Control device for human-powered vehicles

Abstract

The present invention provides a control device for a human-powered vehicle that can suitably control the transmission. [Solution] The control device for a human-powered vehicle includes a control unit configured to control a transmission that changes the gear ratio, which is the ratio of the wheel rotation speed of the human-powered vehicle's wheels to the rotation speed of the crankshaft of the human-powered vehicle. The control unit is configured to control the transmission to change the gear ratio based on a gear condition relating to at least one of the wheel rotation speed and the crankshaft rotation speed. Even if the gear condition is not met, the control unit is configured to control the transmission to decrease the gear ratio if the human-powered driving force input to the crankshaft is greater than a threshold. The control unit is configured to set the threshold to a first threshold when the state of the human-powered vehicle is a first state, and to set the threshold to a second threshold different from the first threshold when the state of the human-powered vehicle is a second state different from the first state.

Description

Technical Field

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

Background Art

[0002] For example, the control device for a human-powered vehicle disclosed in Patent Document 1 controls a transmission of the 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 a transmission.

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 control unit configured to control a transmission that changes a gear ratio, which is a ratio of a wheel rotation speed of the human-powered vehicle to a rotation speed of a crankshaft of the human-powered vehicle. The control unit is configured to control the transmission to change the gear ratio based on a gear change condition related to at least one of the wheel rotation speed and the rotation speed of the crankshaft. Even when the gear change condition is not satisfied, when the human driving force input to the crankshaft is greater than a threshold value, the transmission is configured to be controlled so that the gear ratio becomes smaller. When the state of the human-powered vehicle is a first state, the threshold value is configured to be set to a first threshold value. When the state of the human-powered vehicle is a second state different from the first state, the threshold value is configured to be set to a second threshold value different from the first threshold value. According to the control device on the first side, even if the gear shifting conditions are not met, if the state of the human-powered vehicle is the first state, the gear ratio can be reduced by the first threshold, and if the state of the human-powered vehicle is the second state, the gear ratio can be reduced by the second threshold. Therefore, the transmission can be suitably controlled according to the state of the human-powered vehicle.

[0006] In a control device of a second aspect according to the first aspect of this disclosure, the second threshold is smaller than the first threshold. According to the control device on the second side, when the human-powered vehicle is in state 1, the gear ratio tends to be smaller than when the human-powered vehicle is in state 2.

[0007] In a control device of a third aspect according to the first or second aspect of the present disclosure, the first state is greater than the second state in which at least one of the gradient of the road the human-powered vehicle travels, the degree of change of the gradient, the vibration of the human-powered vehicle, and the degree of change of the vibration is greater. According to the control device on the third side, the transmission can be suitably controlled in accordance with at least one of the gradient of the road on which the human-powered vehicle travels, the degree of change in the gradient, the vibration of the human-powered vehicle, and the degree of change in the vibration.

[0008] In a control device according to a fourth aspect of the present disclosure, the control unit is configured to select either the first threshold or the second threshold in accordance with the output of a tilt detection unit provided in the human-powered vehicle. According to the control device on the fourth side, either the first threshold or the second threshold can be suitably selected according to the output of the tilt detection unit.

[0009] A control device of a fifth aspect according to a first or second aspect of the present disclosure, wherein the first state includes a state in which the human-powered vehicle is traveling off-road, and the second state includes a state in which the human-powered vehicle is traveling on-road. According to the control device on the fifth side, the tendency for the gear ratio to decrease can be made different for when the human-powered vehicle is driving off-road and when the human-powered vehicle is driving on-road.

[0010] In a control device according to a sixth aspect of the fifth aspect of this disclosure, the control unit is configured to select either the first threshold or the second threshold based on the position information of the human-powered vehicle. According to the control device on the sixth side, either the first threshold or the second threshold can be suitably selected based on the position information of the human-powered vehicle.

[0011] A control device according to a seventh aspect of the present disclosure is a control device for a human-powered vehicle, comprising a control unit configured to control a transmission that changes a gear ratio which is the ratio of the wheel rotation speed of the human-powered vehicle's wheels to the rotation speed of the crankshaft of the human-powered vehicle, wherein the control unit is configured to control the transmission to change the gear ratio based on a gear condition relating to at least one of the wheel rotation speed and the rotation speed of the crankshaft, and is configured to control the transmission to decrease the gear ratio if the human-powered force input to the crankshaft is greater than a threshold, even if the gear condition is not met, and is configured to set the threshold to a third threshold if the tilt angle of the human-powered vehicle is less than a first tilt angle, and is configured to set the threshold to a fourth threshold which is less than the third threshold if the tilt angle of the human-powered vehicle is greater than or equal to the first tilt angle. According to the control device on the seventh side, even if the gear shifting conditions are not met, if the inclination angle of the human-powered vehicle is less than the first inclination angle, the gear ratio can be reduced by the third threshold, and if the inclination angle of the human-powered vehicle is greater than or equal to the first inclination angle, the gear ratio can be reduced by the fourth threshold. Therefore, the transmission can be suitably controlled according to the inclination angle of the human-powered vehicle.

[0012] In the control device of the eighth side according to the seventh side of this disclosure, the inclination angle includes the pitch angle. According to the control device on the eighth side, the transmission can be suitably controlled according to the pitch angle.

[0013] In a control device according to the ninth aspect of the seventh or eighth aspect of this disclosure, the control unit is configured to change the threshold value in accordance with the output of a tilt detection unit provided in the human-powered vehicle. According to the control device on the ninth side, the threshold value can be suitably changed according to the output of the tilt detection unit.

[0014] A control device according to a tenth aspect of the present disclosure is a control device for a human-powered vehicle, comprising a control unit configured to control a transmission that changes a gear ratio which is the ratio of the wheel rotation speed of the human-powered vehicle's wheels to the rotation speed of the crankshaft of the human-powered vehicle, wherein the control unit is configured to control the transmission to change the gear ratio based on a gear condition relating to at least one of the wheel rotation speed and the rotation speed of the crankshaft, and is configured to control the transmission to decrease the gear ratio if the human-powered force input to the crankshaft is greater than a threshold, even if the gear condition is not met, and is configured to set the threshold to a fifth threshold if the rider of the human-powered vehicle is not standing and pedaling, and is configured to set the threshold to a sixth threshold which is greater than the fifth threshold if the rider is standing and pedaling. According to the control device on the 10th side, even if the gear shifting conditions are not met, the gear ratio can be reduced by the 5th threshold if the rider is not standing and pedaling, and the gear ratio can be reduced by the 6th threshold if the rider is standing and pedaling. Therefore, the gear shifting device can be suitably controlled depending on whether or not the rider is standing and pedaling.

[0015] In a control device according to the 11th aspect of the present disclosure, the control unit is configured to change the threshold value in accordance with the output of the tilt detection unit provided in the human-powered vehicle. According to the control device on the 11th side, the threshold can be suitably changed according to the output of the tilt detection unit.

[0016] In a control device according to a twelfth aspect of the present disclosure, the control unit is configured to control the transmission such that the gear ratio decreases when the human-powered vehicle starts moving and the human-powered driving force input to the crankshaft is greater than the threshold. According to the control device on the 12th side, when a human-powered vehicle starts moving and the human-powered driving force input to the crankshaft is greater than a threshold, the gear ratio can be reduced.

[0017] In a control device according to a thirteenth aspect of the present disclosure, the control unit is configured to control the transmission such that the gear ratio decreases when at least one of the following conditions is met: the wheel rotation speed is equal to or greater than a predetermined wheel rotation speed and the vehicle speed of the human-powered vehicle is equal to or greater than a predetermined vehicle speed, and the human-powered driving force input to the crankshaft is greater than the threshold. According to the control device on the 13th side, the gear ratio can be reduced when at least one of the following conditions is met: the wheel rotation speed is equal to or greater than a predetermined wheel rotation speed, and the vehicle speed of the human-powered vehicle is equal to or greater than a predetermined vehicle speed, and the human-powered driving force input to the crankshaft is greater than the threshold.

[0018] In a control device according to a fourteenth aspect of the present disclosure, the control unit is configured to control the transmission such that the gear ratio becomes smaller when the acceleration of the human-powered vehicle is less than a predetermined acceleration and the human-powered driving force input to the crankshaft is greater than the threshold. According to the control device on the 14th side, if the acceleration of the human-powered vehicle is less than a predetermined acceleration, and the human-powered driving force input to the crankshaft is greater than a threshold, the gear ratio can be reduced.

[0019] In the control device of the 15th aspect according to any one of the 1st to 14th aspects of the present disclosure, the shift condition includes a parameter threshold value regarding a predetermined parameter, and when the control unit controls the transmission to change the gear ratio based on the shift condition, the control unit is configured to control the transmission so that the gear ratio becomes smaller when the predetermined parameter exceeds the parameter threshold value. According to the control device of the 15th aspect, when the predetermined parameter is smaller than the parameter threshold value or larger than the threshold value, the gear ratio can be made smaller.

[0020] In the control device of the 16th aspect according to the 15th aspect of the present disclosure, when the control unit controls the transmission to change the gear ratio based on the shift condition, the control unit is configured to control the transmission so that the gear ratio becomes smaller when the predetermined parameter is smaller than the parameter threshold value. According to the control device of the 16th aspect, when the predetermined parameter is smaller than the parameter threshold value, the gear ratio can be made smaller.

Advantages of the Invention

[0021] The control device for a human-powered vehicle of the present disclosure can suitably control a transmission.

Brief Description of the Drawings

[0022] [Figure 1] It is a side view of a human-powered vehicle on which the control device for a human-powered vehicle of the first embodiment is mounted. [Figure 2] It is a block diagram showing an electrical configuration of the human-powered vehicle of FIG. 1. [Figure 3] It is a first part of a flowchart of a process for controlling a transmission, which is executed by the control unit of FIG. 2. [Figure 4] It is a second part of a flowchart of a process for controlling a transmission, which is executed by the control unit of FIG. 2. [Figure 5] It is a part of a flowchart of a process for controlling a transmission, which is executed by the control unit of the second embodiment. [Figure 6]This is part of a flowchart of the process performed by the control unit of the third embodiment to control the transmission. [Modes for carrying out the invention]

[0023] <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 4.

[0024] 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. Hereinafter, in each embodiment, a human-powered vehicle will be described as a bicycle.

[0025] 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.

[0026] 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.

[0027] 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.

[0028] 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.

[0029] 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.

[0030] 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 a transmission 42.

[0031] The gear shift 42 changes the gear ratio, which is the ratio of the rotational speed of the wheels 12 of the human-powered vehicle 10 to the rotational speed of the crankshaft 22 of the human-powered vehicle 10. The gear shift 42 is configured to change the gear ratio in steps, for example. The gear shift 42 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 of the crankshaft 22. The gear shift 42 is provided on, for example, the frame 16. The gear shift 42 includes, for example, at least one of a rear gear shift and a front gear shift. The gear shift 42 includes, for example, an external derailleur. The gear shift 42 includes, for example, a rear derailleur. The gear shift 42 may include a front derailleur. The gear shift 42 may include an internal gear shift. The internal gear hub is, for example, located in the hub of the rear wheel 12R. The transmission 42 may include a CVT (Continuously Variable Transmission).

[0032] The transmission 42 includes, for example, an electric transmission. The transmission 42 includes, for example, a power source 42A that operates by electricity. The gear ratio is changed by driving the power source 42A. The power source 42A includes, for example, an electric motor.

[0033] 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.

[0034] 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).

[0035] The control unit 62 is configured to control the transmission 42. The control unit 62 is configured to control the transmission 42 to change the gear ratio based on a gear shift condition relating to at least one of the wheel rotation speed and the crankshaft rotation speed 22. In addition to the gear shift condition, the control unit 62 may also be configured to control the transmission 42 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.

[0036] The control system 40 further includes, for example, a detection unit 44 for detecting predetermined parameters relating to gear shifting conditions. The detection unit 44 includes, for example, at least one of a crank rotation state detection unit 44A and a wheel rotation state detection unit 44B.

[0037] The crank rotation state detection unit 44A is communicated with the control unit 62, for example, by wired or wireless means. The crank rotation state detection unit 44A 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 44A is configured to detect, for example, at least one of information corresponding to the rotational speed of the crankshaft 22 and information corresponding to the rotational speed of the first rotating body 34. The information corresponding to the rotational speed 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 44A is configured to output, for example, at least one signal corresponding to the rotational speed 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 44A 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 44A includes, for example, a magnetic sensor that outputs a signal corresponding to the strength of the magnetic field. The crank rotation state detection unit 44A includes, for example, an annular magnet having 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 44A 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 44A 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 44A 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 44A 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 44A may include a vehicle speed sensor. If the crank rotation state detection unit 44A includes a vehicle speed sensor, the control unit 62 may be configured to calculate the rotational speed 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 44A may also include a wheel speed sensor. If the crank rotation state detection unit 44A includes a wheel speed sensor, the control unit 62 may be configured to calculate the rotational speed 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 44B.

[0042] The wheel rotation state detection unit 44B is communicated with the control unit 62, for example, by wired or wireless means. The wheel rotation state detection unit 44B is configured to detect information regarding the vehicle speed of the human-powered vehicle 10, for example. The wheel rotation state detection unit 44B is configured to detect information regarding the rotational speed of the wheel 12, for example. The wheel rotation state detection unit 44B 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 44B includes, for example, a vehicle speed sensor. The wheel rotation state detection unit 44B 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 44B 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 control unit 62 is configured, for example, to control the transmission 42 to change the gear ratio based on shifting conditions, such that the gear ratio decreases when a predetermined parameter exceeds a parameter threshold. When a predetermined parameter exceeds various parameter thresholds, it means that the predetermined parameter is greater than the upper parameter threshold when the various parameter thresholds are upper parameter thresholds. When a predetermined parameter exceeds various parameter thresholds, it means that the predetermined parameter is smaller than the lower parameter threshold when the various parameter thresholds are lower parameter thresholds.

[0045] The shifting conditions include, for example, an additional parameter threshold for a predetermined parameter. When the control unit 62 controls the transmission 42 to change the gear ratio based on the shifting conditions, it is configured to control the transmission 42 such that the gear ratio increases when the predetermined parameter is smaller than the additional parameter threshold or larger than the threshold. For example, one of the parameter threshold and the additional parameter threshold is a lower parameter threshold, and the other of the parameter threshold and the additional parameter threshold is an upper parameter threshold. The lower parameter threshold is smaller than the upper parameter threshold. In this embodiment, the parameter threshold is a lower parameter threshold, and the additional parameter threshold is an upper parameter threshold.

[0046] The shift conditions include, for example, at least one of a first shift condition and a second shift condition. The first shift condition is met, for example, when a predetermined parameter becomes smaller than a lower parameter threshold. The second shift condition is met, for example, when a predetermined parameter becomes larger than an upper parameter threshold. The first shift condition suppresses, for example, the rider's load. The second shift condition suppresses, for example, the increase of a predetermined parameter.

[0047] For example, when the control unit 62 controls the transmission 42 to change the gear ratio based on shifting conditions, it is configured to control the transmission 42 such that the gear ratio decreases when a predetermined parameter becomes smaller than a parameter threshold. For example, when the control unit 62 controls the transmission 42 to change the gear ratio based on shifting conditions, it is configured to control the transmission 42 such that the gear ratio decreases when a predetermined parameter becomes smaller than a lower parameter threshold.

[0048] For example, when the control unit 62 controls the transmission 42 to change the gear ratio based on shifting conditions, it is configured to control the transmission 42 such that the gear ratio increases when a predetermined parameter exceeds an additional parameter threshold.

[0049] The control unit 62 is configured to change the gear ratio based on human power even when the gear shifting conditions are not met. The control unit 62 is configured to control the transmission 42 so that the gear ratio decreases if the human power input to the crankshaft 22 is greater than a threshold, even when the gear shifting conditions are not met. The control unit 62 is configured to set the threshold to a first threshold when the state of the human-powered vehicle 10 is a first state. The control unit 62 is configured to set the threshold to a second threshold, which is different from the first threshold, when the state of the human-powered vehicle 10 is a second state different from the first state. The second threshold is, for example, smaller than the first threshold.

[0050] The thresholds set according to the state of the human-powered vehicle 10 may be set according to the range of human-powered force. For example, for each state of the human-powered vehicle 10, the thresholds include a threshold for when the human-powered force is less than or equal to the first human-powered force, a threshold for when it is greater than the first human-powered force but less than or equal to the second human-powered force, and a threshold for when it is greater than the second human-powered force. The thresholds set according to the range of human-powered force for each state of the human-powered vehicle 10 may be associated with a determination time corresponding to the human-powered force. The determination time is, for example, smaller the greater the human-powered force. The control unit 62 controls the transmission 42 to reduce the gear ratio if the state in which the human-powered force is greater than the threshold continues for longer than the determination time associated with the selected threshold. For example, because the second threshold is smaller than the first threshold, the gear ratio is more likely to be smaller when the driving state is the second driving state than when the driving state is the first driving state.

[0051] The state of the human-powered vehicle 10 relates, for example, to the driving environment of the human-powered vehicle 10. The first state and the second state are, for example, mutually exclusive. The state of the human-powered vehicle 10 may include states other than the first state and the second state. The state of the human-powered vehicle 10 relates, for example, to at least one of the gradient of the road on which the human-powered vehicle 10 travels, the degree of change of the gradient, the vibration of the human-powered vehicle 10, and the degree of change of the vibration. In the first state, for example, at least one of the gradient of the road on which the human-powered vehicle 10 travels, the degree of change of the gradient, the vibration of the human-powered vehicle 10, and the degree of change of the vibration is greater than in the case of the second state. The first state includes, for example, a state in which the human-powered vehicle 10 is traveling off-road. The second state includes, for example, a state in which the human-powered vehicle 10 is traveling on-road. When the human-powered vehicle 10 is traveling off-road, at least one of the following is greater than when the human-powered vehicle 10 is traveling on-road: the gradient of the road the human-powered vehicle 10 is traveling on, the degree of change in the gradient, the vibration of the human-powered vehicle 10, and the degree of change in the vibration.

[0052] The control system 40 includes, for example, a state detection unit 46 for detecting the state of the human-powered vehicle 10. The state detection unit 46 includes, for example, at least one of a tilt detection unit 46A and a position detection unit 46B.

[0053] The tilt detection unit 46A is provided, for example, in the human-powered vehicle 10. The tilt detection unit 46A includes, for example, a tilt sensor that detects at least one of the pitch angle, roll angle, and yaw angle of the human-powered vehicle 10. The tilt sensor includes, for example, at least one of a gyro sensor and an acceleration sensor. The tilt detection unit 46A is configured to detect, for example, the pitch angle, roll angle, and yaw angle of the human-powered vehicle 10 and the gradient of the road that corresponds to them.

[0054] The position detection unit 46B includes, for example, a GPS (Global Positioning System) receiver. If the position detection unit 46B includes a GPS receiver, map information including information about the gradient of the road is pre-stored in, for example, the storage unit 64. The control unit 62 obtains the gradient of the road where the human-powered vehicle 10 is currently located based on the map information stored in the storage unit 64. The control unit 62 may also obtain the road surface condition of the road where the human-powered vehicle 10 is currently located based on the map information stored in the storage unit 64. The control unit 62 may be configured to calculate, for example, the vibration of the human-powered vehicle 10 and at least one of the degree of change of vibration based on the road surface condition of the road where the human-powered vehicle 10 is currently located.

[0055] If the state detection unit 46 includes a tilt detection unit 46A, the control unit 62 is configured to select either a first threshold or a second threshold in response to the output of the tilt detection unit 46A. For example, the control unit 62 acquires at least one of the following in response to the output of the tilt detection unit 46A: the gradient of the road the human-powered vehicle 10 travels on, the degree of change in the gradient, the vibration of the human-powered vehicle 10, and the degree of change in the vibration. If the state detection unit 46 includes a position detection unit 46B, the control unit 62 is configured to select either a first threshold or a second threshold based on the position information of the human-powered vehicle 10. For example, the control unit 62 acquires at least one of the following in response to the output of the position detection unit 46B: the gradient of the road the human-powered vehicle 10 travels on, the degree of change in the gradient, the vibration of the human-powered vehicle 10, and the degree of change in the vibration.

[0056] The control unit 62 selects a first threshold if, for example, at least one of the gradient of the road the human-powered vehicle 10 travels on, the degree of change in the gradient, the vibration of the human-powered vehicle 10, and the degree of change in the vibration, obtained from the state detection unit 46, corresponds to a first state. The control unit 62 selects a second threshold if, for example, at least one of the gradient of the road the human-powered vehicle 10 travels on, the degree of change in the gradient, the vibration of the human-powered vehicle 10, and the degree of change in the vibration, obtained from the state detection unit 46, corresponds to a second state.

[0057] The control unit 62 is configured to control the transmission 42 so that the gear ratio decreases when, for example, the human-powered vehicle 10 starts moving and the human-powered driving force input to the crankshaft 22 is greater than a threshold. The control unit 62 determines that the human-powered vehicle 10 has started moving when, for example, the vehicle speed increases from a state of being less than or equal to the first vehicle speed to a state of being greater than the first vehicle speed, and when the crankshaft 22 starts rotating.

[0058] The control unit 62 is configured to control the transmission 42 so that the gear ratio decreases when, for example, at least one of the following conditions is met: the wheel rotation speed is greater than or equal to a predetermined wheel rotation speed and the vehicle speed of the human-powered vehicle 10 is greater than or equal to a predetermined vehicle speed, and the human-powered driving force input to the crankshaft 22 is greater than a threshold. The predetermined wheel rotation speed and the predetermined vehicle speed are set to values ​​that allow for the determination of whether the human-powered vehicle 10 is traveling at high speed, for example.

[0059] The control unit 62 is configured to control the transmission 42 so that the gear ratio decreases when, for example, the acceleration of the human-powered vehicle 10 is less than a predetermined acceleration and the human-powered driving force input to the crankshaft 22 is greater than a threshold. The predetermined acceleration is set to a value that allows for the determination of whether the human-powered vehicle 10 is not accelerating, for example. The predetermined acceleration is a value of 0 or close to 0.

[0060] Referring to Figures 3 and 4, the process by which the control unit 62 controls the transmission 42 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 Figure 3. When the flowcharts in Figures 3 and 4 are completed, the control unit 62 repeats the processing from step S11 at predetermined intervals, for example, until the power supply is stopped.

[0061] In step S11, the control unit 62 determines whether the gear shifting conditions are met. If the gear shifting conditions are met, the control unit 62 proceeds to step S12. In step S12, the control unit 62 determines whether the first gear shifting conditions are met. If the first gear shifting conditions are met, the control unit 62 proceeds to step S13. In step S13, the control unit 62 controls the transmission 42 to reduce the gear ratio and terminates the process.

[0062] If the first gear shift condition is not met in step S12, the control unit 62 proceeds to step S14. If the first gear shift condition is not met in step S12, it means that the second gear shift condition is met. In step S14, the control unit 62 controls the transmission 42 to increase the gear ratio and terminates the process.

[0063] If the gear shifting conditions are not met in step S11, the control unit 62 proceeds to step S15.

[0064] In step S15, the control unit 62 determines whether the acceleration of the human-powered vehicle 10 is less than a predetermined acceleration. If the acceleration of the human-powered vehicle 10 is not less than the predetermined acceleration, the control unit 62 terminates the process. If the acceleration of the human-powered vehicle 10 is less than the predetermined acceleration, the control unit 62 proceeds to step S16.

[0065] In step S16, the control unit 62 determines whether or not the human-powered vehicle 10 has started moving. For example, the control unit 62 determines that the human-powered vehicle 10 has started moving if the vehicle speed has increased from 0 km / h and is less than or equal to the starting vehicle speed. The control unit 62 may also determine that the human-powered vehicle 10 has started moving if, for example, the vehicle speed has increased from 0 km / h and the elapsed time since the vehicle speed increased from 0 km / h to greater than 0 km / h is less than or equal to a predetermined time. If the human-powered vehicle 10 has started moving, the control unit 62 proceeds to step S18. If the human-powered vehicle 10 has not started moving, the control unit 62 proceeds to step S17.

[0066] In step S17, the control unit 62 determines whether at least one of the following conditions is met: the wheel rotation speed is greater than or equal to a predetermined wheel rotation speed and the vehicle speed is greater than or equal to a predetermined vehicle speed. If at least one of these conditions is met, the control unit 62 proceeds to step S19. The predetermined vehicle speed is, for example, greater than 20 km / h and less than 60 km / h. The predetermined wheel rotation speed is, for example, greater than 70 rpm and less than 230 rpm. If the wheel rotation speed is not greater than or equal to the predetermined wheel rotation speed and the vehicle speed is not greater than or equal to a predetermined vehicle speed, the control unit 62 proceeds to step S18.

[0067] In step S18, the control unit 62 determines whether the state of the human-powered vehicle 10 is in a first state. The control unit 62 determines that the driving state is a first driving state based on at least one of the following: the absolute value of the gradient of the road the human-powered vehicle 10 travels on is greater than a predetermined gradient; the degree of change in the gradient is greater than a predetermined degree of change in the gradient; the vibration of the human-powered vehicle 10 is greater than a predetermined vibration; and the degree of change in the vibration is greater than a predetermined degree of change in vibration. If the state of the human-powered vehicle 10 is in a first state, the control unit 62 proceeds to step S19. In step S19, the control unit 62 determines whether the human-powered driving force is greater than a first threshold. If the human-powered driving force is greater than the first threshold, the control unit 62 proceeds to step S20. In step S20, the control unit 62 controls the transmission 42 so that the gear ratio becomes smaller and terminates the process. If the human-powered driving force is not greater than the first threshold in step S19, the control unit 62 terminates the process. The control unit 62 does not change the gear ratio if the human-powered driving force is below the first threshold.

[0068] In step S18, if the state of the human-powered vehicle 10 is not the first state, the control unit 62 proceeds to step S21. In this embodiment, if the state of the human-powered vehicle 10 is not the first state, the state of the human-powered vehicle 10 is the second state. In step S21, the control unit 62 determines whether the human-powered driving force is greater than the second threshold. If the human-powered driving force is greater than the second threshold, the control unit 62 proceeds to step S22. In step S22, the control unit 62 controls the transmission 42 so that the gear ratio becomes smaller and terminates the process. In step S21, if the human-powered driving force is not greater than the second threshold, the control unit 62 terminates the process. If the human-powered driving force is less than or equal to the second threshold, the control unit 62 does not change the gear ratio.

[0069] If the gear shifting conditions do not include an additional threshold, steps S12 and S14 may be omitted. If the gear shifting conditions do not include an additional threshold, the control unit 62 proceeds to step S13 if the answer in step S11 is YES.

[0070] In this embodiment, the control unit 62 can reduce the gear ratio even if the gear shifting conditions are not met, as long as the human-powered driving force is greater than the first or second threshold.

[0071] Since the second threshold is smaller than the first threshold, for example, when the human-powered vehicle 10 is traveling on paved roads, on flat ground, or downhill, the gear ratio tends to be smaller than when the human-powered vehicle 10 is traveling off-road or uphill. Below, "off-road or uphill" may be abbreviated as "off-road, etc." Below, "on-road, on flat ground, or downhill" may be abbreviated as "on-road, etc." Since the second threshold is smaller than the first threshold, for example, the rider's load is reduced when the human-powered vehicle 10 is traveling on paved roads, etc.

[0072] Since the first threshold is greater than the second threshold, when the human-powered vehicle 10 is traveling off-road, the gear ratio is less likely to change than when the human-powered vehicle 10 is traveling on-road. For example, when the human-powered vehicle 10 is traveling off-road, the human-powered driving force is more likely to increase instantaneously due to obstacles and the gradient of the road surface compared to when traveling on-road. Since the first threshold is greater than the second threshold, when the human-powered vehicle 10 is traveling off-road, the gear ratio is less likely to change even if the human-powered driving force increases instantaneously. Therefore, when the human-powered vehicle 10 is traveling off-road, the rider can easily control the human-powered vehicle 10. When the human-powered vehicle 10 is traveling off-road, the gear ratio is less likely to decrease than when the human-powered vehicle 10 is traveling on-road. Therefore, the rider can easily accelerate the human-powered vehicle 10.

[0073] In this embodiment, even if the gear shifting conditions are not met at the start of riding, the control unit 62 can reduce the gear ratio if the human-powered driving force is greater than the first or second threshold, thereby reducing the load on the rider at the start of riding.

[0074] In this embodiment, the control unit 62 does not reduce the gear ratio unless the human-powered driving force becomes greater than a first threshold, provided that at least one of the following conditions is met: the wheel rotation speed is greater than or equal to a predetermined wheel rotation speed and the vehicle speed is greater than or equal to a predetermined vehicle speed, and the gear shifting condition is not met. For example, if the human-powered vehicle 10 is an assist bicycle, when the vehicle speed exceeds the vehicle speed limit, the assist force from the assist motor decreases, and the human-powered driving force increases. The vehicle speed limit corresponds, for example, to a predetermined wheel rotation speed and a predetermined vehicle speed. In this embodiment, if the human-powered vehicle 10 is an assist bicycle, the control unit 62 does not reduce the gear ratio even when the rider's load increases due to the vehicle speed exceeding the vehicle speed limit, so that the human-powered vehicle 10 can accelerate according to the rider's intention to accelerate.

[0075] When the acceleration of the human-powered vehicle 10 is greater than or equal to a predetermined acceleration, the rider can easily pedal because the rider's load capacity is large even without reducing the gear ratio as the human-powered driving force increases. In this embodiment, the control unit 62 does not reduce the gear ratio based on the first threshold or the second threshold when the gear shifting conditions are not met and the acceleration of the human-powered vehicle 10 is less than the predetermined acceleration, so the human-powered vehicle 10 can easily accelerate. In this embodiment, the control unit 62 can reduce the gear ratio based on the first threshold or the second threshold when the gear shifting conditions are not met and the acceleration of the human-powered vehicle 10 is greater than or equal to a predetermined acceleration, thus reducing the rider's load.

[0076] <Second Embodiment> The control device 60 for a human-powered vehicle of the second embodiment will be described with reference to Figures 2, 3, and 5. For the control device 60 for a human-powered vehicle of the second embodiment, components common to the first embodiment are denoted by the same reference numerals as in the first embodiment, and redundant explanations are omitted.

[0077] In this embodiment, the control unit 62 is configured to control the transmission 42 so that the gear ratio decreases if the human-powered driving force input to the crankshaft 22 is greater than a threshold, even if the gear shifting conditions are not met. The control unit 62 is configured to set the threshold to a third threshold if the tilt angle of the human-powered vehicle 10 is less than a first tilt angle. The control unit 62 is configured to set the threshold to a fourth threshold, which is smaller than the third threshold, if the tilt angle of the human-powered vehicle 10 is greater than or equal to the first tilt angle.

[0078] The inclination angle includes, for example, the pitch angle. The inclination angle may include, in place of or in addition to the pitch angle, at least one of the roll angle and the yaw angle. The first inclination angle includes, for example, the first pitch angle. The first pitch angle corresponds, for example, to the pitch angle when the road the human-powered vehicle 10 travels on is uphill. The first pitch angle may be 0 degrees, or it may be greater than 0 degrees. The first pitch angle may be less than 0 degrees. The control unit 62 is configured to change the threshold according to the output of the inclination detection unit 46A provided on the human-powered vehicle 10. The control unit 62 is configured to set the threshold to the third threshold when, for example, the pitch angle of the human-powered vehicle 10 is less than the first pitch angle. The control unit 62 is configured to set the threshold to the fourth threshold when the pitch angle of the human-powered vehicle 10 is greater than or equal to the second pitch angle.

[0079] Referring to Figures 3 and 5, the process by which the control unit 62 controls the transmission 42 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 Figure 3. When the flowcharts in Figures 3 and 5 are completed, the control unit 62 repeats the processing from step S11 at predetermined intervals, for example, until the power supply is stopped.

[0080] In this embodiment, the control unit 62 performs the same processing as in steps S11 to S17 of the first embodiment as in steps S11 to S17 of Figures 3 and 4. In this embodiment, if the answer is YES in step S16, the control unit 62 proceeds to step S31 instead of step S18. In this embodiment, if the answer is YES in step S17, the control unit 62 proceeds to step S32 instead of step S19. In this embodiment, if the answer is NO in step S17, the control unit 62 proceeds to step S31 instead of step S18.

[0081] In step S31, the control unit 62 determines whether the inclination angle is smaller than the first inclination angle. If the inclination angle is smaller than the first inclination angle, the control unit 62 proceeds to step S32. In step S32, the control unit 62 determines whether the human-powered driving force is greater than the third threshold. If the human-powered driving force is greater than the third threshold, the control unit 62 proceeds to step S33. In step S33, the control unit 62 controls the transmission 42 to reduce the gear ratio and terminates the process. In step S32, if the human-powered driving force is not greater than the third threshold, the control unit 62 terminates the process. If the human-powered driving force is less than or equal to the third threshold, the control unit 62 does not change the gear ratio.

[0082] If the inclination angle is not smaller than the first inclination angle in step S31, the control unit 62 proceeds to step S34. In step S34, the control unit 62 determines whether the human-powered driving force is greater than the fourth threshold. If the human-powered driving force is greater than the fourth threshold, the control unit 62 proceeds to step S35. In step S35, the control unit 62 controls the transmission 42 to reduce the gear ratio and terminates the process. If the human-powered driving force is not greater than the fourth threshold in step S35, the control unit 62 terminates the process. If the human-powered driving force is less than or equal to the fourth threshold, the control unit 62 does not change the gear ratio.

[0083] In this embodiment, the control unit 62 can reduce the gear ratio even if the gear shifting conditions are not met, as long as the human-powered driving force is greater than the third or fourth threshold. Since the fourth threshold is smaller than the third threshold, for example, when the human-powered vehicle 10 is traveling uphill, the gear ratio tends to be smaller than when the human-powered vehicle 10 is traveling on flat ground or downhill. Therefore, the load on the rider is reduced when the human-powered vehicle 10 is traveling uphill. When the human-powered vehicle 10 is traveling on flat ground or downhill, the gear ratio is less likely to be smaller than when the human-powered vehicle 10 is traveling uphill. Therefore, the human-powered vehicle 10 accelerates more easily when traveling on flat ground or downhill.

[0084] When the human-powered vehicle 10 is traveling on flat ground or downhill, and when the human-powered vehicle 10 starts moving, the rider's load capacity is greater than when the human-powered vehicle 10 is traveling uphill, and when the human-powered vehicle 10 starts moving. Therefore, the rider can easily pedal without having to reduce the gear ratio as the human-powered driving force increases. The fourth threshold is smaller than the third threshold, so when the human-powered vehicle 10 is traveling uphill, and when the human-powered vehicle 10 starts moving, the gear ratio tends to be smaller than when the human-powered vehicle 10 is traveling on flat ground or downhill. Therefore, when the human-powered vehicle 10 is traveling on flat ground or uphill, the rider's load can be reduced. The fourth threshold is smaller than the third threshold, so when the human-powered vehicle 10 is traveling uphill, and when the human-powered vehicle 10 starts moving, the gear ratio is less likely to be smaller than when the human-powered vehicle 10 is traveling on flat ground or downhill. When the human-powered vehicle 10 is traveling on flat ground or downhill, the rider can easily accelerate the human-powered vehicle 10.

[0085] <Third Embodiment> The control device 60 for a human-powered vehicle according to the third embodiment will be described with reference to Figures 2, 3, and 6. For the control device 60 for a human-powered vehicle according to the third embodiment, components common to the first embodiment are denoted by the same reference numerals as in the first embodiment, and redundant explanations are omitted.

[0086] In this embodiment, the control unit 62 is configured to control the gear shift device 42 so that the gear ratio decreases if the human-powered driving force input to the crankshaft 22 is greater than a threshold, even if the gear shifting conditions are not met. The control unit 62 is configured to set the threshold to the fifth threshold when the rider of the human-powered vehicle 10 is not standing and pedaling. The control unit 62 is configured to set the threshold to the sixth threshold, which is greater than the fifth threshold, when the rider is standing and pedaling.

[0087] The control unit 62 is configured to change a threshold value in accordance with the output of the tilt detection unit 46A provided in the human-powered vehicle 10, for example. The control unit 62 determines whether the rider is standing and pedaling based on, for example, at least one of the roll angle and the yaw angle. The control unit 62 is configured to change a threshold value based on, for example, at least one of the following: the roll angle is greater than a first roll angle, the rate of change of the roll angle is greater than the rate of change of the first roll angle, the yaw angle is greater than a first yaw angle, and the rate of change of the yaw angle is greater than the rate of change of the first yaw angle. The control unit 62 may, instead of or in addition to the tilt detection unit 46A, determine whether the rider is standing and pedaling based on the output of a seating sensor that detects the rider's seating.

[0088] Referring to Figures 3 and 6, the process by which the control unit 62 controls the transmission 42 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 Figure 3. When the flowcharts in Figures 3 and 6 are completed, the control unit 62 repeats the processing from step S11 at predetermined intervals, for example, until the power supply is stopped.

[0089] In this embodiment, the control unit 62 performs the same processing as in steps S11 to S17 of the first embodiment as in steps S11 to S17 of Figures 3 and 4. In this embodiment, if the answer is YES in step S16, the control unit 62 proceeds to step S41 instead of step S18. In this embodiment, if the answer is YES in step S17, the control unit 62 proceeds to step S44 instead of step S19. In this embodiment, if the answer is NO in step S17, the control unit 62 proceeds to step S41 instead of step S18.

[0090] In step S41, the control unit 62 determines whether the rider is standing and pedaling. If the rider is standing and pedaling, the control unit 62 proceeds to step S42. In step S42, the control unit 62 determines whether the human power driving force is greater than the fifth threshold. If the human power driving force is greater than the fifth threshold, the control unit 62 proceeds to step S43. In step S43, the control unit 62 controls the gear shift 42 to decrease the gear ratio and terminates the process. In step S42, if the human power driving force is not greater than the fifth threshold, the control unit 62 terminates the process. If the human power driving force is less than or equal to the fifth threshold, the control unit 62 does not change the gear ratio.

[0091] If the rider is not standing and pedaling in step S41, the control unit 62 proceeds to step S44. In step S44, the control unit 62 determines whether the human power driving force is greater than the sixth threshold. If the human power driving force is greater than the sixth threshold, the control unit 62 proceeds to step S45. In step S45, the control unit 62 controls the gear shift 42 to decrease the gear ratio and terminates the process. If the human power driving force is not greater than the sixth threshold in step S45, the control unit 62 terminates the process. If the human power driving force is less than or equal to the sixth threshold, the control unit 62 does not change the gear ratio.

[0092] In this embodiment, the control unit 62 can reduce the gear ratio even when the gear shifting conditions are not met, if the human power driving force is greater than the fifth threshold or the sixth threshold. Since the sixth threshold is greater than the fifth threshold, for example, when the rider does not stand and pedal, the gear ratio tends to be smaller than when the rider stands and pedals. Therefore, the load on the rider is reduced when the rider does not stand and pedal. When the rider stands and pedals, the gear ratio is less likely to be smaller than when the rider does not stand and pedal. Therefore, when the rider stands and pedals, the human-powered vehicle 10 accelerates more easily.

[0093] <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.

[0094] • The second threshold in the first embodiment may be greater than the first threshold. In this modified example, for example, when the human-powered vehicle 10 is traveling off-road, the gear ratio tends to be smaller than when the human-powered vehicle 10 is traveling on-road. Therefore, when the human-powered vehicle 10 is traveling off-road, the rider's load is less likely to increase. Also, when the human-powered vehicle 10 is traveling off-road, it is easier for the human-powered vehicle 10 to overcome obstacles.

[0095] • The fourth threshold in the second embodiment may be greater than the third threshold. In this modified example, for example, when the human-powered vehicle 10 is traveling on flat ground or downhill, the gear ratio changes less than when the human-powered vehicle 10 is traveling uphill. Therefore, when the human-powered vehicle 10 is traveling on flat ground or downhill, the rider can more easily control the human-powered vehicle 10.

[0096] • The sixth threshold in the third embodiment may be smaller than the fifth threshold. In this modified example, for example, when the rider does not stand and pedal, the gear ratio changes less than when the rider stands and pedals. Therefore, when the rider does not stand and pedal, it is easier for the rider to control the human-powered vehicle 10.

[0097] In the second embodiment, the control unit 62 may change the third threshold and the fourth threshold according to the tilt angle. For example, the control unit 62 increases the third threshold or the fourth threshold as the tilt angle increases.

[0098] In the first embodiment, the control unit 62 may set different first thresholds for when the human-powered vehicle 10 starts moving and for when at least one of the following conditions is met: the wheel rotation speed is greater than or equal to a predetermined wheel rotation speed and the vehicle speed is greater than or equal to a predetermined vehicle speed. When the wheel rotation speed is greater than or equal to a predetermined wheel rotation speed and the vehicle speed is greater than or equal to a predetermined vehicle speed, the control unit 62 may control the transmission 42 such that the gear ratio decreases if the human-powered driving force is greater than a first high-speed driving threshold which is greater than the first threshold.

[0099] In the second embodiment, the control unit 62 may set different third thresholds for when the human-powered vehicle 10 starts moving and for when at least one of the following conditions is met: the wheel rotation speed is greater than or equal to a predetermined wheel rotation speed and the vehicle speed is greater than or equal to a predetermined vehicle speed. When the wheel rotation speed is greater than or equal to a predetermined wheel rotation speed and the vehicle speed is greater than or equal to a predetermined vehicle speed, the control unit 62 may control the transmission 42 such that the gear ratio decreases if the human-powered driving force is greater than a second high-speed driving threshold which is greater than the third threshold.

[0100] In the third embodiment, the control unit 62 may set a sixth threshold value different for when the human-powered vehicle 10 starts moving and for when the wheel rotation speed is greater than or equal to a predetermined wheel rotation speed and the vehicle speed is greater than or equal to a predetermined vehicle speed. When the wheel rotation speed is greater than or equal to a predetermined wheel rotation speed and the vehicle speed is greater than or equal to a predetermined vehicle speed, the control unit 62 may control the transmission 42 such that the gear ratio decreases if the human-powered driving force is greater than a third high-speed driving threshold which is greater than the sixth threshold value.

[0101] The control unit 62 may refrain from changing the gear ratio based on a threshold if at least one of the following conditions is met: the wheel rotation speed is equal to or greater than a predetermined wheel rotation speed and the vehicle speed is equal to or greater than a predetermined vehicle speed. For example, in step S17 of Figures 4, 5, and 6, the control unit 62 terminates the process if the result is YES.

[0102] Steps S15, S16, and at least one of step S17 in Figures 4 to 6 may be omitted.

[0103] The gear shifting conditions may further include predetermined parameters other than the rotational speed of the crankshaft 22 and the wheel rotational speed. These predetermined parameters relate to, for example, at least one of the driving state and driving environment of the human-powered vehicle 10. The predetermined parameters include, for example, the human-powered driving force input to the crankshaft 22. The predetermined parameters also include, for example, the tilt angle of the human-powered vehicle 10. If the gear shifting conditions include two or more parameters such as the rotational speed of the crankshaft 22, the wheel rotational speed, the human-powered driving force, and the tilt angle, the control unit 62 may control the transmission 42 to change the gear ratio if, for example, all two or more parameters are less than or greater than a parameter threshold.

[0104] As used herein, the expression "at least one" means "one or more" of the desired options. For example, as used herein, the expression "at least one" means "only one option" or "both of the two options" if there are two options. As another example, as used herein, the expression "at least one" means "only one option" or "a combination of two or more any options" if there are three or more options. For example, the expression "at least one of A and B" means (1) A only, and (2) B only, and (3) both A and B. For example, the expression "at least one of A, B, and C" means (1) A only, and (2) B only, (3) C only, (4) both A and B, (5) both B and C, (6) both A and C, and (7) all of A, B, and C. In other words, the expression “at least one of A and B” as used herein does not mean “at least one A and at least one B.”

[0105] In this specification, ordinal numbers such as "first, second, and third" are used simply to distinguish multiple components or numerical values ​​that share the same name, and do not have any special meaning. [Explanation of Symbols]

[0106] 10...Human-powered vehicle, 12...Wheel, 22...Crankshaft, 42...Transmission, 46A...Incline detection unit, 60...Control device, 62...Control unit.

Claims

1. A control device for a human-powered vehicle, The control unit is configured to control a transmission that changes the gear ratio, which is the ratio of the wheel rotation speed of the human-powered vehicle to the rotation speed of the crankshaft of the human-powered vehicle. The control unit, The transmission is configured to control the gear ratio based on a gear change condition relating to at least one of the wheel rotation speed and the crankshaft rotation speed, Even if the aforementioned gear shifting conditions are not met, if the human-powered driving force input to the crankshaft is greater than a threshold, the transmission is configured to control the gear ratio to decrease. When the state of the human-powered vehicle is in a first state, the threshold is configured to be set to the first threshold. A control device configured to set the threshold to a second threshold, which is different from the first threshold, when the state of the human-powered vehicle is a second state, which is different from the first state.

2. The control device according to claim 1, wherein the second threshold is smaller than the first threshold.

3. The control device according to claim 2, wherein the first state is greater than the second state in which at least one of the gradient of the road the human-powered vehicle travels, the degree of change of the gradient, the vibration of the human-powered vehicle, and the degree of change of the vibration is greater.

4. The control device according to claim 3, wherein the control unit is configured to select either the first threshold or the second threshold in accordance with the output of the tilt detection unit provided in the human-powered vehicle.

5. The first state includes the state in which the human-powered vehicle is traveling off-road, The control device according to claim 2, wherein the second state includes the state in which the human-powered vehicle is traveling on a road.

6. The control device according to claim 5, wherein the control unit is configured to select either the first threshold or the second threshold based on the position information of the human-powered vehicle.

7. A control device for a human-powered vehicle, The control unit is configured to control a transmission that changes the gear ratio, which is the ratio of the wheel rotation speed of the human-powered vehicle to the rotation speed of the crankshaft of the human-powered vehicle. The control unit, The transmission is configured to control the gear ratio based on a gear change condition relating to at least one of the wheel rotation speed and the crankshaft rotation speed, Even if the aforementioned gear shifting conditions are not met, if the human-powered driving force input to the crankshaft is greater than a threshold, the transmission is configured to control the gear ratio to decrease. If the inclination angle of the human-powered vehicle is smaller than the first inclination angle, the threshold is configured to be set to the third threshold. A control device configured to set the threshold to a fourth threshold that is smaller than the third threshold when the inclination angle of the human-powered vehicle is greater than or equal to the first inclination angle.

8. The control device according to claim 7, wherein the tilt angle includes the pitch angle.

9. The control device according to claim 7, wherein the control unit is configured to change the threshold value in accordance with the output of the tilt detection unit provided in the human-powered vehicle.

10. A control device for a human-powered vehicle, The control unit is configured to control a transmission that changes the gear ratio, which is the ratio of the wheel rotation speed of the human-powered vehicle to the rotation speed of the crankshaft of the human-powered vehicle. The control unit, The transmission is configured to control the gear ratio based on a gear change condition relating to at least one of the wheel rotation speed and the crankshaft rotation speed, Even if the aforementioned gear shifting conditions are not met, if the human-powered driving force input to the crankshaft is greater than a threshold, the transmission is configured to control the gear ratio to decrease. The system is configured to set the threshold to a fifth threshold if the rider of the human-powered vehicle is not standing and pedaling. A control device configured to set the threshold to a sixth threshold, which is greater than the fifth threshold, when the rider is standing and pedaling.

11. The control device according to claim 10, wherein the control unit is configured to change the threshold value in accordance with the output of the tilt detection unit provided in the human-powered vehicle.

12. The control device according to any one of claims 1, 7, and 10, wherein the control unit is configured to control the transmission so that the gear ratio becomes smaller when the human-powered vehicle starts moving and the human-powered driving force input to the crankshaft is greater than the threshold.

13. The control device according to any one of claims 1, 7, and 10, wherein the control unit is configured to control the transmission device such that the gear ratio decreases when at least one of the following conditions is met: the wheel rotation speed is equal to or greater than a predetermined wheel rotation speed and the vehicle speed of the human-powered vehicle is equal to or greater than a predetermined vehicle speed, and the human-powered driving force input to the crankshaft is greater than the threshold.

14. The control device according to any one of claims 1, 7, and 10, wherein the control unit is configured to control the transmission so that the gear ratio becomes smaller when the acceleration of the human-powered vehicle is less than a predetermined acceleration and the human-powered driving force input to the crankshaft is greater than the threshold.

15. The aforementioned gear shift conditions include parameter thresholds related to predetermined parameters, The control device according to any one of claims 1, 7, and 10, wherein the control unit is configured to control the transmission device to change the gear ratio based on the gear shift conditions, and when the predetermined parameter exceeds the parameter threshold, the control device is configured to control the transmission device such that the gear ratio becomes smaller.

16. The control device according to claim 15, wherein when the control unit controls the transmission to change the gear ratio based on the gear shift conditions, it is configured to control the transmission such that the gear ratio decreases when the predetermined parameter becomes smaller than the parameter threshold.

Images