Control device for human-powered vehicles

Abstract

The present invention provides a control device for a human-powered vehicle that can suitably control the components of the human-powered vehicle. [Solution] The control device for a human-powered vehicle comprises a control unit configured to control a first component for the human-powered vehicle and a second component for the human-powered vehicle that is different from the first component, wherein the control unit is configured to control one of the first component and the second component with priority over the other of the first component and the second component, and is configured to change the priority of control of the first component and the second component according to a parameter related to the exercise intensity of the rider of the human-powered vehicle.

Description

Technical Field

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

Background Art

[0002] Patent Document 1 discloses a control unit that controls components for a human-powered vehicle.

Prior Art Documents

Patent Documents

[0003]

Patent Document 1

Summary of the Invention

Problems to be Solved by the Invention

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

Means for Solving the Problems

[0005] A control device according to a first aspect of the present disclosure is a control device for a human-powered vehicle, comprising a first component for a human-powered vehicle and a control unit configured to control a second component for a human-powered vehicle different from the first component, wherein the control unit is configured to control one of the first component and the second component with higher priority than the other of the first component and the second component, and is configured to change the priority order of control of the first component and the second component according to a parameter related to the exercise intensity of a rider of the human-powered vehicle. According to the control device on the first side, the control priority of the first and second components can be changed based on a priority according to parameters related to the rider's exercise intensity, thereby allowing for optimal control of the components for a human-powered vehicle according to parameters related to the rider's exercise intensity.

[0006] A control device of a second aspect according to a first aspect of the present disclosure, wherein the first component includes a motor configured to impart propulsion to the human-powered vehicle, and the second component includes a transmission configured to change a gear ratio which is the ratio of the rotational speed of the wheels of the human-powered vehicle to the rotational speed of the crankshaft of the human-powered vehicle, and the control unit is configured to control the motor to change the level of assistance provided by the motor and to control the transmission to change the gear ratio. According to the control device on the second side, the motor and transmission can be suitably controlled according to parameters related to the rider's exercise intensity.

[0007] In a control device of a third aspect according to a second aspect of this disclosure, the control unit is configured to control the motor and the transmission to maintain the assist level and the gear ratio when the parameter is less than or equal to a first value. According to the control device on the third side, the assist level and gear ratio can be maintained when the parameters are less than or equal to a first value.

[0008] In a control device of a fourth aspect according to a second aspect of this disclosure, the control unit is configured to change the control priority of the motor and the transmission based on the parameter and the rotational speed of the crankshaft. According to the control device on the fourth side, the control priority of the motor and transmission can be suitably changed based on the parameters and the rotational speed of the crankshaft.

[0009] In a control device of a fifth aspect according to a fourth aspect of this disclosure, the control unit is configured to control the motor and the transmission to maintain the assist level and the gear ratio when the parameter is less than or equal to a first value and the rotational speed is less than a first rotational speed. According to the control device on the fifth side, the assist level and gear ratio can be maintained when the parameter is less than or equal to the first value and the rotational speed is less than the first rotational speed.

[0010] In a control device of a sixth aspect according to a fourth or fifth aspect of the present disclosure, the control unit is configured to control the motor with priority over the transmission when the parameter is less than or equal to a second value and the rotational speed is greater than or equal to the second rotational speed. According to the control device on the sixth side, if the parameter is less than or equal to the second value and the rotational speed is greater than or equal to the second rotational speed, the motor can be controlled with priority over the transmission.

[0011] In a control device according to the seventh aspect of the sixth aspect of this disclosure, the control unit is configured to control the motor to lower the assist level and then control the transmission to change the gear ratio when the parameter is less than or equal to the second value and the rotational speed is greater than or equal to the second rotational speed. According to the control device on the seventh side, when the parameter is 2nd value or less and the rotational speed is 2nd rotational speed or more, lowering the assist level takes precedence over changing the gear ratio, so that the parameter can be suitably increased and the rotational speed is difficult to change.

[0012] In a control device of the eighth aspect according to the sixth or seventh aspect of this disclosure, the control unit is configured to control the transmission with priority over the motor when the parameter is less than or equal to the third value and the rotational speed is greater than or equal to the third rotational speed which is greater than the second rotational speed. According to the control device on the eighth side, if the parameter is less than or equal to the third value and the rotational speed is greater than or equal to the third rotational speed, the transmission can be controlled with priority over the motor.

[0013] In a control device according to the ninth aspect of the eighth aspect of this disclosure, the control unit is configured to control the transmission to increase the gear ratio and to control the motor to maintain the assist level when the parameter is less than or equal to the third value and the rotational speed is greater than or equal to the third rotational speed. According to the control device on the ninth side, when the parameter is less than or equal to the third value and the rotational speed is greater than or equal to the third rotational speed, the gear ratio increases and the assist level is maintained, thereby suppressing an increase in rotational speed and preventing a deficiency in the assist level.

[0014] In a control device according to a tenth aspect of the present disclosure, which is any one of the fourth to ninth aspects, the control unit is configured to control the motor with priority over the transmission when the parameter is greater than or equal to the fourth value and the rotational speed is less than the fourth rotational speed. According to the control device on the 10th side, if the parameter is greater than or equal to the 4th value and the rotational speed is less than the 4th rotational speed, the motor can be controlled with priority over the transmission.

[0015] In a control device according to the 11th aspect of the present disclosure, the control unit is configured to control the motor to increase the assist level and then control the transmission to change the gear ratio when the parameter is equal to or greater than the fourth value and the rotational speed is less than the fourth rotational speed. According to the control device on the 11th side, if the parameter is greater than or equal to the 4th value and the rotational speed is less than the 4th rotational speed, the assist level can be increased before changing the gear ratio, thereby suppressing a shortage of assist level.

[0016] In a control device according to a twelfth aspect of the tenth or eleventh aspect of the present disclosure, the control unit is configured to control the motor with priority over the transmission when the parameter is equal to or greater than the fifth value and the rotational speed is equal to or greater than the fourth rotational speed. According to the control device of the 12th aspect, when the parameter is equal to or greater than the 5th value and the rotational speed is equal to or greater than the 4th rotational speed, the motor can be controlled with priority over the transmission.

[0017] In the control device of the 13th aspect according to the 12th aspect of the present disclosure, when the parameter is equal to or greater than the 5th value and the rotational speed is equal to or greater than the 4th rotational speed, the control unit is configured to control the motor to increase the assist level and control the transmission to maintain the gear ratio. According to the control device of the 13th aspect, when the parameter is equal to or greater than the 5th value and the rotational speed is equal to or greater than the 4th rotational speed, the assist level is increased and the gear ratio is maintained, so that the parameter can be suitably decreased and the rotational speed is difficult to change.

[0018] In the control device of the 14th aspect according to the 12th or 13th aspect of the present disclosure, when the parameter is equal to or greater than the 6th value and the rotational speed is equal to or greater than the 5th rotational speed which is greater than the 4th rotational speed, the control unit is configured to control the motor with priority over the transmission. According to the control device of the 14th aspect, when the parameter is equal to or greater than the 6th value and the rotational speed is equal to or greater than the 5th rotational speed, the motor can be controlled with priority over the transmission.

[0019] In the control device of the 15th aspect according to the 14th aspect of the present disclosure, when the parameter is equal to or greater than the 6th value and the rotational speed is equal to or greater than the 5th rotational speed, the control unit is configured to control the motor to increase the assist level and then control the transmission to change the gear ratio. According to the control device of the 15th aspect, when the parameter is equal to or greater than the 6th value and the rotational speed is equal to or greater than the 5th rotational speed, the assist level can be increased before changing the gear ratio, so that the shortage of the assist level can be suppressed.

[0020] In the control device according to any one of the 4th to 15th aspects of the present disclosure, when the parameter is less than or equal to the 7th value and the rotational speed of the wheel is greater than the value obtained by multiplying the rotational speed of the crankshaft by the gear ratio, the control unit is configured to change the priority order of the control of the motor and the transmission. According to the control device of the 16th aspect, when the parameter is less than or equal to the 7th value and the rotational speed of the wheel of the human-powered vehicle is greater than the value obtained by multiplying the rotational speed of the crankshaft by the gear ratio, the priority order of the control of the motor and the transmission can be changed.

[0021] In the control device according to any one of the 4th to 16th aspects of the present disclosure, when the parameter is greater than or equal to the 8th value and the assist level is less than the predetermined assist level, the control unit controls the motor to increase the assist level and controls the transmission to maintain the gear ratio. When the parameter is greater than or equal to the 8th value and the assist level is greater than or equal to the predetermined assist level, the control unit controls the motor to maintain the assist level and controls the transmission to change the gear ratio based on the acceleration of the rotational speed. According to the control device of the 17th aspect, when the parameter is greater than or equal to the 8th value and the assist level is greater than or equal to the predetermined assist level, the assist level can be maintained and the gear ratio can be changed based on the acceleration of the rotational speed.

[0022] In the control device according to the 18th aspect of the present disclosure, the parameter is related to the energy consumption of the rider. According to the control device of the 18th aspect, the components of the human-powered vehicle can be suitably controlled according to the energy consumption of the rider.

[0023] A control device of a 19th 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, the control unit configured to control the components in accordance with parameters relating to the exercise intensity of the rider of the human-powered vehicle, the parameters relating to the amount of energy consumed by the rider. According to the control device on the 19th side, components for a human-powered vehicle can be suitably controlled based on parameters related to the amount of energy consumed by the rider.

[0024] In a control device according to the 20th aspect of the present disclosure, which is the 18th or 19th aspect of the present disclosure, the parameter is the ratio of the power of the human-powered vehicle to the amount of energy consumed. According to the control device on the 20th side, components for a human-powered vehicle can be suitably controlled based on the ratio of the power output of the human-powered vehicle to the amount of energy consumed.

[0025] In a control device according to the 21st aspect of the 20th aspect of this disclosure, the control unit is configured to calculate the amount of energy consumed based on the resting heart rate of the rider. According to the control device on the 21st side, components for a human-powered vehicle can be suitably controlled based on the rider's resting heart rate. [Effects of the Invention]

[0026] The control device for a human-powered vehicle according to this disclosure can suitably control components for a human-powered vehicle. [Brief explanation of the drawing]

[0027] [Figure 1] This is a side view of a human-powered vehicle equipped with a control device for a human-powered vehicle according to the first embodiment. [Figure 2] Figure 1 is a block diagram showing the electrical configuration of a human-powered vehicle. [Figure 3] This is the first part of the flowchart of the process performed by the control unit in Figure 2, which controls the motor and transmission. [Figure 4]This is the second part of the flowchart for the process performed by the control unit in Figure 2, which controls the motor and transmission. [Figure 5] This is a map showing the relationship between parameters and rotational speed. [Figure 6] This is a flowchart of the process performed by the control unit of the second embodiment to control the motor and the transmission. [Figure 7] This is a flowchart of the process executed by the control unit in the modified example, which controls the motor and transmission. [Modes for carrying out the invention]

[0028] <First Embodiment> A control device 60 for a human-powered vehicle according to the first embodiment will be described with reference to Figures 1 to 5.

[0029] A human-powered vehicle is a vehicle having at least one wheel and capable of being driven by at least human power. Human-powered vehicles include various types of bicycles, such as mountain bikes, road bikes, city bikes, cargo bikes, handbikes, and recumbent bikes. The number of wheels a human-powered vehicle may have is not limited. Human-powered vehicles also include, for example, unicycles and vehicles with two or more wheels. Human-powered vehicles are not limited to vehicles that can be driven solely by human power. Human-powered vehicles include e-bikes, which utilize the driving force of an electric motor in addition to human power for propulsion. E-bikes include electric assist bicycles, in which propulsion is assisted by an electric motor. In each embodiment below, a human-powered vehicle will be described as a bicycle.

[0030] 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.

[0031] The human-powered vehicle 10 further includes, for example, a crank 18 into which human power is input. The crank 18 includes, for example, a crank arm 20 and a crank shaft 22. The crank shaft 22 is rotatable, for example, relative to the frame 16. A pedal 24 is connected to the crank arm 20, for example. The crank arm 20 is provided, for example, at each of the axial ends of the crank shaft 22.

[0032] A front fork 26 is connected to the frame 16. A front wheel 12F is mounted on the front fork 26. A handlebar 28 is connected to the front fork 26 via a stem 30. The rear wheel 12R is supported by the frame 16. In this embodiment, a 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.

[0033] 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.

[0034] 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 at least one first rotating body 34 to 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. At least one second rotating body 36 includes, for example, a rear sprocket. At least one second rotating body 36 may also include a pulley or a bevel gear. The chain is wrapped around, for example, a front sprocket and a rear sprocket. At least one second rotating body 36 is connected to, for example, a rear wheel 12R. The rear wheel 12R is configured to rotate, for example, in conjunction with the rotation of at least one second rotating body 36.

[0035] The human-powered vehicle 10 is equipped with, for example, at least a part of a control system 40 for human-powered vehicles. The control system 40 includes, for example, a control device 60 for human-powered vehicles and components 50 for human-powered vehicles.

[0036] The control system 40 further includes, for example, a detection unit 42. The detection unit 42 includes, for example, at least one of a crank rotation state detection unit 42A, a wheel rotation state detection unit 42B, and a human power driving force detection unit 42C.

[0037] The crank rotation state detection unit 42A is communicated with the control unit 62, for example, by wired or wireless means. The crank rotation state detection unit 42A 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 42A is configured to detect, for example, at least one of information corresponding to the rotational speed N of the crankshaft 22 and information corresponding to the rotational speed of the first rotating body 34. The information corresponding to the rotational speed N of the crankshaft 22 includes, for example, the angular acceleration of the crankshaft 22. The information corresponding to the rotational speed of the first rotating body 34 includes, for example, the angular acceleration of the first rotating body 34.

[0038] The crank rotation state detection unit 42A is configured to output, for example, at least one signal corresponding to the rotational speed N of the crankshaft 22 and at least one signal corresponding to the rotational speed of the first rotating body 34. The crank rotation state detection unit 42A is configured to output, for example, at least one detection signal corresponding to the rotation angle of the crankshaft 22 and at least one detection signal corresponding to the rotation angle of the first rotating body 34 while the crankshaft 22 and the first rotating body 34 are rotating once.

[0039] The crank rotation state detection unit 42A includes, for example, a magnetic sensor that outputs a signal corresponding to the strength of the magnetic field. The crank rotation state detection unit 42A 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° in the circumferential direction of the rotation center axis of the crankshaft 22. The crank rotation state detection unit 42A may include an optical sensor, an acceleration sensor, a gyro sensor, or a torque sensor instead of the magnetic sensor.

[0040] The crank rotation state detection unit 42A 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 42A may be configured to detect information corresponding to the rotational speed of the second rotating body 36. The information corresponding to the rotational 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 42A may be configured to output a signal corresponding to the rotational speed of the second rotating body 36.

[0041] The crank rotation state detection unit 42A may include a vehicle speed sensor. If the crank rotation state detection unit 42A includes a vehicle speed sensor, the control unit 62 may be configured to calculate the rotational speed N of the crankshaft 22 according to the vehicle speed detected by the vehicle speed sensor and the gear ratio. The crank rotation state detection unit 42A may also include a wheel speed sensor. If the crank rotation state detection unit 42A includes a wheel speed sensor, the control unit 62 may be configured to calculate the rotational speed N of the crankshaft 22 according to the rotational speed of the wheel 12 detected by the wheel speed sensor and the gear ratio. The wheel speed sensor may be configured, for example, in the same way as the wheel rotation state detection unit 42B.

[0042] The wheel rotation state detection unit 42B is communicated with the control unit 62, for example, by wired or wireless means. The wheel rotation state detection unit 42B is configured to detect information regarding the vehicle speed of the human-powered vehicle 10, for example. The wheel rotation state detection unit 42B is configured to detect information regarding the rotational speed of the wheel 12, for example. The wheel rotation state detection unit 42B is configured to detect a magnet provided on at least one of the front wheel 12F and the rear wheel 12R, for example.

[0043] The wheel rotation state detection unit 42B includes, for example, a vehicle speed sensor. The wheel rotation state detection unit 42B is configured to output a predetermined number of detection signals during one rotation of the wheel 12. The predetermined number is, for example, 1. The wheel rotation state detection unit 42B 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 regarding the circumference of the wheel 12. The storage unit 64 stores, for example, information regarding the circumference of the wheel 12.

[0044] The human-powered driving force detection unit 42C is provided, for example, on a member included in the human-powered driving force transmission path, or on a member located near a member included in the human-powered driving force transmission path. The human-powered driving force detection unit 42C includes a strain sensor, a magnetostrictive sensor, or a pressure sensor. The strain sensor includes a strain gauge. The human-powered driving force detection unit 42C may have any configuration as long as it can acquire information about the human-powered driving force.

[0045] The human-powered driving force detection unit 42C may be provided on, for example, at least one of the crank arm 20 and the pedal 24. If the human-powered driving force detection unit 42C is provided on the pedal 24, the human-powered driving force detection unit 42C may include a sensor that detects the pressure applied to the pedal 24. The human-powered driving force detection unit 42C may be provided on the chain. If the human-powered driving force detection unit 42C is provided on the chain, the human-powered driving force detection unit 42C may include a sensor that detects the tension of the chain.

[0046] Component 50 includes, for example, a first component 52 for a human-powered vehicle and a second component 54 for a human-powered vehicle different from the first component 52. The first component 52 includes, for example, a motor 56 configured to provide propulsion to the human-powered vehicle 10. The second component 54 includes, for example, a transmission 58 configured to change the gear ratio, which is the ratio of the rotational speed of the wheels 12 of the human-powered vehicle 10 to the rotational speed N of the crankshaft 22 of the human-powered vehicle 10.

[0047] The motor 56 is configured to drive the transmission member 38. For example, the motor 56 is configured to impart propulsion to the human-powered vehicle 10 in response to human power. For example, the motor 56 includes one or more electric motors. The electric motors included in the motor 56 are, for example, brushless motors. For example, the motor 56 is configured to transmit rotational force to the power transmission path of human power from two pedals 24 to at least one second rotating body 36. For example, the motor 56 drives the transmission member 38 via at least one first rotating body 34. In this embodiment, the motor 56 is provided on the frame 16 of the human-powered vehicle 10 and is configured to transmit rotational force to the first rotating body 34. The motor 56 may include a hub motor provided on the wheel 12.

[0048] The transmission 58 is configured to change the gear ratio in steps, for example. The transmission 58 is configured 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 N of the crankshaft 22. The transmission 58 is provided, for example, on the frame 16. The transmission 58 includes, for example, at least one of a rear transmission and a front transmission. The transmission 58 includes, for example, an external derailleur. The transmission 58 includes, for example, a rear derailleur. The transmission 58 may also include a front derailleur. The transmission 58 may also include an internal gear hub. The internal gear hub is provided, for example, on the hub of the rear wheel 12R. The transmission 58 may also include a CVT (Continuously Variable Transmission).

[0049] The transmission 58 includes, for example, an electric transmission. The transmission 58 includes, for example, an actuator that is operated by electric power. The gear ratio is changed by driving the actuator. The actuator includes, for example, an electric motor.

[0050] 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 located in multiple locations that are far apart from each other. If the arithmetic processing units are located in multiple locations that are far apart from each other, each part of the arithmetic processing unit may be connected to communicate with each other via a wireless communication device. The control unit 62 may include one or more microcomputers.

[0051] The control device 60 further comprises, for example, a storage unit 64. The storage unit 64 is communicated with, for example, the control unit 62 by wire or wireless means. For example, the storage unit 64 stores control programs and information used for control processing. The storage unit 64 includes, for example, non-volatile memory and volatile memory. The non-volatile memory includes, for example, at least one of ROM (Read-Only Memory), EPROM (Erasable Programmable Read Only Memory), EEPROM (Electrically Erasable Programmable Read-Only Memory), and flash memory. The volatile memory includes, for example, RAM (Random Access Memory).

[0052] The control unit 62 is configured to control the motor 56 to change the assist level provided by the motor 56. The control unit 62 is configured to control the motor 56 so that the assist level provided by the motor 56 becomes a predetermined assist level. The assist level includes, for example, the ratio of the assist force of the motor 56 to the human-powered driving force input to the human-powered vehicle 10, the upper limit of the output of the motor 56, and the response speed of the motor 56 to the rate of change of the human-powered driving force.

[0053] The assisting force is expressed, for example, by at least one of torque and power. When the assisting force is expressed by torque, for example, the assisting force is written as assisting torque. When the assisting force is expressed by power, for example, the assisting force is written as assisting power. The ratio of the assisting force to the human-powered driving force may be the ratio of the assisting torque to the human-powered torque, or the ratio of the assisting power to the human-powered power.

[0054] The control unit 62 is configured to control the transmission 58 to change the gear ratio, for example. The control unit 62 is configured to control the transmission 58 to change the gear ratio in response to a gear shift signal. The gear shift signal is output, for example, by the user operating the gear shift control unit.

[0055] The control unit 62 is configured to control a first component 52 for the human-powered vehicle and a second component 54 for the human-powered vehicle. The control unit 62 is configured to prioritize the control of one of the first component 52 and the second component 54 over the other. The control unit 62 is configured to change the control priority of the first component 52 and the second component 54 according to a parameter Y related to the exercise intensity of the rider of the human-powered vehicle 10. The control unit 62 is configured to prioritize the control of one of the motor 56 and the transmission 58 over the other. The control unit 62 is configured to change the control priority of the motor 56 and the transmission 58 according to a parameter Y related to the exercise intensity of the rider of the human-powered vehicle 10.

[0056] The control system 40 further includes, for example, a rider state acquisition unit 44. The rider state acquisition unit 44 is configured to acquire, for example, information regarding the rider's exercise intensity. The control unit 62 is configured to calculate a parameter Y based on the information regarding the rider's exercise intensity acquired by the rider state acquisition unit 44.

[0057] Parameter Y relates, for example, to the amount of energy consumed by the rider. Parameter Y is, for example, the ratio of the power output of the human-powered vehicle 10 to the amount of energy consumed. Parameter Y may also be METs (Metabolic equivalents).

[0058] The energy consumption of a rider is, for example, the amount of energy the rider consumes in a day. The energy consumption of a rider is related to, for example, the amount of oxygen the rider needs in a day for daily activities. The energy consumption of a rider is related to, for example, the rider's basal metabolic rate and the rider's physical activity level. The rider's physical activity level corresponds to, for example, the physical activity level defined by METs. If the energy consumption of a rider is the rider's physical activity level, the rider status acquisition unit 44 may include, for example, an input unit for the rider to input its physical activity level. If the energy consumption of a rider is the rider's physical activity level, the rider status acquisition unit 44 may also include a communication unit for acquiring the rider's physical activity level from an external device.

[0059] The control unit 62 is configured to calculate the amount of energy consumed based, for example, on the rider's resting heart rate. The amount of energy consumed by the rider is related, for example, to the rider's resting heart rate. The slower the rider's resting heart rate, the higher the rider's energy consumption tends to be. The slower the rider's resting heart rate, the higher the level of physical activity tends to be. When the control unit 62 is configured to calculate the amount of energy consumed based on the rider's resting heart rate, the rider status acquisition unit 44 includes, for example, a heart rate sensor. The heart rate sensor may be, for example, a wristwatch type or something that is attached to the rider's body, or it may be provided on the handlebars 28. When the control unit 62 is configured to calculate the amount of energy consumed based on the rider's resting heart rate, the rider status acquisition unit 44 may also include a communication unit for acquiring the rider's resting heart rate from an external device.

[0060] The control unit 62 is configured to control at least one of the first component 52 and the second component 54 in any of the first to third examples, depending on the parameter Y. The control unit 62 is configured to control at least one of the first component 52 and the second component 54 in any of the first to third examples, depending on the condition that one of a plurality of predetermined conditions is met.

[0061] In the first example, the control unit 62 controls the component with the higher priority among the first component 52 and the second component 54, and does not control the component with the lower priority among the first component 52 and the second component 54, when predetermined conditions related to parameter Y are met.

[0062] In the second example, if predetermined conditions are met, the control unit 62 controls, for example, the one with the higher priority among the first component 52 and the second component 54, and then controls the one with the lower priority among the first component 52 and the second component 54.

[0063] In the third example, the control unit 62 controls the component with the higher priority among the first component 52 and the second component 54 if a predetermined condition is met, and then controls the component with the lower priority among the first component 52 and the second component 54 if an additional condition is met. In the third example, the control unit 62 controls the component with the higher priority among the first component 52 and the second component 54 if a predetermined condition is met, and then does not control the component with the lower priority among the first component 52 and the second component 54 if the additional condition is not met. The additional condition may relate to parameter Y, or it may be different. The predetermined condition may be one of a plurality of predetermined conditions.

[0064] The control unit 62 is configured to change the control priority of the motor 56 and the transmission 58 based, for example, on parameter Y and the rotational speed N of the crankshaft 22. The rotational speed N of the crankshaft 22 is represented, for example, by the number of rotations of the crankshaft 22 per predetermined time. The rotational speed N of the crankshaft 22 may also be represented by the angular velocity of the crankshaft 22.

[0065] The control unit 62 is configured to control at least one of the motor 56 and the transmission 58 so that, for example, if parameter Y is outside a predetermined range, parameter Y comes within a predetermined range. The predetermined range is set in advance, for example, by experimentation. The predetermined range is, for example, the range of parameter Y that allows the human-powered vehicle 10 to run comfortably. The predetermined range is defined, for example, as satisfying equation (1). aX-b corresponds to the lower limit YA of parameter Y in the predetermined range. aX+b corresponds to the upper limit YB of parameter Y in the predetermined range. aX-b <Y<aX+b…(1) Y represents the parameter Y. 'a' represents a constant. b represents a constant. X represents the rotations per minute (rpm) of the crankshaft 22.

[0066] A predetermined range is defined, for example, as a range that satisfies both equation (1) and equation (2). A predetermined range that satisfies equation (1) corresponds, for example, to the region containing regions RX, RY, and RZ in Figure 5. A predetermined range that satisfies both equation (1) and equation (2) corresponds, for example, to region RX in Figure 5. X1 <X<X2…(2)

[0067] The control unit 62 is configured to control the motor 56 and the transmission 58 to maintain the assist level and gear ratio when, for example, the parameter Y is less than or equal to a first value Y1. The first value Y1 changes, for example, according to the rotational speed N. The first value Y1 is, for example, a value represented by aX-b. The first value Y1 is, for example, a lower limit YA. The control unit 62 is configured to control the motor 56 and the transmission 58 to maintain the assist level and gear ratio when, for example, the parameter Y is less than or equal to a first value Y1 and the rotational speed N is less than a first rotational speed N1. When the parameter Y is less than or equal to a first value Y1 and the rotational speed N is less than a first rotational speed N1, for example, it corresponds to the region including regions RY and R1 in Figure 5. When the parameter Y is less than or equal to a first value Y1 and the rotational speed N is less than a first rotational speed N1, for example, it includes the case when the human-powered vehicle 10 is traveling on a congested road.

[0068] The control unit 62 is configured to, for example, control the motor 56 with priority over the transmission 58 when the parameter Y is less than or equal to the second value Y2 and the rotational speed N is greater than or equal to the second rotational speed N2. The second value Y2 changes, for example, according to the rotational speed N. The second value Y2 is, for example, a value represented by aX-b. The second value Y2 is, for example, the lower limit YA. The second rotational speed N2 is, for example, a value greater than or equal to the first rotational speed N1. The second rotational speed N2 is, for example, equal to the first rotational speed N1. The second rotational speed N2 may be different from the first rotational speed N1. The control unit 62 is configured to, for example, control the motor 56 to lower the assist level and then control the transmission 58 to change the gear ratio when the parameter Y is less than or equal to the second value Y2 and the rotational speed N is greater than or equal to the second rotational speed N2. When parameter Y is less than or equal to the second value Y2, and rotational speed N is greater than or equal to the second rotational speed N2, it corresponds to, for example, region R2 in Figure 5.

[0069] The control unit 62 is configured to control the transmission 58 with priority over the motor 56 when, for example, the parameter Y is less than or equal to the third value Y3, and the rotational speed N is greater than or equal to the third rotational speed N3, which is greater than the second rotational speed N2. The third value Y3 changes, for example, depending on the rotational speed N. The third value Y3 is, for example, a value represented by aX-b. The third value Y3 is, for example, the lower limit YA. The control unit 62 is configured to control the transmission 58 to increase the gear ratio and control the motor 56 to maintain the assist level when, for example, the parameter Y is less than or equal to the third value Y3, and the rotational speed N is greater than or equal to the third rotational speed N3. When the parameter Y is less than or equal to the third value Y3, and the rotational speed N is greater than or equal to the third rotational speed N3, for example, it corresponds to region R3 in Figure 5. When the parameter Y is less than or equal to the third value Y3, and the rotational speed N is greater than or equal to the third rotational speed N3, for example, it includes the case when the rotational resistance of the crankshaft 22 decreases sharply.

[0070] The control unit 62 is configured to change the control priority of the motor 56 and the transmission 58, for example, when parameter Y is less than or equal to the seventh value Y7, and the rotational speed of the wheel 12 is greater than the value obtained by multiplying the rotational speed N of the crankshaft 22 by the gear ratio. The seventh value Y7 is, for example, equal to the third value Y3. The control unit 62 is configured to control the transmission 58 with priority over the motor 56, for example, when parameter Y is less than or equal to the seventh value Y7, and the rotational speed of the wheel 12 of the human-powered vehicle 10 is greater than the value obtained by multiplying the rotational speed N of the crankshaft 22 by the gear ratio, and the rotational speed N is greater than or equal to the third rotational speed N3. The seventh value Y7 changes, for example, according to the rotational speed N. The seventh value Y7 is, for example, a value represented by aX-b. The seventh value Y7 is, for example, the lower limit value YA.

[0071] The control unit 62 is configured to control the motor 56 with priority over the transmission 58 when, for example, parameter Y is greater than or equal to the fourth value Y4 and rotational speed N is less than the fourth rotational speed N4. The fourth value Y4 changes, for example, according to the rotational speed N. The fourth value Y4 is, for example, a value represented by aX + b. The fourth value Y4 is, for example, the upper limit value YB. The fourth rotational speed N4 is, for example, equal to the first rotational speed N1. The fourth rotational speed N4 may be different from the first rotational speed N1. The control unit 62 is configured to control the motor 56 to increase the assist level and then control the transmission 58 to change the gear ratio when, for example, parameter Y is greater than or equal to the fourth value Y4 and rotational speed N is less than the fourth rotational speed N4. When parameter Y is greater than or equal to the fourth value Y4 and rotational speed N is less than the fourth rotational speed N4, it corresponds, for example, to region R4 in Figure 5. When parameter Y is greater than or equal to the fourth value Y4, and rotational speed N is less than the fourth rotational speed N4, it corresponds, for example, to the starting and uphill operation of the human-powered vehicle 10.

[0072] The control unit 62 is configured to control the motor 56 with priority over the transmission 58, for example, when the parameter Y is greater than or equal to the fifth value Y5, and the rotational speed N is greater than or equal to the fourth rotational speed N4. The control unit 62 is configured to control the motor 56 with priority over the transmission 58, for example, when the parameter Y is greater than or equal to the fifth value Y5, and the rotational speed N is greater than or equal to the fourth rotational speed N4, and the rotational speed N is less than the fifth rotational speed N5 which is greater than the fourth rotational speed N4. The fifth value Y5 changes, for example, according to the rotational speed N. The fifth value Y5 is a value represented by, for example, aX + b. The fifth value Y5 is, for example, the upper limit value YB. The fifth rotational speed N5 is equal to, for example, the third rotational speed N3. The fifth rotational speed N5 may be different from the third rotational speed N3. The control unit 62 is configured to control the motor 56 to increase the assist level and the transmission 58 to maintain the gear ratio when, for example, the parameter Y is greater than or equal to the fifth value Y5 and the rotational speed N is greater than or equal to the fourth rotational speed N4. The control unit 62 is configured to control the motor 56 to increase the assist level and the transmission 58 to maintain the gear ratio when, for example, the parameter Y is greater than or equal to the fifth value Y5 and the rotational speed N is greater than or equal to the fourth rotational speed N4 and the rotational speed N is less than the fifth rotational speed N5. When the parameter Y is greater than or equal to the fifth value Y5 and the rotational speed N is greater than or equal to the fourth rotational speed N4 and the rotational speed N is less than the fifth rotational speed N5, it corresponds to, for example, region R5 in Figure 5.

[0073] The control unit 62 is configured to control the motor 56 with priority over the transmission 58 when, for example, the parameter Y is greater than or equal to the sixth value Y6, and the rotational speed N is greater than or equal to the fifth rotational speed N5, which is greater than the fourth rotational speed N4. The sixth value Y6 changes, for example, according to the rotational speed N. The sixth value Y6 is a value represented by, for example, aX + b. The sixth value Y6 is, for example, the upper limit value YB. The control unit 62 is configured to control the motor 56 to increase the assist level, and then control the transmission 58 to change the gear ratio when, for example, the parameter Y is greater than or equal to the sixth value Y6, and the rotational speed N is greater than or equal to the fifth rotational speed N5. When the parameter Y is greater than or equal to the fifth value Y5, and the rotational speed N is greater than or equal to the fifth rotational speed N5, it corresponds to, for example, region R6 in Figure 5.

[0074] The control unit 62 is configured to control the motor 56 to increase the assist level and the transmission 58 to maintain the gear ratio when, for example, the parameter Y is greater than or equal to the eighth value Y8 and the assist level is less than a predetermined assist level. The eighth value Y8 is, for example, equal to the sixth value Y6. The eighth value Y8 changes, for example, according to the rotational speed N. The eighth value Y8 is, for example, a value represented by aX + b. The eighth value Y8 is, for example, the upper limit value YB. The control unit 62 is configured to control the motor 56 to maintain the assist level and the transmission 58 to change the gear ratio based on the acceleration of the rotational speed N when, for example, the parameter Y is greater than or equal to the eighth value Y8 and the assist level is greater than or equal to a predetermined assist level. The control unit 62 is configured to, for example, control the motor 56 to maintain the assist level when the parameter Y is the eighth value Y8 and the assist level is equal to or greater than a predetermined assist level, and to control the transmission 58 to reduce the gear ratio when the acceleration of the rotational speed N is less than a predetermined acceleration.

[0075] The control unit 62 is configured to control the motor 56 and the transmission 58 to maintain the assist level and gear ratio when, for example, parameter Y is greater than the lower limit YA and less than the upper limit YB, and rotational speed N is greater than or equal to the fifth rotational speed N5. When parameter Y is greater than the lower limit YA and less than the upper limit YB, and rotational speed N is greater than or equal to the fifth rotational speed N5, it corresponds, for example, to region RZ in Figure 5. When parameter Y is greater than the lower limit YA and less than the upper limit YB, and rotational speed N is greater than or equal to the fifth rotational speed N5, it corresponds, for example, to when the rider is accelerating the human-powered vehicle 10. In region RZ, the rider can comfortably accelerate the human-powered vehicle 10.

[0076] Referring to Figures 3 and 4, the process by which the control unit 62 controls the motor 56 and the transmission 58 will be described. For example, when power is supplied to the control unit 62, it starts processing and proceeds to step S11 of the flowchart shown in Figures 3 and 4. When the flowchart in Figures 3 and 4 is completed, the control unit 62 repeats the processing from step S11 at predetermined intervals, for example, until the power supply is stopped.

[0077] In step S11, the control unit 62 determines whether parameter Y is greater than or equal to the upper limit value YB. If parameter Y is greater than or equal to the upper limit value YB, the control unit 62 proceeds to step S12. In step S12, the control unit 62 determines whether the assist level is less than the maximum assist level. If the assist level is less than the maximum assist level, the control unit 62 proceeds to step S13.

[0078] In step S13, the control unit 62 controls the motor 56 to increase the assist level and terminates the process. In step S13, the control unit 62 may control the motor 56 to increase the assist level by only one step, for example. In step S13, the control unit 62 may control the motor 56 to make the assist level equal to or greater than the first assist level. The first assist level may be the maximum assist level, or it may be an assist level smaller than the maximum assist level.

[0079] If the assist level in step S12 is not less than the maximum assist level, the control unit 62 proceeds to step S14. In step S14, the control unit 62 determines whether the acceleration of the rotational speed N of the crankshaft 22 is less than a predetermined acceleration. If the acceleration of the rotational speed N of the crankshaft 22 is not less than the predetermined acceleration, the control unit 62 terminates the process. If the acceleration of the rotational speed N of the crankshaft 22 is less than the predetermined acceleration, the control unit 62 proceeds to step S15.

[0080] In step S15, the control unit 62 controls the transmission 58 to reduce the gear ratio and terminates the process. In step S15, the control unit 62 controls the transmission 58 to reduce the gear ratio by only one step, for example. In step S15, the control unit 62 may also control the transmission 58 so that the gear ratio is less than or equal to the first gear ratio. The first gear ratio may be the minimum gear ratio, or it may be a gear ratio greater than the minimum gear ratio.

[0081] If, in step S11, the control unit 62 determines whether parameter Y is equal to or less than the upper limit YB, it proceeds to step S16. In step S16, the control unit 62 determines whether parameter Y is equal to or less than the lower limit YA. If parameter Y is not equal to or less than the lower limit YA, the control unit 62 terminates the process. If parameter Y is equal to or less than the lower limit YA, the control unit 62 proceeds to step S17.

[0082] In step S17, the control unit 62 determines whether the estimated rotational speed of the crankshaft 22 is greater than the rotational speed N of the crankshaft 22. The estimated rotational speed of the crankshaft 22 is, for example, the value obtained by dividing the rotational speed of the wheel 12 by the gear ratio. If the estimated rotational speed of the crankshaft 22 is greater than the rotational speed N of the crankshaft 22, this corresponds to the case where the rotational speed of the wheel 12 is greater than the value obtained by multiplying the rotational speed N of the crankshaft 22 by the gear ratio. In step S17, the control unit 62 may also determine whether the rotational speed of the wheel 12 is greater than the value obtained by multiplying the rotational speed N of the crankshaft 22 by the gear ratio. If the estimated rotational speed of the crankshaft 22 is greater than the rotational speed N of the crankshaft 22, the control unit 62 proceeds to step S19.

[0083] In step S19, the control unit 62 controls the transmission 58 to increase the gear ratio and terminates the process. In step S19, the control unit 62 controls the transmission 58 to increase the gear ratio by only one step, for example. In step S19, the control unit 62 may also control the transmission 58 to make the gear ratio equal to or greater than the second gear ratio. The second gear ratio may be the maximum gear ratio, or it may be a gear ratio smaller than the maximum gear ratio.

[0084] If, in step S17, the control unit 62 determines whether the assist is off or not, it proceeds to step S18. In step S18, the control unit 62 determines that the assist is off, for example, if the motor 56 is not providing thrust to the human-powered vehicle 10. If the assist is off, the control unit 62 proceeds to step S19. If the assist is not off, the control unit 62 proceeds to step S20.

[0085] In step S20, the control unit 62 controls the motor 56 to lower the assist level and terminates the process. In step S20, the control unit 62 may control the motor 56 to lower the assist level by only one step, for example. The control unit 62 may control the motor 56 to turn off the assist when the assist level is at the minimum assist level. In step S20, the control unit 62 may control the motor 56 to lower the assist level to the second assist level or lower, for example. The second assist level may be the minimum assist level, or it may be an assist level greater than the minimum assist level.

[0086] Figure 5 shows the region defined by the relationship between parameter Y and the rotational speed N of the crankshaft 22. The control unit 62 in this embodiment is configured to control at least one of the motor 56 and the transmission 58 so that parameter Y is greater than or equal to the lower limit YA and less than or equal to the upper limit YB. For human torque, human power, vehicle speed, or the rotational speed N of the crankshaft 22, the range in which a rider feels comfortable riding the human-powered vehicle 10 differs from rider to rider. The inventors have found that for parameter Y related to exercise intensity, the range in which a rider feels comfortable riding the human-powered vehicle 10 does not vary much from rider to rider. In this embodiment, the control unit 62 controls at least one of the motor 56 and the transmission 58 so that parameter Y is in region RX, thereby contributing to comfortable riding of the human-powered vehicle 10.

[0087] <Second Embodiment> Referring to Figure 6, the control device 60 for a human-powered vehicle of the second embodiment will be described. For the control device 60 for a human-powered vehicle of the second embodiment, components that are common to the first embodiment are denoted by the same reference numerals as in the first embodiment, and redundant explanations are omitted.

[0088] In this embodiment, the control unit 62 is configured to control the first component 52 and the second component 54 in control states including a first priority control state and a second priority control state. In the first priority control state, the priority of the first component 52 is higher than the priority of the second component 54. In the second priority control state, the priority of the second component 54 is higher than the priority of the first component 52. In this embodiment, the first component 52 is a motor 56, and the second component 54 is a transmission 58. Alternatively, the first component 52 may be a transmission 58, and the second component 54 may be a motor 56.

[0089] The control unit 62 is configured to switch the control state between a first priority control state and a second priority control state, for example, depending on the parameter Y. For example, the control unit 62 sets the control state to the first priority control state when the parameter Y is greater than or equal to the upper limit YB. For example, the control unit 62 sets the control state to the second priority control state when the parameter Y is less than or equal to the lower limit YA.

[0090] The control unit 62 is configured to control the second component 54, for example, when controlling the first component 52 in a first priority control state and when the first control condition is met. The control unit 62 is configured not to control the second component 54, for example, when controlling the first component 52 in a first priority control state and when the first control condition is not met.

[0091] The control unit 62 is configured to control the first component 52 when, for example, the second component 54 is controlled in the second priority control state and the second control condition is met. The control unit 62 is configured not to control the first component 52 when, for example, the second component 54 is controlled in the second priority control state and the second control condition is not met.

[0092] Referring to Figure 6, the process by which the control unit 62 controls the motor 56 and the transmission 58 will be described. For example, when power is supplied to the control unit 62, it starts processing and proceeds to step S31 of the flowchart shown in Figure 6. When the flowchart in Figure 6 is completed, the control unit 62 repeats the processing from step S31 at predetermined intervals, for example, until the power supply is stopped.

[0093] In step S31, the control unit 62 determines whether or not the first priority control state is in effect. If the first priority control state is in effect, the control unit 62 proceeds to step S32. In step S32, the control unit 62 determines whether or not the first control condition is met. The first control condition relates to, for example, at least one of the rotational speed N of the crankshaft 22, vehicle speed, acceleration at vehicle speed, human power driving force, and driving resistance. If the first control condition is not met, the control unit 62 terminates the process. If the first control condition is met, the control unit 62 proceeds to step S33.

[0094] In step S33, the control unit 62 controls the first component 52 and proceeds to step S34. In step S34, the control unit 62 determines whether the first control condition is met. If the first control condition is not met, the control unit 62 terminates the process. If the first control condition is met, the control unit 62 proceeds to step S35. In step S35, the control unit 62 controls the second component 54 and terminates the process. According to steps S32 to S35, even after the first component 52 is controlled in step S33, if the state in which the first control condition is met continues, the second component 54 is also controlled.

[0095] If the control unit 62 is not in the first priority control state in step S31, it proceeds to step S36. In step S36, the control unit 62 determines whether or not it is in the second priority control state. If the control unit 62 is not in the second priority control state, it terminates the process. If the control unit 62 is in the second priority control state, it proceeds to step S37.

[0096] In step S37, the control unit 62 determines whether the second control condition is met. The second control condition relates to, for example, at least one of the rotational speed N of the crankshaft 22, vehicle speed, acceleration at vehicle speed, human power driving force, and driving resistance. If the second control condition is not met, the control unit 62 terminates the process. If the second control condition is met, the control unit 62 proceeds to step S38.

[0097] In step S38, the control unit 62 controls the second component 54 and proceeds to step S39. In step S39, the control unit 62 determines whether the second control condition is met. If the second control condition is not met, the control unit 62 terminates the process. If the second control condition is met, the control unit 62 proceeds to step S40. In step S40, the control unit 62 controls the first component 52 and terminates the process. According to steps S37 to S40, even after the second component 54 is controlled in step S38, if the state in which the second control condition is met continues, the first component 52 is also controlled.

[0098] If the control state includes only the first priority control state and the second priority control state, step S36 may be omitted. If step S36 is omitted, the control unit 62 proceeds to step S37 if the answer in step S31 is NO.

[0099] <Example of changes> The descriptions of each embodiment are illustrative of possible forms of control devices for human-powered vehicles and are not intended to limit their forms. Control devices for human-powered vehicles according to this disclosure may take, for example, forms of modifications of each embodiment shown below, and combinations of at least two non-inconsistent modifications. In the following modifications, parts common to each embodiment are denoted by the same reference numerals as in each embodiment and their descriptions are omitted.

[0100] The control unit 62 is configured to control the components 50 for the human-powered vehicle, and is configured to control the components 50 according to a parameter Y related to the exercise intensity of the rider of the human-powered vehicle 10, where parameter Y is related to the amount of energy consumed by the rider; other configurations can be omitted. In this modified example, the components 50 may include only one of the first component 52 and the second component 54. Referring to Figure 7, a modified example of the control unit 62 controlling the motor 56 and transmission 58 will be described. For example, when power is supplied to the control unit 62, it starts processing and proceeds to step S51 of the flowchart shown in Figure 7. When the flowchart in Figure 7 ends, the control unit 62 repeats the processing from step S51 at predetermined intervals, for example, until the power supply is stopped. In step S51, the control unit 62 determines whether parameter Y satisfies a predetermined condition. If parameter Y does not satisfy the predetermined condition, the control unit 62 terminates the process. If parameter Y satisfies the predetermined condition, the control unit 62 proceeds to step S52. In step S52, the control unit 62 controls component 50 and terminates the process.

[0101] In the first embodiment, the first component 52 may be a transmission 58, and the second component 54 may be a motor 56.

[0102] The types of the first component 52 and the second component 54 may be changed as appropriate. The first component 52 and the second component 54 may be any of the following: motor 56, transmission 58, rear suspension system, front suspension system, adjustable seat post, rear brake system, and front brake system.

[0103] The control unit 62 is configured to control at least one of the motor 56 and the transmission 58 so that, if the parameter Y is outside the first range or the rotational speed N of the crankshaft 22 is outside the second range, the parameter Y is within the first range and the rotational speed N of the crankshaft 22 is within the second range. Other configurations may be omitted.

[0104] As used herein, the expression "at least one" means "one or more" of the desired options. For example, as used herein, "at least one" means "only one option" or "both of the two options" if there are two options. As another example, as used herein, "at least one" means "only one option" or "a combination of two or more any options" if there are three or more options.

[0105] The ordinal numbers such as "first, second, and third" used in this specification are simply used to distinguish between multiple members having the same name and do not have any special meaning. [Explanation of Symbols]

[0106] 10...Human-powered vehicle, 12...Wheel, 22...Crankshaft, 52...First component, 54...Second component, 56...Motor, 58...Transmission, 60...Control device, 62...Control unit.

Claims

1. A control device for a human-powered vehicle, The system comprises a first component for a human-powered vehicle and a control unit configured to control a second component for a human-powered vehicle that is different from the first component. The control unit, The first component and the second component are configured to be controlled with priority over the other of the first component and the second component. A control device configured to change the control priority of the first component and the second component according to parameters related to the exercise intensity of the rider of the human-powered vehicle.

2. The first component includes a motor configured to provide propulsion to the human-powered vehicle, The second component includes a transmission configured to change the gear ratio, which is the ratio of the rotational speed of the wheels of the human-powered vehicle to the rotational speed of the crankshaft of the human-powered vehicle. The control unit, The motor is configured to control the motor in order to change the assist level provided by the motor. The control device according to claim 1, configured to control the transmission to change the gear ratio.

3. The control device according to claim 2, wherein the control unit is configured to control the motor and the transmission to maintain the assist level and the gear ratio when the parameter is less than or equal to a first value.

4. The control device according to claim 2, wherein the control unit is configured to change the control priority of the motor and the transmission based on the parameter and the rotational speed of the crankshaft.

5. The control device according to claim 4, wherein the control unit is configured to control the motor and the transmission to maintain the assist level and the gear ratio when the parameter is less than or equal to a first value and the rotational speed is less than the first rotational speed.

6. The control device according to claim 4, wherein the control unit is configured to control the motor with priority over the transmission when the parameter is less than or equal to a second value and the rotational speed is greater than or equal to the second rotational speed.

7. The control device according to claim 6, wherein the control unit is configured to control the motor to lower the assist level when the parameter is less than or equal to the second value and the rotational speed is greater than or equal to the second rotational speed, and then control the transmission to change the gear ratio.

8. The control device according to claim 6, wherein the control unit is configured to control the transmission with priority over the motor when the parameter is less than or equal to the third value and the rotational speed is greater than or equal to the third rotational speed which is greater than the second rotational speed.

9. The control device according to claim 8, wherein the control unit is configured to control the transmission to increase the gear ratio and to control the motor to maintain the assist level when the parameter is less than or equal to the third value and the rotational speed is greater than or equal to the third rotational speed.

10. The control device according to claim 4, wherein the control unit is configured to control the motor with priority over the transmission when the parameter is equal to or greater than the fourth value and the rotational speed is less than the fourth rotational speed.

11. The control device according to claim 10, wherein the control unit is configured to control the motor to increase the assist level and then control the transmission to change the gear ratio when the parameter is equal to or greater than the fourth value and the rotational speed is less than the fourth rotational speed.

12. The control device according to claim 10, wherein the control unit is configured to control the motor with priority over the transmission when the parameter is the fifth value or greater and the rotational speed is the fourth rotational speed or greater.

13. The control device according to claim 12, wherein the control unit is configured to control the motor to increase the assist level and control the transmission to maintain the gear ratio when the parameter is equal to or greater than the fifth value and the rotational speed is equal to or greater than the fourth rotational speed.

14. The control device according to claim 12, wherein the control unit is configured to control the motor with priority over the transmission when the parameter is the sixth value or greater, and the rotational speed is the fifth rotational speed or greater, which is greater than the fourth rotational speed.

15. The control device according to claim 14, wherein the control unit is configured to control the motor to increase the assist level when the parameter is equal to or greater than the sixth value and the rotational speed is equal to or greater than the fifth rotational speed, and then control the transmission to change the gear ratio.

16. The control device according to claim 4, wherein the control unit is configured to change the control priority of the motor and the transmission when the parameter is less than or equal to the seventh value and the rotational speed of the wheel is greater than the value obtained by multiplying the rotational speed of the crankshaft by the gear ratio.

17. The control unit, The system is configured to control the motor to increase the assist level and the transmission to maintain the gear ratio when the parameter is equal to or greater than the eighth value and the assist level is less than a predetermined assist level. The control device according to claim 4, configured to control the motor to maintain the assist level when the parameter is equal to or greater than the eighth value and the assist level is equal to or greater than the predetermined assist level, and to control the transmission to change the gear ratio based on the acceleration of the rotational speed.

18. The control device according to claim 1, wherein the parameter relates to the amount of energy consumed by the lidar.

19. A control device for a human-powered vehicle, The control unit is configured to control the components for the aforementioned human-powered vehicle, The control unit is configured to control the components according to parameters related to the exercise intensity of the rider of the human-powered vehicle. The parameter is a control device related to the amount of energy consumed by the lidar.

20. The control device according to claim 18 or 19, wherein the parameter is the ratio of the power output of the human-powered vehicle to the amount of energy consumed.

21. The control device according to claim 20, wherein the control unit is configured to calculate the amount of energy consumed based on the resting heart rate of the rider.

Images