Control device and transmission system

Abstract

To provide a control device for a human-powered vehicle capable of appropriately changing the change gear ratio.SOLUTION: A control device for a human-powered vehicle includes a control unit for controlling a transmission that changes a change gear ratio, which is a ratio of the rotation speed of wheels to the rotation speed of a crank shaft of the human-powered vehicle. The control unit has, as a control state of the transmission, a first control state of controlling the transmission so as to change the change gear ratio according to the fact that a first parameter regarding the rotation speed of the crank shaft detected from a detection unit of the human-powered vehicle changes from within a first predetermined range to outside the first predetermined range, and a second control state of controlling the transmission so as to change the change gear ratio according to the fact that a second parameter calculated based on information regarding the human-powered vehicle changes from within a second predetermined range to outside the second predetermined range. The control unit switches the control state from one of the first control state and the second control state to the other according to a pedal depression force of the human-powered vehicle.SELECTED DRAWING: Figure 2

Description

Technical Field

[0001] The present invention relates to a control device and a transmission system.

Background Art

[0002] For example, Patent Document 1 discloses a control device for a human-powered vehicle. The control device for a human-powered vehicle in Patent Document 1 controls a transmission according to an input signal to change a gear ratio.

Prior Art Documents

Patent Documents

[0003]

Patent Document 1

Summary of the Invention

Problems to be Solved by the Invention

[0004] An object of the present invention is to provide a control device for a human-powered vehicle that suppresses an unintended change in the gear ratio of the human-powered vehicle.

Means for Solving the Problems

[0005] A control device according to a first aspect of the present invention is a control device for a human-powered vehicle, and includes a control unit that controls a transmission that changes a gear ratio, which is a ratio of the rotational speed of a wheel to the rotational speed of a crankshaft of the human-powered vehicle. The control unit, as a control state of the transmission, changes the gear ratio in accordance with the first parameter regarding the rotational speed of the crankshaft detected from a detection unit of the human-powered vehicle going out of a first predetermined range from within the first predetermined range, and controls the transmission to change the gear ratio in accordance with a second parameter calculated based on information regarding the human-powered vehicle going out of a second predetermined range from within the second predetermined range. The control unit has a first control state and a second control state, and switches the control state from one of the first control state and the second control state to the other in accordance with the pedal force of the human-powered vehicle. According to the control device of the first aspect, the control state of the transmission is switched from one of the first control state and the second control state to the other in accordance with the pedal force of the human-powered vehicle. Thereby, according to the control device of the first aspect, the gear ratio is suitably changed and an unintended change in the gear ratio of the human-powered vehicle is suppressed.

[0006] In the control device of the second aspect according to the first aspect, when the pedal force of the human-powered vehicle is equal to or greater than a predetermined value, the control unit controls the transmission in the first control state, and when the pedal force of the human-powered vehicle is less than the predetermined value, the control unit controls the transmission in the second control state. According to the control device of the second aspect, the control state of the transmission is switched between the first control state and the second control state according to whether the pedal force of the human-powered vehicle is equal to or greater than a predetermined value. Therefore, the gear ratio is suitably changed and an unintended change in the gear ratio of the human-powered vehicle is suppressed.

[0007] In the control device of the third aspect according to the first or second aspect, the information regarding the human-powered vehicle includes at least one of the gear ratio, the vehicle speed of the human-powered vehicle, and the circumference of the wheel of the human-powered vehicle. According to the control device of the third aspect, the second parameter can be suitably set.

[0008] In the control device for the fourth side surface following the third side surface, when the control unit switches the control state from the first control state to the second control state, the control unit corrects the second parameter so that the second parameter is included within the second predetermined range. According to the control device for the fourth side surface, an unintended change in the gear ratio of the human-powered vehicle due to the second parameter not being included within the second predetermined range is suppressed.

[0009] In the control device for the fifth side surface following any one of the first to fourth side surfaces, when the control unit switches the control state from one of the first control state and the second control state to the other, the control unit controls the transmission so as to suppress a change in the gear ratio during a predetermined period. According to the control device for the fifth side surface, since a change in the gear ratio is suppressed during a predetermined period, an unintended change in the gear ratio of the human-powered vehicle is suppressed.

[0010] The control device according to the sixth aspect of the present invention is a control device for a human-powered vehicle, and includes a control unit that controls a transmission that changes a gear ratio, which is a ratio of the rotational speed of a wheel to the rotational speed of a crankshaft of the human-powered vehicle. The control unit has, as control states of the transmission, a first control state in which the control unit controls the transmission to change the gear ratio in response to a first parameter related to the rotational speed of the crankshaft detected from a detection unit of the human-powered vehicle changing from within a first predetermined range to outside the first predetermined range, and a second control state in which the control unit controls the transmission to change the gear ratio in response to a second parameter calculated based on information related to the human-powered vehicle changing from within a second predetermined range to outside the second predetermined range. The control unit is configured to be able to switch the control state from one of the first control state and the second control state to the other. When the control unit switches the control state from the first control state to the second control state, the control unit corrects the second parameter so that the second parameter is included within the second predetermined range. According to the control device of the sixth aspect, when switching to the second control state, the second parameter is included within a second predetermined range. Thereby, according to the transmission of the sixth aspect, an unintended change in the gear ratio of the power-driven vehicle when switching to the second control state is suppressed.

[0011] In the control device of the seventh aspect according to the sixth aspect, the information regarding the power-driven vehicle includes the vehicle speed of the power-driven vehicle and the gear ratio, and the control unit corrects the second parameter according to the vehicle speed and the gear ratio. According to the control device of the seventh aspect, the second parameter can be preferably set.

[0012] In the control device of the eighth aspect according to the sixth or seventh aspect, the control unit controls the transmission by referring to a predetermined table representing the second parameter defined based on the vehicle speed of the power-driven vehicle and the gear ratio of the power-driven vehicle in the second control state. According to the control device of the eighth aspect, an unintended change in the gear ratio of the power-driven vehicle is suppressed.

[0013] In the control device of the ninth aspect according to the eighth aspect, the control unit changes the predetermined table according to the vehicle speed of the power-driven vehicle and the gear ratio of the power-driven vehicle when switching the control state to the second control state. According to the control device of the ninth aspect, an unintended change in the gear ratio of the power-driven vehicle is suppressed.

[0014] In the control device of the tenth aspect according to any one of the sixth to ninth aspects, the control unit switches the control state from one of the first control state and the second control state to the other according to the pedal force of the power-driven vehicle.

[0015] According to the control device of the tenth aspect, since the first control state and the second control state are further switched according to the pedal force, the control state is preferably changed. For this reason, an unintended change in the gear ratio of the power-driven vehicle is suppressed.

[0016] In the control device for the 11th side surface according to the 10th side surface, when the control unit switches the control state from one of the first control state and the second control state to the other, the control unit controls the transmission so as to suppress a change in the gear ratio for a predetermined period. According to the control device for the 11th side surface, since a change in the gear ratio is suppressed for a predetermined period, an unintended change in the gear ratio of the human-powered vehicle is suppressed.

[0017] The control device according to the 12th aspect of the present invention is a control device for a human-powered vehicle, and includes a control unit that controls a transmission that changes a gear ratio, which is a ratio of the rotational speed of a wheel to the rotational speed of a crankshaft of the human-powered vehicle. The control unit has, as a control state of the transmission, a first control state in which the transmission is controlled to change the gear ratio in response to a first parameter related to the rotational speed of the crankshaft detected from a detection unit of the human-powered vehicle going out of a first predetermined range from within the first predetermined range, and a second control state in which the transmission is controlled to change the gear ratio in response to a second parameter calculated based on information related to the human-powered vehicle going out of a second predetermined range from within the second predetermined range. The control unit is configured to be able to switch the control state from one of the first control state and the second control state to the other. When the control unit switches the control state from one of the first control state and the second control state to the other, the control unit controls the transmission so as to suppress a change in the gear ratio for a predetermined period. According to the control device for the 12th side surface, an unintended shift in the gear ratio of the human-powered vehicle that occurs when the parameter to be referred to is changed is suppressed.

[0018] In the control device for the 13th side surface according to the 12th side surface, the control unit sets the predetermined period according to information related to the human-powered vehicle. The information related to the human-powered vehicle includes at least one of the rotational speed of the crankshaft, the torque acting on the crankshaft, the power rate acting on the crankshaft, the vehicle speed of the human-powered vehicle, the inclination angle of the human-powered vehicle, the change direction of the gear ratio of the human-powered vehicle, and the output value of a motor that applies a driving force to the human-powered vehicle. According to the control device of the 13th side surface, a predetermined period is preferably set.

[0019] In the control device of the 14th side surface according to the 12th side surface or the 13th side surface, the control unit switches between the first control state and the second control state according to the pedal effort of the human-powered vehicle. According to the control device of the 14th side surface, since the first control state and the second control state are further switched according to the pedal effort, the control state is preferably changed. Therefore, an unintended change in the gear ratio of the human-powered vehicle is suppressed.

[0020] In the control device of the 15th side surface according to any one of the 12th side surface to the 14th side surface, when the control unit switches from the first control state to the second control state, the second parameter is corrected so as to be included within the second predetermined range. According to the control device of the 15th side surface, the second parameter is included within the second predetermined range when switching to the second control state. Therefore, an unintended change in the gear ratio of the human-powered vehicle when switching to the second control state is suppressed.

[0021] In the control device of the 16th side surface according to any one of the 1st side surface to the 15th side surface, the first predetermined range includes a first threshold value and a second threshold value smaller than the first threshold value, and when the first parameter is greater than or equal to the first threshold value, the control unit controls the transmission in the first transmission direction so that the gear ratio increases, and when the first parameter is less than or equal to the second threshold value, the control unit controls the transmission in the second transmission direction so that the gear ratio decreases. According to the control device of the 16th side surface, the gear ratio of the human-powered vehicle is preferably changed.

[0022] In the control device for the 17th side surface according to any one of the 1st side surface to the 16th side surface, the second predetermined range includes a third threshold value and a fourth threshold value smaller than the third threshold value. When the second parameter is greater than or equal to the third threshold value, the control unit controls the transmission in a first transmission direction so that the transmission ratio increases. When the second parameter is less than or equal to the fourth threshold value, the control unit controls the transmission in a second transmission direction so that the transmission ratio decreases. According to the control device for the 17th side surface, the transmission ratio of the human-powered vehicle is preferably changed.

[0023] In the control device for the 18th side surface according to any one of the 1st side surface to the 17th side surface, the first predetermined range includes a first threshold value and a second threshold value smaller than the first threshold value. When the first parameter is greater than or equal to the first threshold value, the control unit controls the transmission in a first transmission direction so that the transmission ratio increases. When the first parameter is less than or equal to the second threshold value, the control unit controls the transmission in a second transmission direction so that the transmission ratio decreases. The second predetermined range includes a third threshold value and a fourth threshold value smaller than the third threshold value. When the second parameter is greater than or equal to the third threshold value, the control unit controls the transmission in a first transmission direction so that the transmission ratio increases. When the second parameter is less than or equal to the fourth threshold value, the control unit controls the transmission in a second transmission direction so that the transmission ratio decreases. The difference between the third threshold value and the fourth threshold value is different from the difference between the first threshold value and the second threshold value. According to the control device for the 18th side surface, the transmission ratio of the human-powered vehicle is preferably changed.

[0024] In the control device for the 19th side surface according to the 18th side surface, the difference between the third threshold value and the fourth threshold value is greater than the difference between the first threshold value and the second threshold value. According to the control device for the 19th side surface, an unintended change in the transmission ratio of the human-powered vehicle in the second control state is suppressed.

[0025] In the transmission system according to the 20th aspect of the present invention, it includes any one control device from the 1st side surface to the 19th side surface and the transmission. According to the transmission system of the above-described 20th side surface, an unintended change in the gear ratio of the human-powered vehicle is suppressed.

Advantages of the Invention

[0026] According to the control device and the transmission system of the present invention, an unintended change in the gear ratio of the human-powered vehicle is suppressed.

Brief Description of the Drawings

[0027]

Figure 1

Figure 2

Figure 3

Figure 4

Figure 5

Figure 6

Figure 7

Modes for Carrying Out the Invention

[0028] <First Embodiment>

[0029] With reference to FIGS. 1 to 5, a transmission system S including a control device 50 for a human-powered vehicle 10 and a transmission 38 according to a first embodiment will be described. Hereinafter, the control device 50 for the human-powered vehicle 10 will be simply referred to as the control device 50. The human-powered vehicle 10 is a vehicle having at least one wheel and capable of being driven by at least human driving force. The human-powered vehicle 10 includes various types of bicycles such as, for example, mountain bikes, road bikes, city bikes, cargo bikes, and hand bikes, recumbents. The number of wheels of the human-powered vehicle 10 is not limited. The human-powered vehicle 10 includes, for example, vehicles having one wheel and vehicles having three or more wheels. The human-powered vehicle 10 is not limited to a vehicle that can be driven only by human driving force. The human-powered vehicle 10 includes an e-bike (E-bike) that uses the driving force of an electric motor in addition to human driving force for propulsion. The e-bike includes an electric assist bicycle whose propulsion is assisted by an electric motor. Hereinafter, in the embodiment, the human-powered vehicle 10 will be described as a bicycle.

[0030] The human - powered vehicle 10 is provided with a crank 12 to which human - driving force is input. The human - powered vehicle 10 further includes a wheel 14 and a vehicle body 16. The wheel 14 includes a rear wheel 14A and a front wheel 14B. The vehicle body 16 includes a frame 18. The crank 12 includes a crankshaft 12A rotatable with respect to the frame 18 and a pair of crank arms 12B respectively provided at axial ends of the crankshaft 12A. A pair of pedals 20 are respectively connected to each crank arm 12B. The rear wheel 14A is driven by the rotation of the crank 12. The rear wheel 14A is supported by the frame 18. The crank 12 is connected to the rear wheel 14A by a drive mechanism 22. The drive mechanism 22 includes a first rotating body 24 connected to the crankshaft 12A. The crankshaft 12A may be connected so as to rotate integrally with the first rotating body 24 or may be connected via a first one - way clutch. The first one - way clutch is configured to rotate the first rotating body 24 forward when the crank 12 rotates forward and to allow relative rotation between the crank 12 and the first rotating body 24 when the crank 12 rotates backward. The first rotating body 24 includes a sprocket, a pulley, or a bevel gear. The drive mechanism 22 further includes a second rotating body 26 and a connecting member 28. The connecting member 28 transmits the rotational force of the first rotating body 24 to the second rotating body 26. The connecting member 28 includes, for example, a chain, a belt, or a shaft.

[0031] The second rotating body 26 is connected to the rear wheel 14A. The second rotating body 26 includes a sprocket, a pulley, or a bevel gear. Preferably, a second one - way clutch is provided between the second rotating body 26 and the rear wheel 14A. The second one - way clutch is configured to rotate the rear wheel 14A forward when the second rotating body 26 rotates forward and to allow relative rotation between the second rotating body 26 and the rear wheel 14A when the second rotating body 26 rotates backward.

[0032] The front wheel 14B is attached to the frame 18 via the front fork 30. A handlebar 34 is connected to the front fork 30 via a stem 32. In the present embodiment, the rear wheel 14A is connected to the crank 12 by the drive mechanism 22, but at least one of the rear wheel 14A and the front wheel 14B may be connected to the crank 12 by the drive mechanism 22.

[0033] Preferably, the human-powered vehicle 10 further includes a battery 36. The battery 36 includes one or more battery elements. The battery element includes a rechargeable battery. The battery 36 is configured to supply power to the control device 50. The battery 36 is preferably communicably connected to the control unit 52 of the control device 50 by wire or wirelessly. The battery 36 can communicate with the control unit 52 by, for example, power line communication (PLC), CAN (Controller Area Network), or UART (Universal Asynchronous Receiver / Transmitter).

[0034] The human-powered vehicle 10 includes a transmission 38. The transmission 38 changes the gear ratio, which is the ratio of the rotational speed of the wheel 14 to the rotational speed of the crankshaft 12A of the human-powered vehicle 10. In the present embodiment, the drive wheel is the rear wheel 14A. The transmission 38 includes, for example, at least one of a front derailleur, a rear derailleur, and an internal transmission. When the transmission 38 includes an internal transmission, the internal transmission is provided, for example, in the hub of the rear wheel 14A. The transmission 38 is configured to operate by an actuator 38A. The actuator 38A includes an electric actuator. The actuator 38A includes, for example, an electric motor.

[0035] The human - powered vehicle 10 further includes a detection unit 40. The detection unit 40 is configured to detect information regarding the human - powered vehicle 10. The information regarding the human - powered vehicle 10 includes at least one of the rotational speed of the crankshaft 12A, the torque acting on the crankshaft 12A, the work rate acting on the crankshaft 12A, the vehicle speed of the human - powered vehicle 10, the inclination angle of the human - powered vehicle 10, the changing direction of the gear ratio of the human - powered vehicle 10, and the output value of the motor 58 that applies a driving force to the human - powered vehicle 10. The information regarding the human - powered vehicle 10 may include the current gear ratio of the human - powered vehicle 10. When the information regarding the human - powered vehicle 10 includes the rotational speed of the crankshaft 12A, the detection unit 40 includes a crank rotation sensor 42. When the information or parameter P regarding the human - powered vehicle 10 includes the vehicle speed, the detection unit 40 includes a vehicle speed sensor 44. When the information or parameter P regarding the human - powered vehicle 10 includes the torque acting on the crankshaft 12A, the detection unit 40 includes a human - driving force detection unit 46. When the information or parameter P regarding the human - powered vehicle 10 includes the work rate, the detection unit 40 includes the crank rotation sensor 42 and the human - driving force detection unit 46. When the information or parameter P regarding the human - powered vehicle 10 includes the inclination angle, the detection unit 40 includes an inclination detection unit 48. When the information or parameter P regarding the human - powered vehicle 10 includes the changing direction of the gear ratio, the detection unit 40 is configured such that the changing direction of the gear ratio by the transmission 38 is Detection configured to be possible. When the information regarding the human - powered vehicle 10 includes the output value of the motor 58 that applies a driving force to the human - powered vehicle 10, the detection unit 40 is configured to be able to detect the output of the motor 58.

[0036] Preferably, the detection unit 40 is configured to detect the parameter P two or more times within a predetermined period TA. The predetermined period TA is, for example, the period during which the crank 12 rotates once, the period during which the wheel 14 rotates once, or a predetermined time TB. The predetermined time TB is set to be shorter than, for example, the time during which the crank 12 rotates once when an average rider rides the human - powered vehicle 10 on a flat road, for example, 1 second. The detection unit 40 may be configured to detect the parameter P once within the predetermined period TA.

[0037] The crank rotation sensor 42 is configured to detect information corresponding to the rotational speed of the crankshaft 12A. The crank rotation sensor 42 is provided, for example, on the frame 18 of the power-driven vehicle 10. The crank rotation sensor 42 includes a magnetic sensor that outputs a signal corresponding to the intensity of a magnetic field. An annular magnet whose magnetic field intensity changes in the circumferential direction is provided on the crankshaft 12A, a member that rotates in conjunction with the crankshaft 12A, or the power transmission path between the crankshaft 12A and the first rotating body 24. The crank rotation sensor 42 outputs a signal corresponding to the rotational speed of the crank 12. The magnet may be provided on a member that rotates integrally with the crankshaft 12A in the power transmission path of the input driving force from the crankshaft 12A to the first rotating body 24. For example, when no first one-way clutch is provided between the crankshaft 12A and the first rotating body 24, the magnet may be provided on the first rotating body 24. The crank rotation sensor 42 may include an optical sensor, an acceleration sensor, a gyro sensor, a torque sensor, or the like instead of the magnetic sensor. The crank rotation sensor 42 is connected to the control unit 52 via a wireless communication device or an electric cable. Preferably, the crank rotation sensor 42 is configured to output a detection signal a predetermined number of times while the crank 12 makes one rotation. The predetermined number is, for example, 2 or more. Preferably, the predetermined number is 4 or more. The predetermined number is preferably a multiple of 4. Preferably, the predetermined number is 8, 12, or 16. The crank rotation sensor 42 may include a vehicle speed sensor. When the crank rotation sensor 42 includes a vehicle speed sensor, for example, the control unit 52 is configured to calculate the rotational speed of the crank 12 according to the vehicle speed detected by the vehicle speed sensor and the gear ratio.

[0038] The vehicle speed sensor 44 is configured to detect information corresponding to the rotational speed of the wheel 14 of the human-powered vehicle 10. The vehicle speed sensor 44 is configured to detect, for example, a magnet provided on the wheel 14 of the human-powered vehicle 10. The vehicle speed sensor 44 outputs a signal corresponding to the rotational speed of the wheel 14. The control unit 52 can calculate the vehicle speed of the human-powered vehicle 10 based on the rotational speed of the wheel 14 and information regarding the circumference of the wheel 14. The circumference of the wheel 14 is, for example, the circumference of the tire. Information regarding the circumference of the wheel 14 is stored in the storage unit 54. The vehicle speed sensor 44 includes, for example, a magnetic reed that constitutes a reed switch, or a Hall element. The vehicle speed sensor 44 may be attached to the chain stay of the frame 18 of the human-powered vehicle 10 and configured to detect a magnet attached to the rear wheel 14A, or may be provided on the front fork 30 and configured to detect a magnet attached to the front wheel 14B. The vehicle speed sensor 44 is not limited to a configuration that detects a magnet provided on the wheel 14, and may include, for example, an optical sensor or the like. The vehicle speed sensor 44 is connected to the control unit 52 via a wireless communication device or an electric cable. Preferably, the vehicle speed sensor 44 is configured to output a detection signal a predetermined number of times while the wheel 14 makes one rotation. The predetermined number of times is, for example, 2 or more. Preferably, the predetermined number of times is 4 or more. The predetermined number of times is preferably a multiple of 4. Preferably, the predetermined number of times is 8, 12, or 16. In the present embodiment, the vehicle speed sensor 44 is configured such that when the wheel 14 makes one rotation, the reed switch detects the magnet two or more times.

[0039] The human power detection unit 46 includes, for example, a torque sensor. The torque sensor is configured to output a signal corresponding to the torque applied to the crankshaft 12A by the human power. When, for example, a first one-way clutch is provided in the power transmission path, the torque sensor is preferably provided on the upstream side 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. The torque sensor is provided on a member included in the power transmission path or on a member in the vicinity of a member included in the power transmission path. The members included in the power transmission path are, for example, the crankshaft 12A, a member that transmits the human power between the crankshaft 12A and the first rotating body 24, the crank arm 12B, or the pedal 20. The torque sensor is connected to the control unit 52 via a wireless communication device or an electric cable. The human power detection unit 46 may have any configuration as long as it can acquire information regarding the human power, and may include, for example, a sensor that detects the pressure applied to the pedal 20 or a sensor that detects the tension of the chain. Preferably, the torque sensor is configured to output detection signals a predetermined number of times while the crank 12 makes one rotation. The predetermined number is, for example, 2 or more. Preferably, the predetermined number is 4 or more. The predetermined number is preferably a multiple of 4. Preferably, the predetermined number is 8, 12, or 16.

[0040] The inclination detection unit 48 is configured to detect the inclination angle of the road surface on which the human - powered vehicle 10 travels. The inclination angle of the road surface on which the human - powered vehicle 10 travels can be detected by the inclination angle in the traveling direction of the human - powered vehicle 10. The inclination angle of the road surface on which the human - powered vehicle 10 travels corresponds to the inclination angle of the human - powered vehicle 10 with respect to the horizontal plane. In one example, the inclination detection unit 48 includes an inclination sensor. An example of the inclination sensor is a gyro sensor or an acceleration sensor. In another example, the inclination detection unit 48 includes a GPS (Global Positioning System) receiver. The control unit 52 may calculate the inclination angle of the road surface on which the human - powered vehicle 10 travels according to the GPS information acquired by the GPS receiver and the road surface gradient included in the map information pre - recorded in the storage unit 54. The inclination detection unit 48 is connected to the control unit 52 via a wireless communication device or an electric cable. Preferably, the inclination detection unit 48 is configured to output detection signals a predetermined number of times at a predetermined time TB. The predetermined number of times is, for example, 2 or more. Preferably, the predetermined number of times is 4 or more. Preferably, the predetermined number of times is a multiple of 4. Preferably, the predetermined number of times is 8, 12, or 16.

[0041] The detection unit 40 may be configured to be able to receive GPS (Global Positioning System) in order to detect the position information of the human - powered vehicle 10. The control unit 52 detects the vehicle speed of the human - powered vehicle 10 from the change in the position information of the human - powered vehicle 10 at a predetermined time from the detection unit 40. The control unit 52 may be configured to detect the inclination angle of the human - powered vehicle 10 by referring to, for example, the map information stored in the storage unit 54.

[0042] The control device 50 includes a control unit 52. The control unit 52 controls a transmission 38 that changes a gear ratio, which is the ratio of the rotational speed of the wheel 14 to the rotational speed of the crankshaft 12A of the human-powered vehicle 10. The control unit 52 includes an arithmetic processing device that executes a predetermined control program. The arithmetic processing device includes, for example, a CPU (Central Processing Unit) or an MPU (Micro Processing Unit). The arithmetic processing device may be provided at a plurality of mutually separated locations. The control unit 52 may include one or more microcomputers. Preferably, the control device 50 further includes a storage unit 54. Various control programs and information used for various control processes are stored in the storage unit 54. The storage unit 54 includes, for example, a non-volatile memory and a volatile memory. The non-volatile memory includes, for example, at least one of a ROM (Read-Only Memory), an EPROM (Erasable Programmable Read Only Memory), an EEPROM (Electrically Erasable Programmable Read-Only Memory), and a flash memory. The volatile memory includes, for example, a RAM (Random access memory). The storage unit 54 stores the output mode of the motor 58.

[0043] The human-powered vehicle 10 further includes a notification unit 56 that displays information regarding the human-powered vehicle 10. The control unit 52 controls the notification unit 56. The notification unit 56 includes, for example, a display unit. The display unit includes, for example, a display panel. The display unit includes, for example, at least one of a portable electronic device, a display, a smartphone, a tablet computer, and a cycle computer. The notification unit 56 may include a speaker. The information regarding the human-powered vehicle 10 includes the vehicle speed of the human-powered vehicle 10 and the gear ratio of the human-powered vehicle 10.

[0044] The human-powered vehicle 10 further includes a motor 58 that applies a driving force to the human-powered vehicle 10. The motor 58 applies a propulsive force to the human-powered vehicle 10. The motor 58 includes one or more electric motors. The electric motor is, for example, a brushless motor. The motor 58 is configured to transmit the rotational force to at least one of the power transmission path of the human-powered driving force from the pedal 20 to the rear wheel 14A and the front wheel 14B. The power transmission path of the human-powered driving force from the pedal 20 to the rear wheel 14A also includes the rear wheel 14A.

[0045] The human-powered vehicle 10 further includes an operating device 60 that receives an operation from the user and outputs a predetermined signal to at least the control unit 52. The operating device 60 outputs at least an operation signal for changing the gear ratio of the transmission 38. The operation signal includes a first operation signal for changing the gear ratio in the first shifting direction and a second operation signal for changing the gear ratio in the second shifting direction. Preferably, the operating device 60 is composed of a plurality of operating parts, and when the corresponding operating part is operated by the user, the first shift signal or the second shift signal is output. More preferably, the operating device 60 outputs a switching signal for switching from one of the first control state and the second control state to the other. The switching signal includes a first switching signal for switching from the first control state to the second control state and a second switching signal for switching from the second control state to the first control state.

[0046] The control unit 52 controls the transmission 38 according to the control state. The control unit 52 has, as the control states of the transmission 38, a first control state in which the transmission 38 is controlled to change the gear ratio in response to the first parameter P1 regarding the rotational speed of the crankshaft 12A detected by the detector 40 of the human-powered vehicle 10 changing from within the first predetermined range to outside the first predetermined range, and a second control state in which the transmission 38 is controlled to change the gear ratio in response to the second parameter P2 calculated based on the information regarding the human-powered vehicle 10 changing from within the second predetermined range to outside the second predetermined range. The control unit 52 is configured to be able to switch the control state from either one of the first control state and the second control state to the other. The human-powered vehicle 10 controls the transmission 38 in the first control state, for example, at the start of traveling, and is configured to be able to change the control state in response to the establishment of a predetermined condition.

[0047] Referring to FIG. 3, the first shift control executed by the control unit 52 will be described. The first shift control is the control executed by the control unit 52 in the first control state. The first predetermined range includes a first threshold value TH1 and a second threshold value TH2 smaller than the first threshold value TH1. When the first parameter P1 is greater than or equal to the first threshold value TH1, the control unit 52 controls the transmission 38 in the first shift direction so that the gear ratio increases, and when the first parameter P1 is less than or equal to the second threshold value TH2, the control unit 52 controls the transmission 38 in the second shift direction so that the gear ratio decreases.

[0048] Referring to FIG. 4, the second shift control executed by the control unit 52 will be described. The second shift control is the control executed by the control unit 52 in the second control state. The second predetermined range includes a third threshold value TH3 and a fourth threshold value TH4 smaller than the third threshold value TH3. When the second parameter P2 is greater than or equal to the third threshold value TH3, the control unit 52 controls the transmission 38 in the first shift direction so that the gear ratio increases, and when the second parameter P2 is less than or equal to the fourth threshold value TH4, the control unit 52 controls the transmission 38 in the second shift direction so that the gear ratio decreases.

[0049] In one example, the difference between the third threshold TH3 and the fourth threshold TH4 is different from the difference between the first threshold TH1 and the second threshold TH2. In another example, the difference between the third threshold TH3 and the fourth threshold TH4 is the same as the difference between the first threshold TH1 and the second threshold TH2. In the present embodiment, the difference between the third threshold TH3 and the fourth threshold TH4 is different from the difference between the first threshold TH1 and the second threshold TH2. The difference between the third threshold TH3 and the fourth threshold TH4 is greater than the difference between the first threshold TH1 and the second threshold TH2. In the first example, the first threshold TH1 is smaller than the third threshold TH3. In the second example, the second threshold TH2 is greater than the fourth threshold TH4. In the third example, the third example includes both the first example and the second example. When the third example includes both the first example and the second example, for example, the first threshold TH1 is smaller than the third threshold TH3 and the second threshold TH2 is greater than the fourth threshold TH4.

[0050] The control unit 52 executes first selection control for switching the control state from one of the first control state and the second control state to the other according to the pedal effort of the human - powered vehicle 10. The first selection control is executed when the control unit 52 controls the transmission 38 in either the first control state or the second control state. The pedal effort is detected by the human - power driving force detection unit 46. In the first selection control, the control unit 52 switches from one of the first shift control and the second shift control to the other according to the pedal effort of the human - powered vehicle 10. In one example, when the pedal effort of the human - powered vehicle 10 is equal to or greater than a predetermined value, the control unit 52 controls the transmission 38 in the first control state, and when the pedal effort of the human - powered vehicle 10 is less than the predetermined value, the control unit 52 controls the transmission 38 in the second control state. The predetermined value is, for example, 5 Nm.

[0051] The calculation of the second parameter P2 will be described. The second parameter P2 is, for example, the estimated rotational speed of the crankshaft 12A of the human-powered vehicle 10. The second parameter P2 is calculated, for example, by the control unit 52. The information regarding the human-powered vehicle 10 used for the calculation of the second parameter P2 includes at least one of the gear ratio, the vehicle speed of the human-powered vehicle 10, and the circumference of the wheels 14 of the human-powered vehicle 10. In the first example, the control unit 52 calculates the second parameter P2 from the rotational speed of the wheels 14 and the gear ratio. The control unit 52 acquires the rotational speed of the wheels 14 by means of a vehicle speed sensor 44 that detects information corresponding to the rotational speed of the wheels 14. In the second example, the control unit 52 calculates the second parameter P2 from the gear ratio, the vehicle speed of the human-powered vehicle 10, and the circumference of the wheels 14 of the human-powered vehicle 10. The control unit 52 calculates the vehicle speed of the human-powered vehicle 10 from the change in position information, and calculates the rotational speed of the wheels 14 of the human-powered vehicle 10 from the vehicle speed of the human-powered vehicle 10 and the circumference of the wheels 14 of the human-powered vehicle 10. By dividing the rotational speed of the wheels 14 by the gear ratio, the estimated rotational speed of the crankshaft 12A, which is the second parameter P2, is calculated. In the third example, the control unit 52 calculates the second parameter P2 from the vehicle speed of the human-powered vehicle 10 and the circumference of the wheels 14 of the human-powered vehicle 10. The control unit 52 calculates the vehicle speed of the human-powered vehicle 10 based on the rotational speed of the wheels 14 and the circumference of the wheels 14. The control unit 52 calculates the second parameter P2 by referring to, for example, a correspondence table that associates the vehicle speed of the human-powered vehicle 10 stored in the storage unit 54 with the second parameter P2.

[0052] Preferably, when the control unit 52 switches the control state from the first control state to the second control state, the control unit 52 executes a first correction control for correcting the second parameter P2 so that the second parameter P2 is included within a second predetermined range. In the first correction control, the control unit 52 corrects the second parameter P2 by performing an operation using a coefficient such that the difference from the first parameter P1 in the first control state becomes equal to or less than a predetermined value. The coefficient is set based on information regarding the power-driven vehicle 10. In one example, in the first correction control, when the second parameter P2 when switching to the second control state is equal to or greater than a third threshold value TH3, the control unit 52 corrects the second parameter P2 so that it becomes smaller than the third threshold value TH3. In the first correction control, when the second parameter P2 when switching to the second control state is equal to or less than a fourth threshold value TH4, the control unit 52 corrects the second parameter P2 so that it becomes greater than the fourth threshold value TH4. Preferably, when the control unit 52 switches the control state from one of the first control state and the second control state to the other, the control unit 52 executes a first shift suppression control for controlling the transmission 38 so as to suppress a change in the gear ratio during a predetermined period. In the first shift suppression control, the predetermined period is a fixed period.

[0053] With reference to FIG. 5, the first selection control executed by the control unit 52 will be described. The control unit 52 repeatedly executes the first selection control when power is supplied from the battery 36 and the transmission 38 is controlled in either the first control state or the second control state.

[0054] In step S11, the control unit 52 determines whether or not the pedal depression force is equal to or greater than a predetermined value. If the determination is affirmative, the control unit 52 executes the process of step S12. If the determination is negative, the control unit 52 executes the process of step S13.

[0055] In step S12, the control unit 52 controls the transmission 38 in the first control state. After the end of step S12, the control unit 52 ends the first selection control. In step S13, the control unit 52 controls the transmission 38 in the second control state. After the end of step S13, the control unit 52 ends the first selection control.

[0056] <Second Embodiment> The control device 50 of the second embodiment will be described. The control device 50 of the second embodiment is the same as the control device 50 of the first embodiment, except that it controls the transmission 38 by executing second correction control instead of first correction control. For configurations common to the first embodiment, the same reference numerals as those in the first embodiment are given, and duplicate descriptions are omitted.

[0057] When the control unit 52 switches the control state from the first control state to the second control state, it executes second correction control to correct the second parameter P2 so that the second parameter P2 is included within a second predetermined range. In the second correction control, the difference from the first correction control is that the control unit 52 updates a predetermined table to be referred to.

[0058] The correction of the second parameter P2 by the control unit 52 executed by the second correction control will be described. The information on the human - powered vehicle 10 used for correcting the second parameter P2 includes the vehicle speed of the human - powered vehicle 10 and the gear ratio. The control unit 52 corrects the second parameter P2 according to the vehicle speed and the gear ratio. The second parameter P2 is, for example, the estimated rotational speed of the crankshaft 12A of the human - powered vehicle 10.

[0059] In the second control state, the control unit 52 controls the transmission 38 by referring to a predetermined table representing the second parameter P2 defined based on the vehicle speed of the human - powered vehicle 10 and the gear ratio of the human - powered vehicle 10. The predetermined table is stored, for example, in the storage unit 54. The predetermined table is a table that defines the value of the second parameter P2 from the vehicle speed of the human - powered vehicle 10 and the gear ratio of the human - powered vehicle 10 in the second control state. The control unit 52 controls the transmission 38 based on whether the value of the second parameter P2 obtained from the predetermined table is within a second predetermined range.

[0060] When the control unit 52 switches the control state to the second control state, it changes a predetermined table according to the vehicle speed of the human - powered vehicle 10 and the gear ratio of the human - powered vehicle 10. The change of the predetermined table executed in the second correction control will be described. The control unit 52 changes the predetermined table so that the reference second parameter PS2 of the predetermined table first referred to in the second control state is included within a second predetermined range. The control unit 52 calculates a predetermined coefficient such that the product of the estimated rotational speed of the crankshaft 12A of the human - powered vehicle 10 calculated based on the vehicle speed of the human - powered vehicle 10, the gear ratio of the human - powered vehicle 10, and the circumference of the wheel 14 at the time of switching to the second control state and the predetermined coefficient becomes the reference second parameter PS2. The control unit 52 updates the predetermined table using the predetermined coefficient. Preferably, the reference second parameter PS2 is a value intermediate between a third threshold TH3 and a fourth threshold TH4.

[0061] Table 1 shows an example of a predetermined table when the vehicle speed of the human - powered vehicle 10 when switching to the second control state is 10 km / h, the gear stage with the smallest gear ratio is the first gear, the gear stage with the largest gear ratio is the twelfth gear, the gear stage is the fifth gear, and the reference second parameter PS2 is 70. In this embodiment, the number of teeth of the first rotating body 24 is 34, and the number of teeth of the second rotating body 26 is, in order from the first gear to the twelfth gear, 51, 45, 39, 33, 28, 24, 21, 18, 16, 14, 12, 10. In this embodiment, the circumference of the wheel 14 is 2148 mm. The gear ratio is the value obtained by dividing the number of teeth of the first rotating body 24 by the number of teeth of the second rotating body 26. In this embodiment, the gear ratio in the case of the fifth gear stage is represented by 34 / 28, and its value is approximately 1.2. Originally, when the vehicle speed of the human - powered vehicle 10 is 10 km / h and the gear ratio is approximately 1.2, the estimated rotational speed of the crankshaft 12A is calculated from the vehicle speed, the circumference of the wheel 14, and the gear ratio, and is approximately 63.9 rpm. However, in this embodiment, a predetermined coefficient is calculated so that the second parameter P2 becomes 70, which is the reference second parameter PS2. In this case, the predetermined coefficient is calculated by dividing the original estimated rotational speed of the crankshaft 12A, which is 63.9 rpm, by 70, which is the reference second parameter PS2. In this case, the predetermined coefficient is 0.912.

[0062]

Table 1

[0063] The control unit 52 creates a predetermined table in a state where the second parameter P2 is corrected so that the reference second parameter PS2 is within the second predetermined range. Specifically, the control unit 52 updates the predetermined table to the state of Table 1 using a predetermined coefficient of 0.912. In the second control state, the control unit 52 executes second shift control based on the predetermined table shown in Table 1. The control unit 52 executes second shift control based on the third threshold TH3 and the fourth threshold TH4. When the second parameter P2 is greater than or equal to the third threshold TH3, the control unit 52 controls the transmission 38 in the first shift direction so that the gear ratio increases. When the second parameter P2 is less than or equal to the fourth threshold TH4, the control unit 52 controls the transmission 38 in the second shift direction so that the gear ratio decreases. In this case, the third threshold is 80 and the fourth threshold is 60. The range represented by a dark background color in Table 1 is the second predetermined range. When the vehicle speed of the human-powered vehicle 10 becomes 12 km / h or more, the control unit 52 controls the transmission 38 to shift in the first shift direction in which the gear ratio increases. When the vehicle speed of the human-powered vehicle 10 becomes 9 km / h or less, the control unit 52 controls the transmission 38 to shift in the second shift direction in which the gear ratio decreases. The control unit 52 controls the transmission 38 with a predetermined table corrected by a predetermined coefficient until the control state is switched from the second control state to the first control state.

[0064] Table 2 shows an example of a predetermined table when the vehicle speed of the human-powered vehicle 10 when switching to the second control state is 15 km / h, the gear stage with the smallest gear ratio is the first gear, the gear stage with the largest gear ratio is the twelfth gear, the gear stage is the seventh gear, and the reference second parameter PS2 is 70. In this embodiment, the number of teeth of the first rotating body 24 is 34, and the number of teeth of the second rotating body 26 is, in order from the first gear to the twelfth gear, 51, 45, 39, 33, 28, 24, 21, 18, 16, 14, 12, 10. In this embodiment, the circumference of the wheel 14 is 2148 mm. The gear ratio is the value obtained by dividing the number of teeth of the first rotating body 24 by the number of teeth of the second rotating body 26. In this embodiment, the gear ratio when the gear stage is the seventh gear is represented as 34 / 21, and its value is approximately 1.9. Originally, the estimated rotational speed of the crankshaft 12A when the vehicle speed of the human-powered vehicle 10 is 15 km / h and the gear ratio is approximately 1.9 is calculated from the vehicle speed, the circumference of the wheel 14, and the gear ratio, and is approximately 71.8 rpm. However, in this embodiment, a predetermined coefficient is calculated so that the second parameter P2 becomes 70, which is the reference second parameter PS2. In this case, the predetermined coefficient is calculated by dividing the original estimated rotational speed of the crankshaft 12A, which is 71.8 rpm, by the reference second parameter PS2, which is 70. In this case, the predetermined coefficient is 1.026.

[0065]

Table 2

[0066] The control unit 52 creates a predetermined table in a state where the second parameter P2 is corrected so that the reference second parameter PS2 is within the second predetermined range. Specifically, the control unit 52 updates the predetermined table to the state of Table 2 using a predetermined coefficient of 1.026. In the second control state, the control unit 52 executes second shift control based on the predetermined table shown in Table 2. The control unit 52 executes second shift control based on the third threshold value TH3 and the fourth threshold value TH4. When the second parameter P2 is greater than or equal to the third threshold value TH3, the control unit 52 controls the transmission 38 in the first shift direction so that the gear ratio increases. When the second parameter P2 is less than or equal to the fourth threshold value TH4, the control unit 52 controls the transmission 38 in the second shift direction so that the gear ratio decreases. In this case, the third threshold value is 80 and the fourth threshold value is 60. The range represented by the dark background color in Table 2 is the second predetermined range. When the vehicle speed of the human-powered vehicle 10 becomes 18 km / h or more, the control unit 52 controls the transmission 38 to shift in the first shift direction in which the gear ratio increases. When the vehicle speed of the human-powered vehicle 10 becomes 13 km / h or less, the control unit 52 controls the transmission 38 to shift in the second shift direction in which the gear ratio decreases. The control unit 52 controls the transmission 38 with the predetermined table corrected by the predetermined coefficient until the control state is switched from the second control state to the first control state.

[0067] When a predetermined condition is satisfied, the control unit 52 switches the control state from one of the first control state and the second control state to the other. The predetermined condition includes a first predetermined condition and a second predetermined condition. When the first predetermined condition is satisfied, the control unit 52 switches the control state from the first control state to the second control state. When the second predetermined condition is satisfied, the control unit 52 switches the control state from the second control state to the first control state. In one example, the control unit 52 executes a first selection control for switching the control state from one of the first control state and the second control state to the other according to the pedal depression force of the human-powered vehicle 10. The control unit 52 determines that the first predetermined condition is satisfied when the pedal depression force is less than a predetermined value, and determines that the second predetermined condition is satisfied when the pedal depression force is greater than or equal to the predetermined value. In another example, when the operating device 60 is operated by the user, the control unit 52 executes a second selection control for switching the control state according to a switching signal. The control unit 52 determines that the first predetermined condition is satisfied when the first switching signal is received, and determines that the second predetermined condition is satisfied when the second switching signal is received. Preferably, when the control unit 52 switches the control state from one of the first control state and the second control state to the other, the control unit 52 executes a first shift suppression control for controlling the transmission 38 so as to suppress a change in the gear ratio for a predetermined period of time.

[0068] Referring to FIG. 6, the second correction control executed by the control unit 52 of the second embodiment will be described. The control unit 52 periodically executes the second correction control when power is supplied from the battery 36 and the transmission 38 is controlled in the first control state.

[0069] In step S21, the control unit 52 controls the transmission 38 in the first control state. In step S22, the control unit 52 determines whether the first predetermined condition is satisfied. If the determination is affirmative, the control unit 52 executes the process of step S23. If the determination is negative, the control unit 52 ends the second correction control.

[0070] In step S23, the control unit 52 acquires the vehicle speed and the gear ratio of the power-driven vehicle 10 from the detection unit 40. In step S24, the control unit 52 changes a predetermined table. In step S25, the control unit 52 controls the transmission 38 in the second control state.

[0071] In step S26, the control unit 52 determines whether or not a second predetermined condition is satisfied. In the case of an affirmative determination, the control unit 52 executes the process of step S27. In the case of a negative determination, the control unit 52 executes the processes of steps S25 and S26 again. In step S27, the control unit 52 controls the transmission 38 in the first control state. After the end of step S27, the control unit 52 ends the second correction control.

[0072] <Third Embodiment> The control device 50 according to the third embodiment will be described. The control device 50 according to the third embodiment is the same as the control devices 50 according to the first and second embodiments, except that the control device 50 executes second shift suppression control instead of the first shift suppression control. For configurations common to the first and second embodiments, the same reference numerals are given, and redundant descriptions are omitted.

[0073] When the control unit 52 switches the control state from one of the first control state and the second control state to the other, it executes a second shift suppression control for controlling the transmission 38 so as to suppress a change in the gear ratio for a predetermined period. In the second shift suppression control, the control unit 52 sets the predetermined period according to information on the human-powered vehicle 10. The information on the human-powered vehicle 10 includes at least one of the rotational speed of the crankshaft 12A, the torque acting on the crankshaft 12A, the work rate acting on the crankshaft 12A, the vehicle speed of the human-powered vehicle 10, the inclination angle of the human-powered vehicle 10, the change direction of the gear ratio of the human-powered vehicle 10, and the output value of the motor 58 that applies a driving force to the human-powered vehicle 10. In one example, when the information on the human-powered vehicle 10 includes the rotational speed of the crankshaft 12A, the predetermined period is set based on the rotational speed of the crankshaft 12A. When the information on the human-powered vehicle 10 includes the torque acting on the crankshaft 12A, the predetermined period is set based on the torque. When the information on the human-powered vehicle 10 includes the work rate acting on the crankshaft 12A, the predetermined period is set based on the work rate. The work rate is defined by the product of the rotational speed and the torque of the crankshaft 12A. When the information on the human-powered vehicle 10 includes the vehicle speed of the human-powered vehicle 10, the predetermined period is set based on the vehicle speed. When the information on the human-powered vehicle 10 includes the inclination angle of the human-powered vehicle 10, the predetermined period is set based on the inclination angle. When the information on the human-powered vehicle 10 includes the change direction of the gear ratio of the human-powered vehicle 10, the predetermined period is set based on whether the shift direction is the first shift direction or the second shift direction. When the information on the human-powered vehicle 10 includes the output value of the motor 58 that applies a driving force to the human-powered vehicle 10, the predetermined period is set according to the output value of the motor 58. In the relationship between the information on the human-powered vehicle 10 and a predetermined value, the predetermined period may be set, or the predetermined period may be set according to the numerical value included in the information on the human-powered vehicle 10.

[0074] When switching from the first control state to the second control state, the predetermined period and the predetermined period when switching from the second control state to the first control state may be the same or different. In yet another example, when the predetermined period is set according to at least one of the rotation speed of the crankshaft 12A and the rotation angle of the crankshaft 12A, the predetermined period may be set according to the number of strokes corresponding to the number of half rotations of the crankshaft 12A.

[0075] When a predetermined condition is satisfied, the control unit 52 switches the control state from one of the first control state and the second control state to the other. The predetermined conditions include a first predetermined condition and a second predetermined condition. When the first predetermined condition is satisfied, the control state is switched from the first control state to the second control state. When the second predetermined condition is satisfied, the control state is switched from the second control state to the first control state. In one example, the control unit 52 executes a first selection control for switching between the first control state and the second control state according to the pedal pressing force of the human-powered vehicle 10. The control unit 52 determines that the first predetermined condition is satisfied when the pedal pressing force is less than a predetermined value, and determines that the second predetermined condition is satisfied when the pedal pressing force is greater than or equal to the predetermined value. In another example, when the operating device 60 is operated by the user, a second selection control for switching according to a switching signal is executed. The control unit 52 determines that the first predetermined condition is satisfied when receiving the first switching signal, and determines that the second predetermined condition is satisfied when receiving the second switching signal. Preferably, when switching from the first control state to the second control state, the control unit 52 executes a first correction control or a second correction control for correcting the second parameter P2 so that the second parameter P2 is included within a second predetermined range. The control unit 52 corrects the second parameter P2 by performing an operation using a predetermined coefficient so that the difference from the first parameter P1 becomes equal to or less than a predetermined value. In one example, when the second parameter P2 is greater than or equal to a third threshold value TH3, the control unit 52 corrects the second parameter P2 so that it becomes smaller than the third threshold value TH3. When the second parameter P2 is less than or equal to a fourth threshold value TH4, the control unit 52 corrects the second parameter P2 so that it becomes greater than the fourth threshold value TH4.

[0076] Referring to FIG. 7, the second shift suppression control executed by the control unit 52 of the third embodiment will be described. The control unit 52 repeatedly executes the second shift suppression control when power is supplied from the battery 36 and the transmission 38 is controlled in either the first control state or the second control state.

[0077] In step S31, the control unit 52 determines whether a predetermined condition is satisfied. In the case of an affirmative determination, the control unit 52 executes the process of step S32. In the case of a negative determination, the control unit 52 ends the second shift suppression control.

[0078] In step S32, the control unit 52 changes from one of the first control state or the second control state to the other. In step S33, the control unit 52 sets a predetermined period and controls the transmission 38 so that a change in the gear ratio is suppressed during the predetermined period. In step S34, the control unit 52 controls the transmission 38 in the other of the first control state or the second control state. After the end of step S34, the control unit 52 ends the second shift suppression control.

[0079] <Modification Example> The description of each embodiment is an exemplification of forms that the control device and the transmission system according to the present invention can take, and is not intended to limit such forms. The control device and the transmission system according to the present invention can take, for example, modification examples of each of the following embodiments, and forms in which at least two non - conflicting modification examples are combined. In the following modification examples, parts common to the forms of the embodiments are denoted by the same reference numerals as in the embodiments, and the description thereof is omitted.

[0080] · When the vehicle speed of the human - powered vehicle 10 is equal to or lower than a predetermined speed, switching from either the first control state or the second control state to the other may be suppressed.

[0081] · The motor 58 has a first output mode and a second output mode with different output powers, and the control unit 52 may change at least one of the selection control, correction control, and shift suppression control for each output mode. The first output mode and the second output mode have different assist ratios, which are the ratios of the output of the motor 58 to the input torque input to the human-powered vehicle 10. In one example, the control unit 52 changes a predetermined value of the pedal force for each output mode in the first selection control. In one example, the control unit 52 changes at least some of the values in a predetermined table for each output mode in the second correction control. In one example, the control unit 52 has different predetermined periods for each output mode in the second shift suppression control.

[0082] · In the information regarding the human-powered vehicle 10, the wheel diameter may be used instead of the circumference of the wheel 14. In this case, the control unit 52 may calculate the circumference of the wheel 14 by multiplying the wheel diameter by the pi.

[0083] · The expression "at least one" used in this specification means "one or more" of the desired options. As an example, the expression "at least one" used in this specification means "only one option" or "both of the two options" if the number of options is two. As another example, the expression "at least one" used in this specification means "only one option" or "any combination of two or more options" if the number of options is three or more.

Description of Reference Numerals

[0084] 10… Human-powered vehicle, 12A… Crankshaft, 14… Wheel, 38… Transmission, 50… Control device, 52… Control unit, 58… Motor, 60… Operating device, P… Parameter, S… Shift system.

Claims

1. A control device for a human - powered vehicle, comprising: a control unit that controls a transmission device for changing a gear ratio, which is a ratio of the rotational speed of a wheel to the rotational speed of a crankshaft of the human - powered vehicle; the control unit, as a control state of the transmission device, a first control state in which the transmission device is controlled to change the gear ratio in response to a first parameter related to the rotational speed of the crankshaft detected from a detection unit of the human - powered vehicle changing from within a first predetermined range to outside the first predetermined range; and a second control state in which the transmission device is controlled to change the gear ratio in response to a second parameter calculated based on information related to the human - powered vehicle changing from within a second predetermined range to outside the second predetermined range, and the control unit switches the control state from one of the first control state and the second control state to the other in response to the pedal force of the human - powered vehicle, the first parameter is the rotational speed of the crankshaft, the second parameter is an estimated rotational speed of the crankshaft calculated based on the rotational speed of the wheel or the vehicle speed, a control device.

2. The control unit controls the transmission device in the first control state when the pedal force of the human - powered vehicle is equal to or greater than a predetermined value, and controls the transmission device in the second control state when the pedal force of the human - powered vehicle is less than the predetermined value. The control device according to claim 1.

3. The second parameter is calculated based on at least one of the rotational speed of the wheel or the vehicle speed, the gear ratio, and the circumference of the wheel. The control device according to claim 1 or 2.

4. When the control unit switches the control state from the first control state to the second control state, the control unit corrects the second parameter so that the second parameter is included within the second predetermined range. The control device according to claim 3.

5. When the control unit switches the control state from one of the first control state and the second control state to the other, the control unit controls the transmission device to suppress a change in the gear ratio for a predetermined period. The control device according to any one of claims 1 to 4.

6. A control device for a human - powered vehicle, comprising: a control unit that controls a transmission device for changing a gear ratio, which is a ratio of the rotational speed of a wheel to the rotational speed of a crankshaft of the human - powered vehicle; the control unit, as a control state of the transmission device, When a first parameter related to the rotational speed of the crankshaft detected by the detection unit of the human - powered vehicle changes from within a first predetermined range to outside the first predetermined range, a first control state for controlling the transmission to change the gear ratio; A second control state for controlling the transmission to change the gear ratio in response to a second parameter, which is calculated based on information related to the human - powered vehicle and is different from the first parameter, changing from within a second predetermined range to outside the second predetermined range; and has The control unit is configured to be able to switch the control state from either one of the first control state and the second control state to the other, The control unit corrects the second parameter so that the second parameter is included within the second predetermined range when switching the control state from the first control state to the second control state. A control device.

7. The information related to the human - powered vehicle includes the vehicle speed of the human - powered vehicle and the gear ratio, The control unit corrects the second parameter according to the vehicle speed and the gear ratio. The control device according to claim 6.

8. The control unit controls the transmission with reference to a predetermined table representing the second parameter defined based on the vehicle speed of the human - powered vehicle and the gear ratio in the second control state. The control device according to claim 6 or 7.

9. The control unit changes the predetermined table according to the vehicle speed of the human - powered vehicle and the gear ratio when switching the control state to the second control state. The control device according to claim 8.

10. The control unit switches the control state from either one of the first control state and the second control state to the other according to the pedal force of the human - powered vehicle. The control device according to any one of claims 6 to 9.

11. When the control unit switches the control state from one of the first control state and the second control state to the other, the control unit controls the transmission to suppress a change in the gear ratio for a predetermined period. The control device according to claim 10.

12. A control device for a human - powered vehicle, comprising A control unit for controlling a transmission that changes a gear ratio, which is a ratio of the rotational speed of a wheel to the rotational speed of the crankshaft of the human - powered vehicle, The control unit, as a control state of the transmission, A first control state for controlling the transmission to change the gear ratio in response to the first parameter regarding the rotational speed of the crankshaft detected by the detection unit of the human-powered vehicle changing from within a first predetermined range to outside the first predetermined range; A second control state for controlling the transmission to change the gear ratio in response to a second parameter, which is calculated based on information regarding the human-powered vehicle and is different from the first parameter, changing from within a second predetermined range to outside the second predetermined range; and The control unit is configured to be able to switch the control state from either the first control state or the second control state to the other; The control unit controls the transmission to suppress a change in the gear ratio for a predetermined period when switching the control state from one of the first control state and the second control state to the other. A control device.

13. The control unit sets the predetermined period according to information regarding the human-powered vehicle, and the information regarding the human-powered vehicle includes at least one of the rotational speed of the crankshaft, the torque acting on the crankshaft, the work rate acting on the crankshaft, the vehicle speed of the human-powered vehicle, the inclination angle of the human-powered vehicle, the change direction of the gear ratio, and the output value of the motor that applies driving force to the human-powered vehicle. The control device according to claim 12.

14. The control device according to claim 12 or 13, wherein the control unit switches between the first control state and the second control state according to the pedal force of the human-powered vehicle.

15. The control device according to any one of claims 12 to 14, wherein when the control unit switches from the first control state to the second control state, the control unit corrects the second parameter so that the second parameter is included within the second predetermined range.

16. The first predetermined range includes a first threshold value and a second threshold value smaller than the first threshold value. The control device according to any one of claims 1 to 15, wherein when the first parameter is greater than or equal to the first threshold value, the control unit controls the transmission in a first gear change direction so that the gear ratio increases, and when the first parameter is less than or equal to the second threshold value, the control unit controls the transmission in a second gear change direction so that the gear ratio decreases.

17. The second predetermined range includes a third threshold value and a fourth threshold value smaller than the third threshold value. When the second parameter is greater than or equal to the third threshold, the control unit controls the transmission in a first shift direction so that the gear ratio increases. When the second parameter is less than or equal to the fourth threshold, the control unit controls the transmission in a second shift direction so that the gear ratio decreases. The control device according to any one of claims 1 to 16.

18. The first predetermined range includes a first threshold and a second threshold smaller than the first threshold. When the first parameter is greater than or equal to the first threshold, the control unit controls the transmission in a first shift direction so that the gear ratio increases. When the first parameter is less than or equal to the second threshold, the control unit controls the transmission in a second shift direction so that the gear ratio decreases. The second predetermined range includes a third threshold and a fourth threshold smaller than the third threshold. When the second parameter is greater than or equal to the third threshold, the control unit controls the transmission in a first shift direction so that the gear ratio increases. When the second parameter is less than or equal to the fourth threshold, the control unit controls the transmission in a second shift direction so that the gear ratio decreases. The difference between the third threshold and the fourth threshold is different from the difference between the first threshold and the second threshold. The control device according to any one of claims 1 to 15.

19. The difference between the third threshold and the fourth threshold is greater than the difference between the first threshold and the second threshold. The control device according to claim 18.

20. A control device according to any one of claims 1 to 19, and the transmission, including a transmission system.

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