CONTROL DEVICE FOR HUMAN-POWERED VEHICLE AND CONTROL SYSTEM FOR HUMAN-POWERED VEHICLE

Abstract

To provide a control device for a human-powered vehicle which can preferably limit driving of a motor for assisting propulsion of a human-powered vehicle, and to provide a control system for a human-powered vehicle.SOLUTION: A human-powered vehicle includes: a crank to which human drive power is applied; a motor which provides propulsion power to the human-powered vehicle; a motor rotation amount detection part which detects a rotation amount of the motor; and a control unit which controls the motor. The control unit is configured to switch a control state of the motor from one of a first control state, in which the motor is driven, and a second control state, in which driving of the motor is limited, to the other and switches the control state from the first control state to the second control state when a first condition and a second condition are met in the first control state. The first condition is met when the human drive power applied to the crank is larger than first drive force, and the second condition is met when the rotation amount of the motor detected by the motor rotation amount detection part is smaller than or equal to a first rotation amount.SELECTED DRAWING: Figure 2

Description

[Technical field]

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

[0002] For example, Patent Document 1 discloses a control device that stops the drive of a motor that assists the propulsion of a human-powered vehicle when there is no need to assist the propulsion of the human-powered vehicle. [Prior art documents] [Patent documents]

[0003] [Patent Document 1] Japanese Patent Application Publication No. 8-230751 Summary of the Invention [Problem to be solved by the invention]

[0004] An object of the present disclosure is to provide a control device for a human-powered vehicle and a control system for a human-powered vehicle that can suitably limit the drive of a motor that assists the propulsion of the human-powered vehicle. [Means for solving the problem]

[0005] A control device according to a first aspect of the present disclosure is a control device for a human-powered vehicle, the human-powered vehicle including a crank to which a human-powered driving force is applied, a motor that applies a propulsive force to the human-powered vehicle, and a motor rotation amount detection unit that detects the rotation amount of the motor, and a control unit that controls the motor, the control unit being configured to be able to switch a control state of the motor from one of a first control state in which the motor is driven and a second control state in which the drive of the motor is restricted to the other, and when a first condition and a second condition are satisfied in the first control state, the control state is switched from the first control state to the second control state, the first condition being satisfied when the human-powered driving force applied to the crank is greater than the first driving force, and the second condition being satisfied when the rotation amount of the motor detected by the motor rotation amount detection unit is equal to or less than the first rotation amount. According to the control device of the first aspect, when the manual driving force applied to the crank is greater than the first driving force and when the rotation amount of the motor detected by the motor rotation amount detector is equal to or less than the first rotation amount, the driving of the motor is limited. Therefore, the driving of the motor can be appropriately limited.

[0006] In a control device of a second aspect according to the first aspect, the second condition is satisfied when an estimated crank rotation amount estimated from the rotation amount of the motor detected by the motor rotation amount detection unit is less than or equal to a first crank rotation amount. According to the control device of the second aspect described above, the first rotation amount is satisfied when the estimated crank rotation amount estimated from the rotation amount of the motor is equal to or less than the first crank rotation amount, so that the drive of the motor can be limited by the estimated crank rotation amount estimated from the rotation amount of the motor.

[0007] In a control device of a third aspect according to the first or second aspect, the control unit switches the control state from the first control state to the second control state when a third condition is satisfied in addition to the first condition and the second condition in the first control state, and the third condition includes the first control state continuing for a first period or more. According to the control device of the third aspect described above, the control state can be suitably switched from the first control state to the second control state depending on the duration of the first control state.

[0008] In the control device of a fourth aspect according to the third aspect, the control unit executes a determination process in the order of a determination regarding the first condition, a determination regarding the second condition, and a determination regarding the third condition. According to the control device of the fourth aspect, the determination process is performed in the order of determination regarding the first condition, determination regarding the second condition, and determination regarding the third condition, and therefore the control state can be suitably switched.

[0009] In the control device of a fifth aspect according to the first or second aspect, the control unit switches the control state from the first control state to the second control state when a fourth condition is satisfied in addition to the first condition and the second condition in the first control state, and the fourth condition includes performing control regarding the jerk of rotation of the motor. According to the control device of the fifth aspect, the control state can be suitably switched in accordance with the fourth condition including control relating to the jerk of the rotation of the motor in addition to the first and second conditions.

[0010] In the control device of a sixth aspect according to the fifth aspect, the control unit executes a determination process in the order of a determination regarding the first condition, a determination regarding the second condition, and a determination regarding the fourth condition. According to the control device of the sixth aspect, the determination process is performed in the order of determination regarding the first condition, determination regarding the second condition, and determination regarding the fourth condition, and therefore the control state can be suitably switched.

[0011] In the control device of a seventh aspect according to the second aspect, when the first condition is not satisfied and a fifth condition is satisfied in the first control state, the control unit switches the control state from the first control state to the second control state, and the fifth condition is satisfied when the rotation amount of the motor detected by the motor rotation amount detection unit is less than or equal to a second rotation amount. According to the control device of the seventh aspect, when the manual driving force applied to the crank is equal to or less than the first driving force and when the rotation amount of the motor detected by the motor rotation amount detection unit is equal to or less than the second rotation amount, the control state can be switched from the first control state to the second control state.

[0012] In the control device of an eighth aspect according to the seventh aspect, the fifth condition is satisfied when an estimated crank rotation amount estimated from the rotation amount of the motor detected by the motor rotation amount detection unit is less than or equal to a second crank rotation amount. According to the control device of the eighth aspect, the fifth condition is satisfied when the estimated crank rotation amount estimated from the rotation amount of the motor is equal to or less than the second crank rotation amount, so that the driving of the motor can be limited by the estimated crank rotation amount estimated from the rotation amount of the motor.

[0013] In the control device of a ninth aspect according to the seventh or eighth aspect, the control unit switches the control state from the first control state to the second control state when the first condition is not satisfied in the first control state and the fifth condition and the sixth condition are satisfied, and the sixth condition includes the first control state continuing for a second period or more. According to the control device of the ninth aspect, the control state can be switched from the first control state to the second control state depending on the duration of the first control state.

[0014] In the control device of a tenth aspect according to the eighth or ninth aspect, the control unit switches the control state from the first control state to the second control state when, in the first control state, the first condition is not satisfied, the fifth condition is satisfied, and in addition, a seventh condition is satisfied, and the seventh condition includes performing control regarding the jerk of rotation of the motor. According to the control device of the tenth aspect, when the first condition is not satisfied, the fifth condition is satisfied, and in addition, the seventh condition is satisfied, the control state can be switched from the first control state to the second control state.

[0015] In the control device of an eleventh aspect according to the eighth aspect, the first crank rotation amount is represented by a first crank rotation angle, and the first crank rotation angle is 200 degrees or less. According to the control device of the eleventh aspect above, since the first crank rotation angle corresponding to the first crank rotation amount is 200 degrees or less, the second control state cannot be switched to until the motor rotation amount corresponds to the first crank rotation angle of 200 degrees or less.

[0016] In the control device of the twelfth aspect according to the eleventh aspect, the first crank rotation angle is 150 degrees or less. According to the control device of the twelfth aspect, since the first crank rotation angle is 150 degrees or less, the motor can be controlled at a suitable estimated rotation angle. Furthermore, the control state is not switched to the second control state until the motor rotation amount corresponds to the first crank rotation angle being 150 degrees or less.

[0017] In the control device of a thirteenth aspect according to the eleventh or twelfth aspect, the second crank rotation amount is represented by a second crank rotation angle, and the second crank rotation angle is 20 degrees or less. According to the control device of the thirteenth aspect above, since the second crank rotation angle corresponding to the second crank rotation amount is 20 degrees or less, the control state is not switched to the second control state until the motor rotation amount corresponds to the second crank rotation angle of 20 degrees or less.

[0018] In the control device of a fourteenth aspect according to the thirteenth aspect, the second crank rotation angle is 10 degrees or less. According to the control device of the fourteenth aspect above, since the second crank rotation angle corresponding to the second crank rotation amount is 10 degrees or less, the control state is not switched to the second control state until the motor rotation amount corresponds to the second crank rotation angle being 10 degrees or less.

[0019] In the control device of a fifteenth aspect according to the thirteenth or fourteenth aspect, the first crank rotation angle is greater than the second crank rotation angle. According to the control device of the fifteenth aspect, the first crank rotation angle is greater than the second crank rotation angle, so that when the manual driving force is greater than the first driving force, the control state is less likely to be switched to the second control state.

[0020] In the control device of a sixteenth aspect according to the thirteenth or fourteenth aspect, the second crank rotation angle is equal to or smaller than half of the first crank rotation angle. According to the control device of the sixteenth aspect, when the manual driving force is equal to or less than the first driving force, the control state is switched to the second control state when the crank rotation angle reaches a second crank rotation angle that is equal to or less than half the first crank rotation angle.

[0021] In the control device of a seventeenth aspect according to any one of the first to sixteenth aspects, the first driving force is 40 Nm or less. According to the control device of the seventeenth aspect, the control state can be switched in response to the first driving force of 40 Nm or less.

[0022] In the control device of an eighteenth aspect according to the seventeenth aspect, the first driving force is 30 Nm or less. According to the control device of the eighteenth aspect, the control state can be switched in response to the first driving force of 30 Nm or less.

[0023] In the control device of a 19th aspect according to any one of the 1st to 18th aspects, the control unit switches the control state from the second control state to the first control state when no control regarding the jerk of the rotation of the motor is performed in the second control state. According to the control device of the nineteenth aspect, when control related to the jerk of the rotation of the motor is not being performed in the second control state, the control state can be switched from the second control state to the first control state.

[0024] In a control device of a twentieth aspect according to any one of the first to nineteenth aspects, the human-powered vehicle includes a transmission that changes a gear ratio, which is a ratio of a rotational speed of a wheel to a rotational speed of a crankshaft, and the first condition is satisfied when the gear ratio is greater than a first gear ratio, and the first gear ratio is greater than a minimum of the gear ratios. According to the control device of the twentieth aspect, the control state can be suitably switched in accordance with the gear ratio.

[0025] A control device according to a 21st aspect of the present disclosure is a control device for a human-powered vehicle, the human-powered vehicle includes a crank to which human-powered driving force is applied, a motor that applies propulsive force to the human-powered vehicle, and a motor rotation amount detection unit that detects the rotation amount of the motor, and is equipped with a control unit to control the motor, the control unit is configured to be able to switch the control state of the motor from one of a first control state that drives the motor and a second control state that limits the drive of the motor, and when, in the first control state, the rotation amount of the motor detected by the motor rotation amount detection unit is equal to or less than a predetermined rotation amount, the control state is switched from the first control state to the second control state, and the predetermined rotation amount is configured to be changeable depending on the running state of the human-powered vehicle. According to the control device of the twenty-first aspect, the predetermined amount of rotation can be changed in accordance with the traveling state of the human-powered vehicle, so that the control state can be suitably switched according to the predetermined amount of rotation in accordance with the traveling state.

[0026] A control system according to a twenty-second aspect of the present disclosure is a control system for a human-powered vehicle, comprising: No. From 1 No. twenty one side Either One and the motor rotation amount detection unit. According to the control system of the twenty-second aspect, the motor can be controlled in accordance with the detection value of the motor rotation amount detection section.

[0027] In the control system of the twenty-third aspect according to the twenty-second aspect, the human-powered vehicle does not include a sensor that directly detects the amount of rotation of a crank of the human-powered vehicle. According to the control system of the twenty-third aspect, the human-powered vehicle does not include a sensor that directly detects the amount of rotation of the crank of the human-powered vehicle, so that the number of parts can be reduced. Effect of the Invention

[0028] The control device and control system for a human-powered vehicle disclosed herein can preferably limit the driving of a motor that assists the propulsion of the human-powered vehicle. [Brief description of the drawings]

[0029] [Figure 1] 1 is a side view of a human-powered vehicle to which a control system for a human-powered vehicle of a first embodiment and a control device for a human-powered vehicle are related; [Diagram 2] 1 is a block diagram showing the electrical configuration of a human-powered vehicle including a control system for a human-powered vehicle and a control device for a human-powered vehicle according to a first embodiment; [Diagram 3] 3 is a flowchart showing an example of control executed by a control unit in FIG. 2; [Figure 4] 10 is a flowchart showing an example of control executed by a control unit according to a second embodiment. DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS

[0030] First Embodiment A control system 60 for a human-powered vehicle and a control device 70 for a human-powered vehicle of a first embodiment will be described with reference to Figs. 1 to 3. FIG. 1 shows a human-powered vehicle 10 to which a control system 60 and a control device 70 are related. The human-powered vehicle 10 has at least one wheel 12 and is a vehicle that can be driven at least by human-powered driving force. The human-powered vehicle 10 includes various types of bicycles, such as mountain bikes, road bikes, city bikes, cargo bikes, hand bikes, and recumbents. The number of wheels 12 that the human-powered vehicle 10 has is not limited. The human-powered vehicle 10 also includes, for example, one-wheeled vehicles and vehicles having three or more wheels 12. The human-powered vehicle 10 includes not only human-powered driving force but also e-bikes that use the driving force of an electric motor for propulsion. E-bikes include electrically assisted bicycles whose propulsion is assisted by an electric motor. In the following embodiment, the human-powered vehicle 10 will be described as a bicycle.

[0031] The human-powered vehicle 10 includes wheels 12 and a vehicle body 14. The wheels 12 include a front wheel 12F and a rear wheel 12R. The vehicle body 14 includes a frame 16 and a front fork 18. A handlebar 20 is connected to the front fork 18 via a stem 22.

[0032] The human-powered vehicle 10 includes a crank 24 to which human-powered driving force is applied. The crank 24 includes a crank shaft 26 that is rotatable with respect to the frame 16, and a pair of crank arms 28 provided at axial ends of the crank shaft 26. A pair of pedals 30 are respectively connected to each crank arm 28.

[0033] In this embodiment, the driving wheel is the rear wheel 12R. The rear wheel 12R is driven by the rotation of the crank 24. The human-powered vehicle 10 includes a driving mechanism 32. The crank 24 is connected to the rear wheel 12R by the driving mechanism 32. The driving mechanism 32 includes a first rotating body 34 connected to the crank shaft 26. The crank shaft 26 may be connected to the first rotating body 34 so as to rotate integrally with the first rotating body 34, or may be connected via a first one-way clutch. The first one-way clutch is configured to rotate the first rotating body 34 forward when the crank 24 rotates forward, and to allow relative rotation between the crank 24 and the first rotating body 34 when the crank 24 rotates backward. The first rotating body 34 includes a sprocket, a pulley, or a bevel gear.

[0034] The drive mechanism 32 further includes a second rotating body 36 and a connecting member 38. The connecting member 38 transmits the rotational force of the first rotating body 34 to the second rotating body 36. The connecting member 38 includes, for example, a chain, a belt, or a shaft.

[0035] The second rotating body 36 is connected to the rear wheel 12R. The second rotating body 36 includes a sprocket, a pulley, or a bevel gear. A second one-way clutch is preferably provided between the second rotating body 36 and the rear wheel 12R. The second one-way clutch is configured to rotate the rear wheel 12R forward when the second rotating body 36 rotates forward, and to allow relative rotation between the second rotating body 36 and the rear wheel 12R when the second rotating body 36 rotates backward. In this embodiment, the rear wheel 12R is connected to the crank 24 by the drive mechanism 32, but at least one of the front wheel 12F and the rear wheel 12R may be connected to the crank 24 by the drive mechanism 32.

[0036] The human-powered vehicle 10 further includes a battery 40. The battery 40 includes one or more battery elements. The battery elements include a rechargeable battery. The battery 40 is configured to supply power to the control device 70. The battery 40 is preferably communicatively connected to a control unit 72 (see FIG. 2) via an electric cable or a wireless communication device. The battery 40 can communicate with the control unit 72, for example, via power line communication (PLC), a controller area network (CAN), or a universal asynchronous receiver / transmitter (UART).

[0037] Preferably, the human powered vehicle 10 includes a transmission 42 that changes the transmission ratio, which is the ratio of the rotational speed of the wheels 12 to the rotational speed of the crankshaft 26. Preferably, the transmission ratio is the ratio of the rotational speed of the drive wheels to the rotational speed of the crankshaft 26.

[0038] The transmission 42 is operated by power supplied from the battery 40 or power supplied from a dedicated power source mounted on the transmission 42. The transmission 42 includes, for example, at least one of a front derailleur, a rear derailleur 44, and an internal gear shifter. The transmission 42 may be configured to be operated by an actuator. The actuator includes an electric actuator. The actuator includes, for example, a motor.

[0039] When the transmission 42 includes the rear derailleur 44, the rear derailleur 44 is provided at a rear end 46 of the frame 16. When the transmission 42 includes the rear derailleur 44, the drive mechanism 32 includes a plurality of second rotating bodies 36. As the rear derailleur 44 is driven, the second rotating body 36 around which the connecting member 38 is wound is changed from one second rotating body 36 to another second rotating body 36, and the gear ratio of the human-powered vehicle 10 is changed.

[0040] When the transmission 42 includes an internal transmission, the internal transmission is provided, for example, in the hub of the rear wheel 12R. The transmission 42 may include a continuously variable transmission.

[0041] The human-powered vehicle 10 includes a motor 48 that provides a propulsive force to the human-powered vehicle 10. The motor 48 includes one or more electric motors. The electric motor is, for example, a brushless motor. The motor 48 is configured to transmit rotational force to a power transmission path of the human-powered driving force from the pedals 30 to the rear wheel 12R and to at least one of the front wheels 12F. The power transmission path of the human-powered driving force from the pedals 30 to the rear wheel 12R also includes the rear wheel 12R.

[0042] In this embodiment, the motor 48 is provided on the frame 16 of the human-powered vehicle 10, and is configured to transmit rotational force to the first rotor 34. When the motor 48 is provided on at least one of the front wheel 12F and the rear wheel 12R, the motor 48 may be provided on the hub to form a hub motor together with the hub.

[0043] 2, the human-powered vehicle 10 preferably includes a human-powered driving force detection unit 50. The human-powered driving force detection unit 50 is configured to be able to detect the torque applied to the crank 24 by the human-powered driving force. The human-powered driving force detection unit 50 is provided, for example, on the frame 16, the crank 24, or the pedal 30 of the human-powered vehicle 10. The human-powered driving force detection unit 50 is configured to output a signal corresponding to the torque applied to the crank 24 by the human-powered driving force.

[0044] The manual driving force detection unit 50 includes, for example, a torque sensor. The torque sensor is configured to output a signal corresponding to the torque applied to the crank 24 by the manual driving force. When a first one-way clutch is provided in the power transmission path, the torque sensor is preferably provided upstream of the first one-way clutch in the power transmission path. The torque sensor includes a strain sensor, a magnetostrictive sensor, a pressure sensor, or the like. The strain sensor includes a strain gauge.

[0045] The torque sensor is provided in the power transmission path or near a member included in the power transmission path, such as the crankshaft 26, a member that transmits human-powered driving force between the crankshaft 26 and the first rotor 34, the crank arm 28, and the pedal 30.

[0046] The manual driving force detection unit 50 may have any configuration as long as it can acquire information regarding the manual driving force, and may include, for example, a sensor that detects the pressure applied to the pedal 30, or a sensor that detects the tension of the connecting member 38.

[0047] Preferably, the human-powered vehicle 10 includes a vehicle speed detection unit 52. The vehicle speed detection unit 52 is configured to detect information related to the vehicle speed of the human-powered vehicle 10. In this embodiment, the vehicle speed detection unit 52 is configured to detect information related to the rotation speed of at least one wheel of the human-powered vehicle 10. The vehicle speed detection unit 52 is configured to detect, for example, a magnet provided on at least one wheel 12 of the human-powered vehicle 10. The vehicle speed detection unit 52 is configured to output a predetermined number of detection signals, for example, during one rotation of one wheel 12 of the at least one wheel 12. The predetermined number is, for example, 1. The vehicle speed detection unit 52 outputs a signal corresponding to the rotation speed of the wheel 12. The control unit 72 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 related to the circumferential length of the wheel 12. Information related to the circumferential length of the wheel 12 is stored in the memory unit 74.

[0048] The vehicle speed detection unit 52 includes, for example, a magnetic reed constituting a reed switch, or a magnetic sensor such as a Hall element. The vehicle speed detection unit 52 may be attached to a chain stay of the frame 16 of the human-powered vehicle 10 and configured to detect a magnet attached to the rear wheel 12R, or may be provided on the front fork 18 and configured to detect a magnet attached to the front wheel 12F. In this embodiment, the vehicle speed detection unit 52 is configured such that the reed switch detects the magnet once when the wheel 12 rotates once. The vehicle speed detection unit 52 may have any configuration as long as it can obtain information regarding the vehicle speed of the human-powered vehicle 10, and is not limited to a configuration that detects a magnet provided on the wheel 12, but may be configured to detect, for example, a slit provided on a disc brake, may be configured to include an optical sensor, or may be configured to include a GPS (Global Positioning System) receiver. When the vehicle speed detection unit 52 includes a GPS receiver, the control unit 72 can calculate the vehicle speed according to the time and the travel distance. The vehicle speed detection unit 52 is connected to the control unit 72 via a wireless communication device or an electric cable.

[0049] The human-powered vehicle 10 includes a motor rotation amount detection unit 62 that detects the amount of rotation of the motor 48. Preferably, the motor rotation amount detection unit 62 is provided at the motor 48 or in the vicinity of the motor 48. The vicinity of the motor 48 includes a rotor of the motor 48 and a position where the rotation angle of the output shaft of the motor 48 can be detected. The motor rotation amount detection unit 62 includes, for example, a resolver or an encoder. When a reducer is included between the motor 48 and the transmission path of the human-powered driving force, the motor rotation amount detection unit 62 may be configured to detect the rotation speed of a rotor that constitutes the reducer.

[0050] The control system 60 includes a control device 70 and a motor rotation amount detection unit 62 .

[0051] The control device 70 includes a control unit 72 that controls the motor 48. The control unit 72 includes an arithmetic processing unit that executes a predetermined control program. The arithmetic processing unit includes, for example, a CPU (Central Processing Unit) or an MPU (Micro Processing Unit). The arithmetic processing unit may be provided in a plurality of locations that are separate from one another. The control unit 72 may include one or a plurality of microcomputers. The control unit 72 operates using power supplied from the battery 40. The control unit 72 is connected to the human-powered driving force detection unit 50, the vehicle speed detection unit 52, and the motor rotation amount detection unit 62 via a wireless communication device or an electric cable.

[0052] The control device 70 further includes a storage unit 74. The storage unit 74 includes, for example, a non-volatile memory and a volatile memory. The non-volatile memory includes, for example, at least one of a Read-Only Memory (ROM), an Erasable Programmable Read Only Memory (EPROM), an Electrically Erasable Programmable Read-Only Memory (EEPROM), and a flash memory. The volatile memory includes, for example, a Random access memory (RAM). The storage unit 74 stores information used in various control processes and various control programs.

[0053] The control unit 72 controls the motor 48. The control unit 72 controls the motor 48 in response to at least one of the human-powered driving force, the amount of rotation of the crank 24, and the acceleration of the human-powered vehicle 10. Preferably, the human-powered vehicle 10 does not include a sensor that directly detects the amount of rotation of the crank 24 of the human-powered vehicle 10. The control unit 72 estimates the amount of rotation of the crank 24 of the human-powered vehicle 10 from the amount of rotation of the motor 48 detected by the motor rotation amount detection unit 62.

[0054] The control unit 72 is configured to be able to switch the control state of the motor 48 from one of a first control state in which the motor 48 is driven and a second control state in which the driving of the motor 48 is restricted to the other.

[0055] Preferably, in the first control state, the control unit 72 controls the motor 48 in response to at least one of the human-powered driving force, the amount of rotation of the crank 24, and the vehicle speed of the human-powered vehicle 10. For example, when the human-powered vehicle 10 starts traveling in the first control state, the control unit 72 controls the motor 48 so that the output of the motor 48 increases as the amount of rotation of the crank 24 increases. For example, in the first control state, the control unit 72 controls the motor 48 so that the assist level by the motor 48 becomes a predetermined assist level. The assist level includes, for example, at least one of the ratio of the output of the motor 48 to the human-powered driving force, the maximum value of the output of the motor 48, and the suppression level of the output fluctuation of the motor 48 when the human-powered driving force decreases. The suppression level of the output fluctuation of the motor 48 is inversely correlated with the response speed of the output of the motor 48 to a change in the human-powered driving force.

[0056] Preferably, in the second control state, the control unit 72 stops driving the motor 48. In the second control state, the control unit 72 may limit the driving of the motor 48 by setting a predetermined assist level lower than in the first control state.

[0057] When controlling motor 48 in the first control state according to the amount of rotation of crank 24, control unit 72 controls motor 48 according to the amount of rotation of crank 24 estimated from the amount of rotation of motor 48 detected by motor rotation amount detection unit 62. For example, when a reducer is provided between motor 48 and crank 24, control unit 72 calculates a value obtained by multiplying the amount of rotation of motor 48 by the reciprocal of the reduction ratio of the reducer as an estimated value of the amount of rotation of crank 24, and controls motor 48 according to the estimated value of the amount of rotation of crank 24. The amount of rotation of crank 24 may be represented by the rotation speed of crank 24.

[0058] When the first condition and the second condition are satisfied in the first control state, the control unit 72 switches the control state from the first control state to the second control state.

[0059] The first condition is satisfied when the manual driving force applied to the crank 24 is greater than the first driving force. Preferably, the first driving force is 40 Nm or less. Preferably, the first driving force is 20 Nm or more. Preferably, the first driving force is 30 Nm or less. For example, the first driving force is 30 Nm. The control unit 72 determines whether the manual driving force corresponding to the output of the manual driving force detection unit 50 is greater than the first driving force.

[0060] The first condition may be satisfied when the gear ratio is greater than the first gear ratio. The first gear ratio is preferably greater than the smallest gear ratio among the gear ratios. The first gear ratio is preferably greater than the gear ratio of a gear number that is half the gear number corresponding to the largest gear ratio, and is preferably equal to or less than the gear number corresponding to the largest gear ratio. The larger the gear number, the larger the gear ratio. For example, when the number of gears of the transmission 42 is five, the gear ratio when the number of gears of the transmission 42 is between three and five is set as the first gear ratio. When the number of gears of the transmission 42 is ten, the gear ratio when the number of gears of the transmission 42 is between six and ten is set as the first gear ratio. For example, when the human-powered vehicle 10 is started uphill, the first gear ratio is set to a gear ratio that tends to increase the deviation between the amount of rotation of the crank 24 estimated from the amount of rotation of the motor 48 and the actual amount of rotation of the crank 24. In such a situation, the human-powered driving force applied to the crank 24 increases, and assistance from the motor 48 tends to be required.

[0061] The second condition is satisfied when the amount of rotation of the motor 48 detected by the motor rotation amount detection unit 62 is equal to or less than the first amount of rotation. In this embodiment, the amount of rotation of the motor 48 does not include the rotation speed of the motor 48. Preferably, the amount of rotation of the motor 48 is represented by the rotation angle of the motor 48. The first amount of rotation is, for example, the amount of rotation of the motor 48 when a predetermined time has elapsed. The second condition is satisfied when, for example, the amount of rotation of the motor 48 becomes equal to or less than the first amount of rotation when a predetermined time has elapsed since the drive of the motor 48 was started.

[0062] The second condition is satisfied when the estimated crank rotation amount estimated from the rotation amount of the motor 48 detected by the motor rotation amount detection unit 62 is equal to or less than the first crank rotation amount. The first crank rotation amount is preferably represented by a first crank rotation angle. Preferably, the first crank rotation angle is equal to or less than 200 degrees. Preferably, the first crank rotation angle is equal to or greater than 100 degrees. Preferably, the first crank rotation angle is equal to or less than 150 degrees. For example, the first crank rotation angle is 150 degrees. The second condition is determined to check whether the human-powered vehicle 10 is started to move when the rider's load is heavy and the human-powered driving force is greater than the first driving force. The situation in which the human-powered vehicle 10 is started to move when the human-powered driving force is greater than the first driving force includes, for example, a situation in which the rider continues to pedal the human-powered vehicle 10 from the start of pedaling on an uphill slope. In such a situation, it is preferable to continue the assist of the motor 48.

[0063] On the other hand, for example, in a situation where the rider just happens to place a large force on the pedal 30 and has no intention of pedaling the human-powered vehicle 10, it is preferable not to continue assisting the motor 48 and it is better to reduce the assist level of the motor 48. For example, when the motor 48 is driven in a situation where the rider continues to pedal the human-powered vehicle 10 from the start of pedaling uphill, the first crank rotation amount is set according to the rotation amount of the crank 24 at which it is possible to determine that the rider is continuing to pedal the human-powered vehicle 10.

[0064] For example, when a reducer is provided between the motor 48 and the crank 24, the control unit 72 calculates the estimated crank rotation amount by taking into account the reduction ratio of the reducer. Preferably, the first rotation amount is stored in the storage unit 74 in advance.

[0065] Preferably, the control unit 72 switches the control state from the first control state to the second control state when a third condition is satisfied in addition to the first and second conditions in the first control state. The third condition includes that the first control state continues for a first period or more. The first period is, for example, 3 seconds or more and 10 seconds or less after the first and second conditions are satisfied. The first period is, for example, 4 seconds or more and 7 seconds or less after the first and second conditions are satisfied. The first period is, for example, 5 seconds after the first and second conditions are satisfied.

[0066] Preferably, the control unit 72 executes the determination process in the order of a determination regarding the first condition, a determination regarding the second condition, and a determination regarding the third condition. Preferably, the control unit 72 executes the determination process regarding the second condition when the first condition is satisfied. Preferably, the control unit 72 executes the determination process regarding the third condition when the first condition is satisfied and the second condition is satisfied.

[0067] When a fourth condition is satisfied in addition to the first and second conditions in the first control state, the control unit 72 switches the control state from the first control state to the second control state. The fourth condition includes performing control regarding the jerk of the rotation of the motor 48.

[0068] The control regarding the jerk of the rotation of the motor 48 is, for example, a control to make the jerk gentler when the rotation of the motor 48 is reduced or stopped. Preferably, the control regarding the jerk of the rotation of the motor 48 is a control to make the rate of decrease in the rotation speed of the motor 48 gentler. In a situation where such control is being performed, it is considered that the assistance by the motor 48 is no longer necessary.

[0069] The control unit 72 is configured to execute control regarding the jerk of the rotation of the motor 48, for example, when the degree of decrease in the rotation speed of the motor 48 is large, or when the rotation speed of the motor 48 decreases and the jerk of the decrease is large. When the control regarding the jerk of the rotation of the motor 48 is completed, the control unit 72 stops the rotation of the motor 48, for example.

[0070] For example, when the control unit 72 executes control regarding the jerk of the rotation of the motor 48, the control unit 72 processes the output value of the motor rotation amount detection unit 62 by a filter. The filter includes, for example, a low-pass filter having a time constant. The control unit 72 changes the output value of the motor rotation amount detection unit 62 by changing the time constant of the filter. The control unit 72 may change the output value of the motor rotation amount detection unit 62 by changing a gain for calculating the output of the motor 48 from the manual driving force. The filter is configured, for example, by executing predetermined software in a calculation processing device.

[0071] Preferably, the control unit 72 executes the determination process in the order of the determination regarding the first condition, the determination regarding the second condition, and the determination regarding the fourth condition. Preferably, the control unit 72 executes the determination process regarding the second condition when the first condition is satisfied. Preferably, the control unit 72 executes the determination process regarding the fourth condition when the first condition is satisfied and the second condition is satisfied.

[0072] Preferably, the control unit 72 switches the control state from the first control state to the second control state when the first condition is not satisfied and the fifth condition is satisfied in the first control state. Preferably, the control unit 72 switches the control state from the first control state to the second control state when the first condition is not satisfied and the fifth condition and the sixth condition are satisfied in the first control state. Preferably, the control unit 72 executes the determination process in the order of a determination regarding the fifth condition and a determination regarding the sixth condition. The control unit 72 may execute the determination process in the order of a determination regarding the sixth condition and a determination regarding the fifth condition.

[0073] The fifth condition is satisfied when the amount of rotation of motor 48 detected by motor rotation amount detection unit 62 is equal to or less than the second amount of rotation. The second amount of rotation is, for example, the amount of rotation of motor 48 when a predetermined time has elapsed. The fifth condition is satisfied when, for example, the amount of rotation of motor 48 becomes equal to or less than the second amount of rotation when a predetermined time has elapsed since driving of motor 48 started.

[0074] The fifth condition is satisfied when the estimated crank rotation amount estimated from the rotation amount of the motor 48 detected by the motor rotation amount detection unit 62 is equal to or less than the second crank rotation amount. The second crank rotation amount is preferably represented by a second crank rotation angle. Preferably, the second crank rotation angle is equal to or less than 20 degrees. Preferably, the second crank rotation angle is greater than 0 degrees. Preferably, the second crank rotation angle is equal to or less than 10 degrees. For example, the second crank rotation angle is 10 degrees.

[0075] The determination of the fifth condition is performed in a situation where the first condition is not satisfied, in order to check whether or not the rider has started to pedal the human-powered vehicle 10. In a situation where the rider has started to pedal the human-powered vehicle 10, it is preferable to continue the assistance of the motor 48.

[0076] On the other hand, for example, in a situation where the rider simply places his / her foot on the pedal 30 and has no intention of pedaling the human-powered vehicle 10, it is preferable not to continue assisting the motor 48 and it is better to reduce the assist level of the motor 48. The second crank rotation amount is set, for example, according to the rotation amount of the crank 24 that can determine that the human-powered vehicle 10 is starting to be pedaled.

[0077] For example, when a reducer is provided between the motor 48 and the crank 24, the control unit 72 calculates the estimated crank rotation amount by taking into account the reduction ratio of the reducer. Preferably, the second rotation amount is stored in the storage unit 74 in advance.

[0078] Preferably, the first crank rotation angle is greater than the second crank rotation angle. Preferably, the second crank rotation angle is half or less of the first crank rotation angle. Preferably, the second crank rotation angle is one-third or less of the first crank rotation angle. Preferably, the second crank rotation angle is one-fifth or less of the first crank rotation angle. Preferably, the second crank rotation angle is one-tenth or less of the first crank rotation angle.

[0079] The sixth condition includes that the first control state continues for a second period or more. The second period is, for example, 0.1 seconds or more and 1 second or less after the rider of the human-powered vehicle 10 puts his / her foot on the pedal 30 and starts driving the motor 48. The second period is, for example, 0.3 seconds or more and 0.7 seconds or less after the rider of the human-powered vehicle 10 puts his / her foot on the pedal 30 and starts driving the motor 48. The second period is, for example, 0.5 seconds after the rider of the human-powered vehicle 10 puts his / her foot on the pedal 30 and starts driving the motor 48.

[0080] When the first condition is not satisfied in the first control state, the fifth condition is satisfied, and in addition, the seventh condition is satisfied, the control unit 72 switches the control state from the first control state to the second control state. The seventh condition includes performing control related to the jerk of the rotation of the motor 48. Preferably, the seventh condition is a condition similar to the fourth condition. The seventh condition may include performing control related to the jerk of the motor 48 that is different from the fourth condition.

[0081] Preferably, when control of the jerk of the rotation of the motor 48 is not being performed in the second control state, the control unit 72 switches the control state from the second control state to the first control state. In a situation where such control is not being performed, it is considered that assistance by the motor 48 is necessary. In addition, the control state may be switched from the second control state to the first control state by detecting pulsation of the human-powered driving force generated when the rider puts his / her foot on the pedal 30.

[0082] Preferably, when the human-powered vehicle 10 starts traveling, the control unit 72 starts driving the motor 48 in the first control state. For example, when the human-powered driving force becomes greater than 0 Nm from 0 Nm or less, the control unit 72 determines that the human-powered vehicle 10 has started traveling.

[0083] An example of control executed by the control unit 72 will be described with reference to Fig. 3. When power is supplied to the control unit 72, the control unit 72 transitions the control state to the first control state if a predetermined condition is satisfied. The predetermined condition may be, for example, the condition for switching the control state from the second control state to the first control state, as described above. In the first control state, the control unit 72 starts the process from step S11 at predetermined intervals.

[0084] In step S11, the control unit 72 determines whether the manual driving force is greater than the first driving force. If the manual driving force is greater than the first driving force in step S11, the control unit 72 proceeds to step S12. If the manual driving force is equal to or less than the first driving force, the control unit 72 proceeds to step S16. The determination process in step S11 corresponds to the determination process of whether the first condition is satisfied.

[0085] In step S12, the control unit 72 determines whether the estimated crank rotation amount is equal to or less than the first crank rotation amount. If the estimated crank rotation amount is greater than the first crank rotation amount in step S12, the control unit 72 ends the process. If the estimated crank rotation amount is equal to or less than the first crank rotation amount in step S12, the control unit 72 proceeds to step S13. The determination process in step S12 corresponds to the determination process of whether the second condition is satisfied.

[0086] In step S13, the control unit 72 determines whether the first control state continues for a first period or more. If the first control state has not continued for the first period or more in step S13, the control unit 72 ends the process. If the first control state has continued for the first period or more in step S13, the control unit 72 proceeds to step S14. The determination process in step S13 corresponds to the determination process of whether a third condition is satisfied.

[0087] In step S14, the control unit 72 determines whether or not control is being performed regarding the jerk of the rotation of the motor 48. If control is not being performed regarding the jerk of the rotation of the motor 48 in step S14, the control unit 72 ends the process. If control is being performed regarding the jerk of the rotation of the motor 48 in step S14, the control unit 72 proceeds to step S15. The determination process in step S14 corresponds to the determination process of whether or not a fourth condition is satisfied.

[0088] In step S15, the control unit 72 switches the control state from the first control state to the second control state and ends the process. For example, in step S15, the control unit 72 stops driving the motor 48. In the flowchart of Fig. 3, when the first condition, the second condition, the third condition, and the fourth condition are satisfied, the control unit 72 switches the control state from the first control state to the second control state.

[0089] In step S16, the control unit 72 determines whether the estimated crank rotation amount is equal to or less than the second crank rotation amount. In step S16, if the estimated crank rotation amount is greater than the second crank rotation amount, the control unit 72 ends the process. In step S16, if the estimated crank rotation amount is equal to or less than the second crank rotation amount, the control unit 72 proceeds to step S17. The determination process in step S16 corresponds to the determination process of whether the fifth condition is satisfied. In the flowchart of FIG. 3, if the first condition is not satisfied, the control unit 72 executes the determination process of whether the fifth condition is satisfied.

[0090] In step S17, the control unit 72 determines whether the first control state continues for a second period or more. If the first control state has not continued for the second period or more in step S17, the control unit 72 ends the process. If the first control state has continued for the second period or more in step S17, the control unit 72 proceeds to step S18. The determination process in step S17 corresponds to the determination process of whether the sixth condition is satisfied.

[0091] In step S18, the control unit 72 48 In step S18, it is determined whether or not control regarding the jerk of the rotation of the motor is being performed. 48 If control of the jerk of the rotation of the motor is not being performed, the control unit 72 ends the process. 48 When control related to the rotational jerk is being performed, the control unit 72 proceeds to step S19. The determination process of step S18 corresponds to the determination process of whether or not the seventh condition is satisfied.

[0092] In step S19, the control unit 72 switches the control state from the first control state to the second control state and ends the process. For example, in step S19, the control unit 72 stops driving the motor 48. In the flowchart of Fig. 3, when the first condition is not satisfied and the fifth condition, sixth condition, and seventh condition are satisfied, the control unit 72 switches the control state from the first control state to the second control state.

[0093] The case where the first condition is satisfied includes, for example, a state where the rider places his / her foot on the pedal 30 while the human-powered vehicle 10 is stopped. When the first condition is satisfied and the second condition is also satisfied, the control unit 72 switches the control state from the first control state to the second control state. Therefore, when the state where the pedal 30 is not being pedaled with the foot placed on the pedal 30 continues, the drive of the motor 48 can be limited. This makes it possible to reduce power consumption.

[0094] When the rotation amount of the crank 24 is estimated by the motor rotation amount detection unit 62, the estimation accuracy of the rotation amount of the crank 24 is low in an area where the rotation speed of the motor 48 is low. When the first condition is satisfied, the control unit 72 does not switch the control state from the first control state to the second control state until the motor 24 rotates to the first rotation amount, which is larger than the second rotation amount. Therefore, when the vehicle speed of the human-powered vehicle 10 is low, such as when the human-powered vehicle 10 starts traveling uphill, the restriction on the drive of the motor 48 is suppressed.

[0095] <Second embodiment> A control system 60 and a control device 70 of the second embodiment will be described with reference to Figures 2 and 4. The control system 60 and the control device 70 of the second embodiment are similar to the control system 60 and the control device 70 of the first embodiment, except that a control unit 72 executes the flowchart of Figure 4 instead of the flowchart of Figure 3. Of the control system 60 and the control device 70 of the second embodiment, configurations common to the first embodiment are assigned the same reference numerals as in the first embodiment, and duplicated descriptions will be omitted.

[0096] In this embodiment, the control unit 72 may switch from the first control state to the second control state when the rotation amount of the motor 48 detected by the motor rotation amount detection unit 62 in the first control state is equal to or less than a predetermined rotation amount. In this case, the predetermined rotation amount is preferably configured to be changeable according to the running state of the human-powered vehicle 10. The running state of the human-powered vehicle 10 may be, for example, 24 The torque conditions include those related to the torque applied to the

[0097] For example, when the manual driving force applied to the crank 24 is greater than the first driving force, the control unit 72 sets the predetermined amount of rotation to the first amount of rotation, and when the manual driving force is equal to or less than the second driving force, the control unit 72 sets the predetermined amount of rotation to the second amount of rotation.

[0098] The control executed by the control unit 72 will be described with reference to Fig. 4. When power is supplied to the control unit 72, the control unit 72 starts processing and proceeds to step S31 of the flowchart shown in Fig. 4. When the flowchart of Fig. 4 ends, the control unit 72 repeats the processing from step S31 after a predetermined period until the supply of power is stopped.

[0099] In step S31, the control unit 72 determines whether the control state is the first control state. In step S31, if the control state is not the first control state, the control unit 72 ends the process. In step S31, if the control state is the first control state, the control unit 72 proceeds to step S32.

[0100] In step S32, the control unit 72 sets a predetermined amount of rotation depending on the running state of the human-powered vehicle 10, and then the process proceeds to step S33.

[0101] In step S33, the control unit 72 determines whether the rotation amount of the motor 48 is equal to or less than a predetermined rotation amount. For example, when the rotation amount of the motor 48 after starting to drive the motor 48 is equal to or less than the predetermined rotation amount, the control unit 72 determines that the rotation amount of the motor 48 is equal to or less than the predetermined rotation amount. In step S33, when the rotation amount of the motor 48 is not equal to or less than the predetermined rotation amount, the control unit 72 ends the process.

[0102] In step S33, if the rotation amount of the motor 48 is equal to or less than the predetermined rotation amount, the control unit 72 proceeds to step S34. In step S34, the control unit 72 switches the control state from the first control state to the second control state, and ends the process.

[0103] <Modification> The explanations of the embodiments are examples of forms that a control device for a human-powered vehicle according to the present disclosure can take, and are not intended to limit the forms. A control device for a human-powered vehicle according to the present disclosure can take forms, for example, modified versions of the embodiments shown below, and forms that combine at least two mutually consistent modified versions. In the following modified versions, parts that are common to the embodiments are given the same reference numerals as in the embodiments, and descriptions thereof are omitted.

[0104] In the first embodiment, the control state is switched from the first control state to the second control state when the first, second, third, and fourth conditions are satisfied, but the third and fourth conditions are not necessarily required. For example, the control state may be switched from the first control state to the second control state when the first and second conditions are satisfied, when the first, second, and third conditions are satisfied, or when the first, second, and fourth conditions are satisfied.

[0105] In the first embodiment, the third condition is judged first, then the fourth condition, but this order may be reversed, or they may be judged simultaneously.

[0106] In the first embodiment, when the first condition is not satisfied and the fifth, sixth, and seventh conditions are satisfied, the control state is switched from the first control state to the second control state, but the fifth, sixth, and seventh conditions are not necessarily required. For example, when one or two of the fifth, sixth, and seventh conditions are satisfied, the control state may be switched from the first control state to the second control state.

[0107] In the first embodiment, the fifth condition is judged first, followed by the sixth condition and then the seventh condition. However, this order may be reversed, or they may be switched, or they may be judged simultaneously.

[0108] In the first embodiment, the second condition may be satisfied when the rotation amount of the motor 48 detected by the motor rotation amount detection unit 62 is equal to or less than the first rotation amount. Preferably, the rotation amount of the motor 48 is represented by the rotation angle of the motor 48. The second condition may be satisfied, for example, when the rotation amount of the motor 48 does not become larger than the first rotation amount when a predetermined time has elapsed since the motor 48 started to be driven. Preferably, the first rotation amount is set based on the rotation angle of the crank 24. Preferably, the first rotation amount is set so as to correspond to the first crank rotation angle described in the first embodiment. For example, when a reducer is provided between the motor 48 and the crank 24, the control unit 72 sets a value obtained by adding a reduction ratio of the reducer to the first crank rotation angle as the first rotation amount. For example, the control unit 72 sets a value obtained by multiplying the first crank rotation angle by the reduction ratio of the reducer as the first rotation amount. Preferably, the first rotation amount is stored in the storage unit 74 in advance.

[0109] In the first embodiment, the fifth condition may be satisfied when the rotation amount of the motor 48 detected by the motor rotation amount detection unit 62 is equal to or less than the second rotation amount. The fifth condition may be satisfied, for example, when the rotation amount of the motor 48 does not become larger than the second rotation amount when a predetermined time has elapsed since the motor 48 started to be driven. Preferably, the second rotation amount is set based on the rotation angle of the crank 24. Preferably, the second rotation amount is set so as to correspond to the second crank rotation angle described in the first embodiment. For example, when a reducer is provided between the motor 48 and the crank 24, the control unit 72 sets a value obtained by adding a reduction ratio of the reducer to the second crank rotation angle as the second rotation amount. For example, the control unit 72 sets a value obtained by multiplying the second crank rotation angle by the reduction ratio of the reducer as the second rotation amount. Preferably, the second rotation amount is stored in the storage unit 74 in advance.

[0110] In the second embodiment, instead of the condition being satisfied when the rotation amount of the motor 48 is equal to or less than a predetermined rotation amount, the control unit 72 may set the condition to be satisfied when the rotation amount of the crank 24 estimated from the rotation amount of the motor 48 detected by the motor rotation amount detection unit 62 is equal to or less than a predetermined rotation amount.

[0111] The human-powered vehicle 10 may be equipped with a sensor that directly detects the amount of rotation of the crank 24 of the human-powered vehicle 10.

[0112] The term "at least one" as used herein means "one or more" of the desired options. As an example, the term "at least one" as used herein means "only one option" or "both of two options" if the number of options is two. As another example, the term "at least one" as used herein means "only one option" or "any combination of two or more options" if the number of options is three or more. [Explanation of symbols]

[0113] 10... human-powered vehicle, 12... wheel, 24... crank, 26... crankshaft, 42... transmission, 48... motor, 60... control system, 62... motor rotation amount detection unit, 70... control device, 72... control unit.

Claims

1. A control device for a human-powered vehicle, the human-powered vehicle includes a crank to which a human-powered driving force is applied, a motor that applies a propulsive force to the human-powered vehicle, and a motor rotation amount detection unit that detects an amount of rotation of the motor, A control unit for controlling the motor is provided. The control unit is a control state of the motor is switchable from one of a first control state in which the motor is driven and a second control state in which driving of the motor is restricted to the other, When a first condition and a second condition are satisfied in the first control state, the control state is switched from the first control state to the second control state; the first condition is satisfied when the manual driving force applied to the crank is greater than a first driving force, A control device, wherein the second condition is satisfied when the rotation amount of the motor detected by the motor rotation amount detection unit is equal to or smaller than a first rotation amount.

2. 2 . The control device according to claim 1 , wherein the second condition is satisfied when an estimated crank rotation amount estimated from the rotation amount of the motor detected by the motor rotation amount detection unit is equal to or smaller than a first crank rotation amount.

3. the control unit switches the control state from the first control state to the second control state when a third condition is satisfied in addition to the first condition and the second condition in the first control state; The control device according to claim 1 , wherein the third condition includes that the first control state continues for a first period or longer.

4. The control device according to claim 3 , wherein the control unit executes the determination process in the order of a determination regarding the first condition, a determination regarding the second condition, and a determination regarding the third condition.

5. the control unit switches the control state from the first control state to the second control state when a fourth condition is satisfied in addition to the first condition and the second condition in the first control state; The control device according to claim 1 , wherein the fourth condition includes performing control related to a jerk of rotation of the motor.

6. The control device according to claim 5 , wherein the control unit executes the determination process in the order of a determination regarding the first condition, a determination regarding the second condition, and a determination regarding the fourth condition.

7. the control unit switches the control state from the first control state to the second control state when the first condition is not satisfied and a fifth condition is satisfied in the first control state; The control device according to claim 2 , wherein the fifth condition is satisfied when the rotation amount of the motor detected by the motor rotation amount detection unit is equal to or smaller than a second rotation amount.

8. 8. The control device according to claim 7, wherein the fifth condition is satisfied when an estimated crank rotation amount estimated from the rotation amount of the motor detected by the motor rotation amount detection unit is equal to or less than a second crank rotation amount.

9. the control unit switches the control state from the first control state to the second control state when the first condition is not satisfied and the fifth condition and the sixth condition are satisfied in the first control state; The control device according to claim 7 or 8, wherein the sixth condition includes that the first control state continues for a second period or longer.

10. the control unit switches the control state from the first control state to the second control state when, in the first control state, the first condition is not satisfied, the fifth condition is satisfied, and in addition, a seventh condition is satisfied; The control device according to claim 8 or 9, wherein the seventh condition includes performing control related to a jerk of rotation of the motor.

11. 9. The control device of claim 8, wherein the first crank rotation amount is represented by a first crank rotation angle, and the first crank rotation angle is less than or equal to 200 degrees.

12. The control device according to claim 11 , wherein the first crank rotation angle is equal to or less than 150 degrees.

13. 13. The control device according to claim 11 or 12, wherein the second crank rotation amount is represented by a second crank rotation angle, and the second crank rotation angle is equal to or less than 20 degrees.

14. The control device according to claim 13 , wherein the second crank rotation angle is less than or equal to 10 degrees.

15. The control device according to claim 13 or 14, wherein the first crank rotation angle is greater than the second crank rotation angle.

16. The control device according to claim 13 or 14, wherein the second crank rotation angle is equal to or smaller than half of the first crank rotation angle.

17. The control device according to claim 1 , wherein the first driving force is equal to or less than 40 Nm.

18. The control device according to claim 17 , wherein the first driving force is equal to or less than 30 Nm.

19. The control device according to claim 1 , wherein the control unit switches the control state from the second control state to the first control state when control regarding the jerk of the rotation of the motor is not being performed in the second control state.

20. the human-powered vehicle includes a transmission that changes a gear ratio, which is a ratio of a rotational speed of a wheel to a rotational speed of a crankshaft; the first condition is satisfied when the gear ratio is greater than a first gear ratio; The control device according to claim 1 , wherein the first gear ratio is greater than a minimum of the gear ratios.

21. A control device for a human-powered vehicle, the human-powered vehicle includes a crank to which a human-powered driving force is applied, a motor that applies a propulsive force to the human-powered vehicle, and a motor rotation amount detection unit that detects an amount of rotation of the motor, A control unit for controlling the motor is provided. The control unit is a control state of the motor is switchable from one of a first control state in which the motor is driven and a second control state in which driving of the motor is restricted to the other, switching from the first control state to the second control state when the rotation amount of the motor detected by the motor rotation amount detection unit is equal to or smaller than a predetermined rotation amount in the first control state; A control device configured to change the predetermined rotation amount depending on a running state of the human-powered vehicle.

22. 1. A control system for a human-powered vehicle, comprising: A control device for a human-powered vehicle according to any one of claims 1 to 21; the motor rotation amount detection unit.

23. 23. The control system of claim 22, wherein the human-powered vehicle does not include a sensor that directly detects an amount of rotation of a crank of the human-powered vehicle.

Images