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] A human-powered vehicle includes a transmission configured to change a gear ratio, which is the ratio of the rotational speed of the wheels of the human-powered vehicle to the rotational speed of the crankshaft of the human-powered vehicle. A control device for the human-powered vehicle includes a control unit configured to control the transmission, the control unit configured to control the transmission to change the gear ratio based on gear shifting conditions, and when the gear shifting conditions and gear shift suppression conditions are met, the control unit is configured to control the transmission in a first control state that suppresses gear shifts that increase the gear ratio, and in the first control state, the control unit is configured to change the degree to which gear shifts that increase the gear ratio are suppressed based on history information of human-powered driving force input to the crankshaft.

Description

Technical Field

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

Background Art

[0002] For example, a 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, wherein the human-powered vehicle includes a transmission configured to change a gear ratio, which is a ratio of a rotational speed of a wheel of the human-powered vehicle to a rotational speed of a crankshaft of the human-powered vehicle, and includes a control unit configured to control the transmission, the control unit being configured to control the transmission to change the gear ratio based on a shift condition, and when the shift condition is satisfied and a shift suppression condition is satisfied, the control unit is configured to control the transmission in a first control state in which a shift that increases the gear ratio is suppressed, and in the first control state, the control unit is configured to change a degree of suppressing a shift that increases the gear ratio based on history information of a human driving force input to the crankshaft. According to the control device on the first side, the degree to which shifting that increases the gear ratio is suppressed can be changed based on the history information of the human-powered driving force input to the crankshaft, thereby allowing the transmission to be controlled appropriately.

[0006] In a control device according to a second aspect of the first aspect of this disclosure, the gear shift suppression condition is satisfied when the human-powered driving force increases. According to the control device on the second side, when the human-powered driving force increases, it is possible to suppress gear changes that increase the gear ratio.

[0007] In a control device according to a third aspect of the present disclosure, the gear shift suppression condition is met when the increase in the human-powered driving force during a predetermined period is equal to or greater than a predetermined increase. According to the control device on the third side, when the increase in human-powered driving force exceeds a predetermined increase, it is possible to suppress gear changes that increase the gear ratio.

[0008] In a control device according to a fourth aspect of any one of the first to third aspects of this disclosure, the history information includes the elapsed time during which the human-powered driving force is within a predetermined range, and the control unit is configured to reduce the degree to which it suppresses gear changes that increase the gear ratio in the first control state when the elapsed time is equal to or greater than the predetermined elapsed time. According to the control device on the fourth side, if the elapsed time during which the human-powered driving force is within a predetermined range exceeds a predetermined elapsed time, the degree to which the gear ratio is suppressed can be reduced.

[0009] In a control device according to a fifth aspect of the fourth aspect of this disclosure, the control unit is configured to set the predetermined range based on the human-powered driving force when the gear shift suppression condition is met. According to the control device on the fifth side, the degree to which a gear change that results in an increased gear ratio is suppressed can be reduced by a predetermined range set based on the human-powered driving force when the gear change suppression conditions are met.

[0010] In a control device according to the sixth aspect of the fifth aspect of this disclosure, the control unit is configured to set the predetermined range based on the human-powered driving force at the time the gear shift suppression condition is met. According to the control device on the sixth side, the degree to which a gear change that increases the gear ratio is suppressed can be reduced by a predetermined range set based on the human-powered driving force at the time the gear change suppression condition is met.

[0011] In a control device of the seventh aspect according to the second or third aspect of this disclosure, the gear shift suppression condition is satisfied when the human-powered driving force increases and the increase in the gradient of the road on which the human-powered vehicle travels is less than or equal to a predetermined increase. According to the control device on the seventh side, when the human-powered driving force increases, and the increase in the gradient of the road on which the human-powered vehicle travels is less than or equal to a predetermined increase, it is possible to suppress gear changes that increase the gear ratio.

[0012] In a control device of the eighth aspect according to any one of the second, third, and seventh aspects of this disclosure, the gear shift suppression condition is satisfied when the human-powered driving force increases and the gradient of the road on which the human-powered vehicle travels is less than or equal to a predetermined gradient. According to the control device on the eighth side, when the human-powered driving force increases and the gradient of the road on which the human-powered vehicle travels is below a predetermined gradient, it is possible to suppress gear changes that increase the gear ratio.

[0013] In a control device according to the ninth aspect of the present disclosure, which is based on any one of the second, third, seventh, and eighth aspects, the gear shift suppression condition is met when the human-powered driving force increases and the decrease in the vehicle speed of the human-powered vehicle is less than or equal to a predetermined decrease. According to the control device on the ninth side, when the decrease in the vehicle speed of a human-powered vehicle is less than or equal to a predetermined decrease, it is possible to suppress gear changes that increase the gear ratio.

[0014] In a control device according to a tenth aspect of the present disclosure, the control unit is configured to change the gear shift suppression condition based on the driving state of the human-powered vehicle. According to the control device on the 10th side, it is possible to suppress gear changes that increase the gear ratio based on the driving conditions of the human-powered vehicle.

[0015] In a control device of the eleventh aspect according to the tenth aspect of this disclosure, the driving state includes at least one of the gradient of the road on which 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. According to the control device on the 11th side, it is possible to suppress gear changes that increase the gear ratio based on at least one of the gradient of the road the human-powered vehicle is traveling on, the degree of change in the gradient, the vibration of the human-powered vehicle, and the degree of change in the vibration.

[0016] In a control device according to the twelfth aspect of the eleventh aspect of this disclosure, the control unit is configured to change the gear shift suppression condition in accordance with the output of a tilt detection unit provided in the human-powered vehicle. According to the control device on the 12th side, it is possible to suppress gear changes that increase the gear ratio in accordance with the output of the tilt detection unit.

[0017] In a control device according to the 13th aspect of the 10th aspect of this disclosure, the driving state includes a first driving state in which the human-powered vehicle is driving off-road, and a second driving state in which the human-powered vehicle is driving on-road. According to the control device on the 13th side, it is possible to suppress gear changes that increase the gear ratio, both when the human-powered vehicle is traveling off-road and when the human-powered vehicle is traveling on-road.

[0018] In a control device according to a 14th aspect of the 13th aspect of this disclosure, the control unit selects either the first driving state or the second driving state based on the position information of the human-powered vehicle. According to the control device on the 14th side, either a first driving state or a second driving state can be suitably selected based on the position information of the human-powered vehicle.

[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 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 transmission is configured to control the transmission such that the gear ratio increases when the predetermined parameter exceeds the threshold value. According to the control device of the 15th aspect, the gear ratio can be increased when a predetermined parameter exceeds a threshold value.

[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 transmission is configured to control the transmission such that the gear ratio increases when the predetermined parameter becomes larger than the threshold value. According to the control device of the 16th aspect, the gear ratio can be increased when a predetermined parameter becomes larger than the threshold value.

[0021] In the control device of the 17th aspect according to the 15th or 16th aspect of the present disclosure, the predetermined parameter relates to the rotational speed of the crankshaft. According to the control device of the 17th aspect, the gear ratio can be increased based on a predetermined parameter related to the rotational speed of the crankshaft.

[0022] In the control device of the 18th aspect according to any one of the 15th to 17th aspects of the present disclosure, the predetermined parameter relates to the input driving force input to the crankshaft. According to the control device of the 18th aspect, the gear ratio can be increased based on a predetermined parameter related to the input driving force input to the crankshaft.

Advantages of the Invention

[0023] The control device for a human-powered vehicle of the present disclosure can suitably control a transmission.

Brief Description of the Drawings

[0024] [Figure 1]This is a side view of a human-powered vehicle equipped with a control device for a human-powered vehicle according to an embodiment. [Figure 2] Figure 1 is a block diagram showing the electrical configuration of a human-powered vehicle. [Figure 3] Figure 2 is a flowchart of the process executed by the control unit to control the transmission. [Modes for carrying out the invention]

[0025] <Embodiment> A control device 60 for a human-powered vehicle according to an embodiment will be described with reference to Figures 1 to 3.

[0026] 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.

[0027] 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.

[0028] 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.

[0029] 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.

[0030] 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.

[0031] 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.

[0032] 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.

[0033] 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).

[0034] 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.

[0035] 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.

[0036] 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).

[0037] 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 the gear shift conditions. 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, in addition to the gear shift conditions. The gear shift signal is output, for example, by the user operating the gear shift control unit.

[0038] The gear shifting conditions include, for example, thresholds for predetermined parameters. The 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 relate to, for example, the rotational speed of the crankshaft 22. The predetermined parameters relate to, for example, the human-powered driving force input to the crankshaft 22. The predetermined parameters may also relate to the rotational state of the wheels 12. The rotational state of the wheels 12 includes, for example, at least one of the rotational speed of the wheels 12 and the vehicle speed. The predetermined parameters may also relate to the inclination angle of the human-powered vehicle 10. The predetermined parameters may include two or more of the rotational speed of the crankshaft 22, the human-powered driving force input to the crankshaft 22, the rotational state of the wheels 12, and the inclination angle of the human-powered vehicle 10.

[0039] The control system 40 further includes, for example, a detection unit 44 for detecting predetermined parameters. The detection unit 44 includes, for example, at least one of a crank rotation state detection unit 44A, a human power driving force detection unit 44B, a wheel rotation state detection unit 44C, and a tilt detection unit 44D.

[0040] 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.

[0041] 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.

[0042] 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.

[0043] 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.

[0044] 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 44C.

[0045] The human-powered driving force detection unit 44B is provided, for example, on a member included in the human-powered driving force transmission path, or on a member located near a member included in the human-powered driving force transmission path. The human-powered driving force detection unit 44B includes a strain sensor, a magnetostrictive sensor, or a pressure sensor. The strain sensor includes a strain gauge. The human-powered driving force detection unit 44B may have any configuration as long as it can acquire information about the human-powered driving force.

[0046] The human-powered driving force detection unit 44B may be provided on, for example, at least one of the crank arm 20 and the pedal 24. If the human-powered driving force detection unit 44B is provided on the pedal 24, the human-powered driving force detection unit 44B may include a sensor that detects the pressure applied to the pedal 24. The human-powered driving force detection unit 44B may be provided on the chain. If the human-powered driving force detection unit 44B is provided on the chain, the human-powered driving force detection unit 44B may include a sensor that detects the tension of the chain.

[0047] The wheel rotation state detection unit 44C is communicated with the control unit 62, for example, by wired or wireless means. The wheel rotation state detection unit 44C is configured to detect information regarding the vehicle speed of the human-powered vehicle 10, for example. The wheel rotation state detection unit 44C is configured to detect information regarding the rotational speed of the wheel 12, for example. The wheel rotation state detection unit 44C is configured to detect a magnet provided on at least one of the front wheel 12F and the rear wheel 12R, for example.

[0048] The wheel rotation state detection unit 44C includes, for example, a vehicle speed sensor. The wheel rotation state detection unit 44C 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 44C outputs a signal corresponding to the rotation speed of the wheel 12. The control unit 62 can calculate the vehicle speed of the human-powered vehicle 10 based on the signal corresponding to the rotation speed of the wheel 12 and information regarding the circumference of the wheel 12. The storage unit 64 stores, for example, information regarding the circumference of the wheel 12.

[0049] The tilt detection unit 44D 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 44D is configured to detect, for example, the gradient of the road corresponding to at least one of the pitch angle, roll angle, and yaw angle of the human-powered vehicle 10. The tilt detection unit 44D may also include a GPS (Global Positioning System) receiver. If the tilt detection unit 44D includes a GPS receiver, for example, map information including information about the gradient of the road is pre-stored in the storage unit 64. The control unit 62 obtains the gradient of the road at the current location of the human-powered vehicle 10 based on the map information stored in the storage unit 64.

[0050] The control unit 62 is configured to control the transmission 42 to change the gear ratio based on shifting conditions, for example, by changing the gear ratio when a predetermined parameter exceeds a threshold. When a predetermined parameter exceeds various thresholds, it means that the predetermined parameter is greater than the upper threshold when the thresholds are upper thresholds. When a predetermined parameter exceeds various thresholds, it means that the predetermined parameter is less than the lower threshold when the thresholds are lower thresholds.

[0051] 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 a threshold. The shifting conditions include, for example, an additional threshold related to the predetermined parameter. 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 exceeds an additional threshold. For example, one of the threshold and the additional threshold is a lower threshold, and the other of the threshold and the additional threshold is an upper threshold. The lower threshold is smaller than the upper threshold.

[0052] When the control unit 62 controls the transmission 42 to change the gear ratio based on the gear shift conditions, it is configured to control the transmission 42 in either the first example of gear shift control or the second example of gear shift control.

[0053] In the first example of gear shift control, the control unit 62 is configured to control the transmission 42 such that the gear ratio increases when a predetermined parameter exceeds a threshold, for example, when the control unit 62 controls the transmission 42 to change the gear ratio based on gear shift conditions.

[0054] In the first example of gear shift control, the control unit 62 is configured to control the transmission 42 such that the gear ratio decreases when a predetermined parameter becomes smaller than an additional threshold, for example, when the control unit 62 controls the transmission 42 such that the gear ratio decreases when a predetermined parameter becomes smaller than an additional threshold, for example, when the control unit 62 controls the transmission 42 such that the gear ratio decreases when a predetermined parameter becomes smaller than a lower threshold, for example, when the control unit 62 controls the transmission 42 such that the gear ratio decreases when a predetermined parameter becomes smaller than a lower threshold. In the first example of gear shift conditions, the threshold is an upper threshold, and the additional threshold is a lower threshold.

[0055] In the first example of the gear shifting conditions, if a predetermined parameter has a negative correlation with the rider's load, the control unit 62 can, for example, suppress the rider's load. In the first example of the gear shifting conditions, if a predetermined parameter has a negative correlation with the rider's load, the control unit 62 can, for example, suppress an increase in the predetermined parameter. In the first example of the gear shifting conditions, if a predetermined parameter has a positive correlation with the rider's load, the control unit 62 can, for example, increase the gear ratio according to the rider's intention to accelerate. Predetermined parameters that have a negative correlation with the rider's load are, for example, the rotational speed of the crankshaft 22, the rotational speed of the wheels 12, and the vehicle speed. Predetermined parameters that have a positive correlation with the rider's load are, for example, the human power driving force, the pitch angle of the human powered vehicle 10, and the gradient of the road on which the human powered vehicle 10 travels.

[0056] In the second example of the shifting conditions, the control unit 62 is configured to control the transmission 42 such that the gear ratio increases when a predetermined parameter becomes smaller than a threshold, for example, when the control unit 62 controls the transmission 42 such that the gear ratio increases when a predetermined parameter becomes smaller than a threshold.

[0057] In the second example of the shifting conditions, the control unit 62 is configured to control the transmission 42 such that the gear ratio decreases when a predetermined parameter exceeds an additional threshold, for example, when the control unit 62 controls the transmission 42 to change the gear ratio based on the shifting conditions. In the second example of the shifting control, the threshold is a lower threshold, and the additional threshold is an upper threshold.

[0058] In the second example of the gear shifting conditions, if a predetermined parameter has a positive correlation with the rider's load, the control unit 62 can, for example, suppress the rider's load. In the second example of the gear shifting conditions, if a predetermined parameter has a positive correlation with the rider's load, the control unit 62 can, for example, suppress the increase of the predetermined parameter. In the second example of the gear shifting conditions, if a predetermined parameter has a negative correlation with the rider's load, the control unit 62 can, for example, reduce the gear ratio in response to the rider's desire to increase the predetermined parameter under light load conditions.

[0059] The control unit 62 is configured to control the transmission 42 in a first control state in which it suppresses gear changes that increase the gear ratio when the gear change conditions are met and the gear change suppression conditions are met. The control unit 62 is configured to control the transmission 42 in a second control state in which it does not suppress gear changes that increase the gear ratio when the gear change conditions are met and the gear change suppression conditions are not met.

[0060] The gear shift suppression conditions include, for example, conditions relating to an increase in human-powered driving force. The gear shift suppression conditions may further include conditions other than those relating to an increase in human-powered driving force. The gear shift suppression conditions may further include, for example, conditions relating to at least one of the increase in the gradient of the road, the gradient of the road, and the decrease in vehicle speed. The gear shift suppression conditions may further include conditions relating to two or more of the increase in the gradient of the road, the gradient of the road, and the decrease in vehicle speed.

[0061] In the first example of a gear shift suppression condition, the gear shift suppression condition is met, for example, when the human-powered driving force increases. The gear shift suppression condition is met, for example, when the amount of increase in human-powered driving force over a predetermined period is equal to or greater than a predetermined increase.

[0062] In the second example of the gear shift suppression condition, the gear shift suppression condition is met, for example, when the human-powered driving force increases, and the increase in the gradient of the road on which the human-powered vehicle 10 travels is less than or equal to a predetermined increase.

[0063] In the third example of the gear shift suppression condition, the gear shift suppression condition is met, for example, when the human-powered driving force increases and the gradient of the road on which the human-powered vehicle 10 travels is less than or equal to a predetermined gradient. The predetermined gradient is, for example, 0 degrees. The predetermined gradient may be greater than or less than 0 degrees.

[0064] In the fourth example of the gear shift suppression condition, the gear shift suppression condition is met, for example, when the human-powered driving force increases and the decrease in the vehicle speed of the human-powered vehicle 10 is less than or equal to a predetermined decrease.

[0065] The control unit 62 is configured to change the gear shift suppression conditions based on, for example, the driving state of the human-powered vehicle 10. The driving state includes, for example, a first driving state and a second driving state.

[0066] The first and second driving states are, for example, mutually exclusive. The driving states may include driving states other than the first and second driving states. The driving states include, for example, at least one of the gradient of the road the human-powered vehicle 10 travels on, the degree of change of the gradient, the vibration of the human-powered vehicle 10, and the degree of change of the vibration. The first driving state is, for example, greater than the second driving state in at least one of the gradient of the road the human-powered vehicle 10 travels on, the degree of change of the gradient, the vibration of the human-powered vehicle 10, and the degree of change of the vibration. The driving states include, for example, the first driving state in which the human-powered vehicle 10 is traveling off-road, and the second driving 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.

[0067] The control system 40 includes, for example, a driving state detection unit 46 that detects the driving state. The driving state detection unit 46 includes, for example, a tilt detection unit 46A. The tilt detection unit 46A is provided, for example, in a human-powered vehicle 10. The tilt detection unit 46A is configured, for example, in the same way as the tilt detection unit 44D.

[0068] The driving state detection unit 46 may include a position detection unit 46B in place of or in addition to the inclination detection unit 46A. The position detection unit 46B may include, for example, a GPS (Global Positioning System) receiver. If the position detection unit 46B includes a GPS receiver, for example, map information including information about the gradient of the driving path is pre-stored in the storage unit 64. The control unit 62 acquires the gradient of the driving path at the current location of the human-powered vehicle 10 based on the map information stored in the storage unit 64. The control unit 62 may acquire the road surface condition of the driving path at the current location of the human-powered vehicle 10 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 driving path at the current location of the human-powered vehicle 10.

[0069] The control unit 62 is configured to change the gear shift suppression conditions according to the output of the inclination detection unit 46A provided on the human-powered vehicle 10, for example. If the driving state detection unit 46 includes a position detection unit 46B, the control unit 62 may select either a first driving state or a second driving state based on the position information of the human-powered vehicle 10, for example. The control unit 62 selects the first driving state if, for example, at least one of the following detected by the driving state detection unit 46—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—corresponds to the first driving state. The control unit 62 determines that the driving state is the 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. The control unit 62 selects a second driving state if, for example, at least one of the following detected by the inclination 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—corresponds to a second driving state. In this embodiment, if the driving state is not the first driving state, the driving state is the second driving state.

[0070] When the gear shift suppression condition is met in the second driving state, the control unit 62 is configured to reduce the degree to which it suppresses gear shifts that result in a larger gear ratio than when the gear shift suppression condition is met in the first driving state. In the first example of the gear shift condition, the control unit 62 sets the upper limit threshold when the gear shift suppression condition is met in the second driving state to be lower than the upper limit threshold when the gear shift suppression condition is met in the first driving state. In the second example of the gear shift condition, the control unit 62 sets the lower limit threshold when the gear shift suppression condition is met in the second driving state to be higher than the lower limit threshold when the gear shift suppression condition is met in the first driving state.

[0071] The control unit 62 is configured to change the degree to which it suppresses gear changes that increase the gear ratio, based on the history information of the human-powered driving force input to the crankshaft 22 in the first control state. In this embodiment, the degree to which it suppresses gear changes that increase the gear ratio in the first control state may be referred to as the suppression degree. For example, in the first control state, the control unit 62 changes the suppression degree from the first degree to the second degree based on the history information of the human-powered driving force.

[0072] The history information includes, for example, the elapsed time while the human-powered driving force is within a predetermined range. The control unit 62 is configured to reduce the degree to which it suppresses gear changes that increase the gear ratio in the first control state if the elapsed time is greater than or equal to a predetermined elapsed time. The control unit 62 changes the suppression degree from the first degree to the second degree if the elapsed time is greater than or equal to a predetermined elapsed time. The control unit 62 is configured to set a predetermined range based on, for example, the human-powered driving force when the gear change suppression condition is met. The control unit 62 is configured to set a predetermined range based on, for example, the human-powered driving force at the time the gear change suppression condition is met.

[0073] Referring to Figure 3, 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 moves to step S11 of the flowchart shown in Figure 3. When the flowchart in Figure 3 is completed, the control unit 62 repeats the processing from step S11 at predetermined intervals, for example, until the power supply is stopped.

[0074] In step S11, the control unit 62 determines whether the gear shifting conditions are met. If the gear shifting conditions are not met, the control unit 62 terminates the process. If the gear shifting conditions are met, the control unit 62 proceeds to step S12. In step S12, the control unit 62 changes the gear shifting suppression conditions based on the driving state of the human-powered vehicle 10 and proceeds to step S13.

[0075] In step S13, the control unit 62 determines whether the gear shift suppression condition is met. The control unit 62 performs the determination in step S13 based, for example, on the gear shift suppression condition that was changed in step S12. If the gear shift suppression condition is met, the control unit 62 proceeds to step S14. In step S14, the control unit 62 changes the degree of suppression based on the history information and proceeds to step S15.

[0076] In step S15, the control unit 62 controls the transmission 42 in the first control state and terminates the process. The control unit 62 controls the transmission 42 based on the degree of suppression changed in step S14, for example. In step S15, for example, if a predetermined parameter exceeds a threshold and the degree of suppression is the first degree, the control unit 62 does not change the gear ratio. In step S15, for example, if a predetermined parameter exceeds a threshold and the degree of suppression is the second degree, the control unit 62 controls the transmission 42 to increase the gear ratio. In step S15, for example, if a predetermined parameter exceeds an additional threshold, the control unit 62 controls the transmission 42 to decrease the gear ratio.

[0077] If the gear shift suppression condition is not met in step S13, the control unit 62 proceeds to step S16. In step S16, the control unit 62 controls the transmission 42 in the second control state and terminates the process. For example, in step S16, if a predetermined parameter exceeds a threshold, the control unit 62 controls the transmission 42 to increase the gear ratio. For example, in step S16, if a predetermined parameter exceeds an additional threshold, the control unit 62 controls the transmission 42 to decrease the gear ratio.

[0078] <Example of changes> The description of embodiments is illustrative of possible forms of control devices for human-powered vehicles and is not intended to limit them. Control devices for human-powered vehicles according to this disclosure may take, for example, the modified embodiments shown below, and combinations of at least two non-inconsistent modifications. In the following modifications, parts common to the embodiments are denoted by the same reference numerals as in the embodiments and their descriptions are omitted.

[0079] - When the gear shift suppression condition is met in the second driving state, the control unit 62 may be configured to suppress gear shifts that result in a larger gear ratio to a greater extent than when the gear shift suppression condition is met in the first driving state. In the first example of the gear shift condition, the control unit 62 sets, for example, the upper limit threshold when the gear shift suppression condition is met in the second driving state to be greater than the upper limit threshold when the gear shift suppression condition is met in the first driving state. In the second example of the gear shift condition, the control unit 62 sets, for example, the lower limit threshold when the gear shift suppression condition is met in the second driving state to be smaller than the lower limit threshold when the gear shift suppression condition is met in the first driving state.

[0080] The control unit 62 may be configured to increase the degree to which it suppresses gear changes that increase the gear ratio in the first control state when the elapsed time is longer than a predetermined elapsed time. In this modified example, for example, when the rider applies human power stably over a long period of time, the control unit 62 can suitably control the transmission 42 because it suppresses the gear ratio from increasing against the rider's intention.

[0081] 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.”

[0082] 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]

[0083] 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 human-powered vehicle includes a transmission configured to change the gear ratio, which is the ratio of the rotational speed of the wheels of the human-powered vehicle to the rotational speed of the crankshaft of the human-powered vehicle. The system includes a control unit configured to control the aforementioned transmission, The control unit, The transmission is configured to control the gear ratio based on the gear shifting conditions, When the aforementioned gear shifting conditions are met and the gear shift suppression conditions are met, the transmission is configured to control the transmission in a first control state that suppresses gear shifts that increase the gear ratio. A control device configured to change the degree to which a gear change that increases the gear ratio is suppressed, based on the history information of the human-powered driving force input to the crankshaft, in the first control state.

2. The control device according to claim 1, wherein the gear shift suppression condition is met when the human-powered driving force increases.

3. The control device according to claim 2, wherein the gear shift suppression condition is met when the increase in the human-powered driving force during a predetermined period is equal to or greater than a predetermined increase.

4. The historical information includes the elapsed time during which the human-powered driving force is within a predetermined range. The control device according to claim 1, wherein the control unit is configured to reduce the degree to which it suppresses gear changes that increase the gear ratio in the first control state when the elapsed time is equal to or greater than a predetermined elapsed time.

5. The control device according to claim 4, wherein the control unit is configured to set the predetermined range based on the human-powered driving force when the gear shift suppression condition is met.

6. The control device according to claim 5, wherein the control unit is configured to set the predetermined range based on the human-powered driving force at the time the gear shift suppression condition is met.

7. The control device according to claim 2, wherein the gear shift suppression condition is met when the human-powered driving force increases and the increase in the gradient of the road on which the human-powered vehicle travels is less than or equal to a predetermined increase.

8. The control device according to claim 2, wherein the gear shift suppression condition is met when the human-powered driving force increases and the gradient of the road on which the human-powered vehicle travels is less than or equal to a predetermined gradient.

9. The control device according to claim 2, wherein the gear shift suppression condition is met when the human-powered driving force increases and the amount of decrease in the vehicle speed of the human-powered vehicle is less than or equal to a predetermined amount of decrease.

10. The control device according to claim 1, wherein the control unit is configured to change the gear shift suppression condition based on the driving state of the human-powered vehicle.

11. The control device according to claim 10, wherein the driving state includes at least one of the gradient of the road on which 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.

12. The control device according to claim 11, wherein the control unit is configured to change the gear shift suppression condition in accordance with the output of the tilt detection unit provided in the human-powered vehicle.

13. The control device according to claim 10, wherein the aforementioned driving state includes a first driving state in which the human-powered vehicle is driving off-road and a second driving state in which the human-powered vehicle is driving on-road.

14. The control device according to claim 13, wherein the control unit selects either the first driving state or the second driving state based on the position information of the human-powered vehicle.

15. The aforementioned gear shift conditions include thresholds related to predetermined parameters, The control device according to claim 1, wherein when the control unit controls the transmission to change the gear ratio based on the gear shifting conditions, it is configured to control the transmission such that the gear ratio increases when the predetermined parameter exceeds the threshold.

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 shifting conditions, it is configured to control the transmission such that the gear ratio increases when the predetermined parameter becomes greater than the threshold.

17. The control device according to claim 15, wherein the predetermined parameter relates to the rotational speed of the crankshaft.

18. The control device according to claim 15, wherein the predetermined parameter relates to the human-powered driving force input to the crankshaft.

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