Control device for human-powered vehicles

Abstract

To provide a control device for a man-powered vehicle that can drive a motor so that gearshift operation by a derailleur can be performed appropriately.SOLUTION: A man-powered vehicle includes: a transmission body configured to transmit driving power; a derailleur; and a motor configured to drive the transmission body. A control device for the man-powered vehicle comprises a control part that is configured to perform gearshift control by which the motor is controlled so that the transmission body is driven, when a first condition concerning pedaling is satisfied and the derailleur is controlled so that the transmission body is operated in order to change a speed change ratio. The control part is configured to have control states which include: a first control state in which the number of gearshift stages of a first stage number are changed in a first time when the first condition is satisfied; and a second control state in which the number of gearshift stages of the first stage number are changed in a second time shorter than the first time when the first condition is satisfied. The control part is configured to control the motor so that a rotation sped of the motor becomes higher in the second control state than in the first control state.SELECTED DRAWING: Figure 4

Description

[Technical Field]

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

[0002] For example, the control device for a human-powered vehicle disclosed in Patent Document 1 is configured to control a motor configured to drive a transmission body. The control device for a human-powered vehicle disclosed in Patent Document 1 is configured so that, when rotation of the crankshaft is stopped, the motor drives the transmission body and the derailleur operates the transmission body to perform a gear change operation that changes the gear ratio. The derailleur is configured to operate the transmission body to change the gear ratio. [Prior art documents] [Patent documents]

[0003] [Patent Document 1] Patent No. 5686876 Summary of the Invention [Problem to be solved by the invention]

[0004] One object of the present disclosure is to provide a control device for a human-powered vehicle that can drive a motor so as to suitably perform gear shifting operations using a derailleur. [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 crankshaft to which human-powered driving force is input, a first rotating body connected to the crankshaft, a wheel, a second rotating body connected to the wheel, a transmission body configured to engage with the first rotating body and the second rotating body to transmit driving force between the first rotating body and the second rotating body, a derailleur configured to operate the transmission body to change a gear ratio of a rotational speed of the wheel relative to a rotational speed of the crankshaft, and a motor configured to drive the transmission body, and when a first condition related to pedaling is satisfied, The control unit is configured to perform gear change control by controlling the motor to drive the transmission body and controlling the derailleur to operate the transmission body to change the gear ratio, and the control unit is configured to have control states including a first control state in which the number of gears is changed by a first number within a first time when the first condition is satisfied, and a second control state in which the number of gears is changed by the first number within a second time when the first condition is satisfied, and is configured to control the motor in the second control state so that the rotation speed of the motor is higher than in the first control state, and the second time is shorter than the first time. According to the control device of the first aspect, in the second control state, the motor is controlled to increase its rotation speed so that the first gear position can be changed within a second time period that is shorter than the first time period, so that gear shift control can be performed earlier than in the first control state. This allows the motor to be driven in a way that allows optimal gear shifting by the derailleur.

[0006] In the control device of a second aspect according to the first aspect of the present disclosure, the control unit is configured to transition the control state to the second control state when the first condition is satisfied and the second condition is satisfied, and the second condition is satisfied in at least one of a case where the acceleration of the human-powered vehicle is equal to or greater than a first acceleration and a case where the deceleration of the human-powered vehicle is equal to or greater than a first deceleration. According to the control device of the second aspect, when the first condition is satisfied and the acceleration of the human-powered vehicle is equal to or greater than the first acceleration, or when the deceleration of the human-powered vehicle is equal to or greater than the first deceleration, the control state is transitioned to the second control state, thereby enabling early gear change control.

[0007] In the control device of a third aspect according to the second aspect of the present disclosure, the control unit is configured to change the number of gears to a plurality of stages in the second control state when the first condition is satisfied, the second condition is satisfied, and a third condition is also satisfied, and the third condition is The aforementioned This condition is met when it is estimated that a change in the number of gears by a plurality of stages is required. According to the control device of the third aspect, when the first condition is satisfied and the second condition is also satisfied, if it is estimated that a change in the number of gears to multiple stages is required, the number of gears can be changed to multiple stages in the second control state.

[0008] In the control device of a fourth aspect according to any one of the first to third aspects of the present disclosure, the human-powered vehicle further includes an electric actuator that operates the derailleur to operate the transmission body to change the gear ratio, and the control unit is configured to control the electric actuator, and when the first condition is satisfied, to control the electric actuator to cause the derailleur to operate the transmission body, and is configured to control the electric actuator so that in the second control state the operating speed of the derailleur is greater than in the first control state. According to the control device of the fourth aspect, the electric actuator is controlled in the second control state so that the operating speed of the derailleur is faster than in the first control state, thereby enabling gear shift control to be executed earlier.

[0009] In the control device of a fifth aspect according to any one of the first to fourth aspects of the present disclosure, when a height of a seat post of the human-powered vehicle is equal to or less than a first height, the control unit is configured to transition the control state to the second control state. According to the control device of the fifth aspect, when the height of the seat post of the human-powered vehicle is equal to or less than the first height, the gear shift control can be started early.

[0010] In the control device of a sixth aspect according to any one of the first to fifth aspects of the present disclosure, the human-powered vehicle further includes a suspension device, and when the frequency at which the stroke length of the suspension device repeatedly increases and decreases is equal to or greater than a predetermined frequency, the control unit is configured to transition the control state to the second control state. According to the control device of the sixth aspect, when the frequency at which the stroke length of the suspension device repeatedly increases and decreases is equal to or greater than a predetermined frequency, gear shift control can be started early.

[0011] In the control device of the seventh aspect according to any one of the first to sixth aspects of the present disclosure, when the gradient of the road is equal to or greater than a first angle, the control unit is configured to transition the control state to the second control state. According to the control device of the seventh aspect, when the gradient of the road is equal to or greater than the first angle, the gear shift control can be started early.

[0012] In the control device of an eighth aspect according to any one of the first to seventh aspects of the present disclosure, when the human-powered vehicle is traveling downhill and a curve is detected ahead in the traveling direction of the human-powered vehicle, the control unit is configured to transition the control state to the second control state. According to the control device of the eighth aspect, when the human-powered vehicle is traveling downhill and a curve is detected ahead in the traveling direction of the human-powered vehicle, gear change control can be initiated early.

[0013] In the control device of the ninth aspect according to the eighth aspect of the present disclosure, the curve is a curve with a bending angle of 90° or less. According to the control device of the ninth aspect, when a curve with a bending angle of 90° or less is detected ahead, gear shift control can be started early.

[0014] In the control device of a tenth aspect according to the eighth or ninth aspect of the present disclosure, the human-powered vehicle further includes a forward detection unit configured to be able to detect the driving environment ahead in the driving direction of the human-powered vehicle. According to the control device of the tenth aspect, the forward detection section can suitably detect the forward traveling environment in the traveling direction of the human-powered vehicle.

[0015] A control device according to an eleventh aspect of the present disclosure is a control device for a human-powered vehicle, the human-powered vehicle including a crankshaft to which human-powered driving force is input, a first rotating body connected to the crankshaft, wheels, a second rotating body connected to the wheels, a transmission body configured to engage with the first rotating body and the second rotating body and transmit driving force between the first rotating body and the second rotating body, a derailleur configured to operate the transmission body to change the gear ratio of the rotational speed of the wheels relative to the rotational speed of the crankshaft, and a derailleur configured to drive the transmission body. and a control unit configured to perform gear shift control by controlling the motor to drive the transmission body and controlling the derailleur to operate the transmission body to change the gear ratio when a first condition related to pedaling is satisfied, wherein the control unit is configured to have control states including a third control state in which, when the first condition is satisfied, the number of gears is changed to a first number within a first time period, and a fourth control state in which, when the first condition is satisfied, the number of gears is changed to a second number greater than the first number within the first time period. According to the control device of the eleventh aspect, when the first condition is satisfied, in the fourth control state, the number of gears can be changed to a second number greater than the first number within the first time period, thereby driving the motor so as to optimally perform gear shifting by the derailleur.

[0016] In the control device of the twelfth aspect according to the eleventh aspect of the present disclosure, the control unit is configured to transition the control state to the fourth control state when the first condition is satisfied and a fourth condition is satisfied, and the fourth condition is satisfied in at least one of the cases where the acceleration of the human-powered vehicle is equal to or greater than a second acceleration and where the deceleration of the human-powered vehicle is equal to or greater than the second deceleration. According to the control device of the twelfth aspect, when the first condition is satisfied and at least one of the acceleration of the human-powered vehicle is equal to or greater than the second acceleration and the deceleration of the human-powered vehicle is equal to or greater than the second deceleration, the control state is transitioned to the fourth control state, so that the second number of gear stages can be changed.

[0017] In the control device of a thirteenth aspect according to a twelfth aspect of the present disclosure, the control unit is configured to change the number of gears to a plurality of stages in the fourth control state when the first condition is satisfied, the fourth condition is satisfied, and a fifth condition is also satisfied, and the fifth condition is The aforementioned This condition is met when it is estimated that a change in the number of gears by a plurality of stages is required. According to the control device of the thirteenth aspect, when the first condition is satisfied and the fourth condition is also satisfied, Change When it is estimated that a change in the number of gears is required, the number of gears can be changed among a plurality of stages in the fourth control state.

[0018] In the control device of a fourteenth aspect according to any one of the eleventh to thirteenth aspects of the present disclosure, the human-powered vehicle further includes an electric actuator that operates the derailleur to operate the transmission body to change the gear ratio, and the control unit is configured to control the electric actuator, and when the first condition is satisfied, is configured to control the electric actuator to cause the derailleur to operate the transmission body, and the control unit is configured to control the electric actuator so that in the fourth control state, the operating speed of the derailleur is greater than in the third control state. According to the control device of the fourteenth aspect, in the fourth control state,3 The electric actuator is controlled so that the operating speed of the derailleur is faster than in the controlled state, allowing for early gear shift control.

[0019] In the control device of a fifteenth aspect according to any one of the eleventh to fourteenth aspects of the present disclosure, when the height of the seat post of the human-powered vehicle is equal to or less than a first height, the control unit is configured to transition the control state to the fourth control state. According to the control device of the fifteenth aspect, when the height of the seat post of the human-powered vehicle is equal to or less than the first height, the gear shift control can be started early.

[0020] In the control device of aspect 16 according to any one of aspects 11 to 15 of the present disclosure, the human-powered vehicle further includes a suspension device, and when the frequency at which the stroke length of the suspension device repeatedly increases and decreases is equal to or greater than a predetermined frequency, the control unit is configured to transition the control state to the fourth control state. According to the control device of the sixteenth aspect, when the frequency at which the stroke length of the suspension device repeatedly increases and decreases is equal to or greater than a predetermined frequency, the gear shift control can be started early.

[0021] In the control device of the 17th aspect according to any one of the 11th to 16th aspects of the present disclosure, when the gradient of the road is equal to or greater than a first angle, the control unit is configured to transition the control state to the fourth control state. According to the control device of the seventeenth aspect, when the gradient of the road is equal to or greater than the first angle, the gear shift control can be started early.

[0022] In the control device of aspect 18 according to any one of aspects 11 to 17 of the present disclosure, when the human-powered vehicle is traveling downhill and a curve is detected ahead in the direction of travel of the human-powered vehicle, the control unit is configured to transition the control state to the fourth control state. According to the control device of the eighteenth aspect, when the human-powered vehicle is traveling downhill and a curve is detected ahead in the traveling direction of the human-powered vehicle, gear change control can be initiated early.

[0023] In the control device of the nineteenth aspect according to the eighteenth aspect of the present disclosure, the curve is a curve with a bending angle of 90° or less. According to the control device of the nineteenth aspect, when a curve with a bending angle of 90° or less is detected ahead, gear shift control can be started early.

[0024] In the control device of the twentieth aspect according to the eighteenth or nineteenth aspect of the present disclosure, the human-powered vehicle further includes a forward detection unit configured to be able to detect the driving environment ahead in the driving direction of the human-powered vehicle. According to the control device of the twentieth aspect, the forward detection unit can suitably detect the forward traveling environment in the traveling direction of the human-powered vehicle.

[0025] A control layer device according to a twenty-first aspect of the present disclosure is a control device for a human-powered vehicle, the human-powered vehicle including: a crankshaft to which human-powered driving force is input; a first rotating body connected to the crankshaft; wheels; a second rotating body connected to the wheels; a transmission body configured to engage with the first rotating body and the second rotating body and transmit driving force between the first rotating body and the second rotating body; a derailleur configured to operate the transmission body to change a gear ratio of a rotational speed of the wheels relative to a rotational speed of the crankshaft; and a motor configured to drive the transmission body. The control unit is configured to perform gear shift control by controlling the motor to drive the transmission body and controlling the derailleur to operate the transmission body to change the gear ratio when a first condition related to pedaling is satisfied, and the control unit is configured to have control states including a fifth control state in which, when the first condition is satisfied, driving of the motor starts within a third time after receiving a gear shift command, and a sixth control state in which, when the first condition is satisfied, driving of the motor starts within a fourth time after receiving the gear shift command, the fourth time being shorter than the third time. According to the control device of the twenty-first aspect, when the first condition is satisfied, gear shift control can be performed in either the fifth control state or the sixth control state, which have different times until the motor starts to be driven, and therefore the motor can be driven in a way that allows optimal gear shifting by the derailleur.

[0026] In the control device of the 22nd aspect according to the 21st aspect of the present disclosure, the human-powered vehicle further includes an electric actuator that operates the derailleur to operate the transmission body to change the gear ratio, and the control unit is configured to control the electric actuator, and when the first condition is satisfied, is configured to control the electric actuator to cause the derailleur to operate the transmission body. According to the control device of the twenty-second aspect, when the first condition is satisfied, the transmission body can be operated by controlling the electric actuator.

[0027] In the control device of aspect 23 according to aspect 21 or 22 of the present disclosure, the control unit is configured to transition the control state to the sixth control state when the first condition is satisfied and a sixth condition is satisfied, and the sixth condition is satisfied in at least one of the following cases: when the acceleration of the human-powered vehicle is equal to or greater than a third acceleration; and when the deceleration of the human-powered vehicle is equal to or greater than a third deceleration. According to the control device of the twenty-third aspect, when the first condition is satisfied and the acceleration of the human-powered vehicle is equal to or greater than the third acceleration, or when the deceleration of the human-powered vehicle is equal to or greater than the third deceleration, the control state is transitioned to the sixth control state, thereby enabling gear change control to be started early.

[0028] In the control device of the 24th aspect according to the 23rd aspect of the present disclosure, the control unit is configured to change the number of gears in the sixth control state when the first condition is satisfied, the sixth condition is satisfied, and the seventh condition is satisfied, and the seventh condition is satisfied when it is estimated that a change in the number of gears is required. According to the control device of the twenty-fourth aspect, when the first condition and the sixth condition are both satisfied and it is estimated that a shift in the number of gears is required, the number of gears is changed by the plurality of stages in the sixth control state, thereby enabling the shift control to be started early.

[0029] In the control device of aspect 25 according to any one of aspects 21 to 24 of the present disclosure, when the height of the seat post of the human-powered vehicle is equal to or less than a first height, the control unit is configured to transition the control state to the sixth control state. According to the control device of the twenty-fifth aspect, when the height of the seat post of the human-powered vehicle is equal to or less than the first height, the gear shift control can be started early.

[0030] In the control device of aspect 26 according to any one of aspects 21 to 25 of the present disclosure, the human-powered vehicle further includes a suspension device, and when the frequency at which the stroke length of the suspension device repeatedly increases and decreases is equal to or greater than a predetermined frequency, the control unit is configured to transition the control state to the sixth control state. According to the control device of the twenty-sixth aspect, when the frequency at which the stroke length of the suspension device repeatedly increases and decreases is equal to or greater than a predetermined frequency, the gear shift control can be started early.

[0031] In the control device of the 27th aspect according to any one of the 21st to 26th aspects of the present disclosure, when the gradient of the road is equal to or greater than a first angle, the control unit is configured to transition the control state to the sixth control state. According to the control device of the twenty-seventh aspect, when the gradient of the road is equal to or greater than the first angle, the gear shift control can be started early.

[0032] In the control device of aspect 28 according to any one of aspects 21 to 27 of the present disclosure, when the human-powered vehicle is traveling downhill and a curve is detected ahead in the direction of travel of the human-powered vehicle, the control unit is configured to transition the control state to the sixth control state. According to the control device of the twenty-eighth aspect, when the human-powered vehicle is traveling downhill and a curve is detected ahead in the traveling direction of the human-powered vehicle, gear change control can be initiated early.

[0033] In the control device of the twenty-ninth aspect according to the twenty-eighth aspect of the present disclosure, the curve is a curve with a bending angle of 90° or less. According to the control device of the twenty-ninth aspect, when a curve with a bending angle of 90° or less is detected ahead, gear shift control can be started early.

[0034] In the control device of a thirtieth aspect according to the twenty-eighth or twenty-ninth aspect of the present disclosure, the human-powered vehicle further includes a forward detection unit configured to be able to detect the driving environment ahead in the driving direction of the human-powered vehicle. According to the control device of the thirtieth aspect, the forward detection unit can suitably detect the forward traveling environment in the traveling direction of the human-powered vehicle.

[0035] A control device according to a thirty-first aspect of the present disclosure is a control device for a human-powered vehicle, the human-powered vehicle including a crankshaft to which human-powered driving force is input, a first rotating body connected to the crankshaft, a wheel, a second rotating body connected to the wheel, a transmission body configured to engage with the first rotating body and the second rotating body and transmit driving force between the first rotating body and the second rotating body, a derailleur configured to operate the transmission body to change a gear ratio of a rotational speed of the wheel relative to a rotational speed of the crankshaft, and a motor configured to drive the transmission body, a control unit configured to perform gear shift control by controlling the motor to drive the transmission body and controlling the derailleur to operate the transmission body to change the gear ratio when a first condition is satisfied, wherein the control unit is configured to have control states including: a seventh control state in which, when the first condition is satisfied, the transmission body can be operated at a first frequency within a fifth time period or the transmission body is not operated; and an eighth control state in which, when the first condition is satisfied, the transmission body can be operated at a second frequency within the fifth time period, wherein the second frequency is greater than the first frequency. According to the control device of the thirty-first aspect, when the first condition is satisfied, gear shift control can be performed in either the seventh control state or the eighth control state, which differ from each other in the frequency with which the transmission body can be operated within the fifth time period. This makes it possible to drive the motor so that gear shifting by the derailleur can be performed optimally.

[0036] In the control device of the 32nd aspect according to the 31st aspect of the present disclosure, the control unit is configured to transition the control state to the 8th control state when the first condition is satisfied and the 8th condition is satisfied, and the 8th condition is satisfied in at least one of the cases where the acceleration of the human-powered vehicle is equal to or greater than a 4th acceleration and the case where the deceleration of the human-powered vehicle is equal to or greater than a 4th deceleration. According to the control device of the thirty-second aspect, when the first condition is satisfied and at least one of the acceleration of the human-powered vehicle is equal to or greater than the fourth acceleration and the deceleration of the human-powered vehicle is equal to or greater than the fourth deceleration, the control state is transitioned to the eighth control state. This makes it possible to drive the motor so that gear shifting by the derailleur can be performed optimally.

[0037] In the control device of aspect 33 according to aspect 31 or 32 of the present disclosure, when the vehicle speed of the human-powered vehicle fluctuates within a predetermined vehicle speed range within the fifth time period, the control unit is configured to transition the control state to the seventh control state. According to the control device of the thirty-third aspect, when the vehicle speed of the human-powered vehicle fluctuates within a predetermined vehicle speed range, the control state can be transitioned to the seventh control state.

[0038] In the control device of aspect 34 according to any one of aspects 31 to 33 of the present disclosure, if the gradient of the road on which the human-powered vehicle is traveling fluctuates within a predetermined angle range within the fifth time period, the control unit is configured to transition the control state to the seventh control state. According to the control device of the thirty-fourth aspect, when the gradient of the road on which the human-powered vehicle is traveling varies within a predetermined angle range, the control state can be transitioned to the seventh control state.

[0039] In the control device of aspect 35 according to any one of aspects 31 to 34 of the present disclosure, the control unit controls the motor so that in the eighth control state, the period from receiving a gear shift command to starting to drive the motor is shorter than in the seventh control state. According to the control device of the thirty-fifth aspect, in the eighth control state, the motor can be controlled so that the period from receipt of a gear shift command to start of driving the motor is shorter than in the seventh control state, thereby increasing the frequency with which the transmission body can be operated within the fifth time period.

[0040] In the control device of aspect 36 according to any one of aspects 31 to 34 of the present disclosure, the human-powered vehicle further includes an electric actuator that operates the derailleur to operate the transmission body to change the gear ratio, and the control unit is configured to control the electric actuator, and when the first condition is satisfied, to control the electric actuator to cause the derailleur to operate the transmission body, and is configured to control the electric actuator so that in the eighth control state, the period from receiving a gear shift command to the derailleur starting to operate is shorter than in the seventh control state. According to the control device of the thirty-sixth aspect, in the eighth control state, the electric actuator can be controlled so that the period from when a gear shift command is received until the derailleur starts operating is shorter than in the seventh control state, thereby increasing the frequency with which the transmission body can be operated within the fifth time period.

[0041] In the control device of a thirty-seventh aspect according to a thirty-sixth aspect of the present disclosure, the control unit is configured to control the electric actuator so as not to perform operation of the transmission body in the seventh control state. According to the control device of the thirty-seventh aspect, the control device is configured to control the electric actuator so as not to operate the transmission body in the seventh control state, and therefore the first frequency can be set to zero.

[0042] In the control device of a thirty-eighth aspect according to any one of the thirty-first to thirty-seventh aspects of the present disclosure, the control unit is configured not to drive the motor in the seventh control state. According to the control device of the thirty-eighth aspect, the motor is configured not to be driven in the seventh control state, and therefore power consumption of the motor can be reduced.

[0043] In the control device of aspect 39 according to any one of aspects 1 to 38 of the present disclosure, the first condition is satisfied in at least one of the following cases: when the manual driving force is equal to or less than a first driving force; when the rotational speed of the crankshaft is equal to or less than a first rotational speed; and when the crankshaft is oscillating. According to the control device of the thirty-ninth aspect, the first condition is that the manual driving force is equal to or less than the first driving force. 、 When the rotation speed of the crankshaft is equal to or lower than a first rotation speed and when the crankshaft is oscillating, gear shift control can be performed. [Effects of the Invention]

[0044] The control device for a human-powered vehicle disclosed herein can drive the motor so as to suitably perform gear shifting operations using the derailleur. [Brief explanation of the drawings]

[0045] [Figure 1] 1 is a side view of a human-powered vehicle including a control device for a human-powered vehicle according to a first embodiment. [Figure 2] FIG. 2 is a cross-sectional view of a drive unit included in the human-powered vehicle of FIG. 1. [Figure 3] Schematic diagram of the power transmission path of the power transmission system of the human-powered vehicle in Figure 1. [Figure 4] 1 is a block diagram showing the electrical configuration of a human-powered vehicle including a control device for a human-powered vehicle according to a first embodiment. [Figure 5] 5 is a flowchart of a process executed by the control unit of FIG. 4 to perform gear shift control. [Figure 6] 10 is a flowchart of a process executed by a control unit of a second embodiment to perform gear shift control. [Figure 7] 10 is a flowchart of a process executed by a control unit of a third embodiment to perform gear shift control. [Figure 8] 10 is a flowchart of a process executed by a control unit of a fourth embodiment to perform gear shift control. [Figure 9] 10 is a flowchart of a process executed by a control unit of a fifth embodiment to perform gear shift control. [Figure 10] FIG. 4 is a block diagram showing the electrical configuration of a human-powered vehicle including a control device for a human-powered vehicle according to a first modified example. [Figure 11] 6 is a flowchart showing a part of a process for executing gear shift control, which is executed by a control unit of a first modified example of the first embodiment. [Figure 12] 10 is a flowchart showing a part of a process for executing gear shift control, which is executed by a control unit of a first modified example of the second embodiment. [Figure 13] 10 is a flowchart showing a part of a process for executing gear shift control, which is executed by a control unit of a first modified example of the third embodiment. [Figure 14] FIG. 10 is a block diagram showing the electrical configuration of a human-powered vehicle including a control device for a human-powered vehicle according to a second modified example. [Figure 15] 10 is a flowchart showing a part of a process for executing gear shift control, which is executed by a control unit of a second modified example of the first embodiment. [Figure 16] 10 is a flowchart showing a part of a process for executing gear shift control, which is executed by a control unit of a second modified example of the second embodiment. [Figure 17] 10 is a flowchart showing a part of a process for executing gear shift control, which is executed by a control unit of a second modified example of the third embodiment. [Figure 18] FIG. 10 is a block diagram showing the electrical configuration of a human-powered vehicle including a control device for a human-powered vehicle according to a third modified example. [Figure 19] 10 is a flowchart showing a part of a process for executing gear shift control, which is executed by a control unit of a third modified example of the first embodiment. [Figure 20] 10 is a flowchart showing a part of a process for executing gear shift control, which is executed by a control unit of a third modified example of the second embodiment. [Figure 21] 10 is a flowchart showing a part of a process for executing gear shift control, which is executed by a control unit of a third modified example of the third embodiment. [Figure 22] FIG. 10 is a block diagram showing the electrical configuration of a human-powered vehicle including a control device for a human-powered vehicle according to a fourth modified example. [Figure 23]10 is a flowchart showing a part of a process for executing gear shift control, which is executed by a control unit of a fourth modified example of the first embodiment. [Figure 24] 10 is a flowchart showing a part of a process for executing gear shift control, which is executed by a control unit of a fourth modified example of the second embodiment. [Figure 25] 10 is a flowchart showing a part of a process for executing gear shift control, which is executed by a control unit of a fourth modified example of the third embodiment. [Figure 26] 10 is a flowchart of a process executed by a control unit of a fifth modified example to perform gear shift control. [Figure 27] 13 is a flowchart of a process executed by a control unit of a sixth modified example to perform gear shift control. DETAILED DESCRIPTION OF THE INVENTION

[0046] First Embodiment A control device 70 for a human-powered vehicle according to a first embodiment will be described with reference to FIGS. 1 to 5. The human-powered vehicle 10 is a vehicle that has at least one wheel and can be driven by at least human-powered driving force H. Examples of the human-powered vehicle 10 include various types of bicycles, such as mountain bikes, road bikes, city bikes, cargo bikes, hand bikes, and recumbents. The number of wheels that the human-powered vehicle 10 has is not limited. Examples of the human-powered vehicle 10 include unicycles and vehicles with three or more wheels. The human-powered vehicle 10 also includes e-bikes that use not only human-powered driving force H but also 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 embodiments, the human-powered vehicle 10 will be described as both an electrically assisted bicycle and a mountain bike.

[0047] The human-powered vehicle 10 includes a crankshaft 12, a first rotating body 14, wheels 16, a second rotating body 18, a transmission body 20, a derailleur 22, and a motor 24. The human-powered vehicle 10 further includes a pair of crank arms 26. The crankshaft 12 and the crank arms 26 form a crank 28. A human-powered driving force H is input to the crankshaft 12. The human-powered vehicle 10 further includes a vehicle body 30. The wheels 16 include a rear wheel 16R and a front wheel 16F. The vehicle body 30 includes a frame 32. The crank 28 is rotatable relative to the frame 32. The pair of crank arms 26 includes a first crank arm 26A and a second crank arm 26B. The first crank arm 26A is provided at one axial end of the crankshaft 12. The second crank arm 26B is provided at the other axial end of the crankshaft 12. The human-powered vehicle 10 further includes pedals 34. The human-powered vehicle 10 is equipped with a first pedal 34A and a second pedal 34B connected to the crankshaft 12. The pedals 34 include the first pedal 34A and the second pedal 34B. The first pedal 34A is connected to the first crank arm 26A. The second pedal 34B is connected to the second crank arm 26B. The rear wheel 16R is driven by rotation of the crank 28. The rear wheel 16R is supported by the frame 32. The crank 28 and the rear wheel 16R are connected by a drive mechanism 36.

[0048] The drive mechanism 36 includes a first rotating body 14, a second rotating body 18, and a transmission body 20. The first rotating body 14 is connected to the crankshaft 12. The second rotating body 18 is connected to the wheel 16. The transmission body 20 is configured to engage with the first rotating body 14 and the second rotating body 18 to transmit driving force between the first rotating body 14 and the second rotating body 18. The transmission body 20 transmits the rotational force of the first rotating body 14 to the second rotating body 18. In this embodiment, the first rotating body 14 and the crankshaft 12 are arranged coaxially, but the first rotating body 14 and the crankshaft 12 do not have to be arranged coaxially. If the first rotating body 14 and the crankshaft 12 are not arranged coaxially, the first rotating body 14 and the crankshaft 12 are connected via a first transmission mechanism including at least one of a gear, a pulley, a chain, a shaft, and a belt. In this embodiment, the second rotating body 18 and the rear wheel 16R are arranged coaxially, but the second rotating body 18 and the rear wheel 16R do not have to be arranged coaxially. If the second rotating body 18 and the rear wheel 16R are not arranged coaxially, the second rotating body 18 and the rear wheel 16R are connected via a second transmission mechanism including at least one of a gear, a pulley, a chain, a shaft, and a belt.

[0049] A front wheel 16F is attached to the frame 32 via a front fork 38. A handlebar 42 is connected to the front fork 38 via a stem 40. In this embodiment, the rear wheel 16R is connected to the crank 28 by the drive mechanism 36, but at least one of the rear wheel 16R and the front wheel 16F may be connected to the crank 28 by the drive mechanism 36.

[0050] For example, the human-powered vehicle 10 further includes a brake device 43A. The brake device 43A applies a braking force to, for example, the front wheel 16F. The brake device 43A may also apply a braking force to the rear wheel 16R. The brake device 43A includes, for example, a disc brake system. The brake device 43A may be a rim brake system or a roller brake system. For example, the human-powered vehicle 10 further includes a brake operation device 43B. The brake operation device 43B is provided, for example, on the handlebar 42. The brake device 43A is operated by the rider operating the brake operation device 43B. The brake device 43A may also be mechanically connected to the brake operation device 43B. The brake device 43A may also include an electric actuator that is communicatively connected to the brake operation device 43B and operates in response to a signal from the brake operation device 43B.

[0051] The derailleur 22 includes, for example, at least one of a front derailleur and a rear derailleur. If the derailleur 22 includes a rear derailleur, the first rotating body 14 includes at least one sprocket, the second rotating body 18 includes multiple sprockets, and the transmission body 20 includes a chain. If the derailleur 22 includes a rear derailleur, the derailleur 22 shifts a chain that engages with one of the multiple sprockets included in the second rotating body 18 to another of the multiple sprockets. If the derailleur 22 includes a front derailleur, the first rotating body 14 includes multiple sprockets, the second rotating body 18 includes at least one sprocket, and the transmission body 20 includes a chain. If the derailleur 22 includes a front derailleur, the derailleur 22 shifts a chain that engages with one of the multiple sprockets included in the first rotating body 14 to another of the multiple sprockets. The derailleur 22 operates the transmission body 20 to change the state of engagement between the transmission body 20 and at least one of the first rotating body 14 and the second rotating body 18, thereby changing the gear ratio R.

[0052] The first rotating body 14 and the second rotating body 18 may be provided in a gearbox. The gearbox is provided, for example, near the crankshaft 12. When the first rotating body 14 and the second rotating body 18 are provided in the gearbox, at least one of the first rotating body 14 and the second rotating body 18 includes a plurality of sprockets, and the derailleur 22 is provided in the gearbox and configured to change the engagement state between the transmission body 20 and at least one of the first rotating body 14 and the second rotating body 18.

[0053] The derailleur 22 is configured to operate the transmission member 20 to change the gear ratio R of the rotational speed W of the wheel 16 relative to the rotational speed C of the crankshaft 12. The relationship between the gear ratio R, the rotational speed W, and the rotational speed C is expressed by equation (1). For example, the derailleur 22 can change the gear ratio R in stages. For example, the derailleur 22 is configured to operate the transmission member 20 to change the number of gears. If the derailleur 22 includes a rear derailleur, the number of gears is equal to the number of rear sprockets. For example, if there are multiple rear sprockets, a different gear ratio R is set for each gear. The rear sprocket with the smallest number of teeth corresponds to the largest number of gears. The rear sprocket with the largest number of teeth corresponds to the smallest number of gears. The higher the number of gears, the larger the gear ratio R. Formula (1): Gear ratio R = rotation speed W / rotation speed C

[0054] For example, the human-powered vehicle 10 further includes an operating device 44 configured to operate the derailleur 22. The operating device 44 is provided, for example, on the handlebar 42. The operating device 44 is configured to be operated by a user's hand, including their fingers. The operating device 44 includes at least a first operating unit 44A and a second operating unit 44B.

[0055] The first operation unit 44A and the second operation unit 44B include, for example, a button switch or a lever switch. The first operation unit 44A and the second operation unit 44B are not limited to being a button switch or a lever switch, and may be any configuration as long as they are configured to transition between at least two states when operated by a user.

[0056] The first operating unit 44A and the second operating unit 44B are configured to operate the derailleur 22. The operating unit 44 outputs a gear shift operation signal to the control unit 72 of the control device 70 in response to an operation by the user. In addition to or instead of the first operating unit 44A and the second operating unit 44B, the operating device 44 may include a third operating unit configured to operate components for the human-powered vehicle other than the derailleur 22. The components for the human-powered vehicle include, for example, at least one of a cycle computer, a suspension device 46, an adjustable seatpost device 48, a lamp, or a drive unit 50. The gear shift operation signal includes, for example, a first operating signal including a gear shift command to operate the derailleur 22 to increase the gear ratio R, and a second operating signal including a gear shift command to operate the derailleur 22 to decrease the gear ratio R.

[0057] The operating device 44 outputs a first operating signal when the first operating unit 44A is operated, and outputs a second operating signal when the second operating unit 44B is operated. In this embodiment, the rear derailleur is operated by the first operating unit 44A and the second operating unit 44B. For example, the front derailleur may be operated by the first operating unit 44A and the second operating unit 44B. For example, both the rear derailleur and the front derailleur may be operated by the first operating unit 44A and the second operating unit 44B. The operating device 44 may further include a fourth operating unit and a fifth operating unit in addition to the first operating unit 44A and the second operating unit 44B. The fourth operating unit and the fifth operating unit may be configured similarly to the first operating unit 44A and the second operating unit 44B, for example. The rear derailleur may be operated by one of the first operating unit 44A and the second operating unit 44B and the fourth operating unit and the fifth operating unit, and the front derailleur may be operated by the other of the first operating unit 44A and the second operating unit 44B and the fourth operating unit and the fifth operating unit.

[0058] For example, the human-powered vehicle 10 further includes an electric actuator 52 configured to operate the derailleur 22. The electric actuator 52 includes, for example, an electric motor. The electric actuator 52 may further include, for example, a reducer connected to the output shaft of the electric motor. The electric actuator 52 may be provided on the derailleur 22, or may be provided at a location on the human-powered vehicle 10 away from the derailleur 22. When driven by the electric actuator 52, the derailleur 22 operates the transmission body 20, thereby performing a gear shifting operation. The derailleur 22 includes, for example, a base member, a moving member, and a link member that movably connects the moving member to the base member. The moving member includes a guide member that guides the connecting member. The guide member includes, for example, a guide plate and a pulley. The electric actuator 52 may, for example, directly drive the link member. The electric actuator 52 may also drive the link member via a cable.

[0059] For example, the human-powered vehicle 10 further includes a battery 54. The battery 54 includes one or more battery elements. The battery element includes a rechargeable battery. The battery 54 is configured to supply power to the control device 70. For example, the battery 54 is configured to also supply power to the electric actuator 52. The battery 54 is connected to, for example, a control unit 72 of the control device 70 so as to be able to communicate with the control unit 72 via wired or wireless communication. The battery 54 can communicate with the control unit 72 via, for example, power line communication (PLC), a controller area network (CAN), or a universal asynchronous receiver / transmitter (UART).

[0060] The motor 24 is configured to drive the transmission body 20. For example, the motor 24 is configured to provide propulsive force to the human-powered vehicle 10 in response to the human-powered driving force H. The motor 24 includes one or more electric motors. The electric motor included in the motor 24 is, for example, a brushless motor. The motor 24 is configured to transmit rotational force to a power transmission path of the human-powered driving force H from the pedals 34 to the second rotating body 18. In this embodiment, the motor 24 is provided on the frame 32 of the human-powered vehicle 10 and configured to transmit the rotational force to the first rotating body 14. The motor 24 drives the transmission body 20 via the first rotating body 14. The human-powered vehicle 10 further includes a housing 56 in which the motor 24 is provided. The motor 24 and the housing 56 constitute a drive unit 50. The housing 56 is attached to the frame 32. The housing 56 rotatably supports the crankshaft 12. The motor 24 may be configured to transmit rotational force to the transmission body 20 without passing through the first rotating body 14. In this case, for example, a sprocket that engages with the transmission body 20 is provided on the output shaft of the motor 24 or on a transmission member to which the force of the output shaft is transmitted.

[0061] A reducer 58 may be provided between the motor 24 and the power transmission path of the human-powered driving force H. The reducer 58 may include, for example, a plurality of gears. A third one-way clutch 60 may be provided between the motor 24 and the power transmission path of the human-powered driving force H to prevent the rotational force of the crank 28 from being transmitted to the motor 24 when the crankshaft 12 is rotated in the direction in which the human-powered vehicle 10 moves forward. The third one-way clutch 60 may include, for example, at least one of a roller clutch, a sprag clutch, and a pawl clutch.

[0062] The drive unit 50 includes an output portion 62. The output portion 62 is connected to, for example, the crankshaft 12 and also connected to the reducer 58. The output portion 62 receives the manual driving force H and the output of the motor 24. The first rotor 14 is connected to the output portion 62 so as to rotate integrally therewith.

[0063] For example, the power transmission system 64 includes a control device 70 and a first one-way clutch 66. The first one-way clutch 66 is provided in a first power transmission path between the crankshaft 12 and the first rotating body 14 and is configured to transmit rotational force from the crankshaft 12 to the first rotating body 14 in a first rotational direction and to suppress transmission of rotational force from the first rotating body 14 to the crankshaft 12 in the first rotational direction. The first one-way clutch 66 is configured to rotate the first rotating body 14 forward when the crank 28 rotates forward and to allow relative rotation between the crank 28 and the first rotating body 14 when the crank 28 rotates backward. The first one-way clutch 66 is provided in the housing 56 of the drive unit 50, for example. The first one-way clutch 66 is provided between the crankshaft 12 and the output part 62, for example. The first one-way clutch 66 includes, for example, at least one of a roller clutch, a sprag clutch, and a pawl clutch.

[0064] The crankshaft 12 and the first rotor 14 may be coupled to rotate integrally. When the crankshaft 12 and the first rotor 14 are coupled to rotate integrally, the first one-way clutch 66 is omitted.

[0065] For example, the power transmission system 64 further includes a second one-way clutch 68. The second one-way clutch 68 is provided in a second power transmission path between the second rotating body 18 and the wheel 16 and is configured to transmit rotational force from the second rotating body 18 to the wheel 16 in a second rotational direction corresponding to the first rotational direction, and to suppress transmission of rotational force from the wheel 16 to the second rotating body 18 in the second rotational direction. The second one-way clutch 68 is configured to rotate the rear wheel 16R forward when the second rotating body 18 rotates forward, and to allow relative rotation between the second rotating body 18 and the rear wheel 16R when the second rotating body 18 rotates backward. The second one-way clutch 68 is provided, for example, on the hub axle of the rear wheel 16R. The second one-way clutch 68 includes, for example, at least one of a roller clutch, a sprag clutch, and a pawl clutch.

[0066] The second body of revolution 18 and the rear wheel 16R may be coupled to rotate integrally. When the second body of revolution 18 and the rear wheel 16R are coupled to rotate integrally, the second one-way clutch 68 is omitted.

[0067] For example, the power transmission system 64 further includes a power storage device. The power storage device is configured to store the power generated by the motor 24. For example, the control unit 72 is configured to control the motor 24 using the power of the power storage device. The power storage device may include the battery 54, may include a battery separate from the battery 54, or may include a capacitor. The power storage device is provided in the housing 56 of the drive unit 50, for example.

[0068] The control device 70 includes a control unit 72. The control unit 72 includes an arithmetic processing unit that executes a predetermined control program. The arithmetic processing unit included in the control unit 72 includes, for example, a CPU (Central Processing Unit) or an MPU (Micro Processing Unit). The arithmetic processing units included in the control unit 72 may be provided in multiple locations that are separate from each other. For example, part of the arithmetic processing unit may be provided in the human-powered vehicle 10, and another part of the arithmetic processing unit may be provided in a server connected to the Internet. When the arithmetic processing units are provided in multiple locations that are separate from each other, the parts of the arithmetic processing unit are connected to each other so that they can communicate with each other via wireless communication devices. The control unit 72 may include one or more microcomputers.

[0069] For example, the control device 70 further includes a storage unit 74. The storage unit 74 stores a control program and information used in the control process. The storage unit 74 includes, for example, a nonvolatile memory and a volatile memory. The nonvolatile 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).

[0070] The control device 70 further includes, for example, a drive circuit 76 for the motor 24. The drive circuit 76 and the control unit 72 are provided, for example, in the housing 56 of the drive unit 50. The drive circuit 76 and the control unit 72 may be provided, for example, on the same circuit board. The drive circuit 76 includes an inverter circuit. The drive circuit 76 controls the power supplied from the battery 54 to the motor 24. The drive circuit 76 is connected to the control unit 72 via a conductive wire, an electric cable, a wireless communication device, or the like. The drive circuit 76 drives the motor 24 in response to a control signal from the control unit 72.

[0071] For example, the control device 70 further includes a vehicle speed sensor 78, a crank rotation sensor 80, a manual driving force detection unit 82, and an acceleration detection unit 84.

[0072] The vehicle speed sensor 78 is configured to detect information corresponding to the rotation speed W of the wheels 16 of the human-powered vehicle 10. The vehicle speed sensor 78 is configured, for example, to detect magnets provided on the wheels 16 of the human-powered vehicle 10. The vehicle speed sensor 78 is configured, for example, to output a detection signal a predetermined number of times per rotation of the wheels 16. The predetermined number is, for example, 1. The vehicle speed sensor 78 outputs a signal corresponding to the rotation speed W of the wheels 16. The control unit 72 can calculate the vehicle speed V of the human-powered vehicle 10 based on the rotation speed W of the wheels 16. The vehicle speed V can be calculated based on the rotation speed W of the wheels 16 and information related to the circumference of the wheels 16. The information related to the circumference of the wheels 16 is stored in the memory unit 74.

[0073] The vehicle speed sensor 78 includes, for example, a magnetic reed constituting a reed switch or a Hall element. The vehicle speed sensor 78 may be attached to the chainstay of the frame 32 of the human-powered vehicle 10 and configured to detect a magnet attached to the rear wheel 16R, or may be attached to the front fork 38 and configured to detect a magnet attached to the front wheel 16F. In this embodiment, the vehicle speed sensor 78 is configured so that the reed switch detects the magnet once for each rotation of the wheel 16. The vehicle speed sensor 78 may have any configuration as long as it can detect information corresponding to the rotational speed W of the wheel 16 of the human-powered vehicle 10, and may include, for example, an optical sensor or an acceleration sensor. The vehicle speed sensor 78 is connected to the control unit 72 via a wireless communication device or an electric cable.

[0074] The crank rotation sensor 80 is configured to detect information corresponding to the rotation speed C of the crankshaft 12 of the human-powered vehicle 10. The crank rotation sensor 80 is provided, for example, on the frame 32 or drive unit 50 of the human-powered vehicle 10. The crank rotation sensor 80 includes a magnetic sensor that outputs a signal corresponding to the strength of a magnetic field. An annular magnet, whose magnetic field strength varies circumferentially, is provided on the crankshaft 12, a member that rotates in conjunction with the crankshaft 12, or the power transmission path from the crankshaft 12 to the first rotor 14. The member that rotates in conjunction with the crankshaft 12 may be the output shaft of the motor 24. The crank rotation sensor 80 outputs a signal corresponding to the rotation speed C of the crankshaft 12.

[0075] The magnet may be provided on a member that rotates integrally with the crankshaft 12 in the power transmission path of the human-powered driving force H from the crankshaft 12 to the first rotating body 14. For example, if a first one-way clutch 66 is not provided between the crankshaft 12 and the first rotating body 14, the magnet may be provided on the first rotating body 14. The crank rotation sensor 80 may have any configuration as long as it can detect information corresponding to the rotation speed C of the crankshaft 12 of the human-powered vehicle 10, and may include, for example, an optical sensor, an acceleration sensor, or a torque sensor instead of a magnetic sensor. The crank rotation sensor 80 is connected to the control unit 72 via a wireless communication device or an electric cable.

[0076] The human-powered driving force detection unit 82 is configured to detect information related to the human-powered driving force H. The human-powered driving force detection unit 82 is provided, for example, on the frame 32, drive unit 50, crank 28, or pedal 34 of the human-powered vehicle 10. The human-powered driving force detection unit 82 may be provided on the housing 56 of the drive unit 50. The human-powered driving force detection unit 82 includes, for example, a torque sensor. The torque sensor is configured to output a signal corresponding to the torque applied to the crank 28 by the human-powered driving force H. For example, if the first one-way clutch 66 is provided in the power transmission path, the torque sensor is provided, for example, upstream of the first one-way clutch 66 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.

[0077] The torque sensor is provided in the power transmission path or near a component included in the power transmission path. The component included in the power transmission path is, for example, the crankshaft 12, a component that transmits the manual driving force H between the crankshaft 12 and the first rotor 14, the crank arm 26, or the pedal 34. The manual driving force detection unit 82 is connected to the control unit 72 via a wireless communication device or an electric cable. The manual driving force detection unit 82 may have any configuration as long as it can acquire information about the manual driving force H, and may include, for example, a sensor that detects the pressure applied to the pedal 34 or a sensor that detects the tension of the chain.

[0078] The acceleration detection unit 84 is configured to output a signal corresponding to the acceleration AR in the forward direction of the human-powered vehicle 10. The acceleration detection unit 84 may include an acceleration sensor, or may include the vehicle speed sensor 78. The acceleration detection unit 84 is connected to the control unit 72 via a wireless communication device or an electric cable. When the acceleration detection unit 84 includes the vehicle speed sensor 78, the control unit 72 obtains information about the acceleration AR in the forward direction of the human-powered vehicle 10 by differentiating the vehicle speed V.

[0079] The control unit 72 is configured to control the motor 24. For example, the control unit 72 is configured to control the motor 24 so that the assist level A by the motor 24 becomes a predetermined assist level A. For example, the assist level A includes at least one of the ratio of the output of the motor 24 to the human-powered driving force H input to the human-powered vehicle 10, the maximum value of the output of the motor 24, and a suppression level L of the output fluctuation of the motor 24 when the output of the motor 24 decreases. The ratio of the assist force by the motor 24 to the human-powered driving force H may be referred to as the assist ratio. For example, the control unit 72 is configured to control the motor 24 so that the assist force by the motor 24 becomes a predetermined ratio to the human-powered driving force H. The human-powered driving force H corresponds to the propulsive force of the human-powered vehicle 10 generated by the rider rotating the crankshaft 12. The assist force corresponds to the propulsive force of the human-powered vehicle 10 generated by the rotation of the motor 24. The predetermined ratio is not constant and may change, for example, depending on the human-powered driving force H. The predetermined ratio may not be constant, but may vary depending on, for example, the rotation speed C of the crankshaft 12. The predetermined ratio may not be constant, but may vary depending on, for example, the vehicle speed V. The predetermined ratio may not be constant, but may vary depending on, for example, any two or all of the manual driving force H, the rotation speed C of the crankshaft 12, and the vehicle speed V.

[0080] When the manual driving force H and the assisting force are expressed in terms of torque, the manual driving force H is referred to as manual torque HT, and the assisting force is referred to as assisting torque MT. When the manual driving force H and the assisting force are expressed in terms of power, the manual driving force H is referred to as manual power HW, and the assisting force is referred to as assisting power MW. The ratio may be the torque ratio of the assisting torque MT to the manual torque HT of the human-powered vehicle 10, or may be the ratio of the assisting power MW by the motor 24 to the manual power HW.

[0081] In the drive unit 50 of this embodiment, the crankshaft 12 is connected to the first rotating body 14 without a transmission, and the output of the motor 24 is input to the first rotating body 14. When the crankshaft 12 is connected to the first rotating body 14 without a transmission, and the output of the motor 24 is input to the first rotating body 14, the manual driving force H corresponds to the driving force input to the first rotating body 14 by the user rotating the crankshaft 12. When the crankshaft 12 is connected to the first rotating body 14 without a transmission, and the output of the motor 24 is input to the first rotating body 14, the assist force corresponds to the driving force input to the first rotating body 14 by the rotation of the motor 24. When the output of the motor 24 is input to the first rotating body 14 via a reducer 58, the assist force corresponds to the output of the reducer 58.

[0082] When the motor 24 is provided on the rear wheel 16R, the manual driving force H corresponds to the output of the rear wheel 16R driven only by the rider. When the motor 24 is provided on the rear wheel 16R, the assist force corresponds to the output of the rear wheel 16R driven only by the motor 24. When the motor 24 is provided on the front wheel 16F, the manual driving force H corresponds to the output of the rear wheel 16R driven only by the rider. When the motor 24 is provided on the front wheel 16F, the assist force corresponds to the output of the front wheel 16F driven only by the motor 24.

[0083] The control unit 72 is configured to control the motor 24 so that the assist force is equal to or less than the maximum value MX. When the output of the motor 24 is input to the first body of revolution 14 and the assist force is expressed by torque, the control unit 72 is configured to control the motor 24 so that the assist torque MT is equal to or less than the maximum value MTX. For example, the maximum value MTX is a value in the range of 20 Nm to 200 Nm. The maximum value MTX is determined, for example, by the output characteristics of the motor 24. When the output of the motor 24 is input to the first body of revolution 14 and the assist force is expressed by power, the control unit 72 is configured to control the motor 24 so that the assist power MW is equal to or less than the maximum value MWX.

[0084] For example, the control unit 72 is configured to be able to change the suppression level L of the output fluctuation of the motor 24. As the suppression level L of the output fluctuation of the motor 24 increases, the amount of change per unit time of the output of the motor 24 relative to the amount of change per unit time of the control parameter of the motor 24 decreases. As the suppression level L of the output fluctuation of the motor 24 decreases, the amount of change per unit time of the output of the motor 24 relative to the amount of change per unit time of the control parameter of the motor 24 increases. The control parameter of the motor 24 is the manual driving force H or the rotation speed C of the crankshaft 12. The suppression level L of the output fluctuation of the motor 24 is inversely proportional to the response speed of the motor 24. The response speed of the motor 24 is represented by the amount of change per unit time of the output of the motor 24 relative to the amount of change per unit time of the control parameter of the motor 24. As the suppression level L of the output fluctuation of the motor 24 increases, the response speed of the motor 24 decreases.

[0085] The control unit 72 changes the suppression level L, for example, by using a filter. The filter includes, for example, a low-pass filter having a time constant. The control unit 72 changes the suppression level L by changing the time constant of the filter. The control unit 72 may also change the suppression level L by changing a gain used to calculate the output of the motor 24 from the manual driving force H. The filter is configured, for example, by executing predetermined software in a calculation processing device.

[0086] For example, the control unit 72 is configured to control the electric actuator 52. For example, the control unit 72 is configured to control the electric actuator 52 in response to a gear shift command. For example, the control unit 72 determines that a gear shift command has been issued when a first operation signal is output from the first operation unit 44A, when a second operation signal is output from the second operation unit 44B, and when a gear shift condition is satisfied. The gear shift condition is met, for example, in response to at least one of the traveling state of the human-powered vehicle 10 and the traveling environment of the human-powered vehicle 10. The gear shift condition is met, for example, in response to at least one of the traveling state of the human-powered vehicle 10 and the traveling environment of the human-powered vehicle 10, regardless of the operation of the first operation unit 44A and the second operation unit 44B.

[0087] For example, when the first operating signal is output from the first operating unit 44A and when the second operating signal is output from the second operating unit 44B, the control unit 72 determines that a gear shift command has been issued and outputs a gear shift control signal to the electric actuator 52 to change the gear ratio R. When the gear shift control signal is input, the electric actuator 52 operates to operate the derailleur 22. The gear shift control signal includes, for example, power for driving the electric actuator 52. For example, the gear shift control signal includes a first gear shift control signal including a gear shift command for the electric actuator 52 to operate the derailleur 22 to increase the gear ratio R, and a second gear shift control signal including a gear shift command for the electric actuator 52 to operate the derailleur 22 to decrease the gear ratio R.

[0088] The control unit 72 is configured to control the electric actuator 52 so that the derailleur 22 operates to change the gear ratio R when the gear shifting conditions are met. For example, when the gear shifting conditions are met, the control unit 72 determines that a gear shift command has been issued and outputs a gear shift control signal to the electric actuator 52 to change the gear ratio R. When the gear shifting conditions for increasing the gear ratio R are met, the control unit 72 sends a first gear shift control signal to the electric actuator 52. The electric actuator 52 operates the derailleur 22 to increase the gear ratio R in accordance with the first gear shift control signal. When the gear shifting conditions for decreasing the gear ratio R are met, the control unit 72 sends a second gear shift control signal to the electric actuator 52. The electric actuator 52 operates the derailleur 22 to decrease the gear ratio R in accordance with the second gear shift control signal.

[0089] The gear change condition is established according to, for example, at least one of the rotation speed C of the crankshaft 12, the vehicle speed V, the human-powered driving force H, and the gradient of the road on which the human-powered vehicle 10 is traveling. For example, the gear change condition for reducing the gear ratio R is established when the vehicle speed V becomes equal to or lower than a predetermined vehicle speed.

[0090] When a first condition related to pedaling is satisfied, the control unit 72 is configured to perform gear shift control by controlling the motor 24 to drive the transmission body 20 and controlling the derailleur 22 to operate the transmission body 20 to change the gear ratio R. For example, when the first condition is satisfied, the control unit 72 is configured to control the electric actuator 52 to cause the derailleur 22 to operate the transmission body 20.

[0091] For example, the first condition is satisfied in at least one of the following cases: when the manual driving force H is equal to or less than a first driving force H1; when the rotation speed C of the crankshaft 12 is equal to or less than a first rotation speed C1; and when the crankshaft 12 is swinging. The case where the crankshaft 12 is swinging includes a case where the crankshaft 12 has not completely stopped and the rotation angle CA of the crankshaft 12 is maintained within a predetermined angle range. The predetermined angle range is, for example, 1° or more and 20° or less.

[0092] The control unit 72 is configured to have control states including a first control state and a second control state. When a first condition is satisfied, the control unit 72 changes the first number of gears ST1 within a first time T1 in the first control state. When the first condition is satisfied, the control unit 72 changes the first number of gears ST1 within a second time T2 in the second control state. In the second control state, the control unit 72 is configured to control the motor 24 so that the rotation speed of the motor 24 is higher than in the first control state. The second time T2 is shorter than the first time T1.

[0093] For example, the control unit 72 is configured to transition the control state to the second control state when the first condition is satisfied and the second condition is satisfied. The second condition is satisfied in at least one of the following cases: when the acceleration AR of the human-powered vehicle 10 is equal to or greater than a first acceleration AR1, and when the deceleration DR of the human-powered vehicle 10 is equal to or greater than a first deceleration DR1. The deceleration DR of the human-powered vehicle 10 is calculated by the control unit 72, for example, in accordance with the output of the acceleration detection unit 84. The deceleration DR of the human-powered vehicle 10 may be calculated, for example, from the deceleration rate of the vehicle speed V.

[0094] For example, the control unit 72 is configured to change the number of gears by a plurality of stages in the second control state when the first condition, the second condition, and a third condition are also satisfied. For example, the third condition is satisfied when it is estimated that a change in the number of gears by a plurality of stages is required. Cases where it is estimated that a change in the number of gears by a plurality of stages is required include, for example, when the number of gears is equal to or less than a predetermined number.

[0095] For example, the control unit 72 is configured to control the electric actuator 52 so that the operating speed of the derailleur 22 is higher in the second control state than in the first control state. For example, if the electric actuator 52 includes an electric motor, the control unit 72 increases the operating speed of the derailleur 22 in the second control state by increasing the rotational speed of the electric motor included in the electric actuator 52 compared to the first control state.

[0096] In this embodiment, when the first condition is met, the control unit 72 performs speedy gear change control in the second control state, thereby making it possible to prepare for the next start of pedaling in a timely manner at an appropriate gear position.

[0097] For example, when the first condition is met and the acceleration AR of the human-powered vehicle 10 is equal to or greater than the first acceleration AR1, this includes cases where the human-powered vehicle 10 is accelerating downhill without the rider pedaling the pedals 34. In this case, the control unit 72 performs speedy gear change control, so that the vehicle can be prepared for the next start in a timely manner, preferably at a relatively high gear position.

[0098] For example, when the first condition is met and the deceleration DR of the human-powered vehicle 10 is equal to or greater than the first deceleration DR1, this includes cases where the rider is trying to stop the human-powered vehicle 10 by operating the brake operating device 43B without pedaling the pedals 34, or where the human-powered vehicle 10 is stopped while waiting at a traffic light, etc. In these cases, the control unit 72 performs speedy gear change control, so that the vehicle can be prepared in a timely manner to start pedaling again, preferably at a relatively low gear, typically the lowest gear.

[0099] For example, when the acceleration AR or deceleration DR of the human-powered vehicle 10 is equal to or greater than a predetermined value, it is effective for the control unit 72 to perform speedy gear change control by changing multiple gears at once.

[0100] The process of the control unit 72 executing the gear shift control will be described with reference to Fig. 5. For example, when power is supplied to the control unit 72, the control unit 72 starts the process and proceeds to step S11 of the flowchart shown in Fig. 5. When the flowchart of Fig. 5 ends, the control unit 72 repeats the process from step S11 after a predetermined period, for example, until the supply of power is stopped.

[0101] In step S11, the control unit 72 determines whether or not a first condition is satisfied. If the first condition is satisfied, the control unit 72 proceeds to step S12. If the first condition is not satisfied, the control unit 72 ends the process.

[0102] In step S12, the control unit 72 determines whether or not a gear shift command is issued. be If so, the process proceeds to step S13. If there is no gear shift instruction, the control unit 72 ends the process.

[0103] In step S13, the control unit 72 determines whether the second condition is satisfied. R If the second condition is not satisfied, the control unit 72 proceeds to step S15.

[0104] In step S14, the control unit 72 shifts the control state to the second control state, and then proceeds to step S16.

[0105] In step S16, the control unit 72 determines whether or not the third condition is satisfied. If the third condition is satisfied, the control unit 72 proceeds to step S17. If the third condition is not satisfied, the control unit 72 proceeds to step S18.

[0106] In step S17, the control unit 72 controls the electric actuator 52 to change the number of gears among the multiple gears, and then ends the process. The control unit 72 may start driving the motor 24 in step S14, or may start driving the motor 24 in step S17.

[0107] In step S18, the control unit 72 controls the electric actuator 52 to change the gear position from the first gear position ST1 within the second time T2, and then ends the process. The control unit 72 may start driving the motor 24 in step S14, or may start driving the motor 24 in step S18.

[0108] In step S15, the control unit 72 shifts the control state to the first control state, and then proceeds to step S19.

[0109] In step S19, the control unit 72 controls the electric actuator 52 to change the gear position to the first gear position ST1 within the first time T1, and then ends the process. The control unit 72 may start driving the motor 24 in step S15, or may start driving the motor 24 in step S19.

[0110] When the change in the number of gears is completed, the control unit 72 may stop driving the motor 24. For example, the control unit 72 stops driving the motor 24 after executing the process of step S17. For example, the control unit 72 stops driving the motor 24 after executing the process of step S18. For example, the control unit 72 stops driving the motor 24 after executing the process of step S19.

[0111] Second Embodiment A control device 70 of the second embodiment will be described with reference to Fig. 6. The control device 70 of the second embodiment is similar to the control device 70 of the first embodiment except that a control unit 72 executes the processing of the flowchart of Fig. 6 instead of the processing of the flowchart of Fig. 5. Of the control device 70 of the second embodiment, the same components as those of the first embodiment are assigned the same reference numerals as those of the first embodiment, and redundant explanations will be omitted.

[0112] In this embodiment, the control unit 72 is configured to have control states including a third control state and a fourth control state. When a first condition is satisfied, the control unit 72 changes the number of gears of the first number of stages ST1 within a first time T1 in the third control state. When the first condition is satisfied, the control unit 72 changes the number of gears of the second number of stages ST2, which is greater than the first number of stages ST1, within the first time T1 in the fourth control state. The first number of stages ST1 is, for example, one stage.

[0113] For example, the control unit 72 is configured to transition the control state to a fourth control state when the first condition is satisfied and the fourth condition is satisfied. The fourth condition is satisfied in at least one of the following cases: when the acceleration AR of the human-powered vehicle 10 is equal to or greater than the second acceleration AR2, and when the deceleration DR of the human-powered vehicle 10 is equal to or greater than the second deceleration DR2. The second acceleration AR2 may be the same as or different from the first acceleration AR1. The second deceleration DR2 may be the same as or different from the first deceleration DR1.

[0114] For example, when the first condition is satisfied, the fourth condition is satisfied, and the fifth condition is also satisfied, the control unit 72 is configured to change the number of gears by the multiple number of stages in the fourth control state. The fifth condition is satisfied when it is estimated that a change in the number of gears by the multiple number of stages is required.

[0115] For example, the control unit 72 is configured to control the electric actuator 52 so that the operating speed of the derailleur 22 is higher in the fourth control state than in the third control state. For example, if the electric actuator 52 includes an electric motor, the control unit 72 increases the operating speed of the derailleur 22 in the fourth control state by increasing the rotational speed of the electric motor included in the electric actuator 52 compared to the third control state.

[0116] In this embodiment, when the first condition is satisfied, the control unit 72 changes the number of gears in the fourth control state, thereby shortening the driving time of the motor 24 compared to changing the number of gears one gear at a time, thereby reducing power consumption.

[0117] For example, if the first condition is met and the acceleration AR or deceleration DR of the human-powered vehicle 10 is equal to or greater than a predetermined value, it is highly likely that multiple gear shifts will be required, so it is preferable to change the number of gear shifts.

[0118] The process of the control unit 72 executing the gear shift control will be described with reference to Fig. 6. For example, when power is supplied to the control unit 72, the control unit 72 starts the process and proceeds to step S21 of the flowchart shown in Fig. 6. When the flowchart of Fig. 6 ends, the control unit 72 repeats the process from step S21 after a predetermined period, for example, until the supply of power is stopped.

[0119] In step S21, the control unit 72 determines whether the first condition is satisfied. RIf the first condition is not satisfied, the control unit 72 ends the process.

[0120] In step S22, the control unit 72 determines whether or not a gear shift command is issued. be If so, the process proceeds to step S23. If a gear shift instruction has not been issued, the control unit 72 ends the process.

[0121] In step S23, the control unit 72 determines whether the fourth condition is satisfied. R If the fourth condition is not satisfied, the control unit 72 proceeds to step S25.

[0122] In step S24, the control unit 72 transitions the control state to the fourth control state, and then proceeds to step S26.

[0123] In step S26, the control unit 72 determines whether the fifth condition is satisfied. If the fifth condition is satisfied, the control unit 72 proceeds to step S27. If the fifth condition is not satisfied, the control unit 72 proceeds to step S28.

[0124] In step S27, the control unit 72 controls the electric actuator 52 to change the number of gears among the multiple gears, and then ends the process. The control unit 72 may start driving the motor 24 in step S24, or may start driving the motor 24 in step S27.

[0125] In step S28, the control unit 72 controls the electric actuator 52 to change the gear position to the second gear position ST2 within the first time T1, and then ends the process. The control unit 72 may start driving the motor 24 in step S24, or may start driving the motor 24 in step S28.

[0126] In step S25, the control unit 72 shifts the control state to the third control state, and then proceeds to step S29.

[0127] In step S29, the control unit 72 controls the electric actuator 52 to change the gear position to the first gear position ST1 within the first time T1, and then ends the process. The control unit 72 may start driving the motor 24 in step S25, or may start driving the motor 24 in step S29.

[0128] When the change in the number of gears is completed, the control unit 72 may stop driving the motor 24. For example, the control unit 72 stops driving the motor 24 after executing the process of step S27. For example, the control unit 72 stops driving the motor 24 after executing the process of step S28. For example, the control unit 72 stops driving the motor 24 after executing the process of step S29.

[0129] Third Embodiment A control device 70 of the third embodiment will be described with reference to Fig. 7. The control device 70 of the third embodiment is similar to the control device 70 of the first embodiment except that a control unit 72 executes the processing of the flowchart of Fig. 7 instead of the processing of the flowchart of Fig. 5. Of the control device 70 of the third embodiment, the same components as those of the first embodiment are assigned the same reference numerals as those of the first embodiment, and redundant explanations will be omitted.

[0130] In this embodiment, the control unit 72 is configured to have control states including a fifth control state and a sixth control state. When the first condition is satisfied, the control unit 72 starts driving the motor 24 within a third time T3 after receiving a gear shift command in the fifth control state. When the first condition is satisfied, the control unit 72 starts driving the motor 24 within a fourth time T4 after receiving a gear shift command in the sixth control state. The fourth time T4 is shorter than the third time T3.

[0131] For example, the control unit 72 is configured to transition the control state to a sixth control state when the first condition is satisfied and the sixth condition is satisfied. The sixth condition is satisfied in at least one of the following cases: when the acceleration AR of the human-powered vehicle 10 is equal to or greater than the third acceleration AR3, and when the deceleration DR of the human-powered vehicle 10 is equal to or greater than the third deceleration DR3. The third acceleration AR3 may be the same as at least one of the first acceleration AR1 and the second acceleration AR2. The third acceleration AR3 may be different from at least one of the first acceleration AR1 and the second acceleration AR2. The third deceleration DR3 may be the same as at least one of the first deceleration DR1 and the second deceleration DR2. The third deceleration DR3 may be different from at least one of the first deceleration DR1 and the second deceleration DR2.

[0132] For example, the control unit 72 is configured to change the number of gears in the sixth control state when the first condition, the sixth condition, and the seventh condition are satisfied. The seventh condition is satisfied when it is estimated that a change in the number of gears is required.

[0133] In this embodiment, when the first condition is satisfied, the controller 72 performs gear change control early in the sixth control state, thereby making it possible to prepare for the next start of pedaling in a timely manner at an appropriate gear position.

[0134] For example, when the first condition is met and the acceleration AR or deceleration DR of the human-powered vehicle 10 is equal to or greater than a predetermined value, that is, in a specific situation such as that described in the first embodiment, the control unit 72 performs gear change control early, thereby enabling the vehicle to prepare for the next start in a timely manner at the gear number appropriate for each situation.

[0135] On the other hand, in this embodiment, when the first condition is satisfied, the control unit 72 delays the gear shift control in the fifth control state, thereby shortening the driving time of the motor 24, particularly when multiple gears are changed at once, and thus reducing power consumption.

[0136] The process of the control unit 72 executing the gear shift control will be described with reference to Fig. 7. For example, when power is supplied to the control unit 72, the control unit 72 starts the process and proceeds to step S31 of the flowchart shown in Fig. 7. When the flowchart of Fig. 7 ends, the control unit 72 repeats the process from step S31 after a predetermined period, for example, until the supply of power is stopped.

[0137] In step S31, the control unit 72 determines whether or not the first condition is satisfied. If the first condition is satisfied, the control unit 72 proceeds to step S32. If the first condition is not satisfied, the control unit 72 ends the process.

[0138] In step S32, the control unit 72 determines whether or not a gear shift command is issued. be If so, the process proceeds to step S33. If there is no gear shift instruction, the control unit 72 ends the process.

[0139] In step S33, the control unit 72 determines whether or not the sixth condition is satisfied. If the sixth condition is satisfied, the control unit 72 proceeds to step S34. If the sixth condition is not satisfied, the control unit 72 proceeds to step S35.

[0140] In step S34, the control unit 72 transitions the control state to the sixth control state, and proceeds to step S36.

[0141] In step S36, the control unit 72 determines whether the seventh condition is satisfied. If the seventh condition is satisfied, the control unit 72 proceeds to step S37. If the seventh condition is not satisfied, the control unit 72 proceeds to step S38.

[0142] In step S37, the control unit 72 starts driving the motor 24 within a fourth time T4 after receiving the gear shift command, controls the electric actuator 52 to change the number of gears among the multiple gears, and ends the process. For example, in step S37, the control unit 72 starts driving the motor 24 and then starts controlling the electric actuator 52.

[0143] In step S38, the control unit 72 starts driving the motor 24 within a fourth time T4 after receiving the gear shift command, controls the electric actuator 52 to change the number of gears by a predetermined number, and ends the process. The predetermined number of gears is, for example, one gear. For example, in step S38, the control unit 72 starts driving the motor 24 and then starts controlling the electric actuator 52.

[0144] In step S35, the control unit 72 shifts the control state to the fifth control state, and 3 Move to 9.

[0145] In step S39, the control unit 72 starts driving the motor 24 within a third time T3 after receiving the gear shift command, controls the electric actuator 52 to change the number of gears by a predetermined number, and ends the process. The predetermined number of gears is, for example, one gear. For example, in step S39, the control unit 72 starts driving the motor 24 and then starts controlling the electric actuator 52.

[0146] When the change in the number of gears is completed, the control unit 72 may stop driving the motor 24. For example, the control unit 72 stops driving the motor 24 after executing the process of step S37. For example, the control unit 72 stops driving the motor 24 after executing the process of step S38. For example, the control unit 72 stops driving the motor 24 after executing the process of step S39.

[0147] <Fourth embodiment> A control device 70 of the fourth embodiment will be described with reference to Fig. 8. The control device 70 of the fourth embodiment is similar to the control device 70 of the first embodiment except that a control unit 72 executes the processing of the flowchart of Fig. 8 instead of the processing of the flowchart of Fig. 5. Of the control device 70 of the fourth embodiment, the same components as those of the first embodiment are assigned the same reference numerals as those of the first embodiment, and redundant explanations will be omitted.

[0148] In this embodiment, the control unit 72 is configured to have control states including a seventh control state and an eighth control state. When the first condition is satisfied, the control unit 72 can operate the transmission body 20 at a first frequency F1 within a fifth time T5 in the seventh control state, or does not operate the transmission body 20. When the first condition is satisfied, the control unit 72 can operate the transmission body 20 at a second frequency F2 within the fifth time T5 in the eighth control state. The second frequency F2 is greater than the first frequency F1.

[0149] For example, the control unit 72 is configured to transition the control state to an eighth control state when the first condition and the eighth condition are satisfied. The eighth condition is satisfied in at least one of the following cases: when the acceleration AR of the human-powered vehicle 10 is equal to or greater than a fourth acceleration AR4; and when the deceleration DR of the human-powered vehicle 10 is equal to or greater than a fourth deceleration DR4. The fourth acceleration AR4 may be the same as at least one of the first acceleration AR1, the second acceleration AR2, and the third acceleration AR3. The fourth acceleration AR4 may be different from at least one of the first acceleration AR1, the second acceleration AR2, and the third acceleration AR3. The fourth deceleration DR4 may be the same as at least one of the first deceleration DR1, the second deceleration DR2, and the third deceleration DR3. The fourth deceleration DR4 may be different from at least one of the first deceleration DR1, the second deceleration DR2, and the third deceleration DR3.

[0150] For example, in the eighth control state, the control unit 72 controls the motor 24 so that the period from receiving a gear shift command to starting to drive the motor 24 is shorter than in the seventh control state. If the first condition is satisfied, the control unit 72 starts driving the motor 24 within a sixth time T6 from receiving a gear shift command in the seventh control state. If the first condition is satisfied, the control unit 72 starts driving the motor 24 within a seventh time T7 from receiving a gear shift command in the eighth control state. For example, the seventh time T7 is shorter than the sixth time T6. For example, the control unit 72 is configured to control the electric actuator 52 so that the period from receiving a gear shift command to starting to operate the derailleur 22 is shorter in the eighth control state than in the seventh control state.

[0151] In this embodiment, when the first condition is satisfied, by increasing the frequency of gear shift control in the eighth control state, gear shift control can be performed in a timely manner when gear shift control is necessary, for example, in an unstable driving environment.

[0152] For example, when the first condition is met and the acceleration AR or deceleration DR of the human-powered vehicle 10 is equal to or greater than a predetermined value, that is, in a specific situation such as that described in the first embodiment, the control unit 72 performs gear change control in a timely manner, allowing the human-powered vehicle 10 to travel at the gear number appropriate for each situation.

[0153] On the other hand, in this embodiment, when the first condition is satisfied, the control unit 72 reduces the frequency of gear shift control in the seventh control state, so that the control unit 72 can reduce the number of gear shift controls when gear shift control is not required. This reduces power consumption. An example of a situation where gear shift control is not required is when the human-powered vehicle 10 is in a stable driving environment.

[0154] For example, when the first condition is met and the acceleration AR or deceleration DR of the human-powered vehicle 10 is less than a predetermined value, such as when the rider is traveling on flat ground without pedaling the pedals 34, the number of gear change controls can be reduced, thereby reducing power consumption.

[0155] The process of the control unit 72 executing the gear shift control will be described with reference to Fig. 8. For example, when power is supplied to the control unit 72, the control unit 72 starts the process and proceeds to step S41 of the flowchart shown in Fig. 8. When the flowchart of Fig. 8 ends, the control unit 72 repeats the process from step S41 after a predetermined period, for example, until the supply of power is stopped.

[0156] In step S41, the control unit 72 determines whether or not a first condition is satisfied. If the first condition is satisfied, the control unit 72 proceeds to step S42. If the first condition is not satisfied, the control unit 72 ends the process.

[0157] In step S42, the control unit 72 determines whether or not a gear shift command has been issued. If a gear shift command has been issued, the control unit 72 proceeds to step S43. If a gear shift command has not been issued, the control unit 72 ends the process.

[0158] In step S43, the control unit 72 determines whether or not the eighth condition is satisfied. If the eighth condition is satisfied, the control unit 72 proceeds to step S44. If the eighth condition is not satisfied, the control unit 72 proceeds to step S45.

[0159] In step S44, the control unit 72 shifts the control state to the eighth control state, and then proceeds to step S46.

[0160] In step S46, the control unit 72 starts driving the motor 24 within a seventh time T7 after receiving the gear shift command, starts controlling the electric actuator 52, and ends the process. For example, in step S46, the control unit 72 starts driving the motor 24 and then starts controlling the electric actuator 52.

[0161] In step S45, the control unit 72 shifts the control state to the seventh control state, and then proceeds to step S47.

[0162] In step S47, the control unit 72 starts driving the motor 24 within a sixth time T6 after receiving the gear shift command, starts controlling the electric actuator 52, and ends the process. For example, in step S47, the control unit 72 starts driving the motor 24 and then starts controlling the electric actuator 52.

[0163] When the change in the number of gears is completed, the control unit 72 may stop driving the motor 24. For example, the control unit 72 performs the process of step S46 and then stops driving the motor 24. For example, the control unit 72 performs the process of step S47 and then stops driving the motor 24.

[0164] Fifth Embodiment A control device 70 of the fifth embodiment will be described with reference to Fig. 9. The control device 70 of the fifth embodiment is similar to the control device 70 of the fourth embodiment except that a control unit 72 executes the processing of the flowchart of Fig. 9 instead of the processing of the flowchart of Fig. 8. Of the control device 70 of the fifth embodiment, the same reference numerals as in the fourth embodiment are used for the components common to the fourth embodiment, and redundant explanations will be omitted.

[0165] In this embodiment, the control unit 72 is configured to control the electric actuator 52 in the seventh control state so as not to operate the transmission body 20. In this embodiment, the control unit 72 is configured not to drive the motor 24 in the seventh control state.

[0166] The process by which the control unit 72 transitions the control state of the motor 24 will be described with reference to Fig. 9. For example, when power is supplied to the control unit 72, the control unit 72 starts the process and transitions to step S51 in the flowchart shown in Fig. 9. When the flowchart in Fig. 9 ends, the control unit 72 repeats the process from step S51 after a predetermined period, for example, until the supply of power is stopped.

[0167] In step S51, the control unit 72 determines whether or not the first condition is satisfied. If the first condition is satisfied, the control unit 72 proceeds to step S52. If the first condition is not satisfied, the control unit 72 ends the process.

[0168] In step S52, the control unit 72 determines whether or not a gear change command has been issued. If a gear change command has been issued, the control unit 72 proceeds to step S53. If a gear change command has not been issued, the control unit 72 ends the process.

[0169] In step S53, the control unit 72 determines whether or not the eighth condition is satisfied. If the eighth condition is satisfied, the control unit 72 proceeds to step S54. If the eighth condition is not satisfied, the control unit 72 proceeds to step S55.

[0170] In step S54, the control unit 72 shifts the control state to the eighth control state, and 5 Move to 6.

[0171] In step S56, the control unit 72 starts driving the motor 24 within a seventh time T7 after receiving the gear shift command, starts controlling the electric actuator 52, and ends the process. For example, in step S56, the control unit 72 starts driving the motor 24 and then starts controlling the electric actuator 52. The control unit 72 may stop driving the motor 24 once the change in the number of gears is complete. For example, the control unit 72 stops driving the motor 24 after executing the process of step S56.

[0172] In step S55, the control unit 72 transitions the control state to the seventh control state and ends the processing. In the seventh control state, the control unit 72 does not drive the motor 24. In the seventh control state, the control unit 72 controls the electric actuator 52 so as not to operate the transmission body 20. For example, in the seventh control state, the control unit 72 does not drive the electric actuator 52. For example, in the seventh control state, the control unit 72 may be configured not to issue a gear shift command even if a predetermined condition required for a gear shift is satisfied, or may be configured to ignore the gear shift command even if it is issued.

[0173] <Modification> The descriptions of each embodiment are examples of possible forms of a control device for a human-powered vehicle according to the present disclosure, and are not intended to limit the forms. A control device for a human-powered vehicle according to the present disclosure can take the form of, for example, a modified version of each of the embodiments shown below, or a combination of 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 their description will be omitted.

[0174] In each embodiment, the control unit 72 may be configured to transition the control state when the height of the seat post 48A of the human-powered vehicle 10 is equal to or less than a first height. This modification will be referred to as the first modification below. In the first modification, for example, as shown in FIG. 10 , the human-powered vehicle 10 may be equipped with an adjustable seat post device 48. For example, the adjustable seat post device 48 is attached to the seat post 48A. The adjustable seat post device 48 includes an electric actuator and is configured to raise and lower the seat post 48A relative to the frame 32. The control unit 70 may be equipped with a height detection unit that detects the height of the seat post 48A. The height detection unit may be a sensor that outputs a signal corresponding to the height of the seat post 48A. For example, in a first modified example of the first embodiment, the control unit 72 may be configured to transition the control state to the second control state when the height of the seat post 48A of the human-powered vehicle 10 is equal to or less than a first height. 5 and 11, a process in which the control unit 72 transitions the control state of the motor 24 in the first modified example of the first embodiment will be described. For example, when power is supplied to the control unit 72, the control unit 72 starts the process and transitions to step S11 of the flowchart shown in Fig. 5. When the flowcharts of Fig. 5 and 11 end, the control unit 72 repeats the process from step S11 after a predetermined period, for example, until the supply of power is stopped. If the second condition is satisfied in step S13, the control unit 72 proceeds to step S61. under The control unit 72 determines whether the height of the seat post 48A is equal to or greater than the first height. under In this case, the control unit 72 proceeds to step S14. Higher If so, the process proceeds to step S15. For example, the control unit 72 may execute the process of step S61 instead of the process of step S13. When executing the processes of step S13 and step S61, the control unit 72 may execute the processes of step S13 and step S61 in a reversed order. When executing the processes of step S13 and step S61 in a reversed order, the control unit 72 determines in step S61 that the height of the seat post 48A is equal to or greater than the first height. under In this case, the process proceeds to step S13. For example, in a first modified example of the second embodiment, the control unit 72 may be configured to transition the control state to a fourth control state when the height of the seat post 48A of the human-powered vehicle 10 is equal to or less than a first height. 6 and 12, a process in which the control unit 72 transitions the control state of the motor 24 in the first modified example of the second embodiment will be described. For example, when power is supplied to the control unit 72, the control unit 72 starts the process and transitions to step S21 of the flowchart shown in Fig. 6. When the flowcharts of Fig. 6 and 12 end, the control unit 72 repeats the process from step S21 after a predetermined period, for example, until the supply of power is stopped. If the fourth condition is satisfied in step S23, the control unit 72 proceeds to step S62. under The control unit 72 determines whether the height of the seat post 48A is equal to or greater than the first height. under If so, the process proceeds to step S24. Higher If so, the process proceeds to step S25. For example, the control unit 72 may execute the process of step S62 instead of the process of step S23. When executing the processes of step S23 and step S62, the control unit 72 may execute the processes of step S23 and step S62 in a reversed order. When executing the processes of step S23 and step S62 in a reversed order, the control unit 72 determines in step S62 that the height of the seat post 48A is equal to or greater than the first height. under In this case, the process proceeds to step S23. For example, in the first modified example of the third embodiment, the control unit 72 may be configured to transition the control state to a sixth control state when the height of the seat post 48A of the human-powered vehicle 10 is equal to or less than a first height. 7 and 13, a process in which the control unit 72 transitions the control state of the motor 24 in the first modified example of the third embodiment will be described. For example, when power is supplied to the control unit 72, the control unit 72 starts the process and transitions to step S31 of the flowchart shown in Fig. 7. When the flowcharts of Fig. 7 and 13 end, the control unit 72 repeats the process from step S31 after a predetermined period, for example, until the supply of power is stopped. If the sixth condition is satisfied in step S33, the control unit 72 proceeds to step S63. under The control unit 72 determines whether the height of the seat post 48A is equal to or greater than the first height. under If so, the process proceeds to step S34. Higher If so, the process proceeds to step S35. The control unit 72 may, for example, execute the process of step S63 instead of the process of step S33. When executing the processes of step S33 and step S63, the control unit 72 may execute the processes of step S33 and step S63 in a reversed order. When executing the processes of step S33 and step S63 in a reversed order, the control unit 72 determines in step S63 that the height of the seat post 48A is equal to or greater than the first height. under In this case, the process proceeds to step S33. For example, in the first modified example of the fourth embodiment and the fifth embodiment, when the height of the seat post 48A of the human-powered vehicle 10 is equal to or less than the first height, the control unit 72 may be configured to transition the control state to the eighth control state.

[0175] In each embodiment, if the frequency at which the stroke length B of the suspension device 46 repeatedly increases and decreases is equal to or greater than a predetermined frequency, the control unit 72 may transition the control state. This modification will be referred to as the second modification below. As shown in FIG. 14 , in the second modification, the human-powered vehicle 10 further includes a suspension device 46. The suspension device 46 is provided, for example, on the front fork 38 of the human-powered vehicle 10. The suspension device 46 operates to absorb impacts that the front wheel 16F receives from the ground. The control device 70 further includes a stroke frequency detection unit 86. The stroke frequency detection unit 86 is configured to be able to detect the stroke frequency of the suspension device 46. For example, in a second variant of the first embodiment, the control unit 72 may be configured to transition the control state to the second control state when the frequency at which the stroke length B of the suspension device 46 repeatedly increases and decreases is equal to or greater than a predetermined frequency. 5 and 15, a process in which the control unit 72 transitions the control state of the motor 24 in the second modified example of the first embodiment will be described. For example, when power is supplied to the control unit 72, the control unit 72 starts the process and transitions to step S11 of the flowchart shown in Fig. 5. When the flowcharts of Fig. 5 and 15 end, the control unit 72 repeats the process from step S11 after a predetermined period, for example, until the supply of power is stopped. If the second condition is satisfied in step S13, the control unit 72 proceeds to step S71. In step S71, the control unit 72 determines whether the frequency at which the stroke length B of the suspension device 46 repeatedly increases and decreases is equal to or greater than a predetermined frequency. If the frequency at which the stroke length B repeatedly increases and decreases is equal to or greater than the predetermined frequency, the control unit 72 proceeds to step S14. If the frequency at which the stroke length B repeatedly increases and decreases is less than the predetermined frequency, the control unit 72 proceeds to step S15. For example, the control unit 72 may execute the process of step S71 instead of the process of step S13. When executing the processes of step S13 and step S71, the control unit 72 may execute the processes of step S13 and step S71 in an interchangeable order. When executing the processes of step S13 and step S71 in an interchangeable order, the control unit 72 proceeds to step S13 if the frequency at which the stroke length B repeatedly increases and decreases is equal to or greater than the predetermined frequency in step S71. For example, in a second variant of the second embodiment, the control unit 72 may be configured to transition the control state to a fourth control state when the frequency at which the stroke length B of the suspension device 46 repeatedly increases and decreases is equal to or greater than a predetermined frequency. 6 and 16, a process in which the control unit 72 transitions the control state of the motor 24 in the second modified example of the second embodiment will be described. For example, when power is supplied to the control unit 72, the control unit 72 starts the process and transitions to step S21 of the flowchart shown in Fig. 6. When the flowcharts of Fig. 6 and 16 end, the control unit 72 repeats the process from step S21 after a predetermined period, for example, until the supply of power is stopped. If the fourth condition is satisfied in step S23, the control unit 72 proceeds to step S72. In step S72, the control unit 72 determines whether the frequency at which the stroke length B of the suspension device 46 repeatedly increases and decreases is equal to or greater than a predetermined frequency. If the frequency at which the stroke length B repeatedly increases and decreases is equal to or greater than the predetermined frequency, the control unit 72 proceeds to step S24. If the frequency at which the stroke length B repeatedly increases and decreases is less than the predetermined frequency, the control unit 72 proceeds to step S25. For example, the control unit 72 may execute the process of step S72 instead of the process of step S23. When executing the processes of step S23 and step S72, the control unit 72 may execute the processes of step S23 and step S72 in an interchangeable order. When executing the processes of step S23 and step S72 in an interchangeable order, the control unit 72 proceeds to step S23 if the frequency at which the stroke length B repeatedly increases and decreases is equal to or greater than the predetermined frequency in step S72. For example, in the second variant of the third embodiment, the control unit 72 may be configured to transition the control state to the sixth control state when the frequency at which the stroke length B of the suspension device 46 repeatedly increases and decreases is equal to or greater than a predetermined frequency. 7 and 17, a process in which the control unit 72 transitions the control state of the motor 24 in the second modified example of the third embodiment will be described. For example, when power is supplied to the control unit 72, the control unit 72 starts the process and transitions to step S31 in the flowchart shown in Fig. 7. When the flowcharts in Fig. 7 and 17 end, the control unit 72 repeats the process from step S31 after a predetermined period, for example, until the supply of power is stopped. If the sixth condition is satisfied in step S33, the control unit 72 proceeds to step S73. In step S73, the control unit 72 determines whether the frequency at which the stroke length B of the suspension device 46 repeatedly increases and decreases is equal to or greater than a predetermined frequency. If the frequency at which the stroke length B repeatedly increases and decreases is equal to or greater than the predetermined frequency, the control unit 72 proceeds to step S34. If the frequency at which the stroke length B repeatedly increases and decreases is less than the predetermined frequency, the control unit 72 proceeds to step S35. For example, the control unit 72 may execute the process of step S73 instead of the process of step S33. When executing the processes of step S33 and step S73, the control unit 72 may execute the processes of step S33 and step S73 in an interchangeable order. When executing the processes of step S33 and step S73 in an interchangeable order, the control unit 72 proceeds to step S33 if the frequency at which the stroke length B repeatedly increases and decreases is equal to or greater than the predetermined frequency in step S73. For example, in the second variant of the fourth and fifth embodiments, the control unit 72 may be configured to transition the control state to the eighth control state when the frequency at which the stroke length B of the suspension device 46 repeatedly increases and decreases is equal to or greater than a predetermined frequency.

[0176] In each embodiment, the control unit 72 may be configured to transition the control state when the gradient of the road is equal to or greater than a first angle. This modification will be referred to as the third modification below. As shown in FIG. 18 , in the third modification, the control device 70 further includes a gradient detection unit 88. The gradient detection unit 88 includes, for example, at least one of an inclination sensor and a GPS (Global Positioning System) receiver. The inclination sensor includes, for example, at least one of a gyro sensor and an acceleration sensor. When the inclination detection unit includes a GPS receiver, map information including information about the road gradient is pre-stored in the memory unit 74, and the control unit 72 obtains the road gradient at the current location of the human-powered vehicle 10 as a pitch angle. For example, in a third modified example of the first embodiment, the control unit 72 may be configured to transition the control state to the second control state when the gradient of the road is equal to or greater than a first angle. 5 and 19, a process in which the control unit 72 transitions the control state of the motor 24 in the third modified example of the first embodiment will be described. For example, when power is supplied to the control unit 72, the control unit 72 starts the process and transitions to step S11 of the flowchart shown in Fig. 5. When the flowcharts of Fig. 5 and 19 end, the control unit 72 repeats the process from step S11 after a predetermined period, for example, until the supply of power is stopped. If the second condition is satisfied in step S13, the control unit 72 proceeds to step S81. In step S81, the control unit 72 determines whether the gradient of the road is equal to or greater than a first angle. If the gradient of the road is equal to or greater than the first angle, the control unit 72 proceeds to step S14. If the gradient of the road is less than the first angle, the control unit 72 proceeds to step S15. For example, the control unit 72 may execute the process of step S81 instead of the process of step S13. When executing the processes of step S13 and step S81, the control unit 72 may execute the processes of step S13 and step S81 in an interchangeable order. When executing the processes of step S13 and step S81 in an interchangeable order, the control unit 72 proceeds to step S13 if the gradient of the road is equal to or greater than the first angle in step S81. For example, in a third modified example of the second embodiment, the control unit 72 may be configured to transition the control state to a fourth control state when the gradient of the road is equal to or greater than a first angle. 6 and 20, a process in which the control unit 72 transitions the control state of the motor 24 in the third modified example of the second embodiment will be described. For example, when power is supplied to the control unit 72, the control unit 72 starts the process and transitions to step S21 of the flowchart shown in Fig. 6. When the flowcharts of Fig. 6 and 20 end, the control unit 72 repeats the process from step S21 after a predetermined period, for example, until the supply of power is stopped. If the fourth condition is satisfied in step S23, the control unit 72 proceeds to step S82. In step S82, the control unit 72 determines whether the gradient of the road is equal to or greater than a first angle. If the gradient of the road is equal to or greater than the first angle, the control unit 72 proceeds to step S24. If the gradient of the road is less than the first angle, the control unit 72 proceeds to step S25. For example, the control unit 72 may execute the process of step S82 instead of the process of step S23. When executing the processes of step S23 and step S82, the control unit 72 may execute the processes of step S23 and step S82 in an interchangeable order. When executing the processes of step S23 and step S82 in an interchangeable order, the control unit 72 proceeds to step S23 if the gradient of the road is equal to or greater than the first angle in step S82. For example, in a third modified example of the third embodiment, the control unit 72 may be configured to transition the control state to a sixth control state when the gradient of the road is equal to or greater than a first angle. 7 and 21, a process in which the control unit 72 transitions the control state of the motor 24 in the third modified example of the third embodiment will be described. For example, when power is supplied to the control unit 72, the control unit 72 starts the process and transitions to step S31 of the flowchart shown in Fig. 7. When the flowcharts of Fig. 7 and 21 end, the control unit 72 repeats the process from step S31 after a predetermined period, for example, until the supply of power is stopped. If the sixth condition is satisfied in step S33, the control unit 72 proceeds to step S83. In step S83, the control unit 72 determines whether the gradient of the road is equal to or greater than a first angle. If the gradient of the road is equal to or greater than the first angle, the control unit 72 proceeds to step S34. If the gradient of the road is less than the first angle, the control unit 72 proceeds to step S35. For example, the control unit 72 may execute the process of step S83 instead of the process of step S33. When executing the processes of steps S33 and S83, the control unit 72 may execute the processes of steps S33 and S83 in reverse order. When executing the processes of steps S33 and S83 in reverse order, the control unit 72 proceeds to step S33 if the gradient of the road is equal to or greater than the first angle in step S83. For example, in the fourth embodiment and the third modified example of the fifth embodiment, when the gradient of the road is equal to or greater than the first angle, the control unit 72 may be configured to transition the control state to the eighth control state.

[0177] In each embodiment, when the human-powered vehicle 10 is traveling downhill and a curve is detected ahead in the traveling direction of the human-powered vehicle 10, the control unit 72 may be configured to transition the control state. This modification will be referred to as the fourth modification below. In the fourth modification, for example, the curve is a curve with a bending angle of 90° or less. For example, a curve with a bending angle of 90° or less is a curve where the angle at the intersection between the direction of the road before the curve and the direction of the road after the curve is 90° or less. As shown in FIG. 22 , in the fourth modified example, the human-powered vehicle 10 further includes a forward detection unit 90 configured to detect the driving environment ahead in the direction of travel of the human-powered vehicle 10. For example, the control device 70 further includes the forward detection unit 90. The forward detection unit 90 includes at least one of a GPS receiver, a camera, and a laser device. If the forward detection unit 90 includes a GPS receiver, the memory unit 74 pre-stores map information including information about road gradients. The control unit 72 predicts the forward road gradient based on information about the current location of the human-powered vehicle 10 and the pre-stored map information. If the forward detection unit 90 includes a camera, the control unit 72 detects the forward situation based on images captured by the camera. If the forward detection unit 90 includes a laser device, the control unit 72 detects the forward situation based on obstacles detected by the laser. The control unit 72 may include an artificial intelligence processing unit that outputs the forward situation in response to input from the forward detection unit 90. The artificial intelligence processing unit may include, for example, a storage device that stores software and an arithmetic processing unit that executes the software stored in the storage device. The arithmetic processing unit may include, for example, a CPU or an MPU. The arithmetic processing unit may include, for example, a GPU (Graphics Processing Unit) in addition to the CPU or MPU. The arithmetic processing unit may include an FPGA (Field-Programmable Gate Array). The artificial intelligence processing unit may include one or more arithmetic processing units. The artificial intelligence processing unit may include multiple arithmetic processing units located at multiple separate locations. The storage device may include, for example, a non-volatile memory and a volatile memory. The storage device stores a control program, a learning program, and a learning model. The learning model may be a trained model trained using a predetermined learning algorithm, or may be configured to be updated using a learning algorithm. The learning algorithm may include machine learning, deep learning, or deep reinforcement learning. The learning algorithm may include, for example, at least one of supervised learning, unsupervised learning, and reinforcement learning. The learning algorithm may be a method other than those described in this specification, as long as it is configured to update the learning model using a method in the field of artificial intelligence. The learning process for updating the learning model is performed by, for example, a GPU. The learning algorithm may use a neural network (NN). The learning algorithm may use a recurrent neural network (RNN). For example, in a fourth variant of the first embodiment, when the human-powered vehicle 10 is traveling downhill and a curve is detected ahead in the direction of travel of the human-powered vehicle 10, the control unit 72 may be configured to transition the control state to the second control state. 5 and 23, a process in which the control unit 72 transitions the control state of the motor 24 in the fourth modified example of the first embodiment will be described. For example, when power is supplied to the control unit 72, the control unit 72 starts the process and transitions to step S11 of the flowchart shown in Fig. 5. When the flowcharts of Fig. 5 and 23 end, the control unit 72 repeats the process from step S11 after a predetermined period, for example, until the supply of power is stopped. If the second condition is satisfied in step S13, the control unit 72 proceeds to step S91. In step S91, the control unit 72 determines whether or not a curve is detected ahead in the traveling direction of the human-powered vehicle 10 when the human-powered vehicle 10 is traveling downhill. If the human-powered vehicle 10 is traveling downhill and a curve is detected ahead in the traveling direction of the human-powered vehicle 10, the control unit 72 proceeds to step S14. If the determination in step S91 is negative, the control unit 72 proceeds to step S15. For example, the control unit 72 may execute the process of step S91 instead of the process of step S13. When executing the processes of step S13 and step S91, the control unit 72 may execute the processes of step S13 and step S91 in reverse order. When the order of the processing of step S13 and step S91 is reversed, if the human-powered vehicle 10 is traveling downhill in step S91 and a curve is detected ahead in the direction of travel of the human-powered vehicle 10, the control unit 72 proceeds to step S13. For example, in a fourth variant of the second embodiment, when the human-powered vehicle 10 is traveling downhill and a curve is detected ahead in the direction of travel of the human-powered vehicle 10, the control unit 72 may be configured to transition the control state to the fourth control state. 6 and 24, a process in which the control unit 72 transitions the control state of the motor 24 in the fourth modified example of the second embodiment will be described. For example, when power is supplied to the control unit 72, the control unit 72 starts the process and transitions to step S21 of the flowchart shown in Fig. 6. When the flowcharts of Fig. 6 and 24 end, the control unit 72 repeats the process from step S21 after a predetermined period, for example, until the supply of power is stopped. If the fourth condition is satisfied in step S23, the control unit 72 proceeds to step S92. In step S92, the control unit 72 determines whether or not a curve is detected ahead in the traveling direction of the human-powered vehicle 10 when the human-powered vehicle 10 is traveling downhill. If the human-powered vehicle 10 is traveling downhill and a curve is detected ahead in the traveling direction of the human-powered vehicle 10, the control unit 72 proceeds to step S24. If the determination in step S92 is negative, the control unit 72 proceeds to step S25. For example, the control unit 72 may execute the process of step S92 instead of the process of step S23. When executing the processes of step S23 and step S92, the control unit 72 may execute the processes of step S23 and step S92 in reverse order. When the order of the processing of step S23 and step S92 is reversed, the control unit 72 proceeds to step S23 if, in step S92, the human-powered vehicle 10 is traveling downhill and a curve is detected ahead in the direction of travel of the human-powered vehicle 10. For example, in a fourth variant of the third embodiment, when the human-powered vehicle 10 is traveling downhill and a curve is detected ahead in the direction of travel of the human-powered vehicle 10, the control unit 72 may be configured to transition the control state to the sixth control state. 7 and 25, a process in which the control unit 72 transitions the control state of the motor 24 in the fourth modified example of the third embodiment will be described. For example, when power is supplied to the control unit 72, the control unit 72 starts the process and transitions to step S31 in the flowchart shown in Fig. 7. When the flowcharts in Fig. 7 and 25 end, the control unit 72 repeats the process from step S31 after a predetermined period, for example, until the supply of power is stopped. If the sixth condition is satisfied in step S33, the control unit 72 proceeds to step S93. In step S93, the control unit 72 determines whether or not a curve is detected ahead in the traveling direction of the human-powered vehicle 10 when the human-powered vehicle 10 is traveling downhill. If the human-powered vehicle 10 is traveling downhill and a curve is detected ahead in the traveling direction of the human-powered vehicle 10, the control unit 72 proceeds to step S34. If the determination in step S93 is negative, the control unit 72 proceeds to step S35. For example, the control unit 72 may execute the process of step S93 instead of the process of step S33. When executing the processes of steps S33 and S93, the control unit 72 may execute the processes of steps S33 and S93 in reverse order. When the order of the processing of step S33 and step S93 is reversed, the control unit 72 proceeds to step S33 if, in step S93, the human-powered vehicle 10 is traveling downhill and a curve is detected ahead in the direction of travel of the human-powered vehicle 10. For example, in the fourth embodiment and the fourth modification of the fifth embodiment, when the human-powered vehicle 10 is traveling downhill and a curve is detected ahead in the traveling direction of the human-powered vehicle 10, the control unit 72 changes the control state to the first. 8 It may be configured to transition to a control state.

[0178] In the fourth embodiment, if the vehicle speed V of the human-powered vehicle 10 fluctuates within a predetermined vehicle speed range within the fifth time T5, the control unit 72 may be configured to transition the control state to the seventh control state. 8 and 26, a process in which the control unit 72 transitions the control state of the motor 24 will be described. For example, when power is supplied to the control unit 72, the control unit 72 starts the process and transitions to step S41 of the flowchart shown in Fig. 8. When the flowcharts of Fig. 8 and 26 end, the control unit 72 repeats the process from step S41 after a predetermined period, for example, until the supply of power is stopped. If the eighth condition is satisfied in step S43, the control unit 72 proceeds to step S101. In step S101, the control unit 72 determines whether the vehicle speed V of the human-powered vehicle 10 has fluctuated within a predetermined vehicle speed range within the fifth time T5. If the vehicle speed V of the human-powered vehicle 10 has not fluctuated within the predetermined vehicle speed range within the fifth time T5, the control unit 72 proceeds to step S44. If the vehicle speed V of the human-powered vehicle 10 has fluctuated within the predetermined vehicle speed range within the fifth time T5, the control unit 72 proceeds to step S45. For example, the control unit 72 may execute the process of step S101 instead of the process of step S43. The control unit 72 may execute the processes of step S43 and step S101 in reverse order. When the order of the processes of step S43 and step S101 is reversed, if the speed V of the human-powered vehicle 10 does not fluctuate within the predetermined speed range in step S101, the control unit 72 proceeds to step S43.

[0179] In the fourth embodiment, if the gradient of the road on which the human-powered vehicle 10 is traveling fluctuates within a predetermined angle range within the fifth time T5, the control unit 72 may be configured to transition the control state to a seventh control state. In this case, the control device 70 may further include, for example, a gradient detection unit 88. 8 and 27, a process in which the control unit 72 transitions the control state of the motor 24 will be described. For example, when power is supplied to the control unit 72, the control unit 72 starts the process and transitions to step S41 of the flowchart shown in Fig. 8. When the flowcharts of Fig. 8 and 27 end, the control unit 72 repeats the process from step S41 after a predetermined period, for example, until the supply of power is stopped. If the eighth condition is satisfied in step S43, the control unit 72 proceeds to step S111. In step S111, the control unit 72 determines whether the gradient of the road on which the human-powered vehicle 10 is traveling has changed within a predetermined angle range within the fifth time T5. If the gradient of the road on which the human-powered vehicle 10 is traveling has not changed within the predetermined angle range within the fifth time T5, the control unit 72 proceeds to step S44. If the gradient of the road on which the human-powered vehicle 10 is traveling has changed within the predetermined angle range within the fifth time T5, the control unit 72 proceeds to step S45. For example, the control unit 72 may execute the process of step S111 instead of the process of step S43. When executing the processes of steps S43 and S111, the control unit 72 may execute the processes of steps S43 and S111 in reverse order. When the order of the processes of step S43 and step S111 is reversed, if the gradient of the road on which the human-powered vehicle 10 is traveling does not fluctuate within the predetermined angle range within the fifth time T5 in step S111, the control unit 72 proceeds to step S44.

[0180] The phrase "at least one" as used herein means "one or more" of the desired options. As an example, the phrase "at least one" as used herein means "only one option" or "both of two options" when the number of options is two. As another example, the phrase "at least one" as used herein means "only one option" or "any combination of two or more options" when the number of options is three or more. [Explanation of symbols]

[0181] 10...human-powered vehicle, 12...crankshaft, 14...first rotating body, 16...wheel, 18...second rotating body, 20...transmission body, 22...derailleur, 24...motor, 46...suspension device, 48A...seat post, 70...control device, 72...control unit, 90...forward detection unit.

Claims

1. A control device for a human-powered vehicle, The human-powered vehicle includes a crankshaft to which human-powered driving force is input, a first rotating body connected to the crankshaft, a wheel, a second rotating body connected to the wheel, a transmission body configured to engage with the first rotating body and the second rotating body and transmit driving force between the first rotating body and the second rotating body, a derailleur configured to operate the transmission body to change the gear ratio of the rotational speed of the wheel relative to the rotational speed of the crankshaft, and a motor configured to drive the transmission body. a control unit configured to perform gear shift control to control the motor to drive the transmission body and to control the derailleur to operate the transmission body to change the gear ratio when a first condition related to pedaling is satisfied; The control unit The control system is configured to have control states including a first control state in which, when the first condition is satisfied, a first number of gear stages is changed within a first time, and a second control state in which, when the first condition is satisfied, the first number of gear stages is changed within a second time, The motor is controlled in the second control state so that the rotation speed of the motor is higher than that in the first control state, when the first condition is satisfied and a second condition is satisfied, the control state is transitioned to the second control state; the second time period is shorter than the first time period; The control device wherein the second condition is satisfied when the acceleration of the human-powered vehicle is equal to or greater than a first acceleration.

2. A control device for a human-powered vehicle, The human-powered vehicle includes a crankshaft to which human-powered driving force is input, a first rotating body connected to the crankshaft, a wheel, a second rotating body connected to the wheel, a transmission body configured to engage with the first rotating body and the second rotating body and transmit driving force between the first rotating body and the second rotating body, a derailleur configured to operate the transmission body to change the gear ratio of the rotational speed of the wheel relative to the rotational speed of the crankshaft, and a motor configured to drive the transmission body. a control unit configured to perform gear shift control to control the motor to drive the transmission body and to control the derailleur to operate the transmission body to change the gear ratio when a first condition related to pedaling is satisfied; The control unit The control system is configured to have control states including a first control state in which, when the first condition is satisfied, a first number of gear stages is changed within a first time, and a second control state in which, when the first condition is satisfied, the first number of gear stages is changed within a second time, The motor is controlled in the second control state so that the rotation speed of the motor is higher than that in the first control state, when the first condition is satisfied and a second condition is satisfied, the control state is transitioned to the second control state; When the first condition is satisfied, the second condition is satisfied, and a third condition is also satisfied, the number of gears is changed to a plurality of stages in the second control state, the second time period is shorter than the first time period; the second condition is satisfied in at least one of a case where the acceleration of the human-powered vehicle is equal to or greater than a first acceleration and a case where the deceleration of the human-powered vehicle is equal to or greater than a first deceleration; The control device, wherein the third condition is satisfied when it is estimated that a change in the number of gear stages is required.

3. A control device for a human-powered vehicle, The human-powered vehicle includes a crankshaft to which human-powered driving force is input, a first rotating body connected to the crankshaft, a wheel, a second rotating body connected to the wheel, a transmission body configured to engage with the first rotating body and the second rotating body and transmit driving force between the first rotating body and the second rotating body, a derailleur configured to operate the transmission body to change the gear ratio of the rotational speed of the wheel relative to the rotational speed of the crankshaft, and a motor configured to drive the transmission body. a control unit configured to perform gear shift control to control the motor to drive the transmission body and to control the derailleur to operate the transmission body to change the gear ratio when a first condition related to pedaling is satisfied; The control unit The control system is configured to have control states including a first control state in which, when the first condition is satisfied, a first number of gear stages is changed within a first time, and a second control state in which, when the first condition is satisfied, the first number of gear stages is changed within a second time, The motor is controlled in the second control state so that the rotation speed of the motor is higher than that in the first control state, When a height of a seat post of the human-powered vehicle is equal to or less than a first height, the control state is transitioned to the second control state, The second time period is less than the first time period.

4. A control device for a human-powered vehicle, The human-powered vehicle includes a crankshaft to which human-powered driving force is input, a first rotating body connected to the crankshaft, wheels, a second rotating body connected to the wheels, a transmission body configured to engage with the first rotating body and the second rotating body and transmit driving force between the first rotating body and the second rotating body, a derailleur configured to operate the transmission body to change the gear ratio of the rotational speed of the wheels to the rotational speed of the crankshaft, a motor configured to drive the transmission body, and a suspension device. a control unit configured to perform gear shift control to control the motor to drive the transmission body and to control the derailleur to operate the transmission body to change the gear ratio when a first condition related to pedaling is satisfied; The control unit The control system is configured to have control states including a first control state in which, when the first condition is satisfied, a first number of gear stages is changed within a first time, and a second control state in which, when the first condition is satisfied, the first number of gear stages is changed within a second time, The motor is controlled in the second control state so that the rotation speed of the motor is higher than that in the first control state, when the frequency at which the stroke length of the suspension device repeatedly increases and decreases is equal to or greater than a predetermined frequency, the control state is transitioned to the second control state, The second time period is less than the first time period.

5. A control device for a human-powered vehicle, The human-powered vehicle includes a crankshaft to which human-powered driving force is input, a first rotating body connected to the crankshaft, a wheel, a second rotating body connected to the wheel, a transmission body configured to engage with the first rotating body and the second rotating body and transmit driving force between the first rotating body and the second rotating body, a derailleur configured to operate the transmission body to change the gear ratio of the rotational speed of the wheel relative to the rotational speed of the crankshaft, and a motor configured to drive the transmission body. a control unit configured to perform gear shift control to control the motor to drive the transmission body and to control the derailleur to operate the transmission body to change the gear ratio when a first condition related to pedaling is satisfied; The control unit The control system is configured to have control states including a first control state in which, when the first condition is satisfied, a first number of gear stages is changed within a first time, and a second control state in which, when the first condition is satisfied, the first number of gear stages is changed within a second time, The motor is controlled in the second control state so that the rotation speed of the motor is higher than that in the first control state, when the human-powered vehicle is traveling downhill and a curve is detected ahead in the traveling direction of the human-powered vehicle, the control state is transitioned to the second control state; The second time period is less than the first time period.

6. the control unit is configured to transition the control state to the second control state when the first condition is satisfied and a second condition is satisfied; 6. The control device according to claim 3, wherein the second condition is satisfied in at least one of a case where an acceleration of the human-powered vehicle is equal to or greater than a first acceleration and a case where a deceleration of the human-powered vehicle is equal to or greater than a first deceleration.

7. the control unit is configured to change the number of gears to a plurality of stages in the second control state when the first condition is satisfied, the second condition is satisfied, and a third condition is also satisfied; The control device according to claim 6 , wherein the third condition is satisfied when it is estimated that a change in the number of gear stages is required.

8. 6. The control device according to claim 1, wherein the control unit is configured to transition the control state to the second control state when a height of a seat post of the human-powered vehicle is equal to or less than a first height.

9. The human-powered vehicle further includes a suspension device; 6. The control device according to claim 1, wherein the control unit is configured to transition the control state to the second control state when a frequency at which the stroke length of the suspension device repeatedly increases and decreases is equal to or greater than a predetermined frequency.

10. 5. The control device according to claim 1, wherein the control unit is configured to transition the control state to the second control state when the human-powered vehicle is traveling downhill and a curve is detected ahead in the traveling direction of the human-powered vehicle.

11. The control device according to claim 5 or 10, wherein the curve has a bending angle of 90° or less.

12. The control device according to claim 5 , wherein the human-powered vehicle further comprises a forward detection unit configured to detect a driving environment ahead in a driving direction of the human-powered vehicle.

13. The human-powered vehicle further includes an electric actuator that operates the derailleur to operate the transmission body to change the gear ratio, The control unit configured to control the electric actuator; When the first condition is satisfied, the electric actuator is controlled to operate the transmission body by the derailleur, 13. The control device according to claim 1, wherein the control device is configured to control the electric actuator so that the operating speed of the derailleur is higher in the second control state than in the first control state.

14. The control device according to claim 1 , wherein the control unit is configured to transition the control state to the second control state when a gradient of a road is equal to or greater than a first angle.

15. A control device for a human-powered vehicle, The human-powered vehicle includes a crankshaft to which human-powered driving force is input, a first rotating body connected to the crankshaft, a wheel, a second rotating body connected to the wheel, a transmission body configured to engage with the first rotating body and the second rotating body and transmit driving force between the first rotating body and the second rotating body, a derailleur configured to operate the transmission body to change the gear ratio of the rotational speed of the wheel relative to the rotational speed of the crankshaft, and a motor configured to drive the transmission body. a control unit configured to perform gear shift control to control the motor to drive the transmission body and to control the derailleur to operate the transmission body to change the gear ratio when a first condition related to pedaling is satisfied; The control device is configured to have control states including a third control state in which the control unit changes the number of gears by a first number within a first time when the first condition is satisfied, and a fourth control state in which the control unit changes the number of gears by a second number greater than the first number within the first time when the first condition is satisfied.

16. the control unit is configured to transition the control state to the fourth control state when the first condition is satisfied and a fourth condition is satisfied; 16. The control device according to claim 15, wherein the fourth condition is satisfied in at least one of a case where an acceleration of the human-powered vehicle is equal to or greater than a second acceleration and a case where a deceleration of the human-powered vehicle is equal to or greater than a second deceleration.

17. the control unit is configured to change the number of gears to a plurality of stages in the fourth control state when the first condition is satisfied, the fourth condition is satisfied, and a fifth condition is also satisfied; The control device according to claim 16, wherein the fifth condition is satisfied when it is estimated that a change in the number of gear stages is required.

18. The human-powered vehicle further includes an electric actuator that operates the derailleur to operate the transmission body to change the gear ratio, The control unit configured to control the electric actuator; When the first condition is satisfied, the electric actuator is controlled to operate the transmission body by the derailleur, 18. The control device according to claim 15, wherein the control device is configured to control the electric actuator so that the operating speed of the derailleur is higher in the fourth control state than in the third control state.

19. 19. The control device according to claim 15, wherein the control unit is configured to transition the control state to the fourth control state when a height of a seat post of the human-powered vehicle is equal to or less than a first height.

20. The human-powered vehicle further includes a suspension device; 20. The control device according to claim 15, wherein the control unit is configured to transition the control state to the fourth control state when a frequency at which the stroke length of the suspension device repeatedly increases and decreases is equal to or greater than a predetermined frequency.

21. 21. The control device according to claim 15, wherein the control unit is configured to transition the control state to the fourth control state when a gradient of a road is equal to or greater than a first angle.

22. 22. The control device according to claim 15, wherein the control unit is configured to transition the control state to the fourth control state when the human-powered vehicle is traveling downhill and a curve is detected ahead in the traveling direction of the human-powered vehicle.

23. The control device according to claim 22, wherein the curve is a curve with a bending angle of 90° or less.

24. The control device according to claim 22 or 23, wherein the human-powered vehicle further comprises a forward detection unit configured to detect a driving environment ahead in a driving direction of the human-powered vehicle.

25. A control device for a human-powered vehicle, The human-powered vehicle includes a crankshaft to which human-powered driving force is input, a first rotating body connected to the crankshaft, a wheel, a second rotating body connected to the wheel, a transmission body configured to engage with the first rotating body and the second rotating body and transmit driving force between the first rotating body and the second rotating body, a derailleur configured to operate the transmission body to change the gear ratio of the rotational speed of the wheel relative to the rotational speed of the crankshaft, and a motor configured to drive the transmission body. a control unit configured to perform gear shift control to control the motor to drive the transmission body and to control the derailleur to operate the transmission body to change the gear ratio when a first condition related to pedaling is satisfied; the control unit is configured to have control states including a fifth control state in which, when the first condition is satisfied, driving of the motor is started within a third time after receiving a gear shift command, and a sixth control state in which, when the first condition is satisfied, driving of the motor is started within a fourth time after receiving the gear shift command, The fourth time period is shorter than the third time period.

26. The human-powered vehicle further includes an electric actuator that operates the derailleur to operate the transmission body to change the gear ratio, The control unit configured to control the electric actuator; 26. The control device according to claim 25, wherein the control device is configured to control the electric actuator to cause the derailleur to operate the transmission body when the first condition is satisfied.

27. the control unit is configured to transition the control state to the sixth control state when the first condition is satisfied and a sixth condition is satisfied; 27. The control device according to claim 25 or 26, wherein the sixth condition is satisfied in at least one of a case where an acceleration of the human-powered vehicle is equal to or greater than a third acceleration and a case where a deceleration of the human-powered vehicle is equal to or greater than a third deceleration.

28. the control unit is configured to change the number of gears in the sixth control state when the first condition, the sixth condition, and the seventh condition are satisfied, 28. The control device according to claim 27, wherein the seventh condition is satisfied when it is estimated that a change in the number of gear stages is required.

29. 29. The control device according to any one of claims 25 to 28, wherein the control unit is configured to transition the control state to the sixth control state when a height of a seat post of the human-powered vehicle is equal to or less than a first height.

30. The human-powered vehicle further includes a suspension device; 30. The control device according to any one of claims 25 to 29, wherein the control unit is configured to transition the control state to the sixth control state when a frequency at which the stroke length of the suspension device repeatedly increases and decreases is equal to or greater than a predetermined frequency.

31. 31. The control device according to any one of claims 25 to 30, wherein the control unit is configured to transition the control state to the sixth control state when a gradient of a road is equal to or greater than a first angle.

32. 32. The control device according to any one of claims 25 to 31, wherein the control unit is configured to transition the control state to the sixth control state when the human-powered vehicle is traveling downhill and a curve is detected ahead in the traveling direction of the human-powered vehicle.

33. The control device according to claim 32, wherein the curve is a curve with a bending angle of 90° or less.

34. 34. The control device according to claim 32 or 33, wherein the human-powered vehicle further comprises a forward detection unit configured to be able to detect a driving environment ahead in a driving direction of the human-powered vehicle.

35. A control device for a human-powered vehicle, The human-powered vehicle includes a crankshaft to which human-powered driving force is input, a first rotating body connected to the crankshaft, a wheel, a second rotating body connected to the wheel, a transmission body configured to engage with the first rotating body and the second rotating body and transmit driving force between the first rotating body and the second rotating body, a derailleur configured to operate the transmission body to change the gear ratio of the rotational speed of the wheel relative to the rotational speed of the crankshaft, and a motor configured to drive the transmission body. a control unit configured to perform gear shift control to control the motor to drive the transmission body and to control the derailleur to operate the transmission body to change the gear ratio when a first condition related to pedaling is satisfied; the control unit is configured to have control states including: a seventh control state in which, when the first condition is satisfied, the operation of the transmission body can be performed at a first frequency within a fifth time period, or the operation of the transmission body is not performed; and an eighth control state in which, when the first condition is satisfied, the operation of the transmission body can be performed at a second frequency within the fifth time period, the second frequency is greater than the first frequency; The control device is configured such that, in the eighth control state, the control unit controls the motor so that the period from when a shift command is received until when driving of the motor is started is shorter than in the seventh control state.

36. A control device for a human-powered vehicle, The human-powered vehicle includes a crankshaft to which human-powered driving force is input, a first rotating body connected to the crankshaft, a wheel, a second rotating body connected to the wheel, a transmission body configured to engage with the first rotating body and the second rotating body and transmit driving force between the first rotating body and the second rotating body, a derailleur configured to operate the transmission body to change the gear ratio of the rotational speed of the wheel relative to the rotational speed of the crankshaft, and a motor configured to drive the transmission body. a control unit configured to perform gear shift control to control the motor to drive the transmission body and to control the derailleur to operate the transmission body to change the gear ratio when a first condition related to pedaling is satisfied; the control unit is configured to have control states including: a seventh control state in which, when the first condition is satisfied, the operation of the transmission body can be performed at a first frequency within a fifth time period, or the operation of the transmission body is not performed; and an eighth control state in which, when the first condition is satisfied, the operation of the transmission body can be performed at a second frequency within the fifth time period, the second frequency is greater than the first frequency; The human-powered vehicle further includes an electric actuator that operates the derailleur to operate the transmission body to change the gear ratio, The control unit configured to control the electric actuator; When the first condition is satisfied, the electric actuator is controlled to operate the transmission body by the derailleur, The control device is configured to control the electric actuator so that, in the eighth control state, the period from when a gear shift command is received until the derailleur starts to operate is shorter than in the seventh control state.

37. The control device according to claim 36, wherein the control unit is configured to control the electric actuator so as not to perform operation of the transmission body in the seventh control state.

38. A control device for a human-powered vehicle, The human-powered vehicle includes a crankshaft to which human-powered driving force is input, a first rotating body connected to the crankshaft, a wheel, a second rotating body connected to the wheel, a transmission body configured to engage with the first rotating body and the second rotating body and transmit driving force between the first rotating body and the second rotating body, a derailleur configured to operate the transmission body to change the gear ratio of the rotational speed of the wheel relative to the rotational speed of the crankshaft, and a motor configured to drive the transmission body. a control unit configured to perform gear shift control to control the motor to drive the transmission body and to control the derailleur to operate the transmission body to change the gear ratio when a first condition related to pedaling is satisfied; the control unit is configured to have control states including: a seventh control state in which, when the first condition is satisfied, the operation of the transmission body can be performed at a first frequency within a fifth time period, or the operation of the transmission body is not performed; and an eighth control state in which, when the first condition is satisfied, the operation of the transmission body can be performed at a second frequency within the fifth time period, the second frequency is greater than the first frequency; The control device, wherein the control unit is configured not to drive the motor in the seventh control state.

39. the control unit is configured to transition the control state to the eighth control state when the first condition is satisfied and an eighth condition is satisfied; 39. The control device according to any one of claims 35 to 38, wherein the eighth condition is satisfied in at least one of a case where an acceleration of the human-powered vehicle is equal to or greater than a fourth acceleration and a case where a deceleration of the human-powered vehicle is equal to or greater than a fourth deceleration.

40. 40. The control device according to claim 35, wherein the control unit is configured to transition the control state to the seventh control state when the vehicle speed of the human-powered vehicle fluctuates within a predetermined vehicle speed range within the fifth time period.

41. 41. The control device according to claim 35, wherein the control unit is configured to transition the control state to the seventh control state when a gradient of a road on which the human-powered vehicle is traveling fluctuates within a predetermined angle range within the fifth time period.

42. 42. The control device according to claim 1, wherein the first condition is satisfied in at least one of the following cases: when the manual driving force is equal to or less than a first driving force; when the rotational speed of the crankshaft is equal to or less than a first rotational speed; and when the crankshaft is oscillating.

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