29, and the assist operating unit 32 via an electric cable or a wireless communication device. By communicating with the electric actuator 21, the control unit 35 can control the electric actuator 21 to operate the rear derailleur 20a.

[0044] When the gearshift operation unit 22 is operated, a signal related to the gearshift operation is output to the control unit 35. The control unit 35 controls the electric actuator 21 in accordance with the signal related to the gearshift operation. The control unit 35 controls the electric actuator 21 in accordance with the signal related to the gearshift operation, and thereby the gear ratio of the human-powered vehicle 1 is changed in accordance with the rider's gearshift operation.

[0045] The control unit 35 communicates with the actuator 29, thereby controlling the actuator 29 so that the motor output shaft 29b rotates. When the motor output shaft 29b rotates, the motor driving force is transmitted to the front sprocket 17 via the reducer 30 and the output shaft 26. When the motor driving force is transmitted to the front sprocket 17, the chain 19 is driven.

[0046] The drive unit 24 has an assist mode in which it applies a propulsive force to the human-powered vehicle 1, and a non-assist mode in which it does not apply a propulsive force to the human-powered vehicle 1. The control unit 35 is configured to control the actuator 29 in either the assist mode or the non-assist mode.

[0047] When controlling the actuator 29 in the assist mode, the control unit 35 controls the actuator 29 so that the ratio of the motor driving force to the human-powered driving force becomes a predetermined ratio. In this specification, the ratio of the motor driving force to the human-powered driving force is referred to as the assist ratio. When controlling the actuator 29 in the non-assist mode, the control unit 35 controls the actuator 29 so that no propulsive force is applied to the human-powered vehicle 1. The assist mode may include multiple assist modes. For example, the assist mode may include a first assist mode, a second assist mode in which a higher propulsive force is more likely to be applied than in the first assist mode, and a third assist mode in which a higher propulsive force is more likely to be applied than in the second assist mode.

[0048] When the assist operating unit 32 is operated, a signal related to the assist operation is output to the control unit 35. In response to the signal related to the assist operation, the control unit 35 switches the control of the actuator 29 from one of the assist mode and the non-assist mode to the other of the assist mode and the non-assist mode. If the assist mode includes multiple assist modes, the assist operating unit 32 is configured to allow selection of one mode from the multiple assist modes and the non-assist mode. If the assist mode includes multiple assist modes, the control unit 35 controls the actuator 29 in one mode selected by the rider via the assist operating unit 32.

[0049] In this embodiment, the control system 33 further includes a detection unit 36 ​​that detects detection information related to the driving state of the human-powered vehicle 1. The detection information related to the driving state is information that indicates the state in which the human-powered vehicle 1 is driving. The detection information includes at least one of the following: torque information that changes according to the torque input to the human-powered vehicle 1; cadence information that changes according to the cadence of the human-powered vehicle 1; crank angle information that changes according to the angle of the crank 10 of the human-powered vehicle 1; speed information that changes according to the vehicle speed of the human-powered vehicle 1; inclination information that changes according to the inclination angle of the human-powered vehicle 1; and acceleration information that changes according to the acceleration of the human-powered vehicle 1. In this embodiment, the detection information further includes gear number information that indicates the current gear number of at least one transmission 20.

[0050] The detector 36 is configured to communicate with the controller 35 via an electric cable or a wireless communication device. The detector 36 can output a signal corresponding to the detected information to the controller 35. The detector 36 includes a gear number detector 36a, a torque detector 36b, a cadence detector 36c, a crank angle detector 36d, a vehicle speed detector 36e, an inclination detector 36f, and an acceleration detector 36g. The gear number detector 36a detects the gear number information. In this embodiment, the gear number detector 36a is configured to detect information indicating the current gear number of the rear derailleur 20a.

[0051] The torque detection unit 36b detects torque information. The torque information includes, for example, at least one of information indicating the torque input to the human-powered vehicle 1, information indicating the power, and information indicating the work. The power and work are calculated from the torque and cadence. The torque detection unit 36b is configured to detect the torque input to the crank arm 10b using, for example, a strain sensor, a magnetostrictive sensor, or a pressure sensor. The strain sensor may include at least one of a metal strain gauge and a semiconductor strain gauge.

[0052] In this embodiment, since the cadence detection unit 36c is provided, the torque detection unit 36b may use the detection result of the cadence detection unit 36c when detecting the cadence. The torque detection unit 36b is configured to detect the power and work based on the detection results of the torque and the cadence.

[0053] The cadence detection unit 36c detects cadence information. The cadence information includes, for example, information indicating the cadence, which is the number of rotations per minute of the crank 10. The cadence detection unit 36c detects the cadence, for example, by detecting a magnet provided on the crankshaft 10a. The cadence detection unit 36c includes a magnetic detection sensor such as a reed switch or a Hall element.

[0054] The crank angle detection unit 36d detects crank angle information. The crank angle information includes, for example, information indicating the rotation angle of one pedal 10c, with the top dead center of one pedal 10c being 0°. The crank angle detection unit 36d includes a magnetic detection sensor that outputs a signal according to the strength of a magnetic field. An annular magnet whose magnetic field strength varies circumferentially is provided in the crankshaft 10a or in the power transmission path from the crankshaft 10a to the front sprocket 17. The crank angle detection unit 36d is configured to detect the rotation angle of one pedal 10c according to the strength of the magnetic field detected by the magnetic detection sensor.

[0055] The vehicle speed detection unit 36e detects vehicle speed information. The vehicle speed information includes, for example, at least one of information indicating the vehicle speed of the human-powered vehicle 1, information indicating the rotational speed of the front wheel 15, and information indicating the rotational speed of the rear wheel 16. The vehicle speed detection unit 36e includes, for example, a magnetic detection sensor such as a reed switch or a Hall element. The magnetic detection sensor may be attached to a chain stay of the frame 11 and detect a magnet attached to the rear wheel 16. The vehicle speed detection unit 36e can detect the rotational speed of the rear wheel 16 based on the result of the magnetic detection sensor detecting the magnet attached to the rear wheel 16. The magnetic detection sensor may be provided in the front fork 14 and detect a magnet attached to the front wheel 15. The vehicle speed detection unit 36e can detect the rotational speed of the front wheel 15 based on the result of the magnetic detection sensor detecting the magnet attached to the front wheel 15. In this embodiment, the vehicle speed detection unit 36e is configured to detect the vehicle speed of the human-powered vehicle 1 based on the result of detecting the rotation speed of one of the front wheels 15 and the rear wheels 16 and the tire circumference.

[0056] The inclination detection unit 36f detects inclination information. The inclination information includes, for example, at least one of information indicating the slope of the road on which the human-powered vehicle 1 is traveling and information indicating the pitch angle of the human-powered vehicle 1. The inclination detection unit 36f includes, for example, a GPS receiver provided in the human-powered vehicle 1. The GPS receiver is configured to detect the current position of the human-powered vehicle 1. The inclination detection unit 36f is configured to detect the slope of the road on the basis of the signal output from the GPS receiver and gradient information included in map information stored in advance in the memory unit 34.

[0057] The acceleration detection unit 36g detects acceleration information. The acceleration information includes, for example, information indicating the acceleration of the human-powered vehicle 1 in the vertical direction. The acceleration detection unit 36g includes, for example, an acceleration sensor provided in the human-powered vehicle 1. The tilt detection unit 36f may detect the pitch angle of the human-powered vehicle 1 based on, for example, the vertical acceleration detected by the acceleration detection unit 36g.

[0058] In this embodiment, the control unit 35 is configured to switch between an automatic shifting mode in which the rear derailleur 20a is automatically controlled in accordance with the detection information detected by the detection unit 36, and a manual shifting mode in which the rear derailleur 20a is controlled in accordance with the rider's shifting operation. The human-powered vehicle 1 is provided with a mode operating device for switching from one of the automatic shifting mode and the manual shifting mode to the other of the automatic shifting mode and the manual shifting mode.

[0059] In order for the rear derailleur 20a to shift the chain 19 between the multiple rear sprockets 18, the chain 19 needs to be driven. In manual gear shifting mode, gear shifting is performed at the rider's discretion. When gear shifting is performed at the rider's discretion, the rider basically operates the gear shift operating unit 22 while pedaling the pedals 10c. In manual gear shifting mode, the rider operates the gear shift operating unit 22 while pedaling the pedals 10c, so that the rear derailleur 20a can shift the chain 19 between the multiple rear sprockets 18 and change the gear ratio of the human-powered vehicle 1.

[0060] In the automatic gear shifting mode, the gear ratio changes even without the rider operating the gear shifting operation unit 22. In the automatic gear shifting mode, for example, if the vehicle speed suddenly decreases, the electric actuator 21 operates the rear derailleur 20a to decrease the gear ratio. For example, if the vehicle speed of the human-powered vehicle 1 suddenly decreases while traveling uphill, the electric actuator 21 operates the rear derailleur 20a to decrease the gear ratio.

[0061] In the automatic gear shifting mode, for example, if the speed of the human-powered vehicle 1 suddenly increases, the electric actuator 21 operates the rear derailleur 20a to increase the gear ratio of the human-powered vehicle 1. For example, if the rider pedals the pedals 10c while traveling on a flat road and the speed of the human-powered vehicle 1 suddenly increases, the electric actuator 21 operates the rear derailleur 20a to increase the gear ratio. By adjusting the gear ratio through the operation of the rear derailleur 20a, the rider can easily ride the human-powered vehicle 1 at a constant cadence.

[0062] In the automatic gear shifting mode, the rear derailleur 20a is operated regardless of the rider's will. When the rear derailleur 20a is operated regardless of the rider's will, the pedals 10c may not be being pedaled. For example, when the human-powered vehicle 1 is traveling downhill or decelerating, it may be desirable to change the gear ratio of the human-powered vehicle 1, but the pedals 10c may not be being pedaled enough to allow the chain 19 to be repositioned between the multiple rear sprockets 18. When the pedals 10c are not being pedaled, the control unit 35 can drive the chain 19 using the motor 29a of the actuator 29 to operate the rear derailleur 20a. In this specification, the gear shifting operation of the rear derailleur 20a when the pedals 10c are not being pedaled and the chain 19 is being driven by the motor 29a is referred to as a motor-driven gear shifting operation.

[0063] By performing the motor-driven gear shifting operation, the rear derailleur 20a can change the gear ratio of the human-powered vehicle 1 by switching the chain 19 between the multiple rear sprockets 18 when the pedals 10c are not being pedaled. Whether or not to perform the motor-driven gear shifting operation may be selected in advance by the rider. If the rider has previously permitted the execution of the motor-driven gear shifting operation, the motor-driven gear shifting operation is performed in both the manual gear shifting mode and the automatic gear shifting mode. The motor-driven gear shifting operation is performed by the control unit 35 controlling the electric actuator 21 and the actuator 29.

[0064] The control unit 35 is configured to execute a gear shift control process for executing a motor-driven gear shift operation. In the gear shift control process, if the pedal 10c is operated during a gear shift operation, the control unit 35 controls the actuator 29 to stop the gear shift operation according to the result of comparison with a predetermined threshold. An example of the gear shift control process will be described using FIG. 4. The control unit 35 starts the gear shift control process when a predetermined condition is met. In this embodiment, the control unit 35 starts the gear shift control process when the human-powered vehicle 1 is powered on. Once the gear shift control process is completed, the control unit 35 repeatedly executes the gear shift control process at predetermined time intervals. In this embodiment, the control unit 35 repeatedly executes the gear shift control process until the human-powered vehicle 1 is powered off.

[0065] In step S11, the control unit 35 acquires vehicle information. In this embodiment, the control unit 35 acquires detection information detected by the detection unit 36. The control unit 35 acquires, for example, the current gear position of the rear derailleur 20a, the torque input to the human-powered vehicle 1, the power, work, cadence, the rotation angle of one pedal 10c, the speed of the human-powered vehicle 1, the gradient of the road, and the vertical acceleration. The control unit 35 may acquire only a portion of the information necessary for the processing from step S12 onwards, including the current gear position, torque, power, work, cadence, rotation angle, vehicle speed, gradient, and acceleration. After performing the processing of step S11, the control unit 35 proceeds to step S12.

[0066] In step S12, if the rider has previously permitted execution of the motor-driven gear shifting operation, the control unit 35 proceeds to step S13. In step S13, if a gear shifting execution condition for starting the motor-driven gear shifting operation is satisfied, the control unit 35 proceeds to step S14. If the gear shifting execution condition is not satisfied, the control unit 35 proceeds to step S12.

[0067] The gear change execution condition is met when the pedals 10c are not being pressed while the human-powered vehicle 1 is traveling, and when no propulsive force is being applied to the human-powered vehicle 1 by the actuator 29, and the current gear number is inappropriate. A state in which the pedals 10c are not being pressed while the human-powered vehicle 1 is traveling is, for example, a state in which the vehicle speed acquired by the control unit 35 in step S11 is 3 kilometers per hour or more, and the cadence acquired by the control unit 35 in step S11 is less than 5 rpm. A state in which no propulsive force is being applied to the human-powered vehicle 1 by the actuator 29 is, for example, a state in which the torque acquired by the control unit 35 in step S11 is less than a predetermined threshold.

[0068] In this embodiment, when the current gear position is inappropriate, it means that the required cadence for achieving the current vehicle speed at the current gear position is a value that makes it difficult for the rider to pedal comfortably. If the pedals 10c are not being pedaled while the human-powered vehicle 1 is traveling, the cadence acquired by the control unit 35 in step S11 does not match the required cadence. Because the cadence acquired in step S11 does not match the required cadence, the control unit 35 estimates the required cadence. In this specification, the required cadence estimated by the control unit 35 is referred to as the estimated cadence.

[0069] The estimated cadence is calculated based on the vehicle speed and cadence acquired by the control unit 35 in step S11. The estimated cadence is calculated, for example, by the following equation (1). C=S*1000*RN / FN / T / 60·····(1)

[0070] In equation (1), C is the estimated cadence. S in equation (1) is the vehicle speed acquired by the control unit 35 in step S11. The unit of S in equation (1) is speed per hour. RN in equation (1) is the number of teeth on the rear sprocket 18 according to the current gear position acquired by the control unit 35 in step S11. The number of teeth on the rear sprocket 18 according to the current gear position is the number of teeth on the rear sprocket 18 with which the chain 19 engages. FN in equation (1) is the number of teeth on the front sprocket 17. T in equation (1) is the tire circumference of the human-powered vehicle 1. The unit of T in equation (1) is meters.

[0071] The control unit 35 determines that the current gear number is inappropriate if the estimated cadence is outside a predetermined threshold range. The estimated cadence falls outside the predetermined threshold range, for example, if the speed of the human-powered vehicle 1 suddenly increases or decreases. The gear shift execution condition is met if the vehicle speed acquired by the control unit 35 in step S11 is 3 km / h or more, the cadence acquired by the control unit 35 in step S11 is less than 5 rpm, and the estimated cadence is outside the predetermined threshold range. If the gear shift condition is met, the control unit 35 proceeds to step S14. If the gear shift execution condition is not met, the control unit 35 proceeds to step S12.

[0072] In step S14, the control unit 35 controls the electric actuator 21 and the actuator 29 to perform a motor-driven gear shifting operation. For example, if the estimated cadence calculated by the control unit 35 in step S13 is below the lower limit of a predetermined range, the motor-driven gear shifting operation is performed to lower the gear ratio. For example, if the estimated cadence calculated by the control unit 35 in step S13 is above the upper limit of a predetermined range, the motor-driven gear shifting operation is performed to increase the gear ratio.

[0073] In step S14, the control unit 35 controls the actuator 29 so that the motor driving force does not exceed a reference value. The reference value is, for example, the motor driving force required to achieve the vehicle speed obtained by the control unit 35 in step S11. By controlling the actuator 29 so that the motor driving force does not exceed the reference value, the actuator 29 can drive the chain 19 to an extent that does not impart propulsive force to the human-powered vehicle 1 when the pedals 10c are not being pedaled. By being able to drive the chain 19 to an extent that does not impart propulsive force to the human-powered vehicle 1, the motor 29a can drive the chain 19 so as not to rotate the rear wheel 16.

[0074] In step S15, the control unit 35 determines whether or not a manual driving force is input to the pedal 10c during the motor-driven gear shifting operation. In this embodiment, the control unit 35 determines whether or not an input condition is satisfied. If the control unit 35 determines that the input condition is not satisfied, it repeats the process of acquiring detection information from the detection unit 36 ​​and the process of determining whether or not the input condition is satisfied.

[0075] The input condition is satisfied when a manual driving force is detected or when it is predicted that a manual driving force has been input to the pedal 10c. The input condition is defined based on the detection information acquired by the control unit 35. In this embodiment, the input condition includes any one of the first to eighth input conditions, or a combination of two or more of them.

[0076] The first input condition is met when the torque value acquired by the control unit 35 is equal to or greater than a predetermined threshold. The predetermined threshold may be, for example, 3 Nm. The second input condition is met when the cadence acquired by the control unit 35 is equal to or greater than a predetermined threshold. The predetermined threshold may be, for example, 3 rpm. The third input condition is met when the crank angle acquired by the control unit 35 is less than a predetermined threshold. The predetermined threshold may be, for example, 30°. The fourth input condition is met when the power acquired by the control unit 35 is equal to or greater than a predetermined threshold. The predetermined threshold may be, for example, 3 watts.

[0077] The fifth input condition is met when the work acquired by the control unit 35 is equal to or greater than a predetermined threshold. The predetermined threshold may be, for example, 3 joules. The sixth input condition is met when the vehicle speed acquired by the control unit 35 is equal to or greater than a predetermined threshold. The predetermined vehicle speed may be, for example, 3 kilometers per hour. The seventh input condition is met when the slope of the road acquired by the control unit 35 is equal to or greater than a predetermined threshold. The predetermined threshold may be, for example, -3%. The eighth input condition is met when the acceleration acquired by the control unit 35 is equal to or greater than a predetermined threshold. The predetermined threshold may be, for example, 5 G.

[0078] In this embodiment, the input condition is satisfied when the second input condition, the third input condition, and the sixth input condition are all met. If the input condition is satisfied before the gear shifting operation of the rear derailleur 20a is completed, the control unit 35 proceeds to step S17. If the input condition is not satisfied until the gear shifting operation of the rear derailleur 20a is completed, the control unit 35 proceeds to step S16 and controls the actuator 29 to complete driving of the chain 19 after the gear shifting operation of the rear derailleur 20a is completed. When driving of the chain 19 is completed, the motor-driven gear shifting operation is completed. After performing the process of step S16, the control unit 35 ends the gear shift control process.

[0079] In step S17, control unit 35 controls electric actuator 21 and actuator 29 to stop the motor-driven gear shifting operation in order to interrupt the gear shifting operation of rear derailleur 20a. Under the control of control unit 35, rear derailleur 20a stops its gear shifting operation. Under the control of control unit 35, actuator 29 stops driving chain 19. After performing the process of step S17, control unit 35 proceeds to step S18.

[0080] In the processing from step S18 onwards, the control unit 35 controls the actuator 29 to operate according to the result of comparing the detection information detected by the detection unit 36 ​​with at least one predetermined threshold value while the gear shift operation is stopped. In this embodiment, the control unit 35 controls the actuator 29 to operate when at least one of the following conditions is met: the speed information is equal to or less than the threshold value, or the torque information is equal to or greater than the threshold value. The control of the actuator 29 includes assist control that applies a propulsive force to the human-powered vehicle 1 according to the human-powered driving force.

[0081] In the processing from step S18 onwards, when at least one of the conditions that the speed information is equal to or greater than the threshold or the torque information is less than the threshold is satisfied, the control unit 35 controls the actuator 29 and at least one transmission 20 so that the gear shifting operation is resumed according to the result of comparing the detection information with the threshold. The processing from step S18 onwards will be explained.

[0082] In step S18, the control unit 35 determines whether or not to perform assist control. In this embodiment, the control unit 35 determines to perform assist control when the assist condition is met. The assist condition is met when the rider selects the assist mode out of the assist mode and non-assist mode, and the actuator 29 can apply a propulsive force to the human-powered vehicle 1. The control unit 35 acquires detection information from the detection unit 36 ​​and determines whether or not the actuator 29 can apply a propulsive force to the human-powered vehicle 1 according to the first to third assist conditions.

[0083] The first assist condition is satisfied when the vehicle speed acquired by the control unit 35 in step S18 is equal to or greater than a predetermined threshold. The predetermined threshold may be set, for example, in accordance with legal regulations. The predetermined threshold may be, for example, 25 kilometers per hour. The predetermined threshold may be, for example, 24 kilometers per hour. The predetermined threshold may be, for example, 45 kilometers per hour.

[0084] The second assist condition is satisfied when the torque acquired by the control unit 35 in step S18 is equal to or greater than a predetermined threshold. The third assist condition is satisfied when the crankshaft 10a rotates in the first rotation direction. The control unit 35 can determine whether the crankshaft 10a rotates in the first rotation direction by, for example, acquiring a history of crank angle detection results from the crank angle detection unit 36d in step S18.

[0085] In this embodiment, the control unit 35 determines that propulsive force can be applied to the human-powered vehicle 1 by the actuator 29 when at least one of the first assist condition and the second assist condition is satisfied. The control unit 35 may determine that propulsive force can be applied to the human-powered vehicle 1 by a determination different from that in this embodiment. For example, the control unit 35 may determine that propulsive force can be applied to the human-powered vehicle 1 by the actuator 29 when all of the first assist condition, second assist condition, and third assist condition are satisfied. For example, the control unit 35 may determine that propulsive force can be applied to the human-powered vehicle 1 by the actuator 29 when both the first assist condition and the second assist condition are satisfied.

[0086] If the control unit 35 determines that the rider has selected the assist mode and that propulsive force can be applied to the human-powered vehicle 1 by the actuator 29, the control unit 35 proceeds to step S19. In step S19, the control unit 35 performs assist control. When step S19 ends, the control unit 35 ends the gear change control process.

[0087] In step S18, if the rider selects the non-assist mode, or if it is determined that propulsive force cannot be applied to the human-powered vehicle 1 by the actuator 29, the control unit 35 proceeds to step S20. In step S20, the control unit 35 determines whether or not to permit the resumption of the motor-driven gearshift operation that was stopped in step S17. The control unit 35 acquires detection information from the detection unit 36, for example, and determines whether or not to permit the resumption of the motor-driven gearshift operation by a determination process similar to that of step S13. If the acquired detection information satisfies the gearshift execution condition, the control unit 35 determines that the resumption of the motor-driven gearshift operation is permitted, and proceeds to step S21. If the acquired detection information does not satisfy the gearshift execution condition, the control unit 35 determines that the resumption of the motor-driven gearshift operation is not permitted, and ends the gearshift control process.

[0088] In step S21, the control unit 35 controls the electric actuator 21 and the actuator 29 to resume the motor-driven gear shifting operation that was stopped in step S17. By resuming the motor-driven gear shifting operation, the rear derailleur 20a is operated while the chain 19 is being driven. When the operation of the rear derailleur 20a is complete, the control unit 35 proceeds to step S22. In step S22, the control unit 35 controls the actuator 29 to complete the drive of the chain 19. After performing the process of step S22, the control unit 35 ends the gear shift control process.

[0089] By executing the gear shift control process, the control unit 35 stops the motor-driven gear shifting operation when the pedal 10c is depressed during the motor-driven gear shifting operation. Since the gear ratio is maintained by stopping the motor-driven gear shifting operation, the control unit 35 can contribute to a comfortable driving experience for the human-powered vehicle 1.

[0090] In this embodiment, for example, when a relatively large torque is input to the human-powered vehicle 1 while the motor-driven gear shifting operation is stopped, the control unit 35 controls the actuator 29 to apply a propulsive force to the human-powered vehicle 1. By controlling the actuator 29, the control unit 35 can prioritize assist control over gear shifting control when the timing of the gear shifting operation and the timing of applying propulsive force overlap.

[0091] A rider generally pedals to increase vehicle speed. When pedaling, the rider expects the actuator 29 to provide propulsive force to the human-powered vehicle 1. By prioritizing assist control over control of the gear shifting operation, the control unit 35 can respect the rider's intention when pedaling and control the actuator 29 to provide propulsive force to the human-powered vehicle 1. By performing control that respects the rider's intention, the control unit 35 can further contribute to a comfortable ride of the human-powered vehicle 1.

[0092] In this embodiment, if the shift execution condition is met when assist control is not being performed during the shift control process, the motor-driven shift operation is resumed. By resuming the motor-driven shift operation, the rear derailleur 20a can perform a shift operation before the next shift control process is performed. By having the rear derailleur 20a perform a shift operation before the next shift control process is performed, the timing of the shift operation can be advanced, thereby improving shift response.

[0093] (Variation) The description of the present embodiment is merely an example of a form that the present invention can take, and is not intended to limit the present invention. For example, the present invention can take the following modified form of the present embodiment, or a form that combines at least two modified forms that are not mutually contradictory.

[0094] For example, the configuration of the human-powered vehicle 1 and the configuration of the control system 33 in this embodiment are examples, and the configuration of the human-powered vehicle 1 and the control system 33 may include various devices not shown in this embodiment, or may be configured not to include some of the various devices shown in this embodiment.

[0095] For example, the human-powered vehicle 1 may include a drive source other than the actuator 29 of the drive unit 24. The drive source other than the actuator 29 may drive the chain 19 when performing a motor-driven speed change operation.

[0096] The various thresholds used in the control exemplified in this embodiment are not limited and may be set arbitrarily. The various thresholds may be changed arbitrarily by operating a predetermined operating device, etc.

[0097] The process contents and process order of the flowchart illustrated in this embodiment are merely examples, and the process contents and process order can be changed as appropriate within the scope of the present invention. For example, the process of step S20 may be omitted, as in the gear shift control process of the first modified example shown in FIG.

[0098] 5, the control unit 35 may acquire, for example, speed information and torque information from the detection unit 36. When at least one of the speed information being equal to or greater than a threshold value and the torque information being less than a threshold value is satisfied, the control unit 35 may control the actuator 29 and at least one of the transmissions 20 to resume the gear shift operation.

[0099] For example, the processes from step S20 to step S22 may be omitted, as in the gear shift control process of the second modified example shown in Fig. 6. In step S18 shown in Fig. 6, if the control unit 35 determines that assist control will not be performed, it ends the gear shift control process.

[0100] The phrase "at least one" as used herein means "one or more" of the desired options. As an example, the phrase "at least one" as used herein means "only one option" or "both of two options" when the number of options is two. As another example, the phrase "at least one" as used herein means "only one option" or "any combination of two or more options" when the number of options is three or more. [Explanation of symbols]

[0101] 1...human-powered vehicle, 10...crank, 10c...pedal, 16...rear wheel, 17...front sprocket, 18...rear sprocket, 19...chain, 20...transmission, 29...actuator, 33...control system, 35...control unit, 36...detection unit

Claims

1. A control system for controlling a human-powered vehicle comprising: pedals; cranks to which the pedals are attached; a front sprocket that can rotate independently of the crank; a rear wheel; a rear sprocket that can rotate independently of the rear wheel; a chain that meshes with the front sprocket and the rear sprocket; an actuator that drives the chain; and at least one transmission, a control unit that controls the actuator and the at least one transmission so that the actuator drives the chain and the at least one transmission performs a gear shifting operation, When the pedal is operated during the gear shifting operation, the control unit controls the actuator so as to stop the gear shifting operation depending on the result of comparison with a predetermined threshold value.

2. the actuator is configured to impart a propulsive force to the human-powered vehicle; the control system includes a detection unit that detects detection information related to a running state of the human-powered vehicle, 2. The control system according to claim 1, wherein the control unit controls the actuator so that the actuator operates according to a result of comparison between the detection information detected by the detection unit and at least one predetermined threshold value while the gear shift operation is stopped.

3. 3. The control system according to claim 2, wherein the detected information includes at least one of torque information that changes in accordance with torque input to the human-powered vehicle, cadence information that changes in accordance with the cadence of the human-powered vehicle, crank angle information that changes in accordance with the angle of the crank, speed information that changes in accordance with the vehicle speed of the human-powered vehicle, inclination information that changes in accordance with the inclination angle of the human-powered vehicle, and acceleration information that changes in accordance with the acceleration of the human-powered vehicle.

4. the detection information includes at least one of torque information that changes in accordance with the torque input to the human-powered vehicle and speed information that changes in accordance with the vehicle speed of the human-powered vehicle; The control unit, while the gear shift operation is stopped, performs the following in response to a comparison result between the detection information and the threshold value: controlling the actuator so that the actuator operates when at least one of the speed information being equal to or less than the threshold value or the torque information being equal to or greater than the threshold value is satisfied; 4. The control system according to claim 2, wherein when at least one of the speed information being equal to or greater than the threshold value or the torque information being less than the threshold value is satisfied, the control system controls the actuator and the at least one transmission so that the gear shifting operation resumes according to a comparison result between the detection information and the threshold value.

5. the detection information includes at least one of torque information that changes in accordance with the torque input to the human-powered vehicle and speed information that changes in accordance with the vehicle speed of the human-powered vehicle; The control unit, while the gear shift operation is stopped, performs the following in response to a comparison result between the detection information and the threshold value: controlling the actuator so that the actuator operates when at least one of the speed information being equal to or less than the threshold value or the torque information being equal to or greater than the threshold value is satisfied; 4. The control system according to claim 2, wherein when at least one of the speed information being equal to or greater than the threshold value and the torque information being less than the threshold value is satisfied, the control system controls the actuator and the at least one transmission to resume the gear shifting operation.

6. Pedals and a crank to which the pedal is attached; a front sprocket that is rotatable independently of the crank; The rear wheel and a rear sprocket that can rotate independently from the rear wheel; a chain that meshes with the front sprocket and the rear sprocket; an actuator that drives the chain; at least one transmission; A human-powered vehicle comprising the control system of claim 1.

7. the actuator is configured to impart a propulsive force to the human-powered vehicle; the human-powered vehicle includes a detection unit that detects detection information related to a traveling state of the human-powered vehicle; 7. The human-powered vehicle according to claim 6, wherein the control unit controls the actuator so that the actuator operates in accordance with a result of comparing the detection information detected by the detection unit with at least one predetermined threshold value while the gear shift operation is stopped.

8. 8. The human-powered vehicle according to claim 7, wherein the detected information includes at least one of torque information that changes in accordance with torque input to the human-powered vehicle, cadence information that changes in accordance with the cadence of the human-powered vehicle, crank angle information that changes in accordance with the angle of the crank, speed information that changes in accordance with the vehicle speed of the human-powered vehicle, inclination information that changes in accordance with the inclination angle of the human-powered vehicle, and acceleration information that changes in accordance with the acceleration of the human-powered vehicle.

9. the detection information includes at least speed information that changes in accordance with the vehicle speed of the human-powered vehicle, and torque information that changes in accordance with the torque input to the human-powered vehicle; The control unit, while the gear shift operation is stopped, performs the following in response to a comparison result between the detection information and the threshold value: controlling the actuator so that the actuator operates when at least one of the speed information being equal to or less than the threshold value or the torque information being equal to or greater than the threshold value is satisfied; 9. The human-powered vehicle according to claim 7 or 8, wherein when at least one of the conditions that the speed information is equal to or greater than the threshold value or the torque information is less than the threshold value is satisfied, the actuator and the at least one transmission are controlled so that the gear shifting operation is resumed according to a comparison result between the detection information and the threshold value.

10. the detection information includes at least speed information that changes in accordance with the vehicle speed of the human-powered vehicle, and torque information that changes in accordance with the torque input to the human-powered vehicle; The control unit, while the gear shift operation is stopped, performs the following in response to a comparison result between the detection information and the threshold value: controlling the actuator so that the actuator operates when at least one of the speed information being equal to or less than the threshold value or the torque information being equal to or greater than the threshold value is satisfied; 9. The human-powered vehicle according to claim 7, wherein when at least one of the speed information being equal to or greater than the threshold value and the torque information being less than the threshold value is satisfied, the actuator and the at least one transmission are controlled to resume the gear shifting operation.

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