Control device for human-powered vehicles

Abstract

To provide a control device for a human-powered vehicle which enables a storage part to be operated preferably.SOLUTION: The invention relates to a control device for a human-powered vehicle. The human-powered vehicle includes: an operation detector that detects a first parameter correlated to a predetermined operation performed by a rider on the human-powered vehicle; a terrain detector that detects a second parameter correlated to terrain of a travel road on which the human-powered vehicle travels; and a travel detector that detects at least one of a traveling state and a traveling environment of the human-powered vehicle. The control device comprises: a control unit; and a storage part configured to continuously store predetermined information that includes the first parameter and the second parameter. In a state where the storage part continuously stores the predetermined information, the control unit is configured to stop the storage part from continuously storing the predetermined information in accordance with an output from the travel detector.SELECTED DRAWING: Figure 2

Description

[[Technical Field]]

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

[0002] The control device for a human-powered vehicle disclosed in Patent Document 1 comprises a storage unit. [[Prior Art Literature]] [[Patent Literature]]

[0003] [[Patent Document 1]] European Patent No. 3652054 Specification [[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 allows the storage unit to operate appropriately. [[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, wherein the human-powered vehicle includes an operation detection unit that detects a first parameter correlated with a predetermined operation performed by a rider on the human-powered vehicle, a terrain detection unit that detects a second parameter correlated with terrain of a traveling path on which the human-powered vehicle travels, and a travel detection unit that detects at least one of a traveling state and a traveling environment of the human-powered vehicle. The control device comprises: a control unit; and a storage unit configured to be capable of continuously storing predetermined information including the first parameter and the second parameter, wherein the control unit is configured to cause the storage unit to stop continuously storing the predetermined information in accordance with an output from the travel detection unit in a state where the predetermined information is continuously stored in the storage unit. According to the control device on the first side, the control unit stops the continuous storage of predetermined information by the storage unit in a state in which predetermined information is continuously stored in the storage unit, according to at least one of the driving state and driving environment of the human-powered vehicle. Therefore, since storage is stopped in situations in which continuous storage of predetermined information by the storage unit is inappropriate, the storage unit can operate optimally. According to the control device on the first side, the need to increase the capacity of the storage unit can be suppressed.

[0006] In a control device according to a second aspect of the first aspect of this disclosure, the travel detection unit is configured to detect at least one of the gradient of the travel path and the pitch angle of the human-powered vehicle, and the control unit is configured to stop the continuous storage of the predetermined information in the storage unit in at least one of the following cases: when the gradient corresponds to an uphill slope and is greater than or equal to a first angle; when the gradient corresponds to a downhill slope and is greater than or equal to a second angle; and when the pitch angle of the human-powered vehicle is greater than or equal to a third angle. According to the control device on the second side, the control unit can stop the continuous storage of predetermined information by the storage unit in a state in which predetermined information is continuously stored in the storage unit, according to at least one of the gradient of the road and the pitch angle of the human-powered vehicle.

[0007] In a control device according to a third aspect of the first or second aspect of the present disclosure, the driving detection unit is configured to detect an impact applied to the human-powered vehicle, and the control unit is configured to stop the continuous storage of the predetermined information in the storage unit when an impact is applied to the human-powered vehicle. According to the control device on the third side, the control unit can stop the continuous storage of predetermined information by the storage unit in response to an impact applied to the human-powered vehicle, while the storage unit is in a state where predetermined information is continuously stored in the storage unit.

[0008] In a control device of a fourth aspect according to a third aspect of this disclosure, the human-powered vehicle further includes a suspension, and the driving detection unit is configured to detect an impact applied to the suspension. According to the control device on the fourth side, the control unit can stop the continuous storage of predetermined information by the storage unit in response to an impact applied to the suspension, while the storage unit is in a state where predetermined information is continuously stored in the storage unit.

[0009] In a control device according to a fifth aspect of any one of the first to fourth aspects of this disclosure, the driving detection unit is configured to detect at least one of the vehicle speed of the human-powered vehicle and the acceleration of the human-powered vehicle, and the control unit is configured to stop the continuous storage of the predetermined information in the storage unit when the vehicle speed is equal to or greater than a first vehicle speed and at least one of the accelerations is equal to or greater than a first acceleration. According to the control device on the fifth side, the control unit can stop the continuous storage of predetermined information by the storage unit in a state in which predetermined information is continuously stored in the storage unit, according to at least one of the vehicle speed of the human-powered vehicle and the acceleration of the human-powered vehicle.

[0010] In a control device according to a sixth aspect of any one of the first to fifth aspects of this disclosure, the control unit is configured to cause the storage unit to resume storing the predetermined information when a first operation unit, which is operable by the lid, is operated while the storage unit has stopped storing the predetermined information. According to the control device on the sixth side, the control unit can restart the storage of predetermined information by the storage unit in response to an operation of the first operation unit by the lid, when the storage of predetermined information by the storage unit has stopped.

[0011] A control device according to the seventh aspect of the present disclosure, a control device for a human-powered vehicle, the human-powered vehicle includes at least one operation detection unit for detecting a first parameter correlated with a predetermined operation performed by a rider on the human-powered vehicle, and a terrain detection unit for detecting a second parameter correlated with the terrain of a road on which the human-powered vehicle travels, a control unit, and a storage unit configured to continuously store predetermined information including at least one of the first parameter and the second parameter, wherein the control unit is configured to temporarily suspend the storage of the predetermined information in the storage unit for a predetermined period of time if a predetermined condition is met while the storage unit is storing the predetermined information. According to the control device on the seventh side, when a predetermined condition is met while the storage unit is storing predetermined information, the control unit temporarily suspends the storage of predetermined information by the storage unit for a predetermined period of time. Therefore, since storage is suspended in situations where continuous storage of predetermined information by the storage unit is inappropriate, the storage unit can operate optimally. According to the control device on the seventh side, the need to increase the storage unit's capacity can be suppressed.

[0012] In a control device of the eighth aspect according to the seventh aspect of this disclosure, the predetermined period includes at least one of a predetermined time, a period during which the crankshaft of the human-powered vehicle rotates over a first rotation angle, and a period during which the wheels of the human-powered vehicle rotate over a second rotation angle. According to the control device on the eighth side, if predetermined conditions are met while the storage unit is storing predetermined information, the control unit can temporarily suspend the storage of predetermined information by the storage unit for a predetermined period of time, which includes at least one of the period during which the crankshaft of the human-powered vehicle rotates over a first rotation angle and the period during which the wheels of the human-powered vehicle rotate over a second rotation angle.

[0013] In a control device of the ninth aspect according to the seventh or eighth aspect of the present disclosure, the predetermined condition is satisfied when the control unit receives a first signal transmitted from a second operating unit configured to be operable by the lid. According to the control device on the ninth side, if the control unit receives a first signal transmitted from a second operation unit configured to be operable by the lider while the memory unit is storing predetermined information, the control unit can temporarily suspend the memory unit from storing the predetermined information for a predetermined period of time. Therefore, the control unit can temporarily suspend the storage of predetermined information for a predetermined period of time at the request of the lider.

[0014] In a control device according to a tenth aspect of the present disclosure, which is any one of the seventh to ninth aspects, the predetermined condition is satisfied when the control unit receives a second signal transmitted from a signal transmitting unit located outside the human-powered vehicle. According to the control device on the 10th side, when the control unit receives a second signal transmitted from a signal transmission unit located outside the human-powered vehicle while the memory unit is storing predetermined information, the control unit can temporarily suspend the memory unit from storing predetermined information for a predetermined period of time.

[0015] In a control device of the eleventh aspect according to any one of the seventh to tenth aspects of this disclosure, the predetermined condition is satisfied in at least one of the following cases: the gradient of the travel path corresponds to an uphill slope and is at least the fourth angle; the gradient corresponds to a downhill slope and is at least the fifth angle; and the pitch angle of the human-powered vehicle is at least the sixth angle. According to the control device on the 11th side, the control unit can temporarily suspend the storage of predetermined information by the storage unit for a predetermined period of time in at least one of the following cases: when the gradient corresponds to an uphill slope and is at least the fourth angle; when the gradient corresponds to a downhill slope and is at least the fifth angle; and when the pitch angle of the human-powered vehicle is at least the sixth angle.

[0016] In a control device of the twelfth aspect according to any one of the seventh to eleventh aspects of this disclosure, the predetermined condition is met when an impact is applied to the human-powered vehicle. According to the control device on the 12th side, the control unit can temporarily suspend the storage of predetermined information by the storage unit for a predetermined period of time if an impact is applied to the human-powered vehicle while the storage unit is storing predetermined information.

[0017] In the control device according to the thirteenth aspect following the twelfth aspect of the present disclosure, the human-powered vehicle further includes a suspension, and the predetermined condition is satisfied when an impact is applied to the suspension. According to the control device of the thirteenth aspect, while the storage unit is storing the predetermined information, the control unit can temporarily stop the storage of the predetermined information by the storage unit for the predetermined period when an impact is applied to the suspension.

[0018] In the control device according to the fourteenth aspect following any one of the seventh to thirteenth aspects of the present disclosure, the predetermined condition is satisfied in at least one of a case where a vehicle speed of the human-powered vehicle is equal to or higher than a second vehicle speed and a case where an acceleration of the human-powered vehicle is equal to or higher than a second acceleration. According to the control device of the fourteenth aspect, while the storage unit is storing the predetermined information, the control unit can temporarily stop the storage of the predetermined information by the storage unit for the predetermined period in at least one of a case where the vehicle speed of the human-powered vehicle is equal to or higher than the second vehicle speed and a case where the acceleration of the human-powered vehicle is equal to or higher than the second acceleration.

[0019] In the control device according to the fifteenth aspect following any one of the seventh to fourteenth aspects of the present disclosure, the control unit is configured to cause the storage unit to resume storing the predetermined information when a first operating portion configured to be operable by a rider is operated after the predetermined condition is satisfied and before the predetermined period elapses. According to the control device of the fifteenth aspect, when the first operating portion configured to be operable by the rider is operated after the predetermined condition is satisfied and before the predetermined period elapses, the control unit can resume the storage of the predetermined information by the storage unit in response to the operation of the first operating portion by the rider.

[0020] In the control device according to the sixteenth aspect following any one of the first to fifteenth aspects of the present disclosure, the predetermined operation includes at least one of a first operation in which the rider pushes a handlebar of the human-powered vehicle and a second operation in which the rider pulls the handlebar. According to the control device of the sixteenth aspect, the control unit can cause a storage unit to store a first parameter correlated with at least one of a first operation in which the rider pushes the handlebar of the human-powered vehicle and a second operation in which the rider pulls the handlebar.

[0021] In the control device of the seventeenth aspect according to any one of the first to sixteenth aspects of the present disclosure, the control unit is configured to create first information associating the predetermined operation with the terrain based on the predetermined information. According to the control device of the seventeenth aspect, the control unit can create first information associating a predetermined operation with the terrain of a travel path.

Effects of the Invention

[0022] In the control device for a human-powered vehicle of the present disclosure, the storage unit can operate suitably.

Brief Description of the Drawings

[0023] [Figure 1] It is a side view of a human-powered vehicle including the control device for a human-powered vehicle according to the first embodiment. [Figure 2] It is a block diagram showing an electrical configuration of a human-powered vehicle including the control device for a human-powered vehicle of Fig. 1. [Figure 3] It is a flowchart of a first part of a process executed by the control unit of Fig. 2 for controlling the storage unit. [Figure 4] It is a flowchart of a second part of a process executed by the control unit of Fig. 2 for controlling the storage unit. [Figure 5] It is a flowchart of a process executed by the control unit of Fig. 2 for creating first information. [Figure 6] It is a flowchart of a process executed by the control unit of the second embodiment for controlling the storage unit. [Figure 7] It is a flowchart of a process executed by the control unit of the third embodiment for controlling the storage unit. [Figure 8] It is a block diagram showing an electrical configuration of a human-powered vehicle including the control device for a human-powered vehicle according to the fourth embodiment. [Figure 9] Figure 8 is a flowchart of the process executed by the control unit to control the memory unit. [Figure 10] This 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 fifth embodiment. [Figure 11] This is a flowchart of the process executed by the control unit in Figure 10, which controls the memory unit. [Figure 12] This is a flowchart of the process executed by the control unit shown in Figure 10, which controls the display unit. [Figure 13] A block diagram showing the electrical configuration of a human-powered vehicle including a control device for a human-powered vehicle according to the sixth embodiment. [Figure 14] Figure 13 is a flowchart of the process executed by the control unit to control the memory unit. [Figure 15] Figure 14 is a flowchart of a subroutine that determines a predetermined operation based on the longitudinal acceleration of a human-powered vehicle. [Figure 16] Figure 14 shows a flowchart of a subroutine that determines the unevenness of the road based on the vertical acceleration of a human-powered vehicle. [Figure 17] Figure 14 is a flowchart of a subroutine that determines the curve of the road based on the lateral acceleration of a human-powered vehicle. [Figure 18] This is a flowchart of the process executed by the control unit in Figure 13 to create the first and second pieces of information. [Figure 19] This is a block diagram showing the electrical configuration of a human-powered vehicle, including a control device for a human-powered vehicle according to the seventh embodiment. [Figure 20] Figure 19 is a flowchart of the process executed by the control unit to control the memory unit. [Figure 21] Figure 19 is a flowchart of the terrain estimation process performed by the control unit. [Figure 22] This is a schematic diagram showing an example of the first display information shown on the display unit. [Figure 23]This is a block diagram showing the electrical configuration of a human-powered vehicle, including a control device for a human-powered vehicle according to the eighth embodiment. [Modes for carrying out the invention]

[0024] <First Embodiment> A control device 80 for a human-powered vehicle will be described with reference to Figures 1 to 5. A human-powered vehicle is a vehicle having at least one wheel and capable of being driven by at least human power. Human-powered vehicles include various types of bicycles, such as mountain bikes, road bikes, city bikes, cargo bikes, handbikes, and recumbent bikes. The number of wheels a human-powered vehicle may have is not limited. Human-powered vehicles also include, for example, unicycles and vehicles with two or more wheels. Human-powered vehicles are not limited to vehicles that can be driven solely by human power. Human-powered vehicles include e-bikes that utilize the driving force of an electric motor in addition to human power for propulsion. E-bikes include electric assist bicycles in which propulsion is assisted by an electric motor. Hereinafter, in each embodiment, the human-powered vehicle will be described as a bicycle.

[0025] As shown in Figure 1, the human-powered vehicle 10 includes at least one wheel 12 and a body 14. At least one wheel 12 is provided with a wheel axle 12A. At least one wheel 12 includes a front wheel 12F and a rear wheel 12R. The front wheel 12F and the rear wheel 12R each include a wheel axle 12A. The body 14 includes a frame 16. For example, a saddle is attached to the frame 16. The human-powered vehicle 10 further includes, for example, a crank 18 into which human power is input. The crank 18 includes, for example, a crank shaft 20 and a crank arm 22. The crank shaft 20 is rotatable, for example, relative to the frame 16.

[0026] A pedal 24 is connected to the crank arm 22, for example. The crank 18 includes, for example, a first crank arm 22A and a second crank arm 22B. The pedal 24 includes, for example, a first pedal 24A and a second pedal 24B. Each of the first crank arm 22A and the second crank arm 22B is provided, for example, at the axial end of the crankshaft 20. The first pedal 24A is connected to the first crank arm 22A. The second pedal 24B is connected to the second crank arm 22B, for example.

[0027] A fork 26 is connected to the frame 16. A front wheel 12F is mounted on the fork 26. A handlebar 28 is connected to the fork 26 via a stem 30. The rear wheel 12R is supported by the frame 16. In this embodiment, a crank 18 is connected to the rear wheel 12R by a drive mechanism 32. The rear wheel 12R is driven by the rotation of the crankshaft 20. At least one of the front wheel 12F and the rear wheel 12R may be connected to the crank 18 by the drive mechanism 32.

[0028] The drive mechanism 32 includes a first rotating body 34 connected to the crankshaft 20. The first rotating body 34 includes, for example, a front sprocket. The first rotating body 34 may also include a pulley or a bevel gear. The crankshaft 20 may be connected to the front sprocket via a one-way clutch.

[0029] The drive mechanism 32 further includes a second rotating body 36 and a transmission member 38. The transmission member 38 is configured to transmit the rotational force of the first rotating body 34 to the second rotating body 36. The transmission member 38 includes, for example, a chain. The transmission member 38 may also include a belt or a shaft. The second rotating body 36 includes, for example, a rear sprocket. The second rotating body 36 may also include a pulley or a bevel gear. The chain is wrapped around, for example, a front sprocket and a rear sprocket. The second rotating body 36 is connected to, for example, a rear wheel 12R. The rear wheel 12R is configured to rotate, for example, in conjunction with the rotation of the second rotating body 36.

[0030] The human-powered vehicle 10 further includes, for example, a battery 40. The battery 40 includes, for example, one or more battery elements. The battery elements include, for example, rechargeable batteries. The battery 40 is configured to supply power to, for example, a control unit 82. The battery 40 is communicated with, for example, the control unit 82 by wire or wireless means. The battery 40 is configured to communicate with the control unit 82 by, for example, power line communication (PLC). The battery 40 may also be configured to communicate with the control unit 82 by CAN (Controller Area Network) or UART (Universal Asynchronous Receiver / Transmitter).

[0031] The human-powered vehicle 10 further includes, for example, a suspension 42. The suspension 42 absorbs, for example, shocks applied to the wheels 12. The suspension 42 includes, for example, an electric suspension. The suspension 42 may be a coil suspension, a hydraulic suspension, or an air suspension. The suspension 42 includes, for example, a front suspension 42A. The suspension 42 may also include a rear suspension. The suspension 42 includes a first part 42B and a second part 42C fitted into the first part 42B and movable relative to the first part 42B. The first part 42B is attached, for example, to the wheel axle 12A. The second part 42C is attached, for example, to the stem 30.

[0032] As shown in Figure 2, the human-powered vehicle 10 includes, for example, at least one of an operation detection unit 44, a terrain detection unit 46, and a driving detection unit 48. In this embodiment, the human-powered vehicle 10 includes an operation detection unit 44, a terrain detection unit 46, and a driving detection unit 48.

[0033] The operation detection unit 44 is communicated with the control unit 82, for example, by wire or wireless means. The operation detection unit 44 detects a first parameter correlated with a predetermined operation performed by a rider on the human-powered vehicle 10. The operation detection unit 44 detects a first parameter that changes in response to a predetermined operation performed by a rider on the human-powered vehicle 10. The predetermined operation is, for example, an operation performed by the rider on the vehicle body 14. The predetermined operation includes, for example, an operation in which the rider moves the vehicle body 14 of the human-powered vehicle 10 relative to the ground using their own muscle strength. The predetermined operation relates to, for example, a force applied by the rider to the vehicle body 14. The predetermined operation includes, for example, an operation in which the rider changes at least one of the pitch angle and vehicle speed of the vehicle body 14 of the human-powered vehicle 10 using their own muscle strength. The predetermined operation does not include, for example, an operation to rotate the handlebars 28. In this embodiment, the predetermined operation includes at least one of a first operation in which the rider pushes the handlebar 28 of the human-powered vehicle 10, and a second operation in which the rider pulls the handlebar 28. The first operation and at least one of the second operations are operations performed by the rider, for example, in accordance with the unevenness of the terrain.

[0034] The operation detection unit 44 is provided, for example, on at least one of the frame 16 of the human-powered vehicle 10, the fork 26 of the human-powered vehicle 10, the wheel 12 of the human-powered vehicle 10, and the wheel axle 12A of the human-powered vehicle 10.

[0035] The operation detection unit 44 includes, for example, an acceleration sensor 44A that detects the acceleration of the human-powered vehicle 10. The acceleration sensor 44A is provided, for example, on the frame 16. The acceleration sensor 44A detects, for example, a signal corresponding to the acceleration of the human-powered vehicle 10. The acceleration sensor 44A detects, for example, a signal corresponding to the longitudinal acceleration of the human-powered vehicle 10. When the operation detection unit 44 includes the acceleration sensor 44A, the first parameter includes, for example, acceleration. The first parameter includes the longitudinal acceleration of the human-powered vehicle 10. For example, when the first parameter includes acceleration, when a first operation is performed, the acceleration increases, and when a second operation is performed, the acceleration decreases. For example, the greater the force the rider applies to the vehicle body 14 in the first operation, the greater the acceleration. For example, the greater the force the rider applies to the vehicle body 14 in the second operation, the greater the acceleration decreases. The acceleration may include negative values.

[0036] The acceleration sensor 44A may include at least one inertial measurement unit (IMU) and a vehicle speed sensor. The vehicle speed sensor is configured to detect, for example, information regarding the vehicle speed of the human-powered vehicle 10. The vehicle speed sensor is configured to detect, for example, information regarding the rotational speed of the wheels 12. The vehicle speed sensor is configured to detect, for example, a magnet provided on at least one of the front wheel 12F and the rear wheel 12R. The vehicle speed sensor is configured to output a predetermined number of detection signals during one rotation of the wheel 12. The predetermined number is, for example, 1. The vehicle speed sensor outputs a signal corresponding to the rotational speed of the wheel 12. The control unit 82 can calculate the vehicle speed of the human-powered vehicle 10 based on the signal corresponding to the rotational speed of the wheel 12 and information regarding the circumference of the wheel 12. The storage unit 84 stores, for example, information regarding the circumference of the wheel 12. The control unit 82 may be configured to obtain information regarding the acceleration of the human-powered vehicle 10 in the longitudinal direction by differentiating the vehicle speed.

[0037] The inertial measurement unit detects, for example, three-dimensional inertial motion. Three-dimensional inertial motion includes, for example, translational and rotational motion in three orthogonal axes. The inertial measurement unit includes, for example, an accelerometer, a vehicle speed sensor, and a gyroscope. The accelerometer included in the inertial measurement unit is configured to detect acceleration in the longitudinal, vertical, and lateral directions, for example.

[0038] The operation detection unit 44 includes a strain sensor 44B. The strain sensor 44B detects, for example, the strain of the human-powered vehicle 10. The strain sensor 44B detects, for example, the strain of the vehicle body 14. The strain sensor 44B is provided on at least one of the wheel axle 12A, the fork 26, and the frame 16. The strain sensor 44B may also be provided on the handlebar 28. If the operation detection unit 44 includes a strain sensor 44B, the first parameter includes, for example, strain. The strain sensor 44B outputs a signal corresponding to the strain of at least one of the fork 26, wheel axle 12A, frame 16, and handlebar 28. For example, if the first parameter includes the strain of the human-powered vehicle 10, the strain of the human-powered vehicle 10 increases when a first or second operation is performed.

[0039] The strain sensor 44B may include a first strain sensor that detects a strain corresponding to a first operation, and a second strain sensor that detects a strain corresponding to a second operation. When the second operation is performed, the front wheel 12F leaves the ground, or the force acting on the ground from the front wheel 12F decreases. When the force acting on the ground from the front wheel 12F decreases, if a protrusion on the ground comes into contact with the front wheel 12F, the force acting on the ground deforms the human-powered vehicle 10. The strain corresponding to the second operation includes at least one of the strain of the human-powered vehicle 10 caused by the force applied to the human-powered vehicle 10 from the rider in the second operation, and the strain of the human-powered vehicle 10 caused by contact with the ground when the second operation is performed.

[0040] For example, when the first operation is performed with the front wheel 12F in contact with the ground, distortion occurs in at least one of the frame 16, fork 26, wheel axle 12A, and handlebar 28 due to the force generated from the part where the rider applies force toward the front wheel 12F. For example, the greater the force the rider applies to the vehicle body 14 in the first operation, the greater the distortion of the vehicle body 14. For example, the greater the force the rider applies to the vehicle body 14 in the first operation, the greater the distortion of the vehicle body 14 caused by contact with the ground. For example, when the second operation is performed, distortion occurs in at least one of the frame 16, fork 26, and handlebar 28 due to the force pulling toward the rider from the part where the rider applies force toward the front wheel 12F. For example, the greater the force the rider applies to the vehicle body 14 in the second operation, the greater the distortion of the vehicle body 14. For example, the greater the force the rider applies to the vehicle body 14 in the second operation, the smaller the distortion of the vehicle body 14 caused by contact with the ground. The control unit 82 may be configured to detect at least one of the first and second operations based on, for example, terrain information of the road and at least one of other people's driving data, including information on the deformation of the human-powered vehicle 10.

[0041] If the strain sensor 44B is provided on the wheel axle 12A, the strain sensor 44B is configured to detect, for example, tensile strain and at least one of the compressive strain of the wheel axle 12A. The fork 26 supports the right end and left end of the wheel axle 12A, respectively. If the strain sensor 44B is provided on the lower face of the wheel axle 12A, the greater the strain of the wheel axle 12A corresponding to the first operation, the greater the strain of the wheel axle 12A, as the wheel axle 12A deforms so that the right end and left end of the wheel axle 12A are directed downwards, and the compressive strain detected by the strain sensor 44B increases. If the strain sensor 44B is provided on the lower face of the wheel axle 12A, the greater the strain of the wheel axle 12A corresponding to the second operation, the greater the strain of the wheel axle 12A, as the wheel axle 12A deforms so that the right end and left end of the wheel axle 12A are directed upwards, and the tensile strain detected by the strain sensor 44B increases. When the strain sensor 44B is provided on the upper surface of the wheel axle 12A, the greater the strain of the wheel axle 12A corresponding to the first operation, the greater the tensile strain detected by the strain sensor 44B. When the strain sensor 44B is provided on the upper surface of the wheel axle 12A, the greater the strain of the wheel axle 12A corresponding to the second operation, the greater the compressive strain detected by the strain sensor 44B.

[0042] The operation detection unit 44 includes, for example, an air pressure sensor 44C that detects the air pressure of the wheel 12. The air pressure sensor 44C is provided on, for example, the wheel 12. When the operation detection unit 44 includes the air pressure sensor 44C, the first parameter includes, for example, the air pressure of the wheel 12. The air pressure sensor 44C outputs, for example, a signal corresponding to the air pressure of the wheel 12. The first parameter includes, for example, the air pressure of at least one of the front wheel 12F and the rear wheel 12R. For example, if the first parameter includes the air pressure of the front wheel 12F, when the first operation is performed, the air pressure of the front wheel 12F increases, and when the second operation is performed, the air pressure of the front wheel 12F decreases. For example, if the first parameter includes the air pressure of the rear wheel 12R, when the second operation is performed, the air pressure of the rear wheel 12R increases, and the 1 When the operation is performed, the air pressure of the rear tire 12R will decreaseThe control unit 82 may be configured to calculate the load distribution to the front wheel 12F and the rear wheel 12R based on the detected value of the air pressure sensor 44C provided on at least one of the front wheel 12F and the rear wheel 12R.

[0043] The operation detection unit 44 may include at least one of a tilt sensor and a speed sensor. The tilt sensor may include, for example, a gyro sensor.

[0044] The terrain detection unit 46 is communicated with the control unit 82, for example, by wired or wireless means. The terrain detection unit 46 detects a second parameter that correlates with the terrain of the road on which the human-powered vehicle 10 travels. The terrain detection unit 46 detects a second parameter that changes according to the terrain of the road on which the human-powered vehicle 10 travels. The terrain detection unit 46 includes, for example, at least one of a first acceleration sensor 46A and a second acceleration sensor 46B. The first acceleration sensor 46A detects, for example, the vertical acceleration of the human-powered vehicle 10. The second acceleration sensor 46B detects, for example, the left-right acceleration of the human-powered vehicle 10.

[0045] The first acceleration sensor 46A detects, for example, the pitch angle of the human-powered vehicle 10. The first acceleration sensor 46A may include an inertial measurement unit. If the operation detection unit 44 includes an inertial measurement unit, the inertial measurement unit of the first acceleration sensor 46A may be configured integrally with the inertial measurement unit of the operation detection unit 44. The second acceleration sensor 46B detects, for example, the roll angle of the human-powered vehicle 10. The second acceleration sensor 46B may detect the yaw angle in addition to or instead of the roll angle. The second acceleration sensor 46B may include an inertial measurement unit. If the operation detection unit 44 includes an inertial measurement unit, the inertial measurement unit of the second acceleration sensor 46B may be configured integrally with the inertial measurement unit of the operation detection unit 44.

[0046] If the terrain detection unit 46 includes a first acceleration sensor 46A, the second parameter includes the vertical acceleration of the human-powered vehicle 10. The vertical acceleration of the human-powered vehicle 10 changes, for example, according to the unevenness of the terrain of the road. If the terrain detection unit 46 includes a second acceleration sensor 46B, the second parameter includes the lateral acceleration of the human-powered vehicle 10. The lateral acceleration of the human-powered vehicle 10 changes, for example, according to the curves of the road.

[0047] If the human-powered vehicle 10 includes a suspension 42, the terrain detection unit 46 is provided, for example, in a part of the human-powered vehicle 10 closer to the wheel axle 12A than the operating part of the suspension 42, and on at least one of the wheel axles 12A. The suspension 42 includes a front suspension 42A, 2 part 42 C If it is attached to stem 30 ,sa The operating part of the suspension 42 includes, for example, a second part 42C. If the suspension 42 includes a front suspension 42A, the part of the human-powered vehicle 10 closer to the wheel axle 12A than the operating part of the suspension 42 may include a first part 42B of the suspension 42. If the suspension 42 includes a rear suspension, the part of the human-powered vehicle 10 closer to the wheel axle 12A than the operating part of the suspension 42 includes the part of the human-powered vehicle 10 closer to the ground than the rear suspension. If the human-powered vehicle 10 does not include a front suspension 42A, the terrain detection unit 46 may be provided on the fork 26.

[0048] The driving detection unit 48 is communicated with the control unit 82, for example, by wired or wireless means. The driving detection unit 48 detects at least one of the driving state and driving environment of the human-powered vehicle 10. The driving detection unit 48 includes, for example, sensors for detecting parameters related to the driving of the human-powered vehicle 10. The parameters related to the driving of the human-powered vehicle 10 include, for example, the gradient of the road the human-powered vehicle 10 is traveling on, the impact applied to the human-powered vehicle 10, the vehicle speed of the human-powered vehicle 10, the acceleration of the human-powered vehicle 10, and at least one of the parameters relating to the gradient of the road the human-powered vehicle 10 is traveling on, the impact applied to the human-powered vehicle 10, the vehicle speed of the human-powered vehicle 10, and the acceleration of the human-powered vehicle 10. . people The impact applied to the powered vehicle 10 includes, for example, the impact applied to the suspension 42. The impact applied to the human-powered vehicle 10 includes, for example, parameters relating to the impact applied to the suspension 42.

[0049] The driving detection unit 48 includes, for example, at least one of a tilt sensor, a vehicle speed sensor, and an acceleration sensor. The tilt sensor included in the driving detection unit 48 is configured to detect information regarding the inclination of the road on which the human-powered vehicle 10 is traveling. The tilt sensor includes, for example, a gyro sensor. The tilt sensor detects, for example, the pitch angle of the human-powered vehicle 10. The vehicle speed sensor included in the driving detection unit 48 may be configured similarly to the vehicle speed sensor included in the first acceleration sensor 46A. The acceleration sensor included in the driving detection unit 48 is configured to output a signal corresponding to the acceleration of the human-powered vehicle 10 in the longitudinal direction. The acceleration sensor included in the driving detection unit 48 may be configured similarly to the first acceleration sensor 46A.

[0050] The control device 80 for a human-powered vehicle comprises a control unit 82 and a storage unit 84. The control unit 82 includes, for example, an arithmetic processing unit that executes a predetermined control program. The arithmetic processing unit includes, for example, a CPU (Central Processing Unit) or an MPU (Micro Processing Unit). The control unit 82 may include one or more microcomputers. The control unit 82 may include multiple arithmetic processing units located in separate locations.

[0051] The storage unit 84 stores, for example, control programs and information used in control processing. The storage unit 84 stores, for example, a program relating to a control device 80 for a human-powered vehicle. The storage unit 84 includes, for example, at least one of non-volatile memory and volatile memory. The non-volatile memory includes, for example, at least one of ROM (Read-Only Memory), EPROM (Erasable Programmable Read Only Memory), EEPROM (Electrically Erasable Programmable Read-Only Memory), and flash memory. The volatile memory includes, for example, RAM (Random Access Memory). The storage unit 84 is configured to communicate with, for example, the control unit 82 by wired or wireless means.

[0052] The memory unit 84 is configured to continuously store predetermined information, including the first parameter and the second parameter. Continuous storage means, for example, continuing to store information at predetermined storage intervals. The predetermined storage interval is determined by the resolution of the sensor that detects the target information, the calculation period of the control unit 82, or the performance of the memory unit 84, etc.

[0053] The control unit 82 is configured, for example, to cause the storage unit 84 to start continuous storage of predetermined information when it receives a start signal. The control unit 82 is also configured, for example, to cause the storage unit 84 to stop continuous storage of predetermined information when it receives an end signal. The start signal and the end signal are transmitted, for example, from an operating device provided on the human-powered vehicle 10 and from at least one of the external devices 52.

[0054] The control device 80 further includes, for example, a communication unit 86. The communication unit 86 is configured to communicate with, for example, an external device 52 by wire or wireless. The communication unit 86 is configured to receive signals transmitted from the external device 52. The external device 52 is used, for example, in a race of a human-powered vehicle 10. The external device 52 includes, for example, at least one of a start signal transmitting unit 52A and an end signal transmitting unit 52B. At least one of the start signal transmitting unit 52A and the end signal transmitting unit 52B is provided, for example, on the course tape. The start signal transmitting unit 52A is provided, for example, on the course tape at the start point of the course. The start signal transmitting unit 52A is configured to transmit, for example, a start signal to the communication unit 86 to start storing predetermined information in the storage unit 84. The end signal transmitting unit 52B is provided, for example, on the course tape at the end point of the course. The termination signal transmitting unit 52B is configured to transmit a termination signal to the communication unit 86 to terminate the storage of predetermined information in the storage unit 84. The external device 52 includes, for example, a server. The server is configured to communicate with, for example, the start signal transmitting unit 52A and at least one of the termination signal transmitting unit 52B.

[0055] The start signal transmitting unit 52A may be provided on a tape switch for resuming recording, which is provided on the course. When the start signal transmitting unit 52A is provided on a tape switch for resuming recording, which is provided on the course, the start signal transmitting unit 52A transmits a start signal to the communication unit 86 to start storing predetermined information in the storage unit 84 when, for example, the human-powered vehicle 10 passes over the tape switch for resuming recording. The start signal transmitting unit 52A may be configured to transmit a start signal to an IC (Integrated Circuit) chip to which a unique ID is assigned. The IC chip is provided, for example, on the human-powered vehicle 10 or the rider. The IC chip may be included in the communication unit 86. When the start signal transmitting unit 52A is configured to transmit a start signal to an IC chip, for example, at least one start signal transmitting unit 52A is provided on the course.

[0056] The control unit 82 is configured to stop the continuous storage of predetermined information in the storage unit 84 in response to the output of the driving detection unit 48, while the storage unit 82 is in a state where predetermined information is being continuously stored in the storage unit 84. The control unit 82 is configured to temporarily suspend the continuous storage of predetermined information in the storage unit 84 in response to the output of the driving detection unit 48, while the storage unit 82 is in a state where predetermined information is being continuously stored in the storage unit 84.

[0057] The driving detection unit 48 is configured to detect, for example, the gradient of the road and at least one of the pitch angle of the human-powered vehicle 10. The control unit 82 is configured to stop the continuous storage of predetermined information in the storage unit 84 in at least one of the following cases: when the gradient corresponds to an uphill slope and is greater than or equal to a first angle; when the gradient corresponds to a downhill slope and is greater than or equal to a second angle; and when the pitch angle of the human-powered vehicle 10 is greater than or equal to a third angle.

[0058] The first, second, and third angles are expressed as absolute values, with the reference angle being 0 degrees. The reference angle corresponds, for example, to the angle of a flat road. The reference angle is, for example, 0 degrees. If the gradient corresponds to an uphill slope and is greater than or equal to the first angle, this includes, for example, uphill slopes of the first angle or greater. If the gradient corresponds to a downhill slope and is greater than or equal to the second angle, this includes, for example, downhill slopes of the second angle or greater. If the pitch angle of the human-powered vehicle 10 is greater than or equal to the third angle, this includes, for example, both uphill slopes of the third angle or greater and downhill slopes of the third angle or greater.

[0059] The human-powered vehicle 10 further includes, for example, a first operating unit 50. The first operating unit 50 is configured to be operable by, for example, a rider. The first operating unit 50 is provided, for example, on a handlebar 28. The first operating unit 50 is provided, for example, on at least one of a cycle computer and a smartphone. The first operating unit 50 includes, for example, at least one of a button, a dial, and a lever. The first operating unit 50 is configured to transmit, for example, a start signal to a control unit 82 to start storing predetermined information in a storage unit 84. The control unit 82 is configured, for example, to cause the storage unit 84 to start storing predetermined information when the first operating unit 50 is operated. The first operating unit 50 may be configured to transmit a stop signal to the control unit 82 to cause the storage unit 84 to stop storing predetermined information. The control unit 82 is configured, for example, to cause the storage unit 84 to stop storing predetermined information when the first operating unit 50 is operated.

[0060] The control unit 82 is configured, for example, to cause the storage unit 84 to resume storing predetermined information when the first operation unit 50, which is operable by a lid, is operated while the storage unit 84 has stopped storing predetermined information. The control unit 82 is configured, for example, to cause the storage unit 84 to resume storing predetermined information when it receives a start signal from the first operation unit 50 while the storage unit 84 has stopped storing predetermined information. The control unit 82 may also be configured to cause the storage unit 84 to terminate storing predetermined information when the first operation unit 50 is operated while the storage unit 84 has started storing predetermined information.

[0061] Referring to Figures 3 and 4, the process by which the control unit 82 of the first embodiment controls the storage unit 84 will be described. When power is supplied to the control unit 82, for example, it starts processing and proceeds to step S11 of the flowchart shown in Figure 3. When the flowcharts in Figures 3 and 4 are completed, the control unit 82 repeats the processing from step S11 at predetermined intervals, for example, until the power supply is stopped.

[0062] In step S11, the control unit 82 determines whether or not it has received a start signal. For example, if the communication unit 86 receives the start signal, the control unit 82 determines that it has received a start signal. For example, if the communication unit 86 does not receive the start signal, the control unit 82 determines that it has not received a start signal. If the control unit 82 has received a start signal, it proceeds to step S12. If the control unit 82 has not received a start signal, it terminates the process. In step S12, the control unit 82 starts storing predetermined information in the storage unit 84 and proceeds to step S13.

[0063] In step S13, the control unit 82 determines whether the gradient corresponds to an uphill slope and is greater than or equal to the first angle. For example, if the gradient is not an uphill slope, the control unit 82 determines that the gradient corresponds to an uphill slope and is not greater than or equal to the first angle. For example, if the gradient corresponds to an uphill slope and is less than the first angle, the control unit 82 determines that the gradient corresponds to an uphill slope and is not greater than or equal to the first angle. If the gradient corresponds to an uphill slope and is greater than or equal to the first angle, the control unit 82 proceeds to step S14.

[0064] If, in step S13, the control unit 82 determines whether the gradient corresponds to an uphill slope and is not greater than or equal to the first angle, it proceeds to step S17. In step S17, the control unit 82 determines whether the gradient corresponds to a downhill slope and is greater than or equal to the second angle. For example, if the gradient is not a downhill slope, the control unit 82 determines whether the gradient corresponds to a downhill slope and is not greater than or equal to the second angle. For example, if the gradient corresponds to a downhill slope and is less than the second angle, the control unit 82 determines whether the gradient corresponds to a downhill slope and is not greater than or equal to the second angle. If the gradient corresponds to a downhill slope and is greater than or equal to the second angle, the control unit 82 proceeds to step S14. If the gradient corresponds to a downhill slope and is not greater than or equal to the second angle, the control unit 82 proceeds to step S18.

[0065] In step S18, the control unit 82 determines whether the pitch angle of the human-powered vehicle 10 is the third angle or greater. For example, if it is an uphill slope and the pitch angle is the third angle or greater, or if it is a downhill slope and the pitch angle is the third angle or greater, the control unit 82 determines that the pitch angle of the human-powered vehicle 10 is the third angle or greater. If it is a flat road, if it is an uphill slope and the pitch angle is less than the third angle, or if it is a downhill slope and the pitch angle is less than the third angle, the control unit 82 determines that the pitch angle of the human-powered vehicle 10 is not the third angle or greater. If the pitch angle of the human-powered vehicle 10 is the third angle or greater, the control unit 82 proceeds to step S14. If the pitch angle of the human-powered vehicle 10 is not the third angle or greater in step S18, the control unit 82 proceeds to step S19.

[0066] In step S14, the control unit 82 stops the continuous storage of predetermined information in the storage unit 84 and proceeds to step S15. In step S15, the control unit 82 determines whether or not the first operation unit 50 has been operated. If the first operation unit 50 has not been operated, the process ends. In step S15, if the first operation unit 50 has been operated, the control unit 82 proceeds to step S16. In step S16, the control unit 82 restarts the storage of predetermined information in the storage unit 84 and proceeds to step S19.

[0067] In step S19, the control unit 82 determines whether or not it has received a termination signal. If the control unit 82 has received a termination signal, it proceeds to step S20. In step S20, the control unit 82 stops storing predetermined information in the storage unit 84 and terminates the process. If the control unit 82 has not received a termination signal in step S19, it proceeds to step S21. In step S21, the control unit 82 determines whether or not a first predetermined period has elapsed. For example, if the period since receiving the start signal is longer than or equal to the first predetermined period, the control unit 82 determines that the first predetermined period has elapsed. The first predetermined period is, for example, a predetermined period. The first predetermined period is, for example, a period longer than the period during which the course is completed. If the first predetermined period has ended, the control unit 82 proceeds to step S20. If the first predetermined period has not ended, the control unit 82 repeats the process from step S12 onward. In the first embodiment, if the first predetermined period has not elapsed, the control unit 82 proceeds to step S13 and repeats the processing from step S13.

[0068] The control unit 82 may be configured to determine whether a start signal has been received in step S15, instead of determining whether the first operation unit 50 has been operated. For example, if the communication unit 86 receives a start signal, the control unit 82 determines that a start signal has been received. For example, if the communication unit 86 does not receive a start signal, the control unit 82 determines that a start signal has not been received. If the human-powered vehicle 10 includes an IC chip to which a unique ID is assigned, the control unit 82 may determine that a start signal has been received if the IC chip receives a start signal, and determine that a start signal has not been received if the IC chip does not receive a start signal. In step S15, when determining whether a start signal has been received, if a start signal is received, the control unit 82 proceeds to step S16. In step S15, when determining whether a start signal has been received, if a start signal is not received, the control unit 82 terminates processing.

[0069] The control unit 82 is configured to create first information relating a predetermined operation to terrain based on predetermined information. The control unit 82 is configured to create first information when the creation of first information is requested. The control unit 82 is configured to determine that there is a request for the creation of first information when a signal relating to the request for the creation of first information is transmitted from the information processing device. The control unit 82 may also be configured to determine that there is a request for the creation of first information when the request is transmitted via an operating device provided on the human-powered vehicle 10. The information processing device is configured to communicate with the control unit 82 wirelessly or via a wired connection. The information processing device includes, for example, at least one of a personal computer, a smartphone, a tablet computer, and a cycle computer. The control unit 82 is configured to transmit predetermined information to the information processing device, and the first information may be created by the information processing device.

[0070] The first information is displayed, for example, on a screen. For example, the terrain included in the first information is displayed by a graph or image representing two or three dimensions. For example, on a graph or image representing two or three dimensions, the locations where the first operation was performed and the locations where the second operation was performed are displayed by different colors or line types.

[0071] Referring to Figure 5, the process by which the control unit 82 creates the first information will be explained. For example, when power is supplied to the control unit 82, it starts processing and moves to step S31 of the flowchart shown in Figure 5. When the flowchart in Figure 5 is completed, the control unit 82 repeats the processing from step S31 at predetermined intervals, for example, until the power supply is stopped.

[0072] In step S31, the control unit 82 determines whether or not there is a request to create first information. The control unit 82 determines that there is a request to create first information, for example, when a signal relating to the request to create first information is transmitted from the information processing device. If there is a request to create first information, the control unit 82 proceeds to step S32. If there is no request to create first information, the control unit 82 terminates the process. In step S32, the control unit 82 creates first information relating predetermined operations and terrain based on predetermined information, and terminates the process. The control unit 82 may be configured to create first information when the human-powered vehicle 10 finishes traveling. In this case, the control unit 82 omits step S31 from Figure 5 and, for example, executes the process of step S32 when power is supplied to the control unit 82.

[0073] For example, if the gradient corresponds to an uphill slope and is greater than or equal to a first angle, if the gradient corresponds to a downhill slope and is greater than or equal to a second angle, and if the pitch angle of the human-powered vehicle 10 is greater than or equal to a third angle, the state of the vehicle body 14 may be in a special state. A special state of the vehicle body 14 includes, for example, a state where the vehicle body 14 is away from the road, such as by jumping. When the state of the vehicle body 14 is in a special state, the control unit 82 may not be able to properly estimate the terrain. Therefore, the first information is likely to be inaccurate and differ from the actual information. When the state of the vehicle body 14 is in a special state, the control unit 82 stops the continuous storage of predetermined information in the storage unit 84, thereby suppressing the creation of inaccurate first information.

[0074] The behavior of the front wheel 12F is more likely to reflect changes in terrain than the behavior of the rear wheel 12R. In this embodiment, the terrain detection unit 46 is located closer to the wheel axle 12A of the human-powered vehicle 10 than the operating part of the front suspension 42A, and is also provided on at least one of the wheel axles 12A, so it can suitably detect terrain.

[0075] <Second Embodiment> The control device 80 for a human-powered vehicle of the second embodiment will be described with reference to Figures 1 to 6. Components of the control device 80 for a human-powered vehicle of the second embodiment that are common to the first embodiment are denoted by the same reference numerals as in the first embodiment, and redundant explanations are omitted.

[0076] The driving detection unit 48 of the second embodiment is configured to detect, for example, an impact applied to the human-powered vehicle 10. The control unit 82 is configured to stop the continuous storage of predetermined information in the storage unit 84 when, for example, an impact is applied to the human-powered vehicle 10. The control unit 82, for example, stops the continuous storage of predetermined information by the storage unit 84 if, while the predetermined information is being continuously stored in the storage unit 84, the impact applied to the human-powered vehicle 10 exceeds a predetermined impact.

[0077] The impacts applied to the human-powered vehicle 10 include, for example, impacts applied to the suspension 42. The driving detection unit 48 may be configured to detect, for example, impacts applied to the suspension 42. If the driving detection unit 48 is configured to detect impacts applied to the suspension 42, it is provided, for example, on the suspension 42 and at least one of the members of the human-powered vehicle 10 located near the suspension 42. If the driving detection unit 48 is provided on the suspension 42, the control unit 82 may be configured to detect impacts in accordance with the damping of the suspension 42. If the driving detection unit 48 includes at least one of a tilt sensor and an acceleration sensor, the control unit 82 may be configured to detect vibrations of the human-powered vehicle 10 as impacts applied to the human-powered vehicle 10.

[0078] Referring to Figures 3, 4, and 6, the process by which the control unit 82 of the second embodiment controls the storage unit 84 will be described. When power is supplied to the control unit 82, for example, it starts processing and proceeds to step S11 of the flowchart shown in Figure 3. When the flowcharts in Figures 3, 4, and 6 are completed, the control unit 82 repeats the processing from step S11 at predetermined intervals, for example, until the power supply is stopped.

[0079] The control unit 82 performs the same processing as in the first embodiment in steps S11 and S12 of Figure 3. After processing in step S12 of Figure 3, the control unit 82 proceeds to step S41 of Figure 6.

[0080] In step S41, the control unit 82 determines whether or not it has detected an impact applied to the human-powered vehicle 10. If the control unit 82 has detected an impact applied to the human-powered vehicle 10, it proceeds to step S14. If the control unit 82 has not detected an impact applied to the human-powered vehicle 10 in step S41, it proceeds to step S19. The control unit 82 may also determine in step S41 whether or not it has detected an impact applied to the suspension 42. If the control unit 82 determines in step S41 whether or not it has detected an impact applied to the suspension 42, and it has detected an impact applied to the suspension 42, it proceeds to step S14. If the control unit 82 determines in step S41 whether or not it has detected an impact applied to the suspension 42, and it has not detected an impact applied to the suspension 42, it proceeds to step S19.

[0081] The control unit 82 performs the same processing as in the first embodiment in steps S19 to S21 of Figure 4. If the first predetermined period has not elapsed in step S21, the control unit 82 proceeds to step S41 and repeats the processing from step S41.

[0082] For example, if the impact applied to the human-powered vehicle 10 is large, the control unit 82 may not be able to properly estimate the terrain, making it likely that the first information will be inaccurate and differ from the actual information. When the impact applied to the human-powered vehicle 10 is large, the control unit 82 stops the continuous storage of predetermined information in the storage unit 84, thereby suppressing the creation of inaccurate first information.

[0083] <Third Embodiment> A control device 80 for a human-powered vehicle according to the third embodiment will be described with reference to Figures 1 to 5 and Figure 7. Components of the control device 80 for a human-powered vehicle according to the third embodiment that are common to the first embodiment are denoted by the same reference numerals as in the first embodiment, and redundant explanations are omitted.

[0084] The driving detection unit 48 of the third embodiment is configured to detect, for example, the vehicle speed of the human-powered vehicle 10 and at least one of the acceleration of the human-powered vehicle 10. When the driving detection unit 48 is configured to detect vehicle speed, the driving detection unit 48 includes a vehicle speed sensor. When the driving detection unit 48 is configured to detect acceleration, the driving detection unit 48 includes an acceleration sensor. When the driving detection unit 48 includes a vehicle speed sensor, the control unit 82 may be configured to obtain information regarding the acceleration in the direction in which the human-powered vehicle 10 moves forward by differentiating the vehicle speed.

[0085] The control unit 82 is configured to stop the continuous storage of predetermined information in the storage unit 84 in at least one of the following cases: when the vehicle speed is equal to or greater than a first vehicle speed, and when the acceleration is equal to or greater than a first acceleration.

[0086] Referring to Figures 3, 4, and 7, the process by which the control unit 82 controls the storage unit 84 in the third embodiment will be described. When power is supplied to the control unit 82, for example, it starts processing and proceeds to step S11 of the flowchart shown in Figure 3. When the flowcharts in Figures 3, 4, and 7 are completed, the control unit 82 repeats the processing from step S11 at predetermined intervals, for example, until the power supply is stopped.

[0087] The control unit 82 performs the same processing as in the first embodiment in steps S11 and S12 of Figure 3. After processing in step S12 of Figure 3, the control unit 82 proceeds to step S51 of Figure 7.

[0088] In step S51, the control unit 82 determines whether the vehicle speed is equal to or greater than the first vehicle speed. If the vehicle speed is equal to or greater than the first vehicle speed, the control unit 82 proceeds to step S14. If the vehicle speed is less than the first vehicle speed in step S51, the control unit 82 proceeds to step S52. In step S52, the control unit 82 determines whether the acceleration is equal to or greater than the first acceleration. If the acceleration is equal to or greater than the first acceleration, the control unit 82 proceeds to step S14. If the acceleration is less than the first acceleration, the control unit 82 proceeds to step S19.

[0089] The control unit 82 performs the same processing as in the first embodiment in steps S19 to S21 of Figure 4. If the first predetermined period has not elapsed in step S21, the control unit 82 proceeds to step S51 and repeats the processing from step S51.

[0090] For example, when the vehicle speed is greater than or equal to the first vehicle speed, and when the acceleration is greater than or equal to the first acceleration, the rate of change of the first and second parameters is large, and the control unit 82 may not be able to properly estimate the terrain. Therefore, the first information is likely to be inaccurate and differ from the actual information. The control unit 82 stops the storage unit 84 from continuously storing predetermined information when the vehicle speed is greater than or equal to the first vehicle speed, and when the acceleration is greater than or equal to the first acceleration, thereby suppressing the creation of inaccurate first information.

[0091] <Fourth Embodiment> A control device 80 for a human-powered vehicle according to the fourth embodiment will be described with reference to Figures 1, 3 to 5, 8, and 9. 4 With respect to components of the control device 80 for the human-powered vehicle of this embodiment that are common to the first embodiment, the same reference numerals are used as in the first embodiment, and redundant explanations are omitted.

[0092] As shown in Figure 8, in the fourth embodiment, the human-powered vehicle 10 includes at least one of an operation detection unit 44 that detects a first parameter correlated with a predetermined operation performed by a rider on the human-powered vehicle 10, and a terrain detection unit 46 that detects a second parameter correlated with the terrain of the road on which the human-powered vehicle 10 travels. The human-powered vehicle 10 further includes, for example, a battery 40 and a suspension 42. The suspension 42 includes a front suspension 42A. The suspension 42 may also include a rear suspension. The human-powered vehicle 10 may further include a travel detection unit 48 and a first operation unit 50.

[0093] The human-powered vehicle 10 further includes, for example, a second operating unit 56. The second operating unit 56 is configured to be operable by, for example, a rider. The second operating unit 56 is provided in, for example, at least one of a cycle computer and a smartphone. The second operating unit 56 includes, for example, at least one of a button, a dial, and a lever. The second operating unit 56 is configured to transmit a first signal to the control unit 82. The first signal temporarily stores predetermined information in, for example, the storage unit 84. Stop The first signal includes a pause signal to cause the storage unit 84 to stop storing the predetermined information. The control unit 82 is configured to temporarily stop the storage unit 84 from storing the predetermined information for a predetermined period of time when the second operation unit 56 is operated, for example. The predetermined period is, for example, shorter than the first predetermined period.

[0094] The control device 80 for a human-powered vehicle of the fourth embodiment comprises a control unit 82 and a storage unit 84 configured to continuously store predetermined information including at least one of a first parameter and a second parameter. The control device 80 further includes, for example, a communication unit 86. The communication unit 86 is configured to communicate with, for example, an external device 52 by wire or wireless. The communication unit 86 is configured to receive signals transmitted from the external device 52. The external device 52 includes, for example, at least one of a start signal transmitting unit 52A, an end signal transmitting unit 52B, and a signal transmitting unit 58. The signal transmitting unit 58 is configured to transmit, for example, a second signal to the control unit 82. The second signal includes, for example, a pause signal to temporarily stop the storage of predetermined information in the storage unit 84. The signal transmitting unit 58 is installed, for example, on a course, in a location on the route of the human-powered vehicle 10 where at least one of the driving environment of the human-powered vehicle 10 and the driving state of the human-powered vehicle 10 changes significantly.

[0095] The control unit 82 is configured to temporarily suspend the storage of predetermined information in the storage unit 84 for a predetermined period of time if predetermined conditions are met while the storage unit 84 is storing predetermined information. The predetermined period includes, for example, a predetermined time, at least one of the period during which the crankshaft 20 of the human-powered vehicle 10 rotates over a first rotation angle, and the period during which the wheels 12 of the human-powered vehicle 10 rotate over a second rotation angle.

[0096] The predetermined conditions are met, for example, when the control unit 82 receives a first signal, when the control unit 82 receives a second signal, when the gradient of the road corresponds to an uphill slope and is at least the fourth angle, when the gradient corresponds to a downhill slope and is at least the fifth angle, when the pitch angle of the human-powered vehicle 10 is at least the sixth angle, when the human-powered vehicle 10 is subjected to an impact, when the suspension 42 is subjected to an impact, when the vehicle speed of the human-powered vehicle 10 is at least the second vehicle speed, and when the acceleration of the human-powered vehicle 10 is at least the second acceleration.

[0097] The predetermined condition is met, for example, when the control unit 82 receives a first signal transmitted from a second operating unit 56 which is configured to be operable by a rider. The predetermined condition is met, for example, when the control unit 82 receives a second signal transmitted from a signal transmitting unit 58 which is located outside the human-powered vehicle 10.

[0098] The predetermined conditions are met, for example, in at least one of the following cases: the gradient of the road corresponds to an uphill slope and is at least the fourth angle; the gradient corresponds to a downhill slope and is at least the fifth angle; and the pitch angle of the human-powered vehicle 10 is at least the sixth angle. The fourth angle may be the same as the first angle. The fifth angle may be the same as the second angle. The sixth angle may be the same as the third angle.

[0099] The predetermined conditions are met, for example, when an impact is applied to the human-powered vehicle 10. The predetermined conditions are met when an impact is applied to the suspension 42. The predetermined conditions are met, for example, when the vehicle speed of the human-powered vehicle 10 is equal to or greater than the second vehicle speed, and when the acceleration of the human-powered vehicle 10 is equal to or greater than the second acceleration. The second vehicle speed may be the same as the first vehicle speed. The second acceleration may be the same as the first acceleration.

[0100] The control unit 82 is configured to cause the storage unit 84 to resume storing predetermined information when the first operation unit 50, which is operable by the lid, is operated after predetermined conditions are met but before a predetermined period has elapsed. For example, the control unit 82 is configured to cause the storage unit 84 to resume storing predetermined information when it receives a start signal from the first operation unit 50 after predetermined conditions are met but before a predetermined period has elapsed.

[0101] Referring to Figures 3, 4, and 9, the process by which the control unit 82 controls the storage unit 84 in the fourth embodiment will be described. When power is supplied to the control unit 82, for example, it starts processing and proceeds to step S11 of the flowchart shown in Figure 3. When the flowcharts in Figures 3, 4, and 9 are completed, the control unit 82 repeats the processing from step S11 at predetermined intervals, for example, until the power supply is stopped.

[0102] The control unit 82 performs the same processing as in the first embodiment in steps S11 and S12 of Figure 3. After processing in step S12 of Figure 3, the control unit 82 proceeds to step S61 of Figure 9.

[0103] In step S61, the control unit 82 determines whether predetermined conditions are met. For example, the control unit 82 determines that predetermined conditions are met if at least one of the following conditions is met: when the control unit 82 receives a first signal, when the control unit 82 receives a second signal, when the gradient of the road corresponds to an uphill slope and is at least the fourth angle, when the gradient corresponds to a downhill slope and is at least the fifth angle, when the pitch angle of the human-powered vehicle 10 is at least the sixth angle, when the human-powered vehicle 10 is subjected to an impact, when the suspension 42 is subjected to an impact, when the vehicle speed of the human-powered vehicle 10 is at least the second vehicle speed, and when the acceleration of the human-powered vehicle 10 is at least the second acceleration. If the predetermined conditions are met, the control unit 82 proceeds to step S62. If the predetermined conditions are not met, the control unit 82 proceeds to step S19.

[0104] In step S62, the control unit 82 temporarily stops the storage of predetermined information in the storage unit 84 for a predetermined period of time and proceeds to step S63. In step S63, the control unit 82 determines whether or not the first operation unit 50 has been operated. If the first operation unit 50 has been operated, the control unit 82 proceeds to step S64. If the first operation unit 50 has not been operated, the control unit 82 proceeds to step S65.

[0105] In step S65, the control unit 82 determines whether a predetermined period has elapsed. For example, the control unit 82 determines that a predetermined period has elapsed if at least one of the following has elapsed: a predetermined time during which the crankshaft 20 of the human-powered vehicle 10 rotates over a first rotation angle, and a predetermined time during which the wheels 12 of the human-powered vehicle 10 rotate over a second rotation angle. If the predetermined period has elapsed, the control unit 82 proceeds to step S64. If the predetermined period has not elapsed, the control unit 82 proceeds to step S63. In step S64, the control unit 82 restarts the storage of predetermined information in the storage unit 84 and proceeds to step S19.

[0106] The control unit 82 performs the same processing as in the first embodiment in steps S19 to S21 of Figure 4. If the first predetermined period has not elapsed in step S21, the control unit 82 proceeds to step S61 and repeats the processing from step S61.

[0107] The control unit 82 may be configured to create first information relating a predetermined operation to terrain based on predetermined information. When the control unit 82 creates first information relating a predetermined operation to terrain based on predetermined information, the control unit 82 performs the same processing as shown in Figure 5 of the first embodiment.

[0108] <Fifth Embodiment> The control device 80 and detection device 60 for a human-powered vehicle of the fifth embodiment will be described with reference to Figure 1 and Figures 10 to 12. Components of the control device 80 for a human-powered vehicle of the fifth embodiment that are common to the first and fourth embodiments are denoted by the same reference numerals as in the first and fourth embodiments, and redundant descriptions are omitted.

[0109] In the fifth embodiment, the human-powered vehicle 10 includes an operation detection unit 44 that detects a first parameter correlated with a predetermined operation performed by a rider on the human-powered vehicle 10. In the fifth embodiment, the human-powered vehicle 10 includes, for example, a terrain detection unit 46 that detects a second parameter correlated with the terrain of the road on which the human-powered vehicle 10 travels. In the fifth embodiment, the human-powered vehicle 10 includes, for example, the operation detection unit 44, the terrain detection unit 46, and a suspension 42. The human-powered vehicle 10 further includes, for example, a battery 40.

[0110] The detection device 60 for the human-powered vehicle includes an operation detection unit 44 that detects a first parameter correlated with a predetermined operation performed by the rider on the human-powered vehicle 10. In the fifth embodiment, the human-powered vehicle 10 may include at least one of the first operation unit 50 and the second operation unit 56.

[0111] The control device 80 for a human-powered vehicle of the fifth embodiment includes a control unit 82. The control device 80 for a human-powered vehicle of the fifth embodiment does not need to include a storage unit 84. If the control device 80 does not include a storage unit 84, the storage unit 84 may be provided in an external device 52. The control device 80 may further include a communication unit 86. The communication unit 86 is configured to receive signals from, for example, at least one of a start signal transmission unit 52A and an end signal transmission unit 52B.

[0112] In the fifth embodiment, the storage unit 84 is configured to store a first parameter. The control unit 82 in the fifth embodiment is configured to cause the storage unit 84 to store the first parameter. The storage unit 84 is configured to store, for example, a second parameter. The control unit 82 causes the storage unit 84 to store the second parameter.

[0113] The human-powered vehicle 10 may further include a vehicle speed detection unit 64. The vehicle speed detection unit 64 has a configuration similar to, for example, a vehicle speed sensor included in an acceleration sensor 44A. If the operation detection unit 44 includes a vehicle speed sensor, the vehicle speed detection unit 64 may be configured integrally with the vehicle speed sensor.

[0114] The human-powered vehicle 10 may further include a crank rotation state detection unit 66. The crank rotation state detection unit 66 is communicated with, for example, the control unit 82 by wire or wireless means. The crank rotation state detection unit 66 detects at least one amount of rotation of the crankshaft 20 and the first rotating body 34. The crank rotation state detection unit 66 is configured to detect information corresponding to the rotational speed of the crankshaft 20, for example. The crank rotation state detection unit 66 is configured to detect information corresponding to the rotational speed of the first rotating body 34, for example. The information corresponding to the rotational speed of the crankshaft 20 includes, for example, the angular acceleration of the crankshaft 20. The information corresponding to the rotational speed of the first rotating body 34 includes the angular acceleration of the first rotating body 34.

[0115] The crank rotation state detection unit 66 is provided, for example, on the frame 16 of the human-powered vehicle 10. For example, if the crank rotation state detection unit 66 is provided on the frame 16, the crank rotation state detection unit 66 may be configured to include a vehicle speed sensor. If the crank rotation state detection unit 66 includes a vehicle speed sensor, the control unit 82 may be configured to calculate the rotational speed of the crankshaft 20 according to the vehicle speed detected by the vehicle speed sensor and the gear ratio.

[0116] The crank rotation state detection unit 66 may be configured to detect the amount of rotation of the second rotating body 36. The crank rotation state detection unit 66 may be configured to detect information corresponding to the rotational speed of the second rotating body 36. The information corresponding to the rotational speed of the second rotating body 36 includes, for example, the angular acceleration of the second rotating body 36. The crank rotation state detection unit 66 may output, for example, a signal corresponding to the rotational speed of the second rotating body 36.

[0117] Referring to Figure 11, the process by which the control unit 82 controls the storage unit 84 in the fifth embodiment will be described. When power is supplied to the control unit 82, for example, it starts processing and moves to step S71 of the flowchart shown in Figure 11. When the flowchart in Figure 11 ends, the control unit 82 repeats the processing from step S71 at predetermined intervals, for example, until the power supply is stopped.

[0118] In step S71, the control unit 82 determines whether or not it has received a start signal. If the control unit 82 does not receive a start signal, it terminates the process. If the control unit 82 has received a start signal, it proceeds to step S72. In step S72, the control unit 82 causes the storage unit 84 to start storing the first and second parameters, and then proceeds to step S73. In step S73, the control unit 82 determines whether or not it has received an end signal. If the control unit 82 has received an end signal, it proceeds to step S74. If the control unit 82 has not received an end signal, it proceeds to step S75.

[0119] In step S75, the control unit 82 determines whether or not the first predetermined period has elapsed. For example, if the elapsed time since receiving the start signal is equal to or greater than the first predetermined period, the control unit 82 determines that the first predetermined period has elapsed. If the first predetermined period has elapsed, the control unit 82 proceeds to step S74. If the first predetermined period has not elapsed, the control unit 82 proceeds to step S73. In step S74, the control unit 82 terminates the process by stopping the storage of the first and second parameters in the storage unit 84.

[0120] The human-powered vehicle 10 further includes a display unit 62 configured to display, for example, operation information related to a predetermined operation. The display unit 62 includes, for example, a display. The display unit 62 may also include a cycle computer. The display includes, for example, a liquid crystal display. The display may also include a segment display or an organic EL display. The display unit 62 may include a light-emitting unit such as an LED (Light-Emitting Diode). The display unit 62 is configured to communicate with, for example, a control unit 82 by wired or wireless means.

[0121] The control unit 82 is configured to create first information relating a predetermined operation to the terrain based on a first parameter and a second parameter. When the control unit 82 creates first information relating a predetermined operation to the terrain based on the predetermined information, the control unit 82 performs the same processing as in Figure 5 of the first embodiment. The control unit 82 may be configured to display the first information on the display unit 62. The control unit 82 may be configured to create first information relating information about a predetermined operation to the terrain. Information about a predetermined operation includes, for example, the load balance of the loads applied to the front wheel 12F and the rear wheel 12R. Information about a predetermined operation may include at least one of the loads applied to the front wheel 12F and the loads applied to the rear wheel 12R.

[0122] The control unit 82 is configured, for example, to display operation information on the display unit 62. The control unit 82 is configured, for example, to display history information relating to the history of operation information on the display unit 62. The control unit 82 is configured, for example, to display a first parameter stored in the storage unit 84 on the display unit 62. The control unit 82 may also be configured to display a second parameter stored in the storage unit 84 on the display unit 62.

[0123] The control unit 82 is configured to create display information relating to, for example, operation information, history information, first information, first parameter, and at least one of the second parameter. The display information includes, for example, a graph, numerical values, gauges, characters, and at least one of light. The operation information includes, for example, information relating to a first operation and a second operation. The display unit 62 may be configured to display history information relating to the history of operation information and at least one of the first information. For example, the operation information relating to a predetermined operation is displayed on a graph or image representing two or three dimensions, with the locations where the first operation was performed and the locations where the second operation was performed being indicated by different colors or line types.

[0124] The control unit 82 is configured to control the display unit 62 to display display information. The display unit 62 may include a speaker in place of or in addition to the display. The speaker displays the display information by sound, for example. If the display unit 62 includes a speaker, the display information may include voice, melody, and beeps, for example. The control unit 82 may display display information based on the memory of the same course, for example, when the human-powered vehicle 10 is traveling on a course and the memory of the same course is stored in the storage unit 84. The control unit 82 is configured to display, for example, what operations were performed at each point on the same course while the vehicle is traveling. The display unit 62 displays what operations were performed at each point on the same course by image, voice, melody, and beeps, for example. The memory of the same course stored in the storage unit 84 may be information about the rider's own past travels, or it may be information about the travels of professional riders.

[0125] The control unit 82 controls the display unit 62 to display information on the display unit 62, for example, when there is a request to display information. The control unit 82 is configured to determine that there is a request to display information when it receives a display request signal from a display operation unit which is configured to be operable by a lid.

[0126] Referring to Figure 12, the process by which the control unit 82 controls the display unit 62 will be explained. For example, when power is supplied to the control unit 82, it starts processing and moves to step S81 of the flowchart shown in Figure 12. When the flowchart in Figure 12 ends, the control unit 82 repeats the processing from step S81 at predetermined intervals, for example, until the power supply is stopped.

[0127] In step S81, the control unit 82 determines whether or not there is a request to display display information. The control unit 82 determines that there is a request to display display information if it receives a display request signal from, for example, a display operation unit configured to be operable by a lid. If there is no request to display display information, the control unit 82 terminates the process. If there is a request to display display information, the control unit 82 proceeds to step S82. In step S82, the control unit 82 displays the display information on the display unit 62 and terminates the process.

[0128] <Sixth Embodiment> The control device 80 for a human-powered vehicle according to the sixth embodiment will be described with reference to Figure 1 and Figures 13 to 18. Components of the control device 80 for a human-powered vehicle according to the sixth embodiment that are common to the first, fourth, and fifth embodiments are denoted by the same reference numerals as those used in the first, fourth, and fifth embodiments, and redundant explanations are omitted.

[0129] In the sixth embodiment, the human-powered vehicle 10 includes an operation detection unit 44 that detects a first parameter correlated with a predetermined operation performed by the rider on the human-powered vehicle 10. The acceleration sensor 44A is provided in the portion of the human-powered vehicle 10 closer to the wheel axle 12A than the operating portion of the suspension 42, and on at least one of the wheel axles 12A.

[0130] The human-powered vehicle 10 further includes a terrain detection unit 46. The terrain detection unit 46 includes a first acceleration sensor 46A. The first acceleration sensor 46A is provided in a part of the human-powered vehicle 10 that is closer to the wheel axle 12A than the operating part of the suspension 42, and on at least one of the wheel axles 12A.

[0131] The terrain detection unit 46 includes a second acceleration sensor 46B. The second acceleration sensor 46B is located in a part of the human-powered vehicle 10 that is closer to the wheel axle 12A than the operating part of the suspension 42, and is also located on at least one of the wheel axles 12A.

[0132] The operation detection unit 44 and the terrain detection unit 46 may be provided separately in the human-powered vehicle 10, or they may be provided as a single detection unit in the human-powered vehicle 10. When the operation detection unit 44 and the terrain detection unit 46 are configured as a single detection unit, the acceleration sensor 44A, the first acceleration sensor 46A, and the second acceleration sensor 46B may be a single sensor. When the operation detection unit 44 includes at least one of the strain sensor 44B and the pneumatic sensor 44C, the first acceleration sensor 46A and the second acceleration sensor 46B may be a single sensor.

[0133] If the operation detection unit 44 and the terrain detection unit 46 each include an inertial measurement unit, the terrain detection unit 46 may be provided on the part of the human-powered vehicle 10 closer to the wheel axle 12A than the operating part of the suspension 42, and on at least one of the wheel axle 12A, while the operation detection unit 44 may be provided on the part of the human-powered vehicle 10 above the operating part of the suspension 42. If the suspension 42 includes a front suspension 42A, the part of the human-powered vehicle 10 above the operating part of the suspension 42 includes, for example, the handlebars 28, the stem 30, the head tube of the frame 16, the top tube of the frame 16, the seat tube of the frame 16, the down tube of the frame 16, the seat stays of the frame 16, and at least one of the chain stays of the frame 16. If the suspension 42 includes a rear suspension, the part of the human-powered vehicle 10 above the operating part of the suspension 42 includes, for example, the handlebars 28, the stem 30, the head tube, the top tube, and at least one of the seat stays. If the operation detection unit 44 includes at least one of a strain sensor 44B and an air pressure sensor 44C, the operation detection unit 44 may be provided in a portion of the human-powered vehicle 10 that is closer to the wheel axle 12A than the operating portion of the suspension 42, and on at least one of the wheel axles 12A.

[0134] The human-powered vehicle 10 further includes, for example, a vehicle speed detection unit 64 for detecting the vehicle speed of the human-powered vehicle 10. The human-powered vehicle 10 further includes, for example, a crank rotation state detection unit 66.

[0135] The control device 80 for a human-powered vehicle of the sixth embodiment includes a control unit 82. The control device 80 for a human-powered vehicle further includes, for example, a storage unit 84. The control device 80 may further include a communication unit 86. The communication unit 86 is configured to receive signals from, for example, at least one of a start signal transmission unit 52A and an end signal transmission unit 52B.

[0136] The control unit 82 of the sixth embodiment is configured to determine a predetermined operation based on acceleration in the longitudinal direction. The control unit 82 is configured to determine unevenness of the travel path based on, for example, acceleration in the vertical direction. Acceleration in the vertical direction corresponds, for example, to the rate of change with respect to at least one of the pitch angle and roll angle. The control unit 82 is configured to determine a curve in the travel path based on, for example, the rate of change with respect to at least one of the pitch angle and roll angle. The control unit 82 may be configured to determine that the travel path is convex if, for example, acceleration in the upward direction is detected followed by acceleration in the downward direction. The control unit 82 may be configured to determine that the travel path is concave if, for example, acceleration in the downward direction is detected followed by acceleration in the upward direction.

[0137] The control unit 82 of the sixth embodiment is configured to determine the curve of the travel path based, for example, on the acceleration in the left-right direction. The acceleration in the left-right direction corresponds, for example, to the rate of change with respect to at least one of the roll direction and yaw angle. The control unit 82 is configured to determine the curve of the travel path based, for example, on the rate of change with respect to at least one of the roll direction and yaw angle. The control unit 82 may be configured to determine that the curve of the travel path is a left curve after, for example, the acceleration in the right direction is detected.

[0138] The control unit 82 is configured, for example, to store a first parameter in the storage unit 84. The control unit 82 is configured, for example, to store a second parameter in the storage unit 84.

[0139] The control unit 82 is configured to store at least one of the following: a determination result regarding the unevenness of the road, a determination result regarding the curve of the road, and a determination result for a predetermined operation. The control unit 82 is configured, for example, to store the determination result regarding the unevenness of the road in the storage unit 84. The control unit 82 is configured, for example, to store the determination result regarding the curve of the road in the storage unit 84. The control unit 82 is configured, for example, to store the determination result for a predetermined operation in the storage unit 84.

[0140] Referring to Figure 14, the process by which the control unit 82 of the sixth embodiment controls the storage unit 84 will be described. When power is supplied to the control unit 82, for example, it starts processing and moves to step S91 of the flowchart shown in Figure 14. When the flowchart in Figure 14 ends, the control unit 82 repeats the processing from step S91 at predetermined intervals, for example, until the power supply is stopped.

[0141] In step S91, the control unit 82 determines whether or not it has received a start signal. If the control unit 82 does not receive a start signal, it terminates the process. If the control unit 82 has received a start signal, it proceeds to step S92. In step S92, the control unit 82 causes the storage unit 84 to start storing the first and second parameters, and then proceeds to step S93.

[0142] In step S93, the control unit 82 determines a predetermined operation based on the longitudinal acceleration of the human-powered vehicle 10 and proceeds to step S94. In step S94, the control unit 82 determines the unevenness of the road based on the vertical acceleration of the human-powered vehicle 10 and proceeds to step S95. In step S95, the control unit 82 determines the curve of the road based on the lateral acceleration of the human-powered vehicle 10 and proceeds to step S96.

[0143] In step S96, the control unit 82 determines whether or not it has received a termination signal. If the control unit 82 has received a termination signal, it proceeds to step S97. If the control unit 82 has not received a termination signal, it proceeds to step S98. In step S98, the control unit 82 determines whether or not a first predetermined period has elapsed. If the first predetermined period has elapsed, the control unit 82 proceeds to step S97. If the first predetermined period has not elapsed, the control unit 82 proceeds to step S93 and repeats the process from step S93. In step S97, the control unit 82 terminates the process by stopping the storage of the first and second parameters in the storage unit 84.

[0144] Referring to Figure 15, the subroutine for step S93 in the flowchart of Figure 14 is explained. In step S111, the control unit 82 determines whether or not longitudinal acceleration of the human-powered vehicle 10 has been detected. If longitudinal acceleration of the human-powered vehicle 10 is detected, the control unit 82 proceeds to step S112. If longitudinal acceleration of the human-powered vehicle 10 is not detected, the control unit 82 terminates the process.

[0145] In step S112, the control unit 82 determines a predetermined operation based on the longitudinal acceleration of the human-powered vehicle 10 and proceeds to step S113. For example, if a forward acceleration is detected, the control unit 82 determines that a first operation has been performed, in which the rider pushes the handlebars 28 of the human-powered vehicle 10. For example, if a backward acceleration is detected, the control unit 82 determines that a second operation has been performed, in which the rider pulls the handlebars 28. In step S113, the control unit 82 stores the determination result of the predetermined operation in the storage unit 84. In the subroutine of step S93 in the flowchart of Figure 14, step S1 1 Step 3 may be omitted.

[0146] Referring to Figure 16, the subroutine for step S94 in the flowchart of Figure 14 is explained. In step S121, the control unit 82 determines whether or not vertical acceleration of the human-powered vehicle 10 has been detected. If vertical acceleration of the human-powered vehicle 10 is detected, the control unit 82 proceeds to step S122. If vertical acceleration of the human-powered vehicle 10 is not detected, the control unit 82 terminates the process.

[0147] In step S122, the control unit 82 determines a predetermined operation based on the vertical acceleration of the human-powered vehicle 10 and proceeds to step S123. For example, if an upward acceleration is detected followed by a downward acceleration, the control unit 82 determines that the road is convex. For example, if a downward acceleration is detected followed by an upward acceleration, the control unit 82 determines that the road is concave. In step S123, the control unit 82 stores the determination result of the road's unevenness in the storage unit 84. In the subroutine of step S94 in the flowchart of Figure 14, the processing in step S123 may be omitted.

[0148] Referring to Figure 17, the subroutine for step S95 in the flowchart of Figure 14 is explained. In step S131, the control unit 82 determines whether or not lateral acceleration of the human-powered vehicle 10 has been detected. If lateral acceleration of the human-powered vehicle 10 is detected, the control unit 82 proceeds to step S132. If lateral acceleration of the human-powered vehicle 10 is not detected, the control unit 82 terminates the process.

[0149] In step S132, the control unit 82 determines a predetermined operation based on the left-right acceleration of the human-powered vehicle 10 and proceeds to step S133. For example, after detecting leftward acceleration, the control unit 82 determines that the curve of the road is a left curve. For example, after detecting rightward acceleration, the control unit 82 determines that the curve of the road is a right curve. In step S133, the control unit 82 stores the result of the road curve determination in the storage unit 84. In the subroutine of step S95 in the flowchart of Figure 14, the processing of step S133 may be omitted.

[0150] The control unit 82 of the sixth embodiment is configured to create first information relating a predetermined operation to terrain based on, for example, a first parameter and a second parameter. The control unit 82 is configured to create second information relating vehicle speed to terrain based on, for example, a second parameter and vehicle speed.

[0151] The control unit 82 calculates the distance traveled, for example, based on the vehicle speed and the wheel diameter. The control unit 82 calculates the distance traveled, for example, every predetermined distance. 、 The system is configured to estimate terrain based on a second parameter. The control unit 82 is configured, for example, to estimate at least one of the gradient and curves based on the second parameter for every predetermined distance traveled. The second information includes at least one of the estimated gradient and curves. The second information is displayed, for example, on a display. The terrain included in the first information is displayed, for example, by a graph or image representing two or three dimensions.

[0152] The control unit 82 is configured to create second information when, for example, the creation of second information is requested. The control unit 82 is configured to determine that there is a request for the creation of second information when, for example, a signal relating to the request for the creation of second information is transmitted from the information processing device. The information processing device is configured to communicate with the control unit 82 wirelessly or via a wired connection. The information processing device includes, for example, at least one of a personal computer, a smartphone, a tablet computer, and a cycle computer. The control unit 82 is configured to transmit predetermined information to the information processing device, and the second information may be created by the information processing device.

[0153] Referring to Figure 18, the process by which the control unit 82 creates the first and second information will be explained. For example, when power is supplied to the control unit 82, it starts processing and moves to step S141 of the flowchart shown in Figure 18. When the flowchart in Figure 18 is completed, the control unit 82 repeats the processing from step S141 at predetermined intervals, for example, until the power supply is stopped.

[0154] In step S141, the control unit 82 determines whether or not there is a request to create first information. The control unit 82 determines that there is a request to create first information, for example, when a signal relating to the request to create first information is transmitted from the information processing device. If there is a request to create first information, the control unit 82 proceeds to step S142. If there is no request to create first information, the control unit 82 terminates the process. In step S142, the control unit 82 creates first information relating a predetermined operation to terrain based on the first parameter and the second parameter, and proceeds to step S143.

[0155] In step S143, the control unit 82 determines whether or not there is a request to create second information. The control unit 82 determines that there is a request to create second information, for example, when a signal relating to the request to create second information is transmitted from the information processing device. If there is a request to create second information, the control unit 82 proceeds to step S144. If there is no request to create second information, the control unit 82 terminates the process. In step S144, the control unit 82 determines whether or not there is a request to create second information. 2 Based on the parameters and vehicle speed, a second set of information is created that associates vehicle speed with terrain, and then the process is terminated.

[0156] <Seventh Embodiment> Referring to Figure 1 and Figures 19 to 22, the control device 80 for a human-powered vehicle and the control method for a human-powered vehicle according to the seventh embodiment will be described. For components of the control device 80 for a human-powered vehicle according to the seventh embodiment that are common to the first embodiment and the fourth to sixth embodiments, the same reference numerals as those used in the first embodiment and the fourth to sixth embodiments will be used, and redundant explanations will be omitted.

[0157] The human-powered vehicle 10 of the seventh embodiment includes a pitch angle detection unit 68. The pitch angle detection unit 68 detects, for example, the pitch angle of the human-powered vehicle 10. The pitch angle detection unit 68 includes at least one of an acceleration sensor 68A and a tilt sensor 68B. The tilt sensor 68B includes, for example, a gyro sensor. The pitch angle detection unit 68 is provided, for example, on the wheel axle 12A of the human-powered vehicle 10. The pitch angle detection unit 68 is configured, for example, in the same way as in the first embodiment when it can detect the pitch angle of the acceleration sensor 44A.

[0158] The human-powered vehicle 10 further includes, for example, a roll angle detection unit 70. The roll angle detection unit 70 detects, for example, the roll angle of the human-powered vehicle 10. The roll angle detection unit 70 is provided, for example, on the wheel axle 12A of the human-powered vehicle 10. The roll angle detection unit 70 is configured, for example, in the same way as the configuration in the first embodiment where the roll angle of the acceleration sensor 44A can be detected. The pitch angle detection unit 68 and the roll angle detection unit 70 may be separate detection units, or they may be a single detection unit capable of detecting both the pitch angle and the roll angle. The human-powered vehicle 10 of the seventh embodiment may include a vehicle speed detection unit 64 and a crank rotation state detection unit 66.

[0159] The control device 80 for a human-powered vehicle of the seventh embodiment includes a control unit 82 provided in the human-powered vehicle 10. The control device 80 further includes, for example, a storage unit 84. The control device 80 may further include a communication unit 86. The communication unit 86 is configured to receive signals from, for example, at least one of a start signal transmission unit 52A and an end signal transmission unit 52B.

[0160] The control unit 82 is provided in the human-powered vehicle 10 and is configured to acquire the detection results of the pitch angle detection unit 68, which detects the pitch angle. The control unit 82 is configured to acquire the detection results of the roll angle detection unit 70. The control unit 82 is configured to acquire at least one of the rotational speed of the wheel 12 and the amount of rotation of the wheel 12 from the vehicle speed detection unit 64.

[0161] The control unit 82 is configured to store, for example, the rotational speed of the wheel 12, the amount of rotation of the wheel 12, the pitch angle of the human-powered vehicle 10, and the roll angle of the human-powered vehicle 10 in the storage unit 84. The control unit 82 is configured to, for example, when it receives a start signal, to start storing, for example, the rotational speed of the wheel 12, the amount of rotation of the wheel 12, the pitch angle of the human-powered vehicle 10, and the roll angle of the human-powered vehicle 10 in the storage unit 84. The control unit 82 is configured to, for example, when it receives an end signal, to end the storage of, for example, the rotational speed of the wheel 12, the amount of rotation of the wheel 12, the pitch angle of the human-powered vehicle 10, and the roll angle of the human-powered vehicle 10 in the storage unit 84.

[0162] Referring to Figure 20, the process by which the control unit 82 of the seventh embodiment controls the storage unit 84 will be described. When power is supplied to the control unit 82, for example, it starts processing and proceeds to step S151 of the flowchart shown in Figure 20. When the flowchart in Figure 20 is completed, the control unit 82 repeats the processing from step S151 at predetermined intervals, for example, until the power supply is stopped.

[0163] In step S151, the control unit 82 determines whether or not it has received a start signal. If the control unit 82 does not receive a start signal, it terminates the process. If the control unit 82 has received a start signal, it proceeds to step S152. In step S152, the control unit 82 starts storing at least one of the following in the storage unit 84: the rotational speed of the wheel 12, the amount of rotation of the wheel 12, the pitch angle of the human-powered vehicle 10, and the roll angle of the human-powered vehicle 10, and then proceeds to step S153.

[0164] In step S153, the control unit 82 determines whether or not it has received a termination signal. If the control unit 82 has received a termination signal, it proceeds to step S154. If the control unit 82 has not received a termination signal, it proceeds to step S155. In step S155, the control unit 82 determines whether or not a first predetermined period has elapsed. For example, if the elapsed time since receiving the start signal is equal to or greater than the first predetermined period, the control unit 82 determines that the first predetermined period has elapsed. If the first predetermined period has elapsed, the control unit 82 proceeds to step S154. If the first predetermined period has not elapsed, the control unit 82 proceeds to step S153 and repeats the process from step S153. In step S154, the control unit 82 terminates the process by stopping the storage of at least one of the following in the storage unit 84: the rotational speed of the wheel 12, the amount of rotation of the wheel 12, the pitch angle of the human-powered vehicle 10, and the roll angle of the human-powered vehicle 10.

[0165] The control unit 82 is configured to execute a control method for a human-powered vehicle. The control unit 82 is configured to execute the control method when, for example, the execution of each process included in the control method is requested. The control unit 82 is configured to determine that there is a request to execute the control method when, for example, a signal relating to a request to execute each process included in the control method is transmitted from the information processing device. The information processing device is configured to communicate with the control unit 82 wirelessly or by wire. The information processing device includes, for example, at least one of a personal computer, a smartphone, a tablet computer, and a cycle computer.

[0166] A control method for a human-powered vehicle comprises: a first process of calculating a first travel distance of the human-powered vehicle 10 on a road based on at least one of the rotational speed of the wheels 12 of the human-powered vehicle 10 and the amount of rotation of the wheels 12; a second process of calculating a second travel distance of the human-powered vehicle 10 in the direction of travel and horizontally based on the first travel distance and the pitch angle of the human-powered vehicle 10, and calculating a third travel distance of the human-powered vehicle 10 in the direction of travel and vertically based on the first travel distance and the pitch angle; and a third process of estimating the terrain of the road based on the second travel distance and the third travel distance.

[0167] In the second process, the pitch angle is obtained, for example, from the pitch angle detection unit 68. The second process includes, for example, a process to calculate the second movement distance by multiplying the first movement distance by the cosine of the pitch angle. The second process also includes, for example, a process to calculate the third movement distance by multiplying the first movement distance by the sine of the pitch angle.

[0168] The third process includes, for example, a process for estimating the continuous terrain of the road by accumulating the second travel distance and the third travel distance. The third process may include, for example, a process for calculating coordinate information based on the second travel distance and the third travel distance. The third process may include, for example, a process for estimating the continuous terrain of the road using the coordinate information obtained based on the second travel distance and the third travel distance. The third process may include, for example, a process for connecting the coordinate information obtained based on the second travel distance and the third travel distance with straight lines. The control unit 82 is configured to estimate the continuous terrain of the road by, for example, the first to third processes.

[0169] The control method for a human-powered vehicle further includes a fourth process of storing, for example, a second travel distance, a third travel distance, and at least one of the terrains estimated by the third process in a storage unit 84. The control method for a human-powered vehicle further includes a fifth process of creating first display information for displaying, for example, the second travel distance, the third travel distance, and at least one of the terrains estimated by the third process on a display unit 62. The first display information includes, for example, information for displaying the continuous terrain of the travel path on the display unit 62 using a first figure. The first figure includes, for example, a two-dimensional graph represented by the travel direction and height of the human-powered vehicle 10. The first display information may be the same as at least one of the terrains included in the first information of the first embodiment and the terrains included in the display information of the fifth embodiment.

[0170] The control method for a human-powered vehicle further includes, for example, a sixth process that estimates the curve of the road based on the roll angle of the human-powered vehicle 10. In the sixth process, the control unit 82 may estimate that there is a curve in the road if the roll angle of the human-powered vehicle 10 is greater than or equal to a predetermined roll angle.

[0171] A control method for a human-powered vehicle further comprises, for example, a seventh process that creates information about a travel route including the terrain estimated by the third process and the curves estimated by the sixth process, based on the terrain estimated by the third process and the curves estimated by the sixth process. The information about a travel route including the terrain estimated by the third process and the curves estimated by the sixth process, based on the terrain estimated by the third process and the curves estimated by the sixth process, includes, for example, information for displaying the terrain and curves of the travel route on a display. The information for displaying the terrain and curves of the travel route on a display includes, for example, at least one graph of two dimensions and three dimensions.

[0172] The third process includes, for example, a process for estimating the continuous terrain of the road by accumulating a second distance traveled, accumulating a third distance traveled, and accumulating curves. The control method for a human-powered vehicle further includes, for example, an eighth process for creating second display information for displaying the continuous terrain of the road on the display unit 62. The eighth process includes, for example, a process for creating second display information for displaying the continuous terrain of the road estimated by accumulating a second distance traveled, accumulating a third distance traveled, and accumulating curves on the display unit 62. The second display information includes, for example, information for displaying the continuous terrain of the road on the display unit 62 using a second figure. The second display information includes, for example, information for displaying the continuous terrain of the road estimated by accumulating a second distance traveled, accumulating a third distance traveled, and accumulating curves using a second figure. The second display information includes information for displaying the second figure together with a map on the display unit 62. The second figure includes, for example, a two-dimensional graph represented by the direction of travel and height of the human-powered vehicle 10.

[0173] The control method for a human-powered vehicle further includes a ninth process, for example, storing in a storage unit 84 at least one of a second travel distance, a third travel distance, terrain estimated by the third process, and a curve estimated by the sixth process. If the control method for a human-powered vehicle includes the ninth process, the fourth process may be omitted.

[0174] The third process may include a tenth process for smoothing the estimated terrain if the amount of terrain change estimated based on the second and third travel distances is greater than or equal to a predetermined amount of change. In the third process, the terrain estimated based on the second and third travel distances is represented, for example, by a plurality of straight lines. The tenth process includes, for example, a process for smoothing the estimated terrain using an envelope of the plurality of straight lines if the angle between two of the plurality of straight lines is greater than or equal to a predetermined angle.

[0175] The control unit 82 determines the terrain as an envelope that is tangent to all of the multiple lines included in the terrain estimated based on the second and third travel distances. The control unit 82 determines the terrain as an envelope that is tangent to all of the multiple lines included in the terrain estimated for each predetermined travel range. The tenth process may include a process to smooth the estimated terrain with an approximation curve based on a set of coordinate information for the terrain of the estimated travel route.

[0176] The third process may include a process for estimating the terrain based on the second travel distance, the third travel distance, and whether or not the wheels 12 of the human-powered vehicle 10 are in contact with the road. For example, if the wheels 12 are not in contact with the road, the control unit 82 estimates the terrain based on the second travel distance and the third travel distance to be lower. The third process may include a process for determining whether or not the wheels 12 are in contact with the road based on the detection result of at least one of the air pressure sensor 44C that detects the air pressure of the wheels 12 and the distance measuring sensor that detects the distance between the wheel axle 12A and the ground. The third process may include a process for subtracting the distance between the wheel axle 12A and the ground from the terrain estimated by the second travel distance and the third travel distance.

[0177] Referring to Figure 21, the processing by the control unit 82 using a control method for a human-powered vehicle will be explained. For example, when power is supplied to the control unit 82, it starts processing and moves to step S161 of the flowchart shown in Figure 21. When the flowchart in Figure 21 is completed, the control unit 82 repeats the processing from step S161 at predetermined intervals, for example, until the power supply is stopped.

[0178] In step S161, the control unit 82 determines whether or not there is a request to execute terrain estimation processing. For example, the control unit 82 determines that there is a request to execute terrain estimation processing when a signal relating to the request to execute terrain estimation processing is transmitted from the information processing device. If there is a request to execute terrain estimation processing, the control unit 82 proceeds to step S162. If there is no request to execute terrain estimation processing, the control unit 82 terminates the process.

[0179] In step S162, the control unit 82 executes the first process and proceeds to step S163. In step S163, the control unit 82 executes the second process and proceeds to step S164. In step S164, the control unit 82 executes the third process and proceeds to step S165. In step S165, the control unit 82 executes the fourth process and proceeds to step S166. In step S166, the control unit 82 executes the fifth process and proceeds to step S167. In step S167, the control unit 82 executes the sixth process and proceeds to step S168. In step S168, the control unit 82 executes the seventh process and proceeds to step S169. In step S169, the control unit 82 executes the eighth process and proceeds to step S170. In step S170, the control unit 82 executes the ninth process and terminates the process.

[0180] The control unit 82 may omit at least one of steps S165 and S166. The control unit 82 may perform the processing in a different order from steps S165 to S167. The control unit 82 may omit steps S167 to S170. The control unit 82 may perform the processing in a different order from steps S168 to S170. The control unit 82 may omit steps S165 to S170. If steps S165 to S170 are omitted, the control unit 82 may be configured to estimate the terrain of the travel path based on the second travel distance and the third travel distance in step S164, for example, and then terminate the processing.

[0181] The control unit 82, for example in step S166, causes the created first display information to be displayed on the display unit 62. Figure 22 shows an example of a first figure including a two-dimensional graph. The control unit 82, for example in step S169, causes the created second display information to be displayed on the display unit 62. The first display information may be the same as the second display information. The first figure may be the same as the second figure. The horizontal axis of the two-dimensional graph in Figure 22 corresponds to, for example, the second travel distance. The vertical axis of the two-dimensional graph in Figure 22 corresponds to, for example, the third travel distance.

[0182] <Eighth Embodiment> The control device 80 for a human-powered vehicle of the eighth embodiment will be described with reference to Figures 1 and 23. For components of the control device 80 for a human-powered vehicle of the eighth embodiment that are common to the first embodiment and the fourth to seventh embodiments, the same reference numerals are used as in the first embodiment and the fourth to seventh embodiments, and redundant explanations are omitted.

[0183] The human-powered vehicle 10 of the eighth embodiment includes, for example, a vehicle speed detection unit 64 and a crank rotation state detection unit 66. The human-powered vehicle 10 of the eighth embodiment further includes, for example, a pitch angle detection unit 68 and a roll angle detection unit 70.

[0184] The control device 80 for a human-powered vehicle of the eighth embodiment includes an external control unit 88 located outside the human-powered vehicle 10. The external control unit 88 is configured to perform a control method for the human-powered vehicle. The external control unit 88 includes, for example, an arithmetic processing unit that executes a predetermined control program. The arithmetic processing unit includes, for example, a CPU or MPU. The external control unit 88 may include one or more microcomputers. The external control unit 88 may include a plurality of arithmetic processing units located in separate locations. The external control unit 88 is included in, for example, an information processing device. The information processing device includes, for example, at least one of a personal computer, a smartphone, a tablet computer, and a server. The external control unit 88 is configured to perform, for example, the same processing as the control unit 82 of the seventh embodiment, but in place of the control unit 82 of the seventh embodiment.

[0185] The human-powered vehicle 10 further includes a first communication unit 72 configured to communicate with an external control unit 88. The first communication unit 72 includes, for example, an arithmetic processing unit that executes a predetermined control program. The arithmetic processing unit includes, for example, a CPU or MPU. The first communication unit 72 may include one or more microcomputers. The first communication unit 72 may include a plurality of arithmetic processing units located at different locations.

[0186] The first communication unit 72 is connected by wire or wirelessly to at least one of the following: battery 40, display unit 62, vehicle speed detection unit 64, crank rotation state detection unit 66, pitch angle detection unit 68, and roll angle detection unit 70. The first communication unit 72 is also connected by wire or wirelessly to at least one of the following: start signal transmission unit 52A, end signal transmission unit 52B, and external control unit 88. The first communication unit 72 is configured to transmit information regarding the detection result of at least one of the following to the external control unit 88: vehicle speed detection unit 64, crank rotation state detection unit 66, pitch angle detection unit 68, and roll angle detection unit 70. The first communication unit 72 is configured to receive signals from at least one of the start signal transmission unit 52A and end signal transmission unit 52B.

[0187] The control device 80 further comprises, for example, an external storage unit 90. The external storage unit 90 stores, for example, control programs and information used in control processing. The external storage unit 90 is configured to continuously store at least one of the following: the rotational speed of the wheels 12, the amount of rotation of the wheels 12, the pitch angle of the human-powered vehicle 10, and the roll angle of the human-powered vehicle 10. The external storage unit 90 stores, for example, a program relating to the control device 80 for the human-powered vehicle. The external storage unit 90 includes, for example, at least one of non-volatile memory and volatile memory. The non-volatile memory includes, for example, at least one of ROM, EPROM, EEPROM, and flash memory. The volatile memory includes, for example, RAM. The external storage unit 90 is configured to communicate with, for example, the control unit 82 by wired or wireless means.

[0188] If the control device 80 includes an external control unit 88, the control method may further include an eleventh process for estimating the terrain of the road from the trajectory of the body 14 of the human-powered vehicle 10 acquired by optical motion capture. The external control unit 88 may be configured to perform the eleventh process. If the control method further includes the eleventh process, the human-powered vehicle 10 further includes, for example, markers for motion capture. The external control unit 88 is configured to acquire, for example, information regarding the trajectory of the body 14 of the human-powered vehicle 10 detected by a marker detection unit. The marker detection unit is provided outside the human-powered vehicle 10 and detects markers for motion capture. The marker detection unit includes, for example, a camera.

[0189] <Example of changes> The descriptions of each embodiment are illustrative of possible forms of the control device for a human-powered vehicle, the detection device for a human-powered vehicle, and the control method for a human-powered vehicle according to this disclosure, and are not intended to limit their forms. The control device for a human-powered vehicle, the detection device for a human-powered vehicle, and the control method for a human-powered vehicle according to this disclosure may take, for example, forms of modifications of the embodiments shown below, and combinations of at least two non-inconsistent modifications. In the following modifications, parts common to each embodiment are denoted by the same reference numerals as in each embodiment, and their descriptions are omitted.

[0190] • Two or three of the first, second, and third embodiments can be combined. The control unit 82 is configured to stop the continuous storage of predetermined information in the storage unit 84 in at least one of the following cases: when the gradient corresponds to an uphill slope and is greater than or equal to a first angle; when the gradient corresponds to a downhill slope and is greater than or equal to a second angle; when the pitch angle of the human-powered vehicle 10 is greater than or equal to a third angle; when an impact applied to the human-powered vehicle 10 is detected; when the vehicle speed is greater than or equal to a first vehicle speed; and when the acceleration is greater than or equal to a first acceleration.

[0191] In the first to third embodiments, the human-powered vehicle 10 includes an operation detection unit 44 that detects a first parameter correlated with a predetermined operation performed by a rider on the human-powered vehicle 10, a terrain detection unit 46 that detects a second parameter correlated with the terrain of the road on which the human-powered vehicle 10 travels, and a driving detection unit 48 that detects at least one of the driving state and driving environment of the human-powered vehicle 10. The control device 80 includes a control unit 82 and a storage unit 84 configured to continuously store predetermined information including the first parameter and the second parameter. The control unit 82 is configured to stop the continuous storage of predetermined information in the storage unit 84 in response to the output of the driving detection unit 48 when the predetermined information is being continuously stored in the storage unit 84. Other configurations may be omitted.

[0192] In the fourth embodiment, the human-powered vehicle 10 includes at least one of an operation detection unit 44 that detects a first parameter correlated with a predetermined operation performed by a rider on the human-powered vehicle 10, and a terrain detection unit 46 that detects a second parameter correlated with the terrain of the road on which the human-powered vehicle 10 travels. The control device 80 includes a control unit 82 and a storage unit 84 configured to continuously store predetermined information including at least one of the first and second parameters. The control unit 82 is configured to temporarily stop the storage unit 84 from storing the predetermined information for a predetermined period of time if a predetermined condition is met while the storage unit 84 is storing the predetermined information. Other configurations may be omitted.

[0193] In the fifth embodiment, the human-powered vehicle 10 includes an operation detection unit 44 that detects a first parameter correlated with a predetermined operation performed by a rider on the human-powered vehicle 10, the control device 80 includes a control unit 82 and a storage unit 84 configured to store the first parameter, the control unit 82 is configured to cause the storage unit 84 to store the first parameter, the operation detection unit 44 is provided on at least one of the frame 16 of the human-powered vehicle 10, the fork 26 of the human-powered vehicle 10, and the wheel 12 of the human-powered vehicle 10, and the predetermined operation includes at least one of a first operation in which the rider pushes the handlebar 28 of the human-powered vehicle 10 and a second operation in which the rider pulls the handlebar 28, but other configurations may be omitted.

[0194] In the fifth embodiment, the human-powered vehicle 10 includes an operation detection unit 44 that detects a first parameter correlated with a predetermined operation performed by a rider on the human-powered vehicle 10, a terrain detection unit 46 that detects a second parameter correlated with the terrain of the road on which the human-powered vehicle 10 travels, and a suspension 42, wherein the terrain detection unit 46 is provided on the portion of the human-powered vehicle 10 closer to the wheel axle 12A than the operating portion of the suspension 42, and on at least one of the wheel axle 12A, the control device 80 includes a control unit 82, the control unit 82 is configured to create first information relating a predetermined operation to terrain based on the first parameter and the second parameter, and the predetermined operation includes at least one of a first operation in which the rider operates the handlebars 28 of the human-powered vehicle 10 to push, and a second operation in which the rider operates the handlebars 28 to pull, but other configurations may be omitted.

[0195] In the fifth embodiment, the human-powered vehicle 10 includes an operation detection unit 44 that detects a first parameter correlated with a predetermined operation performed by a rider on the human-powered vehicle 10, and a display unit 62 configured to display operation information related to the predetermined operation. The control device 80 includes a control unit 82 and a storage unit 84 configured to store the first parameter. The control unit 82 is configured to display the first parameter stored in the storage unit 84 on the display unit 62. The predetermined operation includes at least one of a first operation in which the rider pushes the handlebars 28 of the human-powered vehicle 10, and a second operation in which the rider pulls the handlebars 28. Other configurations may be omitted.

[0196] In the fifth embodiment, the detection device 60 includes an operation detection unit 44 that detects a first parameter correlated with a predetermined operation performed by a rider on the human-powered vehicle 10, the operation detection unit 44 includes a strain sensor 44B, the strain sensor 44B is provided on at least one of the frame 16 and the fork 26 of the human-powered vehicle 10, and the predetermined operation includes at least one of a first operation in which the rider pushes the handlebar 28 of the human-powered vehicle 10 and a second operation in which the rider pulls the handlebar 28, but other components may be omitted.

[0197] In the sixth embodiment, the human-powered vehicle 10 includes an operation detection unit 44 that detects a first parameter correlated with a predetermined operation performed by a rider on the human-powered vehicle 10, and a suspension 42, the operation detection unit 44 includes an acceleration sensor 44A, the acceleration sensor 44A is provided on the portion of the human-powered vehicle 10 closer to the wheel axle 12A than the operating portion of the suspension 42, and on at least one of the wheel axle 12A, the first parameter includes the longitudinal acceleration of the human-powered vehicle 10, the control device 80 includes a control unit 82, the control unit 82 is configured to determine a predetermined operation based on the longitudinal acceleration, and the predetermined operation includes at least one of a first operation in which the rider pushes the handlebars 28 of the human-powered vehicle 10, and a second operation in which the rider pulls the handlebars 28, but other configurations may be omitted.

[0198] In the sixth embodiment, the human-powered vehicle 10 includes a terrain detection unit 46 that detects a second parameter correlated with the terrain of the road on which the human-powered vehicle 10 travels, and a suspension 42, the terrain detection unit 46 includes a first acceleration sensor 46A, the first acceleration sensor 46A is provided on the part of the human-powered vehicle 10 that is closer to the wheel axle 12A of the human-powered vehicle 10 than the operating part of the suspension 42, and on at least one of the wheel axle 12A, the second parameter includes the vertical acceleration of the human-powered vehicle 10, and the control device 80 includes a control unit 82 and a storage unit 84, the control unit 82 is configured to determine the unevenness of the road based on the vertical acceleration, and the storage unit 84 is configured to store the results of the determination regarding the unevenness of the road, other configurations may be omitted.

[0199] In the sixth embodiment, the human-powered vehicle 10 includes a terrain detection unit 46 that detects a second parameter correlated with the terrain of the road on which the human-powered vehicle 10 travels, and a suspension 42, wherein the terrain detection unit 46 includes a second acceleration sensor 46B, and the second acceleration sensor 46B is provided on the portion of the human-powered vehicle 10 closer to the wheel axle 12A than the operating portion of the suspension 42, and on at least one of the wheel axle 12A, wherein the second parameter includes the lateral acceleration of the human-powered vehicle 10, and the control device 80 includes a control unit 82, the control unit 82 is configured to determine the curve of the road based on the lateral acceleration, but other configurations may be omitted.

[0200] In the seventh and eighth embodiments, the control method for a human-powered vehicle includes: a first process of calculating a first travel distance of the human-powered vehicle 10 on a road based on at least one of the rotational speed and rotation amount of the wheels 12 of the human-powered vehicle 10; a second process of calculating a second travel distance of the human-powered vehicle 10 in the direction of travel and horizontally based on the first travel distance and the pitch angle of the human-powered vehicle 10, and calculating a third travel distance of the human-powered vehicle 10 in the direction of travel and vertically based on the first travel distance and the pitch angle; and a third process of estimating the terrain of the road based on the second travel distance and the third travel distance. Other configurations may be omitted.

[0201] As used herein, the expression "at least one" means "one or more" of the desired options. For example, as used herein, "at least one" means "only one option" or "both of the two options" if there are two options. As another example, as used herein, "at least one" means "only one option" or "a combination of two or more any options" if there are three or more options. [Explanation of Symbols]

[0202] 10...Human-powered vehicle, 12...Wheel, 20...Crankshaft, 28...Handlebar, 42...Suspension, 44...Operation detection unit, 46...Terrain detection unit, 48...Driving detection unit, 50...First operation unit, 56...Second operation unit, 58...Signal transmission unit, 80...Control device, 82...Control unit, 84...Storage unit.

Claims

1. A control device for a human-powered vehicle, The human-powered vehicle includes an operation detection unit that detects a first parameter correlated with a predetermined operation performed by a rider on the human-powered vehicle, a terrain detection unit that detects a second parameter correlated with the terrain of the road on which the human-powered vehicle travels, and a travel detection unit that detects at least one of the gradient of the road and the pitch angle of the human-powered vehicle. Control unit and The system comprises a storage unit configured to continuously store predetermined information including the first parameter and the second parameter, The control unit is configured to stop the continuous storage of the predetermined information in the storage unit in at least one of the following cases: when the gradient corresponds to an uphill slope and is greater than or equal to a first angle; when the gradient corresponds to a downhill slope and is greater than or equal to a second angle; and when the pitch angle of the human-powered vehicle is greater than or equal to a third angle. The control device wherein the predetermined operation is at least one of a first operation in which the rider pushes the handlebars of the human-powered vehicle, and a second operation in which the rider pulls the handlebars.

2. The aforementioned driving detection unit is configured to detect impacts applied to the human-powered vehicle. The control device according to claim 1, wherein the control unit is configured to stop the continuous storage of the predetermined information in the storage unit when an impact is applied to the human-powered vehicle.

3. The aforementioned human-powered vehicle further includes a suspension, The control device according to claim 2, wherein the driving detection unit is configured to detect an impact applied to the suspension.

4. The aforementioned driving detection unit is configured to detect at least one of the vehicle speed of the human-powered vehicle and the acceleration of the human-powered vehicle. The control device according to claim 1, wherein the control unit is configured to stop the continuous storage of the predetermined information in the storage unit when the vehicle speed is equal to or greater than a first vehicle speed, and when the acceleration is equal to or greater than a first acceleration.

5. The control device according to claim 1, wherein the control unit is configured to cause the storage unit to resume storing the predetermined information when the first operation unit, which is operable by the lid, is operated while the storage unit has stopped storing the predetermined information.

6. A control device for a human-powered vehicle, The aforementioned human-powered vehicle is An operation detection unit that detects a first parameter correlated with a predetermined operation performed by a rider on the human-powered vehicle, and at least one terrain detection unit that detects a second parameter correlated with the terrain of the road on which the human-powered vehicle travels, Suspension, and Control unit and A storage unit configured to continuously store predetermined information including at least one of the first parameter and the second parameter, The control unit is configured to temporarily suspend the storage of the predetermined information in the storage unit for a predetermined period of time if a predetermined condition is met while the storage unit is storing the predetermined information. The aforementioned predetermined conditions are: If the gradient of the aforementioned road corresponds to an uphill slope and is greater than or equal to the fourth angle, If the aforementioned gradient corresponds to a downhill slope and is greater than or equal to the fifth angle, If the pitch angle of the aforementioned human-powered vehicle is 6th angle or greater, When an impact is applied to the aforementioned human-powered vehicle, When an impact is applied to the suspension, When the vehicle speed of the aforementioned human-powered vehicle is the second vehicle speed or higher, If the acceleration of the aforementioned human-powered vehicle is equal to or greater than the second acceleration, Satisfied in at least one of the following cases, The control device wherein the predetermined operation is at least one of a first operation in which the rider pushes the handlebars of the human-powered vehicle, and a second operation in which the rider pulls the handlebars.

7. The control device according to claim 6, wherein the predetermined period includes at least one of a predetermined time, a period during which the crankshaft of the human-powered vehicle rotates over a first rotation angle, and a period during which the wheels of the human-powered vehicle rotate over a second rotation angle.

8. The control device according to claim 6, wherein the control unit is configured to restart the storage of the predetermined information in the storage unit when the first operation unit, which is operable by the lid, is operated after the predetermined conditions are met but before the predetermined period has elapsed.

9. The control device according to any one of claims 1 to 8, wherein the control unit is configured to create first information relating the predetermined operation to the terrain based on the predetermined information.

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