Control device and control method

Abstract

The present invention provides a control device and control method that can assist a rider of a bicycle equipped with a gear shift in operation. [Solution] The control device (30) and control method according to the present invention are a control device (30) and control method for controlling the behavior of a bicycle (1) equipped with a transmission (19), wherein the execution unit of the control device (30) performs a gear ratio adjustment operation to automatically adjust the gear ratio of the transmission (19) to a target gear ratio, and the execution unit starts the execution of the gear ratio adjustment operation based on information of the surrounding environment in front of the bicycle (1).

Description

Technical Field

[0001] This disclosure relates to a control device and a control method that can assist the operation by a rider of a bicycle equipped with a transmission.

Background Art

[0002] As a conventional technique related to saddle-riding type vehicles such as motorcycles, there is a technique for assisting a rider. For example, in Patent Document 1, a driver assistance system is disclosed that warns a rider of a motorcycle that they are approaching an obstacle inappropriately based on information detected by a sensor device that detects an obstacle in the traveling direction or substantially in the traveling direction.

Prior Art Documents

Patent Documents

[0003]

Patent Document 1

Summary of the Invention

Problems to be Solved by the Invention

[0004] By the way, saddle-riding type vehicles include bicycles. And among bicycles, there are vehicles equipped with a transmission. In a bicycle equipped with a transmission, by adjusting the gear ratio of the transmission, the pedaling force of the rider (that is, the force to pedal the pedals) can be adjusted, and the ease of operation can be improved. However, if the gear ratio of the transmission is an inappropriate gear ratio that does not match the situation, it may become difficult to operate instead. Therefore, in order to solve such problems, it is desired to assist the operation by the rider.

[0005] The present invention has been made based on the above problems, and obtains a control device and a control method that can assist the operation by a rider of a bicycle equipped with a transmission.

Means for Solving the Problems

[0006] The control device according to the present invention is a control device for controlling the behavior of a bicycle equipped with a transmission, and comprises an execution unit that performs a gear ratio adjustment operation to automatically adjust the gear ratio of the transmission to a target gear ratio, and the execution unit starts the execution of the gear ratio adjustment operation based on information of the surrounding environment in front of the bicycle.

[0007] The control method according to the present invention is a control method for controlling the behavior of a bicycle equipped with a transmission, wherein the execution unit of the control device performs a gear ratio adjustment operation to automatically adjust the gear ratio of the transmission to a target gear ratio, and the execution unit starts the execution of the gear ratio adjustment operation based on information of the surrounding environment in front of the bicycle. [Effects of the Invention]

[0008] The control device and control method according to the present invention are a control device and control method for controlling the behavior of a bicycle equipped with a transmission, wherein the execution unit of the control device performs a gear ratio adjustment operation that automatically adjusts the gear ratio of the transmission to a target gear ratio, and the execution unit starts the execution of the gear ratio adjustment operation based on information of the surrounding environment in front of the bicycle. As a result, the gear ratio of the transmission can be optimized according to the conditions in front of the bicycle. In this way, the control device and control method according to the present invention can support the riding of a bicycle equipped with a transmission. [Brief explanation of the drawing]

[0009] [Figure 1] This is a schematic diagram showing the general configuration of a bicycle according to an embodiment of the present invention. [Figure 2] Block diagram showing an example of the functional configuration of a control device according to an embodiment of the present invention. [Figure 3] This flowchart shows an example of the processing flow performed by the control device according to an embodiment of the present invention. [Modes for carrying out the invention]

[0010] The control device and control method according to the present invention will be described below with reference to the drawings.

[0011] In the following description, an example of a bicycle controlled by the control device is shown with reference to Figure 1. However, the bicycle controlled by the control device according to the present invention may be a bicycle other than the bicycle 1 shown in Figure 1. A bicycle is a vehicle that can be propelled on the road by the pedaling force applied by the rider. Bicycles include ordinary bicycles, electric assist bicycles, electric bicycles, etc.

[0012] Furthermore, the configurations and operations described below are merely examples, and the control device and control method according to the present invention are not limited to such configurations and operations.

[0013] Furthermore, in the following, identical or similar explanations have been simplified or omitted as appropriate. Also, in each figure, identical or similar components or parts have either had their reference numerals omitted or the same reference numerals have been used. In addition, detailed structures have been simplified or omitted as appropriate.

[0014] <Bicycle configuration> The configuration of bicycle 1 according to an embodiment of the present invention will be described.

[0015] Figure 1 is a schematic diagram showing the general configuration of bicycle 1. As shown in Figure 1, bicycle 1 comprises a frame 11, a turning section 12, a front wheel 13, a rear wheel 14, pedals 15, a front gear 16, a rear gear 17, a chain 18, a gear shifter 19, an input device 21, a speed sensor 22, an inertial measurement unit (IMU) 23, an ambient environment sensor 24, a pedaling force sensor 25, and a control unit (ECU) 30.

[0016] The frame 11 includes, for example, a head tube 11a, a top tube 11b, a down tube 11c, a seat tube 11d, and a stay 11e. The head tube 11a pivotally supports the steering column 12a of the pivot section 12, which will be described later. The top tube 11b and the down tube 11c are each connected to the head tube 11a. The seat tube 11d spans between the top tube 11b and the down tube 11c and holds the saddle. The stay 11e is connected to the upper and lower ends of the seat tube 11d and holds the rear wheel 14.

[0017] The swivel section 12 includes a steering column 12a, a handle stem 12b, a handlebar 12c, and a front fork 12d. The steering column 12a is pivotally supported on the head tube 11a so as to be rotatable relative to the head tube 11a. The handle stem 12b is held by the steering column 12a. The handlebar 12c is held by the handle stem 12b. The front fork 12d is connected to the steering column 12a. The front wheel 13 is rotatably held by the front fork 12d. The front forks 12d are provided on both sides of the front wheel 13. One end of the front fork 12d is connected to the steering column 12a, and the other end of the front fork 12d is connected to the center of rotation of the front wheel 13. That is, the front wheel 13 is rotatably held between the pair of front forks 12d. Note that the front forks 12d may be suspension front forks.

[0018] The pedal 15 rotates when stepped on by the rider's foot of the bicycle 1. The pedal 15 is provided, for example, at the lower end of the seat tube 11d (that is, the connecting portion of the down tube 11c, the seat tube 11d, and the stay 11e), and is rotatable with respect to the frame 11. The front gear 16 is rotatable about a rotation axis coaxial with the rotation center of the pedal 15, and rotates integrally with the pedal 15. The rear gear 17 is rotatable about a rotation axis coaxial with the rotation center of the rear wheel 14, and rotates integrally with the rear wheel 14. The chain 18 is bridged between the front gear 16 and the rear gear 17. The chain 18 is engaged with the teeth of the front gear 16 and the teeth of the rear gear 17, respectively. Therefore, the front gear 16, the rear gear 17, and the chain 18 are interlocked with each other.

[0019] When the pedal 15 rotates by the rider's pedaling force, the front gear 16 rotates integrally with the pedal 15. When the front gear 16 rotates, the chain 18 rotates in conjunction with the front gear 16, and the rear gear 17 rotates in conjunction with the chain 18. Thereby, the rear wheel 14 rotates integrally with the rear gear 17. In this way, the pedaling force of the pedal 15 is transmitted to the rear wheel 14 via the front gear 16, the chain 18, and the rear gear 17. Therefore, the rider can propel the bicycle 1 by pedaling the pedal 15 with the foot.

[0020] The transmission 19 changes the rotational speed and torque of the power transmitted from the pedal 15 to the rear wheel 14. For example, the transmission 19 includes a front gear switching device 19f and a rear gear switching device 19r.

[0021] In the bicycle 1, a plurality of gears having different numbers of teeth are provided as the front gear 16. The front gear switching device 19f switches the gear over which the chain 18 is bridged among these plurality of gears. Thereby, the front gear switching device 19f can switch the number of teeth of the front gear 16 over which the chain 18 is bridged.

[0022] In addition, in the bicycle 1, as the rear gear 17, a plurality of gears having different numbers of teeth are provided. The rear gear switching device 19r switches the gear around which the chain 18 is looped among these plurality of gears. Thereby, the rear gear switching device 19r can switch the number of teeth of the rear gear 17 around which the chain 18 is looped.

[0023] The gear ratio of the transmission 19 is the ratio of the number of teeth of the front gear 16 to the number of teeth of the rear gear 17, and is a value obtained by dividing the number of teeth of the front gear 16 by the number of teeth of the rear gear 17. That is, the gear ratio of the transmission 19 corresponds to the number of rotations of the rear wheel 14 when the pedal 15 is rotated once.

[0024] The smaller the gear ratio of the transmission 19, the greater the torque of the power transmitted to the rear wheel 14, but the lower the rotational speed of the power transmitted to the rear wheel 14. That is, the smaller the gear ratio of the transmission 19, the smaller the pedaling force required to accelerate the bicycle 1, but the more difficult it is for the speed of the bicycle 1 to increase. Therefore, for example, at the start of the bicycle 1 or when the speed of the bicycle 1 is low, if the gear ratio of the transmission 19 is small, the bicycle 1 can be accelerated with a small pedaling force, making it easier for the rider to operate.

[0025] The larger the gear ratio of the transmission 19, the higher the rotational speed of the power transmitted to the rear wheel 14, but the smaller the torque of the power transmitted to the rear wheel 14. That is, the larger the gear ratio of the transmission 19, the easier it is for the speed of the bicycle 1 to increase, but the greater the pedaling force required to accelerate the bicycle 1. Therefore, for example, when the speed of the bicycle 1 is high, if the gear ratio of the transmission 19 is large, the bicycle 1 can be accelerated without increasing the operation amount of the pedal 15 (that is, the amount of movement of the foot when pedaling the pedal 15), making it easier for the rider to operate.

[0026] For example, the rider of the bicycle 1 can manually adjust the gear ratio of the transmission 19 by performing a specific operation using an operation unit (not shown) provided on the bicycle 1.

[0027] The input device 21 accepts various operations from the rider. The input device 21 includes, for example, a push button or the like that is mounted on the handlebar 12c and used for the rider's operation.

[0028] The speed sensor 22 detects the speed of the bicycle 1. For example, the speed sensor 22 is installed on the rear wheel 14 and detects the rotation speed of the rear wheel 14. Based on the detected rotation speed of the rear wheel 14, the speed sensor 22 can determine the speed of the bicycle 1.

[0029] The inertial measurement device 23 is equipped with a 3-axis gyro sensor and a 3-directional accelerometer to detect the posture of the bicycle 1. In the example shown in Figure 1, the inertial measurement device 23 is mounted on the handlebar stem 12b. However, the installation position of the inertial measurement device 23 is not limited to the example shown in Figure 1. For example, the inertial measurement device 23 detects the pitch angle of the bicycle 1 with respect to the horizontal direction and outputs the detection result. The inertial measurement device 23 may also detect other physical quantities that can be substantially converted to the pitch angle of the bicycle 1 with respect to the horizontal direction. The pitch angle corresponds to the angle representing the vertical tilt of the bicycle body 1. Therefore, the pitch angle of the bicycle 1 with respect to the horizontal direction corresponds to the angle representing how much the bicycle body 1 has rotated with respect to the horizontal direction in the pitch direction, which is the rotational direction around the axis in the left-right direction of the vehicle. The inertial measurement device 23 may be equipped with only a portion of the 3-axis gyro sensor and the 3-directional accelerometer.

[0030] The ambient environment sensor 24 detects ambient environment information regarding the environment surrounding the bicycle 1. Specifically, the ambient environment sensor 24 is located at the front of the bicycle 1 and detects ambient environment information in front of the bicycle 1. The ambient environment information detected by the ambient environment sensor 24 is output to the control device 30.

[0031] The ambient environment information detected by the ambient environment sensor 24 may be information related to the distance or direction to the subject located around the bicycle 1 (e.g., relative position, relative distance, relative speed, relative acceleration, etc.), or it may be the characteristics of the subject located around the bicycle 1 (e.g., type of subject, shape of the subject itself, marks attached to the subject, etc.). The ambient environment sensor 24 may be, for example, a radar, Lidar sensor, ultrasonic sensor, camera, etc.

[0032] Furthermore, ambient environmental information can also be detected by ambient environmental sensors mounted on other vehicles or by infrastructure equipment. In other words, the control device 30 can also acquire ambient environmental information via wireless communication with other vehicles or infrastructure equipment.

[0033] The pedal force sensor 25 detects the force applied to the pedal 15. For example, the pedal force sensor 25 is a force sensor installed on the pedal 15 that detects the force acting at the installation location.

[0034] The control device 30 controls the behavior of the bicycle 1. For example, part or all of the control device 30 is composed of a microcontroller, microprocessor unit, etc. Alternatively, part or all of the control device 30 may be composed of updatable components such as firmware, or it may be a program module executed by commands from a CPU, etc. The control device 30 may be a single unit, or it may be divided into multiple units.

[0035] Figure 2 is a block diagram showing an example of the functional configuration of the control device 30. As shown in Figure 2, the control device 30 includes, for example, an acquisition unit 31 and an execution unit 32. The control device 30 also communicates with each device of the bicycle 1.

[0036] The acquisition unit 31 acquires information from each device of the bicycle 1 and outputs it to the execution unit 32. For example, the acquisition unit 31 acquires information from the input device 21, speed sensor 22, inertial measuring device 23, ambient environment sensor 24, and pedal force sensor 25. In this specification, information acquisition may include information extraction or generation (e.g., calculation).

[0037] The execution unit 32 controls the operation of each device of the bicycle 1. For example, the execution unit 32 controls the operation of the gear shifter 19.

[0038] <Operation of the control device> The operation of the control device 30 according to an embodiment of the present invention will be described below.

[0039] As described above, in this embodiment, the bicycle 1 is equipped with a gear shifter 19. Therefore, by adjusting the gear ratio of the gear shifter 19, the rider's pedaling force can be adjusted, improving ease of riding. However, if the gear ratio of the gear shifter 19 is inappropriate and does not match the situation, it may actually become more difficult to ride. For example, when starting the bicycle 1, if the gear ratio of the gear shifter 19 is large, the pedaling force required to accelerate the bicycle 1 will be large, making it difficult for the rider to ride.

[0040] In this embodiment, the execution unit 32 of the control device 30 performs a gear ratio adjustment operation to automatically adjust the gear ratio of the transmission 19 to a target gear ratio. For example, the execution unit 32 can automatically adjust the gear ratio of the transmission 19 by controlling the operation of the front gear switching device 19f and the rear gear switching device 19r of the transmission 19. Specifically, the execution unit 32 can switch the number of teeth on the front gear 16 over which the chain 18 is mounted by controlling the operation of the front gear switching device 19f. In addition, the execution unit 32 can switch the number of teeth on the rear gear 17 over which the chain 18 is mounted by controlling the operation of the rear gear switching device 19r. As a result, the execution unit 32 can automatically adjust the gear ratio of the transmission 19.

[0041] In this embodiment, the execution unit 32 starts the gear ratio adjustment operation based on the surrounding environment information in front of the bicycle 1. As will be described later, this prevents the rider from having difficulty driving due to the gear ratio of the transmission 19 being an inappropriate gear ratio that does not match the situation, thus supporting the rider's driving. An example of the processing performed by the control device 30 will be described below.

[0042] Figure 3 is a flowchart showing an example of the processing flow performed by the control device 30. The control flow shown in Figure 3 starts, for example, after the power to the bicycle 1 is turned on. Step S101 in Figure 3 corresponds to the start of the control flow shown in Figure 3.

[0043] In the example shown in Figure 3, the execution unit 32 describes an example in which it performs a downshift operation, which automatically decreases the gear ratio of the transmission 19, as a gear ratio adjustment operation. However, as will be described later, the gear ratio adjustment operation may also be a upshift operation, which automatically increases the gear ratio of the transmission 19.

[0044] When the control flow shown in Figure 5 begins, in step S102, the execution unit 32 determines whether the gear ratio of the transmission 19 is greater than the target gear ratio for the downshift operation. As will be described later, the target gear ratio for the downshift operation is, for example, the smallest gear ratio that the transmission 19 can take.

[0045] For example, the acquisition unit 31 can acquire information from the transmission 19 indicating the current gear ratio of the transmission 19. Then, the execution unit 32 can determine, based on the acquired information, whether the gear ratio of the transmission 19 is greater than the target gear ratio for the downshift operation.

[0046] If it is determined that the gear ratio of the transmission 19 is less than or equal to the target gear ratio for the downshift operation (step S102 / NO), step S102 is repeated. On the other hand, if it is determined that the gear ratio of the transmission 19 is greater than the target gear ratio for the downshift operation (step S102 / YES), the process proceeds to step S103.

[0047] If the result in step S102 is YES, then in step S103, the execution unit 32 determines whether or not the bicycle 1 is decelerating.

[0048] For example, the acquisition unit 31 can acquire information indicating the speed of the bicycle 1 from the speed sensor 22. Then, the execution unit 32 can determine whether or not the bicycle 1 is decelerating based on the history of the information acquired in this way.

[0049] If it is determined that bicycle 1 is not decelerating (step S103 / NO), the process returns to step S102. On the other hand, if it is determined that bicycle 1 is decelerating (step S103 / YES), the process proceeds to step S104.

[0050] If the result in step S103 is YES, in step S104, the execution unit 32 determines whether or not there is a traffic light lit red in front of the bicycle 1, based on the surrounding environment information in front of the bicycle 1.

[0051] For example, the acquisition unit 31 can acquire information about the surrounding environment in front of the bicycle 1 from the surrounding environment sensor 24. Here, the information about the surrounding environment in front of the bicycle 1 includes road information, which is information indicating the road environment. The road information also includes information indicating the lighting status of traffic lights installed on the road. The information indicating the lighting status of traffic lights is, for example, information indicating whether each traffic light installed on the road is lit blue, yellow, or red. The execution unit 32 can then determine whether or not there is a traffic light lit red in front of the bicycle 1 based on the information indicating the lighting status of traffic lights installed on the road.

[0052] For example, the execution unit 32 determines that there is a traffic light lit red in front of bicycle 1 if there is a traffic light lit red within a predetermined distance in front of bicycle 1 on the road that bicycle 1 is traveling on. On the other hand, the execution unit 32 determines that there is no traffic light lit red in front of bicycle 1 if there is no traffic light lit red within a predetermined distance in front of bicycle 1 on the road that bicycle 1 is traveling on.

[0053] If it is determined that there is a traffic light illuminated in red in front of bicycle 1 (step S104 / YES), proceed to step S105. On the other hand, if it is determined that there is no traffic light illuminated in red in front of bicycle 1 (step S104 / NO), proceed to step S106.

[0054] If the result in step S104 is determined to be YES, in step S105, the execution unit 32 performs a downshift operation and returns to step S102.

[0055] As described above, the downshift operation is an operation that automatically reduces the gear ratio of the transmission 19, and is an example of a gear ratio adjustment operation. In the downshift operation, the execution unit 32 controls the operation of the transmission 19, thereby automatically reducing the gear ratio of the transmission 19 from the current gear ratio to the target gear ratio.

[0056] Here, the target gear ratio for the gear ratio adjustment operation is, for example, preset by the rider of bicycle 1. In other words, the execution unit 32 determines the target gear ratio based on, for example, manual setting information by the rider of bicycle 1. The manual setting information is information related to manual settings by the rider of bicycle 1. The rider can, for example, use the input device 21 to perform an operation to set the target gear ratio. In this case, the manual setting information is information indicating the above operation. Therefore, by determining the target gear ratio based on the manual setting information, the rider can manually set the target gear ratio. For example, the target gear ratio for the downshift operation is the smallest gear ratio among the gear ratios that the transmission 19 can take.

[0057] As will be described later, the execution unit 32 may automatically determine the target gear ratio for the gear ratio adjustment operation based on information other than the manual setting information.

[0058] As described above, in the example in Figure 3, if there is a traffic light illuminated in red in front of bicycle 1, a downshift operation is performed, and the gear ratio of the derailleur 19 is automatically reduced to the target gear ratio. This allows the gear ratio of the derailleur 19 to be reduced in advance before bicycle 1 stops before reaching the traffic light. Therefore, it is possible to prevent bicycle 1 from stopping with a high gear ratio of the derailleur 19, thus preventing a situation where the pedaling force required to start bicycle 1 is large when bicycle 1 starts. Thus, the target gear ratio of the gear ratio adjustment operation can correspond to, for example, a gear ratio that makes it easy to start bicycle 1.

[0059] In this case, while the gear ratio of the derailleur 19 can be changed while the bicycle 1 is moving, it cannot be changed while the bicycle is stopped. Therefore, it is important to change the gear ratio of the derailleur 19 in advance before the bicycle 1 comes to a stop.

[0060] If NO is determined in step S104, in step S106, the execution unit 32 determines whether or not there is an uphill road in front of the bicycle 1 based on the surrounding environment information in front of the bicycle 1.

[0061] As described above, the surrounding environment information in front of bicycle 1 includes road information, which is information indicating the road environment. Here, road information includes information on the road gradient. The road gradient information may be, for example, information that directly indicates the road gradient, or it may be information that can be substantially converted into a road gradient. The execution unit 32 can then determine whether or not there is an uphill road in front of bicycle 1 based on the road gradient information.

[0062] For example, the execution unit 32 determines that there is an uphill road ahead of the bicycle 1 if there is an uphill road within a predetermined distance in front of the bicycle 1 on the road the bicycle 1 is traveling on. On the other hand, the execution unit 32 determines that there is no uphill road ahead of the bicycle 1 if there is no uphill road within a predetermined distance in front of the bicycle 1 on the road the bicycle 1 is traveling on. The execution unit 32 may also determine an uphill road to be, for example, a road that slopes upward as the bicycle moves forward and has a gradient of a predetermined value or greater.

[0063] If it is determined that there is no uphill road ahead of bicycle 1 (step S106 / NO), the process returns to step S102. On the other hand, if it is determined that there is an uphill road in red ahead of bicycle 1 (step S106 / YES), the process proceeds to step S105.

[0064] If the result in step S106 is determined to be YES, in step S105, the execution unit 32 performs a shift-down operation and returns to step S102.

[0065] As described above, in the example in Figure 3, if there is an uphill road in front of bicycle 1, a downshift operation is performed, and the gear ratio of the transmission 19 is automatically reduced to the target gear ratio. This makes it possible to reduce the gear ratio of the transmission 19 in advance before bicycle 1 enters the uphill road. Therefore, it is possible to prevent bicycle 1 from entering the uphill road with a high gear ratio of the transmission 19, thereby suppressing the increase in pedaling force required to ride bicycle 1 on uphill roads where the pedaling force required to ride bicycle 1 tends to be large. Thus, the target gear ratio of the gear ratio adjustment operation can correspond to, for example, a gear ratio that makes it easy to ride bicycle 1 on an uphill road.

[0066] The above describes examples of processing performed by the control device 30. However, the processing performed by the control device 30 may be modified versions of the processing examples described above. The following describes processing other than that described above.

[0067] The above describes an example in which road information used to determine whether or not to perform a gear ratio adjustment operation includes information indicating the status of traffic lights on the road, or information regarding the road's gradient. However, the execution unit 32 may start the gear ratio adjustment operation based on road information other than that described above.

[0068] For example, road information may include information about the shape of the road. The execution unit 32 may then start the gear ratio adjustment operation based on the road shape information. Road shape information may include, for example, information such as the location of curves on the road and the magnitude of the curvature of the curves. For example, if the execution unit 32 finds a curve with a certain magnitude of curvature within a predetermined distance in front of the bicycle 1 on the road the bicycle 1 is traveling on, it may perform a downshift operation as a gear ratio adjustment operation. This allows the gear ratio of the transmission 19 to be reduced in advance before the bicycle 1 enters a curve. Therefore, when the bicycle 1 decelerates as it enters a curve, the gear ratio of the transmission 19 can be reduced, thus suppressing the situation in which a large pedaling force is required to accelerate the bicycle 1 after deceleration.

[0069] The above describes an example in which road information is used as ambient environment information to determine whether or not to perform a gear ratio adjustment operation. However, the execution unit 32 may start the gear ratio adjustment operation based on ambient environment information other than road information.

[0070] For example, the surrounding environment information may include information about an object in front of the bicycle 1. The execution unit 32 may then start the gear ratio adjustment operation based on the information about the object in front of the bicycle 1. The information about the object in front of the bicycle 1 includes, for example, the position of the object, such as another vehicle, that is in front of the bicycle 1, and information such as the relative speed between the bicycle 1 and the object. For example, if the execution unit 32 anticipates that there is another vehicle traveling in front of the bicycle 1 and that the bicycle 1 will slow down in the future to avoid contact with the other vehicle, it may perform a downshift operation as a gear ratio adjustment operation. This allows the gear ratio of the transmission 19 to be reduced in advance before the bicycle 1 slows down. Therefore, it is possible to suppress situations in which a large pedaling force is required to accelerate the bicycle 1 after it has slowed down. The execution unit 32 can predict, for example, whether the bicycle 1 will slow down in the future to avoid contact with the other vehicle based on the information about the relative position and relative speed between the bicycle 1 and the other vehicle, which are part of the information about the object in front of the bicycle 1.

[0071] The above example describes a scenario where, if it is determined that bicycle 1 is not decelerating, the downshift operation is not performed, and the downshift operation is performed only if it is determined that bicycle 1 is decelerating. In other words, in the above example, the execution unit 32 prohibits the downshift operation based on the speed information of bicycle 1. Here, the rider accelerates bicycle 1 by pedaling pedal 15 with their feet. That is, it is assumed that pedal 15 is being pressed down by the rider's feet while bicycle 1 is accelerating. If the downshift operation is performed under these circumstances, the feel of operating pedal 15 will suddenly become lighter, and there is a risk that the rider's feet will come off pedal 15. Therefore, by performing the downshift operation only when bicycle 1 is decelerating, it is possible to suppress the rider's feet from coming off pedal 15 and improve safety.

[0072] From a similar perspective as described above, the execution unit 32 may prohibit the downshift operation based on the pedal force information of the pedal 15 provided on the bicycle 1. The pedal force information of the pedal 15 may be information that directly indicates the pedal force acting on the pedal 15, or it may be information that can be substantially converted into the pedal force acting on the pedal 15. For example, the acquisition unit 31 can acquire information that directly indicates the pedal force acting on the pedal 15 from the pedal force sensor 25. The execution unit 32 may then prohibit the downshift operation if the pedal force acting on the pedal 15 is higher than a threshold. The threshold can be set to a value such that it can be determined that there is a high probability that the rider's foot will come off the pedal 15 if the downshift operation is performed. By prohibiting the downshift operation when the pedal force acting on the pedal 15 is higher than a threshold, it is possible to suppress the rider's foot coming off the pedal 15 and improve safety.

[0073] The above describes a downshift operation, which automatically decreases the gear ratio, as an example of a gear ratio adjustment operation. However, the gear ratio adjustment operation may also be an upshift operation, which automatically increases the gear ratio. The execution unit 32 may start executing the upshift operation based on information about the surrounding environment in front of the bicycle 1.

[0074] The execution unit 32 may, for example, start a shift-up operation based on road information. For example, if the execution unit 32 determines that there is a downhill slope ahead of the bicycle 1, it may perform a shift-up operation. This allows the gear ratio of the transmission 19 to be increased in advance before the bicycle 1 enters the downhill slope. Therefore, it is possible to prevent the bicycle 1 from entering the downhill slope with a small gear ratio of the transmission 19, thus suppressing an increase in the amount of pedaling required for the bicycle 1 to move on a downhill slope, where the pedaling force required to move the bicycle 1 tends to be small.

[0075] For example, the execution unit 32 determines that a downhill road exists in front of the bicycle 1 if there is a downhill road within a predetermined distance in front of the bicycle 1 on the road the bicycle 1 is traveling on. Alternatively, the execution unit 32 may determine that a road is a downhill road if, for example, it slopes downward as the bicycle moves forward and the magnitude of the gradient is greater than or equal to a predetermined value.

[0076] Furthermore, the execution unit 32 may initiate a shift-up operation based on information about an object in front of the bicycle 1, for example. For example, if another vehicle is traveling in front of the bicycle 1 and the other vehicle accelerates, the execution unit 32 may perform the shift-up operation as a gear ratio adjustment operation. This allows the rider to accelerate the bicycle 1 in response to the acceleration of the other vehicle without significantly increasing the amount of pedal operation of the pedal 15.

[0077] Furthermore, the execution unit 32 may perform a shift-up operation if the rotational speed of the pedal 15 is greater than a predetermined value. This can prevent situations where the amount of pedal 15 is operated becomes excessively large.

[0078] The above describes an example in which the target gear ratio for the gear ratio adjustment operation is pre-set by the rider of bicycle 1 (i.e., an example in which the execution unit 32 determines the target gear ratio based on the manual setting information provided by the rider). However, the execution unit 32 may also automatically determine the target gear ratio for the gear ratio adjustment operation based on information other than the manual setting information.

[0079] The execution unit 32 may determine the target gear ratio based on, for example, information about the surrounding environment. For example, in an example where a downshift operation is performed when there is a traffic light lit red in front of the bicycle 1, the execution unit 32 may determine the target gear ratio based on information about the road gradient. As described above, in this example, the gear ratio of the derailleur 19 can be reduced in advance before the bicycle 1 stops before the traffic light. Furthermore, the execution unit 32 may reduce the target gear ratio if the road before the traffic light (i.e., the road where the bicycle 1 is expected to stop) is uphill, compared to if the road before the traffic light is downhill. Also, if the road before the traffic light is uphill, the execution unit 32 may reduce the target gear ratio as the gradient of the road increases. This makes it possible to optimize the pedaling force required to start the bicycle 1 according to the gradient of the road.

[0080] Furthermore, the execution unit 32 may determine the target gear ratio based on, for example, the posture information of the bicycle 1. The posture information is information relating to the posture of the bicycle 1. The acquisition unit 31 can acquire the posture information from, for example, the inertial measuring device 23. Here, the posture information includes, for example, information on the pitch angle of the bicycle 1. The execution unit 32 may then determine the target gear ratio by considering the pitch angle of the bicycle 1 as the road on which the bicycle 1 is traveling. For example, in an example where a downshift operation is performed when there is a traffic light lit red in front of the bicycle 1, if the execution unit 32 determines that the road on which the bicycle 1 is traveling is an uphill road based on the pitch angle, it may set the target gear ratio smaller than if it determined that the road on which the bicycle 1 is traveling is a downhill road based on the pitch angle. Also, if the execution unit 32 determines that the road on which the bicycle 1 is traveling is an uphill road based on the pitch angle, it may set the target gear ratio smaller the larger the pitch angle is.

[0081] Here, whether or not the gear ratio adjustment operation can be performed may be predetermined by, for example, the rider of bicycle 1. In other words, the execution unit 32 may prohibit the gear ratio adjustment operation based on, for example, manual setting information by the rider of bicycle 1. The rider can perform an operation to set whether or not the gear ratio adjustment operation can be performed using, for example, the input device 21. In this case, the manual setting information is information indicating the above operation. Therefore, by prohibiting the gear ratio adjustment operation based on the manual setting information, the rider can manually set whether or not the gear ratio adjustment operation can be performed.

[0082] <Effects of the control device> The effects of the control device 30 according to an embodiment of the present invention will be described below.

[0083] The control device 30 includes an execution unit 32 that performs a gear ratio adjustment operation to automatically adjust the gear ratio of the transmission 19 to a target gear ratio. The execution unit 32 then starts the gear ratio adjustment operation based on information about the surrounding environment in front of the bicycle 1. This allows the gear ratio of the transmission 19 to be optimized according to the conditions in front of the bicycle 1. In this way, according to this embodiment, it is possible to support the riding of the bicycle 1 equipped with the transmission 19.

[0084] Preferably, in the control device 30, the surrounding environment information includes road information, which is information indicating the road environment. This allows for appropriate optimization of the gear ratio of the transmission 19 according to the conditions in front of the bicycle 1 by focusing on the road environment ahead of the bicycle 1.

[0085] Preferably, in the control device 30, the road information includes information indicating the lighting status of traffic lights installed on the road. This allows for more appropriate optimization of the gear ratio of the transmission 19 according to the conditions in front of the bicycle 1 by focusing on the lighting status of traffic lights installed on the road ahead of the bicycle 1.

[0086] Preferably, in the control device 30, the road information includes information on the road gradient. This allows for a more appropriate optimization of the gear ratio of the transmission 19 according to the conditions in front of the bicycle 1 by focusing on the road gradient ahead of the bicycle 1.

[0087] Preferably, in the control device 30, the road information includes information about the shape of the road. This allows for a more appropriate optimization of the gear ratio of the transmission 19 according to the conditions in front of the bicycle 1 by focusing on the shape of the road ahead of the bicycle 1.

[0088] Preferably, in the control device 30, the surrounding environment information includes information about objects in front of the bicycle 1. By focusing on information about objects in front of the bicycle 1, the gear ratio of the transmission 19 can be appropriately optimized according to the conditions in front of the bicycle 1.

[0089] The execution unit 32 may start the gear ratio adjustment operation using all types of information from the various types of ambient environment information described above, or it may start the gear ratio adjustment operation using any part of the various types of ambient environment information described above.

[0090] Preferably, in the control device 30, the gear ratio adjustment operation includes a downshift operation that automatically reduces the gear ratio. This allows the gear ratio of the transmission 19 to be reduced in advance when there is a high need to reduce the gear ratio of the transmission 19 in advance (for example, when it is expected that the bicycle 1 will stop in the future).

[0091] Preferably, in the control device 30, the execution unit 32 prohibits downshifting based on the speed information of the bicycle 1. This prevents the rider's feet from coming off the pedals 15, thereby improving safety.

[0092] Preferably, in the control device 30, the execution unit 32 prohibits downshifting based on the pedaling force information of the pedal 15 provided on the bicycle 1. This prevents the rider's foot from coming off the pedal 15, thereby improving safety.

[0093] Preferably, in the control device 30, the gear ratio adjustment operation includes a shift-up operation that automatically increases the gear ratio. This allows the gear ratio of the transmission 19 to be increased in advance when there is a high need to increase the gear ratio of the transmission 19 in advance (for example, when it is expected that the bicycle 1 will enter a downhill road in the future).

[0094] Preferably, in the control device 30, the execution unit 32 determines the target gear ratio based on ambient environment information. This allows the target gear ratio to be optimized according to the conditions in front of the bicycle 1.

[0095] Preferably, in the control device 30, the execution unit 32 determines the target gear ratio based on the posture information of the bicycle 1. This allows the target gear ratio to be optimized according to the posture of the bicycle 1.

[0096] Preferably, in the control device 30, the execution unit 32 determines the target gear ratio based on the manual setting information provided by the rider of the bicycle 1. This allows the rider to set the target gear ratio according to their own intentions.

[0097] Preferably, in the control device 30, the execution unit 32 prohibits the gear ratio adjustment operation based on manual setting information from the rider of the bicycle 1. This allows the rider to set whether or not to perform the gear ratio adjustment operation according to their own intentions.

[0098] The present invention is not limited to the descriptions of embodiments. For example, only a portion of the embodiments may be implemented. [Explanation of symbols]

[0099] 1 Bicycle, 11 Frame, 11a Head tube, 11b Top tube, 11c Down tube, 11d Seat tube, 11e Stay, 12 Swivel section, 12a Steering column, 12b Handle stem, 12c Handlebar, 12d Front fork, 13 Front wheel, 14 Rear wheel, 15 Pedals, 16 Front gear, 17 Rear gear, 18 Chain, 19 Derailleur, 19f Front gear shifting device, 19r Rear gear shifting device, 21 Input device, 22 Speed ​​sensor, 23 Inertial measurement device, 24 Ambient environment sensor, 25 Pedaling force sensor, 30 Control device, 31 Acquisition unit, 32 Execution unit.

Claims

1. A control device (30) for controlling the behavior of a bicycle (1) equipped with a gear shifter (19), The transmission (19) is equipped with an execution unit (32) that performs a gear ratio adjustment operation to automatically adjust the gear ratio to a target gear ratio. The execution unit (32) starts the gear ratio adjustment operation based on the surrounding environment information in front of the bicycle (1). Control device.

2. The aforementioned surrounding environment information includes road information, which is information indicating the road environment. The control device according to claim 1.

3. The road information includes information indicating the lighting status of traffic signals installed on the road. The control device according to claim 2.

4. The road information includes information on the gradient of the road. The control device according to claim 2.

5. The road information includes information about the shape of the road, The control device according to claim 2.

6. The surrounding environment information includes information about an object in front of the bicycle (1), The control device according to claim 1.

7. The gear ratio adjustment operation includes a downshift operation that automatically reduces the gear ratio. The control device according to any one of claims 1 to 6.

8. The execution unit (32) prohibits the downshift operation based on the speed information of the bicycle (1). The control device according to claim 7.

9. The execution unit (32) prohibits the downshift operation based on the pedaling force information of the pedal (15) provided on the bicycle (1). The control device according to claim 7.

10. The gear ratio adjustment operation includes a shift-up operation that automatically increases the gear ratio. The control device according to any one of claims 1 to 6.

11. The execution unit (32) determines the target gear ratio based on the surrounding environment information. The control device according to any one of claims 1 to 6.

12. The execution unit (32) determines the target gear ratio based on the posture information of the bicycle (1). The control device according to any one of claims 1 to 6.

13. The execution unit (32) determines the target gear ratio based on the manual setting information provided by the rider of the bicycle (1). The control device according to any one of claims 1 to 6.

14. The execution unit (32) prohibits the gear ratio adjustment operation based on the manual setting information provided by the rider of the bicycle (1). The control device according to any one of claims 1 to 6.

15. A control method for controlling the behavior of a bicycle (1) equipped with a gear shifter (19), The execution unit (32) of the control device (30) performs a gear ratio adjustment operation to automatically adjust the gear ratio of the transmission (19) to the target gear ratio. The execution unit (32) starts the gear ratio adjustment operation based on the surrounding environment information in front of the bicycle (1). Control method.

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