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 of the human-powered vehicle, wherein the control unit is configured to control the transmission to change the gear ratio based on a gear shift condition, and when the gear shift condition is met and the amount of change in a speed-related value related to at least one of the vehicle speed and the rotational speed of the wheels of the human-powered vehicle changes from one of a maximum and a minimum value to the other is greater than or equal to a predetermined amount of change, the control unit is configured to control the transmission to change the gear ratio during a predetermined period between a first maximum time when the speed-related value becomes the maximum value and a second maximum time when the speed-related value becomes the next maximum value after the first maximum time.

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 to change a gear ratio based on the rotational speed of a crankshaft.

Prior Art Documents

Patent Documents

[0003]

Patent Document 1

Summary of Invention

Problems to be Solved by the Invention

[0004] One of the objects of the present disclosure is to provide a control device for a human-powered vehicle that can suitably change a gear ratio by 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 of the human-powered vehicle, wherein the control unit is configured to control the transmission to change the gear ratio based on a shift condition, and when the shift condition is satisfied and a change amount of a speed-related value in a case where the speed-related value related to at least one of a vehicle speed and a rotational speed of a wheel of the human-powered vehicle changes from one of a maximum value and a minimum value to the other is equal to or greater than a predetermined change amount, the control unit is configured to control the transmission to change the gear ratio in a predetermined period between a first maximum time point at which the speed-related value reaches the maximum value and a second maximum time point at which the speed-related value reaches the maximum value next to the first maximum time point. When the speed-related value is at its maximum, the driving force transmitted in the human-powered transmission path is large, resulting in a large load on the transmission. According to the control device on the first side, the transmission is controlled to change the gear ratio during a predetermined period between the first maximum value and the second maximum value, which is the next maximum value for the speed-related value. Therefore, the gear ratio can be suitably changed by the transmission during a predetermined period when the load on the transmission is small.

[0006] In a control device according to a second aspect of the first aspect of this disclosure, the predetermined period includes a minimum time point in time when the speed-related value is the minimum value. According to the control device on the second side, since the predetermined period includes a minimum time point, the gear ratio can be changed more favorably by the transmission.

[0007] In a control device according to a third aspect of the second aspect of this disclosure, the control unit is configured to control the transmission to complete the change in the gear ratio at the minimum time when the gear shift condition is met and the amount of change is equal to or greater than the predetermined amount of change. According to the control device on the third side, the transmission can be controlled to complete the change in gear ratio at the smallest possible time.

[0008] In a control device of a fourth aspect according to a second or third aspect of the present disclosure, the control unit is configured to control the transmission to complete the change of the gear ratio at a first predetermined time between a first maximum time and a minimum time, provided that the gear shifting condition is met and the amount of change is greater than or equal to a predetermined amount of change, the first predetermined time is closer to the minimum time than to the first maximum time. According to the control device on the fourth side, the transmission can be controlled to complete the change in the gear ratio at a first predetermined time point that is closer to the minimum time point than to the first maximum time point.

[0009] A control device according to a fifth aspect of the present disclosure, wherein the control unit is configured to control the transmission to start changing the gear ratio at a second predetermined time between the first maximum time and the minimum time, provided that the gear shifting condition is met and the amount of change is greater than or equal to the predetermined amount of change, the second predetermined time is closer to the minimum time than to the first maximum time. According to the control device on the fifth side, the transmission can be controlled to start changing the gear ratio at a second predetermined time point that is closer to the minimum time point than the first maximum time point.

[0010] In a control device according to a sixth aspect of any one of the second to fifth aspects of this disclosure, the control unit is configured to estimate an estimated minimum time at which the speed-related value becomes the minimum time when the gear shift condition is met and the amount of change is equal to or greater than the predetermined amount of change, and to control the transmission to change the gear ratio based on the estimated minimum time. According to the control device on the sixth side, the transmission can be controlled to change the gear ratio based on the estimated minimum time.

[0011] In a control device according to the seventh aspect of the sixth aspect of this disclosure, the control unit is configured to control the transmission in a gear shift allowance control state when the amount of change is less than the predetermined amount of change, and to control the transmission in a gear shift suppression control state in which the change in the gear ratio is suppressed more than in the gear shift allowance control state when the amount of change is greater than or equal to the predetermined amount of change, and when the gear shift condition is met in the gear shift suppression control state, the control unit is configured to estimate the estimated minimum time based on the period from one of the speed-related values ​​to the other of the maximum and minimum values, and to control the transmission to change the gear ratio based on the estimated minimum time. According to the control device on the seventh side, the transmission is controlled to change the gear ratio based on the estimated minimum time, so that the gear ratio can be suitably changed by the transmission at the estimated minimum time when the load on the transmission is small.

[0012] In a control device according to the eighth aspect of the present disclosure, if the time to the estimated minimum time is shorter than the determination time, the control device is configured to estimate the next estimated minimum time at which the speed-related value will be the minimum value after the estimated minimum time, and to control the transmission to change the gear ratio based on the estimated next minimum time. According to the control device on the eighth side, if the time until the estimated minimum is shorter than the determination time, the transmission can be controlled to change the gear ratio based on the estimated next minimum.

[0013] In a control device according to the ninth aspect of the present disclosure, the control unit is configured to control the transmission in a gear shift-permitting control state when the amount of change is less than the predetermined amount of change, and to control the transmission in a gear shift-suppressing control state in which the change in the gear ratio is suppressed more than in the gear shift-permitting control state when the amount of change is greater than or equal to the predetermined amount of change. According to the control device on the ninth side, if the amount of change is smaller than a predetermined amount of change, the transmission can be controlled so that the change in gear ratio is suppressed.

[0014] In a control device according to a tenth aspect of the present disclosure, which is any one of the seventh to ninth aspects, the control unit is configured to control the transmission to change the gear ratio after a first time has elapsed if the gear shift condition is met in the gear shift allowance control state, and to control the transmission to change the gear ratio after a second time has elapsed, which is longer than the first time, if the gear shift condition is met in the gear shift suppression control state. According to the control device on the 10th side, when the amount of change is less than a predetermined amount of change, the transmission can be controlled to change the gear ratio more slowly than when the amount of change is greater than or equal to a predetermined amount of change.

[0015] In a control device according to an eleventh aspect of the present disclosure, which is any one of the seventh to tenth aspects, the control unit is configured to control the transmission so as to immediately change the gear ratio when the user operates the transmission in the gear shift suppression control state. According to the control device on the 11th side, when the user operates the gear shift control device in the gear shift suppression control state, the gear ratio is changed immediately, so the gear ratio can be changed based on the user's intention to shift gears.

[0016] In a control device according to a twelfth aspect of the present disclosure, which is any one of the seventh to eleventh aspects, the control unit is configured to control the transmission in the transmission-permissible control state when the amount of change is greater than or equal to the predetermined amount of change and predetermined conditions relating to the rotational speed of the crankshaft of the human-powered vehicle are met. According to the control device on the 12th side, the transmission can be controlled in a speed-shifting-permissible control state when predetermined conditions regarding the rotational speed of the crankshaft are met.

[0017] A control device according to a thirteenth aspect of the present disclosure is a control device for a human-powered vehicle, comprising a control unit configured to control a transmission for changing the gear ratio of the human-powered vehicle, wherein the control unit is configured to control the transmission for changing the gear ratio based on a gear condition, and is configured to estimate an estimated minimum time at which the speed-related value will be the next minimum when the gear condition is met and the amount of change in the speed-related value related to at least one of the vehicle speed and the rotational speed of the wheels of the human-powered vehicle changes from one of a maximum and a minimum value to the other, and controls the transmission for changing the gear ratio based on the estimated minimum time. According to the control device on the 13th side, the transmission is controlled to change the gear ratio based on the estimated minimum time, so that the gear ratio can be suitably changed by the transmission during a predetermined period when the load on the transmission is small.

[0018] In a control device according to a fourteenth aspect of the thirteenth aspect of this disclosure, the control unit is configured to control the transmission such that the change in the gear ratio is completed at the estimated minimum time. According to the control device on the 14th side, the transmission can be controlled so that the change in gear ratio is completed at the estimated minimum time.

[0019] A control device according to a fifteenth 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 speed ratio of the human-powered vehicle, wherein the control unit is configured to control the transmission to change the speed ratio based on a shift condition, and is configured to vary a shift start period from when the shift condition is satisfied to when control of the transmission is started to change the speed ratio, in accordance with a change amount of a speed-related value when the speed-related value related to at least one of a vehicle speed and a rotational speed of a wheel of the human-powered vehicle changes from one of a maximum value and a minimum value to the other. According to the control device of the fifteenth aspect, the shift start period from when the shift condition is satisfied to when control of the transmission is started to change the speed ratio is varied in accordance with the change amount of the speed-related value, so that the speed ratio can be suitably changed by the transmission.

[0020] In the control device of the sixteenth aspect according to the fifteenth aspect of the present disclosure, when the change amount is equal to or greater than a first change amount, the shift start period is longer than when the change amount is smaller than the first change amount. According to the control device of the sixteenth aspect, when the change amount is smaller than a predetermined change amount, the transmission can be controlled to change the speed ratio later than when the change amount is equal to or greater than the predetermined change amount.

[0021] In the control device of the seventeenth aspect according to any one of the first to sixteenth aspects of the present disclosure, the speed-related value is input from a signal generation unit that is provided on the wheel and generates a signal based on the rotational speed of the wheel. According to the control device of the seventeenth aspect, the speed-related value can be acquired based on the signal input from the signal generation unit.

[0022] In the control device of the eighteenth aspect according to the seventeenth aspect of the present disclosure, the signal generation unit includes a hub dynamo. According to the control device of the eighteenth aspect, the speed-related value can be acquired based on electric power generated by the hub dynamo.

[0023] A control device according to a 19th aspect of the present disclosure, wherein the transmission includes an internal gear hub. According to the control device on the 19th side, the transmission, including the internal gear hub, can be suitably controlled. [Effects of the Invention]

[0024] The control device for a human-powered vehicle according to this disclosure can suitably change the gear ratio by means of a transmission. [Brief explanation of the drawing]

[0025] [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 change the gear shift control state. [Figure 4] This is the first part of the flowchart for the process of changing the gear ratio, which is executed by the control unit shown in Figure 2. [Figure 5] This is the second part of the flowchart for the process of changing the gear ratio, which is executed by the control unit shown in Figure 2. [Figure 6] This is a timing chart showing an example of how speed-related values ​​change over time. [Modes for carrying out the invention]

[0026] <Embodiment> A control device 60 for a human-powered vehicle according to an embodiment will be described with reference to Figures 1 to 6.

[0027] 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.

[0028] As shown in Figure 1, 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.

[0029] 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.

[0030] 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. For example, one of the front wheel 12F and the rear wheel 12R is a drive wheel, and the other of the front wheel 12F and the rear wheel 12R is a driven wheel. In this embodiment, the rear wheel 12R is a drive wheel and the front wheel 12F is a driven wheel. Alternatively, the front wheel 12F may be a drive wheel and the rear wheel 12R may be a driven wheel.

[0031] The drive mechanism 32 includes, for example, a first rotating body 34 connected to the crankshaft 22. The first rotating body 34 includes, for example, a front sprocket. The first rotating body 34 may also include a pulley or a bevel gear. The crankshaft 22 may be connected to the front sprocket via a one-way clutch.

[0032] The drive mechanism 32 further includes, for example, a second rotating body 36 and a transmission member 38. The second rotating body 36 is connected to, for example, a drive wheel. The drive mechanism 32 further includes, for example, a drive wheel. The drive wheel is configured to rotate, for example, in conjunction with the rotation of the second rotating body 36. The transmission member 38 is configured to transmit the rotational force of the first rotating body 34 to the 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. The second rotating body 36 includes, for example, a rear sprocket. The 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. The drive mechanism 32 further includes, for example, a driven wheel. The driven wheel is configured to rotate via the ground when the drive wheel rotates.

[0033] As shown in Figures 1 to 3, the human-powered vehicle 10 is equipped with, for example, at least a part of a human-powered vehicle transmission system 40. The human-powered vehicle transmission system 40 includes a human-powered vehicle transmission 42.

[0034] The transmission 42 changes the gear ratio of the human-powered vehicle 10. The transmission 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 transmission 42 is configured to change the gear ratio in steps, for example. The transmission 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 transmission 42 includes, for example, an internal gear hub 42A. The internal gear hub 42A is, for example, provided on the rear hub. The internal gear hub 42A may be provided on the crankshaft 22. The internal gear hub 42A includes, for example, a planetary gear mechanism. The planetary gear mechanism includes, for example, a plurality of sun gears provided on the hub shaft. The internal gear hub 42A changes the gear ratio, for example, by changing the rotational state of each of the sun gears relative to the hub axle. The internal gear hub 42A changes the gear ratio to select one gear ratio from several gear ratios, for example, by making one of the sun gears non-rotatable relative to the hub axle and making the other sun gears rotatable relative to the hub axle. The number of gear ratios is not limited. The number of gear ratios is, for example, 11, 8, 7, 6, or 5. The internal gear hub 42A may include a transmission with multiple spur gears instead of or in addition to the planetary gear mechanism, and may include a continuously variable transmission in which the gear ratio changes continuously.

[0035] The transmission 42 includes a drive unit 44 that causes the internal gear hub 42A to perform a gear shift operation. The internal gear hub 42A is located, for example, inside the hub shell. The drive unit 44 is mounted on the hub axle, for example, adjacent to the internal gear hub 42A in the axial direction of the hub axle. At least a portion of the drive unit 44 may be located inside the hub shell. The drive unit 44 is connected to a gear shift control member, for example, which is mounted on the internal gear hub 42A and configured to rotate around the hub axle. The drive unit 44 changes the gear ratio by rotating the gear shift control member. The drive unit 44 may be mounted on the frame 16, for example.

[0036] The drive unit 44 includes, for example, an electric actuator 46. The electric actuator 46 rotates, for example, a speed control member. The electric actuator 46 includes, for example, an electric motor.

[0037] The gear shift system 40 includes, for example, a gear shift operating device 48. The gear shift operating device 48 is mounted, for example, on the handlebars 28. The gear shift operating device 48 transmits a gear shift operation signal to, for example, the control unit 62 of the control device 60. The gear shift operating device 48 may be configured to communicate with the control device 60 by power line communication.

[0038] The gear shifting system 40 includes, for example, a signal generating unit 50 that generates a signal corresponding to at least one of the vehicle speed and the rotational speed of the wheel 12. The signal generating unit 50 is, for example, provided on the wheel 12 and generates a signal based on the rotational speed of the wheel 12. The signal generating unit 50 includes, for example, a hub dynamo 50A. The hub dynamo 50A generates, for example, alternating current power with a frequency corresponding to the rotational speed of the wheel 12. The power generated by the hub dynamo 50A has a period corresponding to the number of poles of the magnets included in the hub dynamo 50A during one rotation of the wheel 12. The number of poles of the magnets included in the hub dynamo 50A is, for example, 2 or more and 64 or less. The number of poles of the magnets included in the hub dynamo 50A is, for example, 32 poles. The hub dynamo 50A is provided on, for example, the front wheel 12F. The hub dynamo 50A may be provided on the rear wheel 12R. The signal generation unit 50 transmits the generated signal to the control unit 62 of the control device 60. If the signal generation unit 50 includes a hub dynamo 50A, the signal transmitted from the control device 60 to the control unit 62 may be the power generated by the hub dynamo 50A. The power generated by the hub dynamo 50A is transmitted from the control device 60 to the control unit 62 while maintaining a waveform corresponding to the rotation angle of the wheel 12. The waveform of the power input to the control unit 62 may be processed by a filter or the like, as long as information regarding the period corresponding to the number of poles of the magnets included in the hub dynamo 50A is maintained.

[0039] The transmission system 40 further includes, for example, a power storage unit 52. The power storage unit 52 stores, for example, the power generated by the hub dynamo 50A. The power storage unit 52 is provided, for example, in the drive unit 44. The power storage unit 52 may be provided outside the drive unit 44. The power storage unit 52 includes, for example, a capacitor. The capacitor includes, for example, a lithium-ion capacitor. The capacitor may include an electric double layer capacitor (EDLC), a pseudo capacitor, or a redox capacitor.

[0040] At least a portion of the control device 60 is provided, for example, in the drive unit 44. The control device 60 includes a control unit 62. The control unit 62 includes, for example, a CPU (Central Processing Unit) or an MPU (Micro Processing Unit). The control unit 62 may be provided in multiple locations that are far apart from each other. If the control unit 62 is provided in multiple locations that are far apart from each other, each part of the control unit 62 may be connected to communicate with each other via a wireless communication device.

[0041] The control device 60 further includes, for example, a storage unit 64. 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).

[0042] The control unit 62 is configured to control the electric actuator 46. The control unit 62 includes, for example, a drive circuit 66 that controls the electric actuator 46. The drive circuit 66 includes, for example, an inverter that controls the power supply to the electric actuator 46. The control unit 62 is configured to send a control signal to the drive circuit 66 when driving the electric actuator 46.

[0043] The transmission system 40 includes, for example, a pulse generation unit 54 configured to generate pulse signals based on the period of the waveform of the signal generated in the signal generation unit 50. The pulse generation unit 54 is provided, for example, in the drive unit 44. For example, power generated in the signal generation unit 50 is transmitted to the energy storage unit 52 and the pulse generation unit 54. The pulse generation unit 54 converts the AC power input to the pulse generation unit 54 into a high signal or a low signal.

[0044] The control unit 62 calculates, for example, the period of the generated signal. The control unit 62 calculates at least one of the time from a high signal to a low signal, from a low signal to a high signal, from one high signal to the next high signal, and from one low signal to the next low signal as the signal period of the pulse generation unit 54. Based on the signal period, the control unit 62 calculates the rotational speed of the wheel 12. The control unit 62 determines the rotational speed of the wheel 12 based on, for example, the signal period and the number of poles of the magnet of the hub dynamo 50A. The control unit 62 may also calculate the vehicle speed based on the circumference of the wheel 12 from the calculated rotational speed of the wheel 12.

[0045] 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 gear conditions. The gear conditions relate to, for example, predetermined parameters. The predetermined parameters include, for example, at least one of speed-related values, the rotational speed of the crankshaft 22, the acceleration of the human-powered vehicle 10, and the tilt angle of the human-powered vehicle 10. The control unit 62 may calculate the rotational speed of the crankshaft 22 by dividing the rotational speed of the wheels 12 by the gear ratio. The control unit 62 is configured to control the transmission 42 to change the gear ratio based on, for example, the result of comparing the predetermined parameter with a threshold. The threshold includes, for example, at least one of an upper threshold and a lower threshold. The control unit 62 is configured to control the transmission 42 to change the gear ratio if, for example, the predetermined parameter is greater than the upper threshold. The control unit 62 is configured to control the transmission 42 to change the gear ratio if, for example, the predetermined parameter is less than the lower threshold.

[0046] The gear shifting conditions may be met, for example, when the gear shift control device 48 is operated. When the control unit 62 receives a gear shifting signal from the gear shift control device 48, it is configured to control the gear shift device 42 to change the gear ratio.

[0047] The control unit 62 may have a learning function related to the control of changing the gear ratio. The control unit 62 may control the transmission 42 to change the gear ratio based on the learning results regarding the information of the human-powered vehicle 10. The control unit 62 may control the transmission 42 to change the gear ratio based on the learning results regarding the gear shift operation signals from the gear shift operation device 48.

[0048] The control unit 62 is configured to control the transmission 42 based on the amount of change in the speed-related value when the gear shifting conditions are met and the speed-related value changes from one of its maximum or minimum values ​​to the other. The speed-related value is, for example, the vehicle speed. The speed-related value may also be the rotational speed of the wheels 12. The speed-related value may also be a value linked to the vehicle speed and the rotational speed of the wheels 12. The speed-related value is input from, for example, the signal generation unit 50. The speed-related value is, for example, the rotational speed of the wheels 12 or the vehicle speed determined by the control unit 62 based on the output of the pulse generation unit 54.

[0049] The control unit 62 has, for example, a plurality of gear shift control states for controlling the transmission 42. The plurality of gear shift control states include, for example, a gear shift allowance control state and a gear shift suppression control state. The control unit 62 is configured to control the transmission 42 in the gear shift allowance control state when the amount of change is less than a predetermined amount of change. The control unit 62 is configured to control the transmission 42 in the gear shift suppression control state when the amount of change is greater than or equal to a predetermined amount of change, in which the change in the gear ratio is suppressed more than in the gear shift allowance control state.

[0050] The control unit 62 is configured to control the transmission 42 to change the gear ratio after a first time has elapsed, for example, when the gear shifting conditions are met in the gear shifting-permitted control state. The control unit 62 is configured to control the transmission 42 to change the gear ratio after a second time has elapsed, which is longer than the first time, when the gear shifting conditions are met in the gear shifting-suppressed control state. The first time includes, for example, a delay time until the control unit 62 starts controlling the electric actuator 46. The control unit 62 drives the electric actuator 46 to change the gear ratio immediately when the gear shifting conditions are met in the gear shifting-permitted control state.

[0051] The control unit 62 is configured to control the transmission 42 to change the gear ratio during a predetermined period between the first maximum time and the second maximum time, when the gear shifting conditions are met and the amount of change in the speed-related value is greater than or equal to a predetermined amount of change. The speed-related value is related to at least one of the vehicle speed and the rotational speed of the wheels 12 of the human-powered vehicle 10. The first maximum time is the time when the speed-related value reaches its maximum value. The second maximum time is the time when the speed-related value reaches the next maximum value after the first maximum time.

[0052] The control unit 62 determines, for example, that the speed-related value is at a local maximum when it changes from a state of increasing to a state of decreasing. The control unit 62 determines, for example, that the speed-related value is at a local minimum when it changes from a state of decreasing to a state of increasing. The control unit 62 determines, for example, that the speed-related value has increased when it is greater than the speed-related value acquired previously. The control unit 62 determines, for example, that the speed-related value has decreased when it is less than the speed-related value acquired previously. The control unit 62 may also determine that the speed-related value has increased when the signal period has shortened, and that the speed-related value has decreased when the signal period has lengthened.

[0053] The predetermined period includes, for example, the minimum time when the speed-related value reaches a minimum value. The minimum time is, for example, after the first maximum time and before the second maximum time. The control unit 62 estimates the estimated minimum time when the speed-related value reaches a minimum value if, for example, the gear shifting conditions are met and the amount of change is greater than or equal to a predetermined amount of change. The control unit 62 is configured to control the transmission 42 to change the gear ratio based on the estimated minimum time. The control unit 62 is configured to estimate the estimated minimum time when, for example, the gear shifting conditions are met in the gear shift suppression control state, based on the period from one of the maximum and minimum values ​​to the other, and to control the transmission 42 to change the gear ratio based on the estimated minimum time. The control unit 62 calculates the change time from one of the maximum and minimum values ​​to the other. The control unit 62 estimates the time when the change time has elapsed since the last time the value reached a maximum as the estimated minimum time. The control unit 62 may, for example, calculate the time of change from one of the speed-related values ​​(maximum or minimum) to one of the maximum or minimum values ​​of the next period. The control unit 62 may also estimate the time at which the time of change has elapsed since the last time the minimum value was reached as the estimated minimum time.

[0054] The control unit 62 is configured to control the transmission 42 to complete the gear ratio change at a first predetermined time between a first maximum time and a minimum time, for example, when the gear shifting conditions are met and the amount of change is greater than or equal to a predetermined amount of change. The first predetermined time is closer to the minimum time than to the first maximum time. The first predetermined time is closer to an estimated minimum time than to a first maximum time estimated based on changes in speed-related values, for example. The control unit 62 may or may not estimate the first maximum time. The control unit 62 is configured to control the transmission 42 to complete the gear ratio change at a minimum time, for example, when the gear shifting conditions are met and the amount of change is greater than or equal to a predetermined amount of change.

[0055] The control unit 62 is configured to control the transmission 42 to start changing the gear ratio at a second predetermined time between a first maximum time and a minimum time, for example, when the gear shifting conditions are met and the amount of change is greater than or equal to a predetermined amount of change. The second predetermined time is closer to the minimum time than to the first maximum time. The second predetermined time is closer to an estimated minimum time than to the first maximum time which is estimated based on changes in speed-related values, for example. The control unit 62 may or may not estimate the second maximum time.

[0056] The control unit 62 controls the transmission 42 to start changing the gear ratio at a second predetermined time, and to complete changing the gear ratio at a first predetermined time. The control unit 62 also controls the electric actuator 46 to start driving at a second predetermined time. The control unit 62 also controls the electric actuator 46 to complete changing the rotation state of the multiple sun gears of the internal transmission 42A at a first predetermined time. The control unit 62 may stop driving the electric actuator 46 at the first predetermined time.

[0057] The time from when the gear shifting conditions are met until the second predetermined time corresponds, for example, to the second time from when the gear shifting conditions are met in the gear shift suppression control state until the transmission 42 is controlled. The time from when the gear shifting conditions are met until the first predetermined time may also correspond to the second time from when the gear shifting conditions are met in the gear shift suppression control state until the transmission 42 is controlled.

[0058] The control unit 62 is configured to, for example, if the time until the estimated minimum time is shorter than the determination time, estimate the next estimated minimum time at which the speed-related value will be at its minimum after the estimated minimum time, and control the transmission 42 to change the gear ratio based on the estimated next minimum time. The determination time includes, for example, the time required for the electric actuator 46 to start driving, the delay time of the filter used to calculate the speed-related value, and at least one of the time required to calculate the second predetermined time or the first predetermined time.

[0059] If the gear shift conditions are met again after the gear shift conditions have been met but before the gear ratio change is initiated, the control unit 62 may change the gear ratio based on the gear shift conditions that are met again within a predetermined period. For example, if the gear shift conditions for increasing the gear ratio by one step are met, but before the gear ratio change is initiated, the control unit 62 controls the transmission 42 so that the gear ratio increases by two steps within a predetermined period.

[0060] If the gear shifting conditions are met again within a predetermined period, the control unit 62 may change the gear ratio based on the initial gear shifting conditions, and then change the gear ratio again based on the newly met gear shifting conditions.

[0061] Referring to Figure 3, the process by which the control unit 62 changes the gear shift control state 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 ends, the control unit 62 repeats the processing from step S11 at predetermined intervals, for example, until the power supply is stopped.

[0062] In step S11, the control unit 62 determines whether the gear shift control state is the gear shift allowance control state. If the gear shift control state is the gear shift allowance control state, the process proceeds to step S12. In step S12, the control unit 62 determines whether the change in the speed-related value is greater than or equal to a predetermined change. If the change in the speed-related value is not the predetermined change, the control unit 62 terminates the process. If the change in the speed-related value is greater than or equal to the predetermined change, the control unit 62 proceeds to step S13. In step S13, the control unit 62 changes the gear shift control state from the gear shift allowance control state to the gear shift suppression control state and terminates the process.

[0063] If the gear shift control state is not the gear shift allowance control state in step S11, the control unit 62 proceeds to step S14. In step S14, the control unit 62 determines whether the change in the speed-related value is less than a predetermined change. If the change in the speed-related value is not less than the predetermined change, the control unit 62 terminates the process. If the change in the speed-related value is less than the predetermined change, the control unit 62 proceeds to step S15. In step S15, the control unit 62 changes the gear shift control state from the gear shift suppression control state to the gear shift allowance control state and terminates the process.

[0064] Referring to Figures 4 and 5, the process by which the control unit 62 controls the transmission 42 based on the transmission control state will be described. For example, when power is supplied to the control unit 62, it starts processing and proceeds to step S21 of the flowchart shown in Figure 4. When the flowchart in Figure 4 ends, the control unit 62 repeats the processing from step S21 at predetermined intervals, for example, until the power supply is stopped.

[0065] In step S21, the control unit 62 determines whether the gear shift control state is a gear shift allowance control state. If the gear shift control state is a gear shift allowance control state, the control unit 62 proceeds to step S22. In step S22, the control unit 62 determines whether the gear shift condition is met. If the gear shift condition is met, the control unit 62 proceeds to step S23. In step S23, the control unit 62 controls the transmission 42 to change the gear ratio and terminates the process.

[0066] If the gear shift control state is not in the gear shift permission control state in step S21, the control unit 62 proceeds to step S24. In step S24, the control unit 62 determines whether the gear shift condition is met. If the gear shift condition is not met, the control unit 62 terminates the process. If the gear shift condition is met, the control unit 62 proceeds to step S25.

[0067] In step S25, the control unit 62 estimates the estimated minimum time and proceeds to step S26. In step S26, the control unit 62 determines whether the time until the estimated minimum time is shorter than the determination time. If the time until the estimated minimum time is shorter than the determination time, the control unit 62 proceeds to step S27. In step S27, the control unit 62 estimates the estimated next minimum time and proceeds to step S28. In step S28, the control unit 62 determines whether it is within a predetermined period corresponding to the estimated next minimum time. The control unit 62 repeats the process in step S28 until it is within the predetermined period corresponding to the estimated next minimum time. When it is within the predetermined period corresponding to the estimated next minimum time, the control unit 62 proceeds to step S29. In step S29, the control unit 62 controls the transmission 42 to change the gear ratio and terminates the process.

[0068] If, in step S26, the control unit 62 determines whether the time to the estimated minimum is shorter than the determination time, it proceeds to step S30. In step S30, the control unit 62 determines whether the time to the estimated minimum is within a predetermined period. The control unit 62 repeats the process in step S30 until the time to the estimated minimum is within the predetermined period. When the time to the estimated minimum is within the predetermined period, the control unit 62 proceeds to step S31. In step S31, the control unit 62 controls the transmission 42 to change the gear ratio and terminates the process.

[0069] Figure 6 shows an example of the relationship between changes in speed-related values ​​over time and the control of the transmission 42. Time t11 is the time when the speed-related value reaches a minimum value. Time t12 is the time when the speed-related value reaches a minimum value. Since the change in the speed-related value DP1 from time t11 to time t12 is greater than a predetermined change, at time t12 the control unit 62 changes the gear shift control state from the gear shift allowance control state to the gear shift suppression control state. Prior to time t12, the gear shift control state is the gear shift allowance control state, so when the gear shift condition is met, the control unit 62 controls the transmission 42 to immediately change the gear ratio.

[0070] Time t13 is the time when the gear shift condition is met in the gear shift suppression control state. At time t13, the control unit 62 estimates the estimated minimum time. Since the time until the estimated minimum time estimated at time t13 is greater than or equal to the determination time, at time t13, the control unit 62 determines a predetermined period TX from the second predetermined time to the first predetermined time based on the estimated minimum time.

[0071] Time t14 corresponds to the second predetermined time. At time t14, the control unit 62 starts controlling the transmission 42 to change the gear ratio. At time t14, for example, the control unit 62 drives the electric actuator 46. Time t15 is the first predetermined time. At time t15, the control unit 62 stops driving the electric actuator 46.

[0072] Time t16 is the time when the speed-related value reaches a minimum value. Time t17 is the time when the speed-related value reaches a maximum value. Since the change amount DP2 of the speed-related value from time t16 to time t17 is smaller than a predetermined change amount, at time t17 the control unit 62 changes the gear shift control state from the gear shift suppression control state to the gear shift allowance control state.

[0073] When the rider increases the human-powered driving force for acceleration, the periodic fluctuations in one rotation of the crankshaft 22 increase, causing the rotational speed of the wheels 12 and the vehicle speed to fluctuate periodically. When the speed-related values ​​are at their maximum, the load on the transmission 42 is large. When the load on the transmission 42 is large, the shift shock when changing the gear ratio becomes large, causing the rider to feel uncomfortable. The control unit 62 controls the transmission 42 to change the gear ratio during a predetermined period between the first maximum point when the speed-related values ​​reach their maximum and the second maximum point when the speed-related values ​​reach their next maximum, when the amount of change in the speed-related values ​​is greater than or equal to a predetermined amount of change, thereby suppressing the shift shock.

[0074] When the rider monotonically increases the speed-related values ​​of the human-powered vehicle 10, the amount of change in the speed-related values ​​is often smaller than a predetermined amount of change when the value changes from a maximum to a minimum. According to the control device 60 of this embodiment, for example, when the speed-related values ​​are monotonically increasing, such as when starting, the control unit 62 can control the transmission 42 to quickly change the gear ratio even when the human-powered driving force is large.

[0075] <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.

[0076] The control unit 62 may be configured to control the transmission 42 to immediately change the gear ratio when the user operates the gear shift control device 48 in the gear shift suppression control state. In this modified example, the gear shift condition does not include operation of the gear shift control device 48. The control unit 62 is configured to control the transmission 42 to immediately change the gear ratio when the user operates the gear shift control device 48 in the gear shift allowance control state. The control unit 62 may be configured to control the transmission 42 to change the gear ratio in the same way as when the user operates the gear shift control device 48 in the gear shift allowance control state, for example, when the user operates the gear shift control device 48 in the gear shift suppression control state.

[0077] The signal generating unit 50 may include a sensor that detects at least one of the vehicle speed and the rotational speed of the wheel 12, instead of the hub dynamo 50A. The sensor may include, for example, a magnetic sensor that detects a magnet provided on the wheel 12.

[0078] • Speed-related values ​​may include the rotational speed of the crankshaft 22. If speed-related values ​​include the rotational speed of the crankshaft 22, the gear shifting system 40 may include a sensor that detects the rotational speed of the crankshaft 22 instead of the signal generating unit 50.

[0079] The control unit 62 may be configured to control the transmission 42 in a speed-shift-permitted control state when the amount of change is greater than or equal to a predetermined amount of change, and when predetermined conditions relating to the rotational speed of the crankshaft 22 of the human-powered vehicle 10 are met. The predetermined conditions relate, for example, to the result of comparing the rotational speed of the crankshaft 22 with the vehicle speed or the rotational speed of the wheels 12 included in the speed-related values. The predetermined conditions are met, for example, when the estimated rotational speed of the crankshaft 22, calculated based on at least one of the maximum and minimum values ​​of the speed-related values, is different from the rotational speed of the crankshaft 22 of the human-powered vehicle 10. The rotational speed of the crankshaft 22 is detected, for example, by a sensor that detects the rotational speed of the crankshaft 22. The rotational speed of the crankshaft 22 may be a value calculated based on speed-related values. Specifically, the control unit 62 may calculate the rotational speed of the crankshaft 22 by multiplying the rotational speed of the wheels 12 based on speed-related values ​​by the reciprocal of the gear ratio. The control unit 62 calculates the rotational speed of the crankshaft 22 by multiplying the rotational speed of the wheel 12, which is calculated based on the signal period of the pulse generation unit 54, by the reciprocal of the gear ratio, regardless of the existence of local maximums and minimums. The control unit 62 compares the rotational speed of the crankshaft 22 of the human-powered vehicle 10 with the estimated rotational speed of the crankshaft 22. The predetermined condition is met, for example, when the difference resulting from the comparison is greater than or equal to a predetermined ratio. The difference resulting from the comparison is expressed, for example, by the ratio of the estimated rotational speed of the crankshaft 22 to the rotational speed of the crankshaft 22 of the human-powered vehicle 10. The predetermined condition is met, for example, when the human-powered vehicle 10 is traveling on an uneven road surface such as an off-road. Even if the amount of change exceeds a predetermined amount due to the human-powered vehicle 10 traveling on an uneven road surface such as an off-road, the control unit 62 can control the transmission 42 in the gear shift allowance control state. The rotational speed of the crankshaft 22 may be expressed by the number of rotations of the crankshaft 22 per predetermined time (rpm), or by the amount of rotation of the crankshaft 22 in a predetermined time (deg / sec).The control unit 62 may be configured to control the transmission 42 in a speed-shift-permitting control state if the amount of change in the speed-related values ​​is greater than a predetermined amount of change, and if the rotational speed of the crankshaft 22 calculated based on the speed-related values ​​differs from the estimated rotational speed of the crankshaft 22. For example, the control unit 62 compares the rotational speed of the crankshaft 22 calculated based on the speed-related values ​​with the estimated rotational speed of the crankshaft 22. For example, if the difference from the comparison is greater than a predetermined ratio, the control unit 62 may consider the maximum and minimum values ​​of the speed-related values ​​as noise and may not perform calculations for a predetermined period.

[0080] The rotational speed of the crankshaft 22 may be the average value of the estimated rotational speed of the crankshaft 22. The average value of the estimated rotational speed of the crankshaft 22 is, for example, the average of multiple estimated rotational speeds of the crankshaft 22 based on the time it takes for the speed-related values ​​to move from one of a maximum and minimum value to the other.

[0081] The control unit 62 is configured to control the transmission 42 to change the gear ratio during a predetermined period between the first maximum time point when the speed-related value reaches its maximum value and the second maximum time point when the speed-related value reaches the next maximum value after the first maximum time point, provided that the gear shifting conditions are met and the amount of change in the speed-related value when the speed-related value related to at least one of the vehicle speed and the rotational speed of the wheels 12 of the human-powered vehicle 10 changes from one of its maximum and minimum values ​​to the other is greater than or equal to a predetermined amount of change. Other configurations can be omitted as appropriate.

[0082] The internal gear hub 42A may be located near the crankshaft 22. The gear shifting system 42 may include an external gear hub instead of the internal gear hub 42A. The external gear hub may be a rear external gear hub or a front internal gear hub.

[0083] The control unit 62 is configured to control the transmission 42 to change the gear ratio based on the estimated minimum time when the speed-related value changes from one of the maximum or minimum value to the other when the gear-shifting conditions are met and the speed-related value related to at least one of the vehicle speed and the rotational speed of the wheels 12 of the human-powered vehicle 10 changes from one of the maximum or minimum value to the other, and to change the gear ratio based on the estimated minimum time, in which case other configurations can be omitted as appropriate.

[0084] The control unit 62 is configured to vary the shift initiation period from when the shift condition is met until control of the transmission 42 to change the gear ratio, depending on the amount of change in the speed-related value when the speed-related value related to at least one of the vehicle speed and the rotational speed of the wheels 12 of the human-powered vehicle 10 changes from one of a maximum and minimum value to the other. Other configurations can be omitted as appropriate. In this modified example, for example, the shift initiation period is longer when the amount of change is greater than or equal to a first amount of change than when the amount of change is less than a first amount of change. The first amount of change corresponds to, for example, a predetermined amount of change. Since the shift initiation period is longer when the amount of change is greater than or equal to a first amount of change than when the amount of change is less than a first amount of change, the change in the gear ratio can be postponed until a suitable timing for changing the gear ratio when the amount of change is greater than or equal to a first amount of change. Therefore, the control unit 62 can suitably control the transmission 42. When the amount of change is greater than or equal to the first amount of change, the shift initiation period is longer than when the amount of change is less than the first amount of change, so the control unit 62 can secure time to perform calculations to suitably change the gear ratio. Therefore, the control unit 62 can suitably control the gear shift device 42. When the amount of change is greater than or equal to a predetermined amount of change, the shift initiation period may be shorter than when the amount of change is less than the predetermined amount of change. In this modified example, when the amount of change is greater than or equal to the first amount of change, the shift initiation period is shorter than when the amount of change is less than the first amount of change, so for example, when the amount of change becomes large due to standing pedaling, the gear ratio can be changed earlier in accordance with the rider's load, thus allowing the gear shift device 42 to be suitably controlled.

[0085] 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.”

[0086] 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]

[0087] 10...Human-powered vehicle, 12...Wheel, 22...Crankshaft, 42...Transmission, 42A...Internal transmission, 48...Shifting control device, 50...Signal generator, 50A...Hub dynamo, 60...Control device, 62...Control unit.

Claims

1. A control device for a human-powered vehicle, The vehicle includes a control unit configured to control a transmission that changes the gear ratio of the human-powered vehicle, The control unit, The transmission is configured to control the gear ratio based on the gear shifting conditions, A control device configured to control the transmission to change the gear ratio during a predetermined period between a first maximum time point when the speed-related value, which is related to at least one of the vehicle speed and the rotational speed of the wheels of the human-powered vehicle, changes from one of its maximum and minimum values ​​to the other, and a second maximum time point when the speed-related value becomes the next maximum value after the first maximum time point, provided that the gear shifting conditions are met and the amount of change in the speed-related value when the speed-related value changes from one of its maximum and minimum values ​​to the other is greater than or equal to a predetermined amount of change.

2. The control device according to claim 1, wherein the predetermined period includes a minimum time point in time when the speed-related value reaches the minimum value.

3. The control device according to claim 2, wherein the control unit is configured to control the transmission to complete the change in the gear ratio at the minimum time when the gear shifting condition is met and the amount of change is equal to or greater than the predetermined amount of change.

4. The control unit is configured to control the transmission to complete the change in the gear ratio at a first predetermined time between the first maximum time and the minimum time, provided that the gear shifting conditions are met and the amount of change is greater than or equal to the predetermined amount of change. The control device according to claim 2, wherein the first predetermined time is closer to the minimum time than the first maximum time.

5. The control unit is configured to control the transmission to start changing the gear ratio at a second predetermined time between the first maximum time and the minimum time, when the gear shifting conditions are met and the amount of change is equal to or greater than the predetermined amount of change. The control device according to claim 2, wherein the second predetermined time point is closer to the minimum time point than the first maximum time point.

6. The control device according to claim 2, wherein the control unit is configured to estimate an estimated minimum time at which the speed-related value becomes the minimum time when the gear shifting condition is met and the amount of change is equal to or greater than the predetermined amount of change, and to control the transmission to change the gear ratio based on the estimated minimum time.

7. The control unit, If the amount of change is smaller than the predetermined amount of change, the transmission is configured to be controlled in the speed shift allowance control state. If the amount of change is greater than or equal to the predetermined amount of change, the transmission is configured to control the transmission in a transmission suppression control state in which the change in the gear ratio is suppressed more than in the transmission allowance control state. The control device according to claim 6, wherein, when the gear shift condition is met in the gear shift suppression control state, the device is configured to estimate the estimated minimum time based on the period from when the speed-related value changes from one of the maximum value and the minimum value to the other, and to control the transmission to change the gear ratio based on the estimated minimum time.

8. The control device according to claim 7, wherein the control unit is configured to, if the time until the estimated minimum time is shorter than the determination time, estimate the next estimated minimum time at which the speed-related value will be the minimum value after the estimated minimum time, and control the transmission to change the gear ratio based on the estimated next minimum time.

9. The control unit, If the amount of change is smaller than the predetermined amount of change, the transmission is configured to be controlled in the speed shift allowance control state. The control device according to claim 1, wherein, when the amount of change is greater than or equal to the predetermined amount of change, the control device is configured to control the transmission in a transmission suppression control state in which the change in the gear ratio is suppressed more than in the transmission allowance control state.

10. The control unit, In the aforementioned gear shifting control state, if the gear shifting condition is met, the transmission is configured to control the gear ratio after the first time has elapsed. The control device according to claim 7, wherein, in the gear shift suppression control state, the control device is configured to change the gear ratio after a second time, which is longer than the first time, has elapsed, if the gear shift condition is met.

11. The control device according to claim 7, wherein the control unit is configured to control the transmission so as to immediately change the gear ratio when the user operates the transmission in the gear shift suppression control state.

12. The control device according to claim 7, wherein the control unit is configured to control the transmission in the transmission-permitted control state when the amount of change is greater than or equal to the predetermined amount of change and predetermined conditions relating to the rotational speed of the crankshaft of the human-powered vehicle are met.

13. A control device for a human-powered vehicle, The vehicle includes a control unit configured to control a transmission that changes the gear ratio of the human-powered vehicle, The control unit, The transmission is configured to control the gear ratio based on the gear shifting conditions, A control device configured to control the transmission to change the gear ratio based on the estimated minimum time at which the speed-related value will reach the minimum value in the next cycle, when the gear shifting conditions are met and the amount of change in the speed-related value related to at least one of the vehicle speed and the rotational speed of the wheels of the human-powered vehicle changes from one of a maximum value and a minimum value to the other, is greater than or equal to a predetermined amount of change, provided that the gear shifting conditions are met and the amount of change in the speed-related value related to at least one of a maximum value and a minimum value is greater than or equal to a predetermined amount of change.

14. The control device according to claim 13, wherein the control unit is configured to control the transmission so that the change in the gear ratio is completed at the estimated minimum time.

15. A control device for a human-powered vehicle, The vehicle includes a control unit configured to control a transmission that changes the gear ratio of the human-powered vehicle, The control unit, The transmission is configured to control the gear ratio based on the gear shifting conditions, A control device configured to vary the shift start period from when the shift condition is met until control of the transmission is started to change the gear ratio, depending on the amount of change in the speed-related value when the speed-related value, which is related to at least one of the vehicle speed and the rotational speed of the wheels of the human-powered vehicle, changes from one of a maximum or minimum value to the other.

16. The control device according to claim 15, wherein when the amount of change is greater than or equal to a first amount of change, the gear shift start period is longer than when the amount of change is less than a first amount of change.

17. The control device according to any one of claims 1 to 16, wherein the speed-related value is input from a signal generating unit provided on the wheel and which generates a signal based on the rotational speed of the wheel.

18. The control device according to claim 17, wherein the signal generating unit includes a hub dynamo.

19. The control device according to any one of claims 1 to 16, wherein the transmission includes an internal gear hub.

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