Control device for human-powered vehicles

Abstract

To provide a control device for a human powered vehicle that can properly control a speed changer.SOLUTION: A control device for a human powered vehicle is provided with a control part that controls a speed changer that gradually changes a ratio of a rotation speed of a wheel to a rotation speed of a crank shaft of the human powered vehicle. The control part is configured to control the speed changer by first speed change operation of changing the ratio only by one level when a speed change condition is satisfied; and is configured to be able to control the speed changer by second speed change operation of changing the ratio by two or more levels when the speed change condition is satisfied and when a vehicle state of the human powered vehicle is a predetermined state, where the predetermined state includes a state in which an amount of change of a parameter concerning the vehicle state of the human powered vehicle are above a predetermined amount.SELECTED DRAWING: Figure 2

Description

[[Technical Field]]

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

[0002] For example, a control device for a human-powered vehicle disclosed in Patent Document 1 controls a transmission of a human-powered vehicle. [[Prior Art Documents]] [[Patent Documents]]

[0003] [[Patent Document 1]] Japanese Patent Laid-Open No. 2013-47085 [[Summary of the Invention]] [[Problem to be Solved by the Invention]]

[0004] One of the objects of the present disclosure is to provide a control device for a human-powered vehicle that can suitably control a transmission. [[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, comprising a control unit that controls a transmission that stepwise changes a ratio of a rotational speed of a wheel to a rotational speed of a crankshaft of the human-powered vehicle, wherein the control unit is configured to control the transmission by a first speed shifting operation that changes the ratio by only one step when a speed shifting condition is satisfied, and is configured to be capable of controlling the transmission by a second speed shifting operation that changes the ratio over two or more steps when the speed shifting condition is satisfied and a vehicle state of the human-powered vehicle is a predetermined state, and the predetermined state includes a state where an amount of change in a parameter related to the vehicle state of the human-powered vehicle is equal to or greater than a predetermined amount. According to the control device on the first side, when the amount of change in parameters related to the vehicle state of a human-powered vehicle exceeds a predetermined amount, the transmission is configured to be controllable by a second shift operation that changes the ratio in two or more stages, so that the ratio can be changed in two or more stages early. Therefore, the control unit can suitably control the transmission.

[0006] A control device according to a second aspect of the first aspect of the present disclosure, wherein the transmission includes an external transmission for shifting the chain of the human-powered vehicle from one of a plurality of sprockets to another, the first shift operation includes shifting the chain of the human-powered vehicle from a first sprocket of the plurality of sprockets to a second sprocket adjacent to the first sprocket, and the second shift operation includes shifting the chain of the human-powered vehicle from a third sprocket of the plurality of sprockets to a fourth sprocket with another sprocket in between it and the third sprocket. According to the control device on the second side, the ratio can be changed by two or more steps earlier in the second gear shift operation than by performing the first gear shift operation multiple times.

[0007] A control device according to a third aspect of the present disclosure is a control device for a human-powered vehicle, comprising a control unit for controlling a transmission that changes in stages the ratio of the rotational speed of the wheels to the rotational speed of the crankshaft of the human-powered vehicle, wherein the transmission includes an external transmission that shifts the chain of the human-powered vehicle from one of a plurality of sprockets to another, the control unit is configured to control the transmission by a first shift operation when a shift condition is met and a predetermined condition is not met, and is configured to control the transmission by a second shift operation when the shift condition is met and the predetermined condition is met, the first shift operation includes a shift operation that shifts the chain of the human-powered vehicle from a first sprocket of a plurality of sprockets to a second sprocket adjacent to the first sprocket, and the second shift operation includes a shift operation that shifts the chain of the human-powered vehicle from a third sprocket of a plurality of sprockets to a fourth sprocket with another sprocket in between it and the third sprocket. According to the control device on the third side, when predetermined conditions are met, the transmission is configured to be controllable by a second gear change operation that changes the ratio by two or more stages, so that the ratio can be changed by two or more stages early. Therefore, the control unit can suitably control the transmission.

[0008] In a control device of the fourth aspect according to the third aspect of this disclosure, the predetermined condition is met when the vehicle state of the human-powered vehicle is in a predetermined state, and the predetermined state includes a state in which the amount of change of a parameter relating to the vehicle state of the human-powered vehicle is greater than or equal to a predetermined amount. According to the control device on the fourth side, if the amount of change in the parameters related to the vehicle state of a human-powered vehicle exceeds a predetermined amount, the ratio can be changed by two or more stages early on through a second gear shift operation.

[0009] A control device according to a fifth aspect of the present disclosure, which is a first, second, and fourth aspect, wherein the parameters include an estimated rotational speed of the crankshaft calculated based on the vehicle speed and the ratio. According to the control device on the fifth side, if the change in the estimated rotational speed of the crankshaft is greater than or equal to a predetermined amount, the ratio can be changed in two or more stages early on by the second gear shift operation.

[0010] In a control device according to a sixth aspect of the present disclosure, which is a first, second, or fourth aspect, the parameter includes the rotational speed of the crankshaft. According to the control device on the sixth side, if the change in the rotational speed of the crankshaft exceeds a predetermined amount, the ratio can be changed by two or more steps early on through the second gear shift operation.

[0011] In a control device according to the seventh aspect of the present disclosure, which is based on any one of the first, second, and fourth to sixth aspects, the parameter includes vehicle speed. According to the control device on the seventh side, if the amount of change in vehicle speed exceeds a predetermined amount, the ratio can be changed by two or more stages early through the second gear shift operation.

[0012] In a control device according to the first, second, and eighth aspect of the present disclosure, the parameter includes the gradient of the roadway of the human-powered vehicle. According to the control device on the eighth side, if the change in the gradient of the road exceeds a predetermined amount, the ratio can be changed in two or more stages early on by the second gear shift operation.

[0013] In a control device according to the ninth aspect of the first, second, and fourth to eighth aspects of the present disclosure, the predetermined state includes a state in which the human-powered driving force input to the human-powered vehicle is within a predetermined range. According to the control device on the ninth side, when the human-powered driving force input to the human-powered vehicle is within a predetermined range, the ratio can be changed by two or more stages early on through the second gear shift operation.

[0014] In a control device according to the tenth aspect of the ninth aspect of this disclosure, the predetermined state includes the case in which the human-powered driving force is less than or equal to the first driving force and the gear shifting condition for increasing the ratio is met. According to the control device on the 10th side, when the human-powered driving force is less than or equal to the first driving force, and the conditions for shifting gears to increase the ratio are met, the ratio can be increased by two or more stages early on through the second gear shift operation.

[0015] In a control device according to the 11th aspect of the present disclosure, the predetermined state includes the case in which the human-powered driving force is less than or equal to the first driving force, the acceleration of the human-powered vehicle is greater than or equal to the first acceleration, and the gear shifting conditions for increasing the ratio are met. According to the control device on the 11th side, when the human-powered driving force is less than or equal to the first driving force, the acceleration of the human-powered vehicle is greater than or equal to the first acceleration, and the conditions for shifting gears to increase the ratio are met, the ratio can be increased by two or more stages early on through the second gear shift operation.

[0016] A control device according to a twelfth aspect of the present disclosure, which is any one of the ninth to eleventh aspects, wherein the predetermined state includes a case in which the human-powered driving force is equal to or greater than the second driving force, and the gear shifting condition for reducing the ratio is met. According to the control device on the 12th side, when the human-powered driving force is equal to or greater than the second driving force, and the conditions for shifting gears to reduce the ratio are met, the ratio can be reduced by two or more stages early on through the second gear shift operation.

[0017] In a control device according to the 13th aspect of the 12th aspect of this disclosure, the predetermined state includes the case in which the human-powered driving force is equal to or greater than the second driving force, the acceleration of the human-powered vehicle is equal to or less than the second acceleration, and the gear shifting conditions for reducing the ratio are met. According to the control device on the 13th side, when the human-powered driving force is greater than or equal to the second driving force, the acceleration of the human-powered vehicle is less than or equal to the second acceleration, and the conditions for shifting gears to reduce the ratio are met, the ratio can be reduced by two or more stages early on through the second gear shift operation.

[0018] In the control device according to the fourteenth aspect according to any one of the first, second, and fourth to thirteenth aspects of the present disclosure, the predetermined state includes a state where a difference between a detected rotational speed based on an output of a detection unit that detects a rotational speed of the crankshaft and an estimated rotational speed of the crankshaft calculated based on a vehicle speed and the ratio is equal to or greater than a predetermined difference. According to the control device of the fourteenth aspect, when the difference between the detected rotational speed and the estimated rotational speed of the crankshaft is equal to or greater than the predetermined difference, the ratio can be changed over two or more stages at an early stage.

[0019] In the control device according to the fifteenth aspect according to any one of the first, second, and fourth to fourteenth aspects of the present disclosure, the predetermined state includes a state where a rotation amount of the crankshaft is equal to or less than a predetermined rotation amount. According to the control device of the fifteenth aspect, when the rotation amount of the crankshaft is equal to or less than the predetermined rotation amount, the ratio can be changed over two or more stages at an early stage.

[0020] In the control device according to the sixteenth aspect according to any one of the first to fifteenth aspects of the present disclosure, the shift condition relates to at least one of a traveling state and a traveling environment of the human-powered vehicle. According to the control device of the sixteenth aspect, the transmission can be suitably controlled in accordance with at least one of the traveling state and the traveling environment of the human-powered vehicle.

[0021] In the control device according to the seventeenth aspect according to any one of the first to sixteenth aspects of the present disclosure, the shift condition includes at least one of a rotational speed of the crankshaft, a human driving force input to the human-powered vehicle, and a vehicle speed. According to the control device of the seventeenth aspect, the transmission can be suitably controlled in accordance with at least one of the rotational speed of the crankshaft, the human driving force, and the vehicle speed.

[0022] A control device according to an 18th aspect of the present disclosure, wherein the gear shift condition includes the rotational speed of the crankshaft, and the control unit controls the gear shift device to increase the ratio when the rotational speed of the crankshaft is greater than an upper threshold, and controls the gear shift device to decrease the ratio when the rotational speed of the crankshaft is less than a lower threshold. According to the control device on side 18, the transmission can be controlled to increase the ratio when the rotational speed of the crankshaft is greater than the upper threshold, and the transmission can be controlled to decrease the ratio when the rotational speed of the crankshaft is less than the lower threshold.

[0023] In a control device of a 19th aspect according to any one of the second to fourth aspects of this disclosure, the second gear shift operation includes a gear shift operation that controls the gear shift device such that the estimated rotational speed of the crankshaft, calculated based on the vehicle speed and the ratio, is within a predetermined range. According to the control device on the 19th side, the transmission can be controlled by the second gear shift operation so that the estimated rotational speed of the crankshaft is within a predetermined range as early as possible. [Effects of the Invention]

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

[0025] [Figure 1] This is a side view of a human-powered vehicle including a control device for a human-powered vehicle according to an embodiment. [Figure 2] This is a side view showing the second rotating body in Figure 1. [Figure 3] Figure 1 is a block diagram showing the electrical configuration of a human-powered vehicle. [Figure 4] Figure 2 is a flowchart of the process executed by the control unit to control the transmission. [Figure 5] This is a flowchart of the process executed by the control unit in the modified example, which controls the transmission. [Modes for carrying out the invention]

[0026] <Embodiment> A control device 60 for a human-powered vehicle will be described with reference to Figures 1 to 4. A human-powered vehicle is a vehicle having at least one wheel and capable of being driven by at least human power. For example, human-powered vehicles include various types of bicycles such as mountain bikes, road bikes, city bikes, cargo bikes, handbikes, and recumbent bicycles. The number of wheels a human-powered vehicle may have is not limited. For example, human-powered vehicles also include 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 for propulsion in addition to human power. 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.

[0027] The human-powered vehicle 10 includes a crankshaft 12, a first rotating body 14, a wheel 16, a second rotating body 18, and a transmission 20. The crankshaft 12 is configured to receive human-powered driving force. The first rotating body 14 is connected to the crankshaft 12. The second rotating body 18 is connected to the wheel 16. The transmission 20 is configured to engage with the first rotating body 14 and the second rotating body 18 to transmit driving force between the first rotating body 14 and the second rotating body 18.

[0028] For example, the human-powered vehicle 10 further includes a body 24. For example, the body 24 includes a frame 26. For example, the wheels 16 include a front wheel 16F and a rear wheel 16R. For example, the crankshaft 12 is rotatable relative to the frame 26. For example, the human-powered vehicle 10 includes a crank 28. The crank 28 includes a crankshaft 12 and two crank arms 28A, 28B. For example, crank arm 28A is provided at the first axial end of the crankshaft 12, and crank arm 28B is provided at the second axial end of the crankshaft 12. For example, the human-powered vehicle 10 includes two pedals 30. For example, one of the two pedals 30 is connected to crank arm 28A. The other of the two pedals 30 is connected to crank arm 28B. For example, the rear wheel 16R is driven by the rotation of the crankshaft 12. For example, the rear wheel 16R is supported by the frame 26.

[0029] The front wheel 16F is attached to the frame 26 via the front fork 32. The handlebar 36 is connected to the front fork 32 via the stem 34.

[0030] For example, the human-powered vehicle 10 further includes a drive mechanism 38. For example, at least one of the front wheel 16F and the rear wheel 16R is connected to the crank 28 by the drive mechanism 38. In this embodiment, the rear wheel 16R and the crank 28 are connected by the drive mechanism 38.

[0031] For example, the drive mechanism 38 includes at least one first rotating body 14, at least one second rotating body 18, and a transmission body 20. At least one first rotating body 14 is connected to a crankshaft 12. At least one second rotating body 18 is connected to a wheel 16. The transmission body 20 is configured to engage with at least one first rotating body 14 and at least one second rotating body 18 to transmit driving force between at least one first rotating body 14 and at least one second rotating body 18. For example, the transmission body 20 transmits the rotational force of at least one first rotating body 14 to at least one second rotating body 18.

[0032] For example, at least one first rotating body 14 and the crankshaft 12 are arranged coaxially. At least one first rotating body 14 and the crankshaft 12 do not have to be arranged coaxially. For example, if at least one first rotating body 14 and the crankshaft 12 are not arranged coaxially, at least one first rotating body 14 and the crankshaft 12 are connected via a first transmission mechanism. The first transmission mechanism may include multiple gears, a sprocket and chain, a pulley and belt, a shaft and bevel gears. For example, at least one first rotating body 14 includes at least one drive sprocket.

[0033] For example, at least one second rotating body 18 and the rear wheel 16R are arranged coaxially. At least one second rotating body 18 and the rear wheel 16R do not have to be arranged coaxially. For example, if at least one second rotating body 18 and the rear wheel 16R are not arranged coaxially, at least one second rotating body 18 and the rear wheel 16R are connected via a second transmission mechanism. The second transmission mechanism may include multiple gears, a sprocket and chain, a pulley and belt, a shaft and bevel gears. For example, at least one second rotating body 18 includes at least one driven sprocket.

[0034] At least one second rotating body 18 and the rear wheel 16R are connected via a third one-way clutch. For example, the third one-way clutch includes at least one of a roller clutch, a sprag clutch, and a ratchet clutch. The third one-way clutch is configured to transmit driving force from the second rotating body 18 to the rear wheel 16R when the second rotating body 18 rotates in conjunction with the forward rotation of the first rotating body 14, and to allow relative rotation between the rear wheel 16R and the second rotating body 18 when the speed at which the rear wheel 16R rotates is higher than the speed at which the second rotating body 18 rotates.

[0035] For example, the human-powered vehicle 10 further includes a battery 40. The battery 40 includes one or more battery elements. The battery elements include rechargeable batteries. For example, the battery 40 is configured to supply power to a control device 60 and a transmission 42. For example, the battery 40 is communicated with the control device 60 by wire or wireless means. For example, the battery 40 can communicate with the control device 60 by power line communication (PLC), CAN (Controller Area Network), or UART (Universal Asynchronous Receiver / Transmitter).

[0036] The human-powered vehicle 10 includes, for example, a transmission 42. The transmission 42 changes the ratio R of the rotational speed of the wheels 16 to the crankshaft 12 of the human-powered vehicle 10 in steps. The transmission 42 is provided, for example, in the transmission path of the human-powered driving force in the human-powered vehicle 10 and is configured to change the ratio R. The ratio R is, for example, the ratio R of the rotational speed of the wheels 16 to the rotational speed of the crank 28. The rotational speed of the wheels 16 includes, for example, the rotational speed of the drive wheels.

[0037] The gear shift 42 includes at least one external gear shift 42A and an internal gear shift. In this embodiment, the gear shift 42 includes an external gear shift 42A that shifts the chain of the human-powered vehicle 10 from one of a plurality of sprockets to another. The gear shift 42 of this embodiment includes an external gear shift 42A. The external gear shift 42A is configured to operate the transmission 20 to change the ratio R of the rotational speed of the wheel 16 to the rotational speed of the crankshaft 12. The external gear shift 42A includes, for example, at least one front derailleur and a rear derailleur. If the external gear shift 42A includes at least one front derailleur and a rear derailleur, the transmission 20 includes a chain.

[0038] The external gearbox 42A moves, for example, a transmission member 20 that engages with one of a plurality of sprockets to another of the plurality of sprockets. If the transmission 42 includes an internal gearbox, the internal gearbox is provided, for example, in the hub of the rear wheel 16R. The internal gearbox may include a CVT (Continuously Variable Transmission). The transmission 42 includes, for example, an electric actuator 42B. The electric actuator 42B is configured, for example, to operate the transmission 42. The electric actuator 42B is configured, for example, to operate the external gearbox 42A.

[0039] The external transmission 42A is configured to operate the transmission body 20 to change the ratio R of the rotational speed of the wheel 16 to the rotational speed of the crankshaft 12. For example, the external transmission 42A is installed in the transmission path of human-powered vehicle 10 and is configured to change the ratio R. For example, the external transmission 42A changes the ratio R by operating the transmission body 20 to change the engagement state between the transmission body 20 and at least one of the at least one first rotating body 14 and at least one second rotating body 18. The relationship between the ratio R, the rotational speed of the wheel 16 and the rotational speed of the crankshaft 12 is expressed by equation (1). In equation (1), R represents the ratio R. In equation (1), W represents the rotational speed of the wheel 16. In equation (1), C represents the rotational speed of the crankshaft 12. Equation (1): R = W (rpm) / C (rpm)

[0040] For example, the external derailleur 42A can change the ratio R for at least one gear shift stage. For example, the external derailleur 42A is configured to operate the transmission 20 to change at least one gear shift stage. For example, at least one gear shift stage is set according to at least one of at least one first rotating body 14 and at least one second rotating body 18. For example, if at least one gear shift stage includes multiple gear shift stages, each of the multiple gear shift stages is set to a different ratio R. For example, the higher the gear shift stage, the larger the ratio R.

[0041] For example, if at least one first rotating body 14 includes multiple first rotating bodies 14, and at least one second rotating body 18 includes multiple second rotating bodies 18, the gear shifting stage is set according to a combination of one of the multiple first rotating bodies 14 and one of the multiple second rotating bodies 18. For example, if at least one first rotating body 14 includes one first rotating body 14, and at least one second rotating body 18 includes multiple second rotating bodies 18, the gear shifting stage is set according to the number of multiple second rotating bodies 18. For example, if at least one first rotating body 14 includes multiple first rotating bodies 14, and at least one second rotating body 18 includes one second rotating body 18, the gear shifting stage is set according to the number of multiple first rotating bodies 14.

[0042] For example, the external derailleur 42A moves the chain that engages with one of the sprockets to another of the sprockets. For example, the combination of the sprocket with the fewest teeth among the drive sprockets and the sprocket with the most teeth among the driven sprockets corresponds to the smallest gear shift stage achievable by the external derailleur 42A. For example, the combination of the sprocket with the most teeth among the drive sprockets and the sprocket with the fewest teeth among the driven sprockets sprocket The combination of and corresponds to the maximum gear shift stage achievable by the external derailleur 42A.

[0043] If the external derailleur 42A includes a front derailleur, for example, the multiple first rotating bodies 14 include two or more and three or fewer sprockets. For example, the multiple first rotating bodies 14 include two sprockets.

[0044] If the external derailleur 42A includes a front derailleur, for example, the external derailleur 42A is configured to move the transmission body 20 from one of the multiple first rotating bodies 14 to another of the multiple first rotating bodies 14 during a gear shift operation. The front derailleur operates the transmission body 20 to change the ratio R by changing the engagement state between at least one first rotating body 14 and the transmission body 20. For example, the multiple first rotating bodies 14 include multiple sprockets.

[0045] For example, if the external derailleur 42A includes a rear derailleur, at least one second rotating body 18 includes two or more sprockets and no more than 20 sprockets. For example, multiple second rotating bodies 18 include 12 sprockets.

[0046] If the external derailleur 42A includes a rear derailleur, for example, at least one of the plurality of second rotating bodies 18 includes at least two gear shifting acceleration regions 22 in the circumferential direction. The at least two gear shifting acceleration regions 22 are individually set in, for example, at least one of the plurality of second rotating bodies 18. The at least two gear shifting acceleration regions 22 are regions that facilitate the movement of the transmission body 20 by the rear derailleur from one of the plurality of second rotating bodies 18 to another adjacent second rotating body 18.

[0047] If at least two gear shifting acceleration regions 22 are individually set for each of the multiple second rotating bodies 18, for example, the at least two gear shifting acceleration regions 22 may be different for all of the multiple second rotating bodies 18, or at least two may be the same. At least one of the multiple second rotating bodies 18 may not include at least two gear shifting acceleration regions 22. The smallest driven sprocket among the multiple driven sprockets may, for example, not include at least two gear shifting acceleration regions 22, while the other driven sprockets include at least two gear shifting acceleration regions 22.

[0048] If at least two gear shifting acceleration regions 22 are individually set for each of the multiple second rotating bodies 18, for example, the at least two gear shifting acceleration regions 22 include a first gear shifting acceleration region 22A and a second gear shifting acceleration region 22B. The first gear shifting acceleration region 22A facilitates the movement of the chain from one of the multiple sprockets to another of the multiple driven sprockets. At least one of the first gear shifting acceleration regions 22A is configured to accelerate the gear shifting operation when the ratio is increased. The first gear shifting acceleration region 22A facilitates the movement of the chain from a driven sprocket with a large number of teeth to a sprocket with a small number of teeth. The first gear shifting acceleration region 22A includes, for example, teeth of a sprocket that have a structure that makes it easy for the chain to come off the teeth of the sprocket.

[0049] The second gear shifting acceleration region 22B facilitates, for example, the movement of the chain from one of the multiple sprockets to one of the multiple sprockets. At least one second gear shifting acceleration region 22B is configured to accelerate gear shifting when the ratio is reduced. The second gear shifting acceleration region 22B facilitates, for example, the movement of the chain from a sprocket with fewer teeth to a sprocket with more teeth. The second gear shifting acceleration region 22B includes, for example, sprocket teeth having a structure that facilitates the chain's engagement with the sprocket teeth.

[0050] figure 2 The figure shows one of several second solids of revolution 18. 2 In one of the multiple second rotating bodies 18 shown, for example, four first gear shifting acceleration regions 22A and four second gear shifting acceleration regions 22B are provided. Each of the four first gear shifting acceleration regions 22A and each of the four second gear shifting acceleration regions 22B are provided alternately in the circumferential direction of one of the multiple second rotating bodies 18. If the external gear shifter 42A includes a front derailleur, for example, at least one of the plurality of first rotating bodies 14 may be provided with a gear shifting acceleration region 22, similar to at least one of the plurality of second rotating bodies 18.

[0051] For example, the human-powered vehicle 10 further includes a gear shift control device 44. The gear shift control device 44 is, for example, mounted on the handlebars 36. The gear shift control device 44 includes, for example, a first operating part for increasing the ratio R and a second operating part for decreasing the ratio R.

[0052] For example, the human-powered vehicle 10 further includes a vehicle speed detection unit 46. For example, the vehicle speed detection unit 46 is communicated with the control unit 62 by wire or wireless means. For example, the vehicle speed detection unit 46 is configured to detect information regarding the vehicle speed of the human-powered vehicle 10. For example, the vehicle speed detection unit 46 is configured to detect information regarding the rotational speed of the wheels 16. For example, the vehicle speed detection unit 46 is configured to detect a magnet provided on at least one of the front wheel 16F and the rear wheel 16R.

[0053] For example, the vehicle speed detection unit 46 is configured to output a predetermined number of detection signals during one rotation of the wheel 16. For example, the predetermined number is 1. For example, the vehicle speed detection unit 46 outputs a signal corresponding to the rotational speed of the wheel 16. The control unit 62 can calculate the vehicle speed of the human-powered vehicle 10 based on the signal corresponding to the rotational speed of the wheel 16 and information regarding the circumference of the wheel 16. For example, the storage unit 64 stores information regarding the circumference of the wheel 16.

[0054] For example, the human-powered vehicle 10 further includes a human-powered force detection unit 48. The human-powered force detection unit 48 is communicated with the control unit 62 by wire or wireless means. The human-powered force detection unit 48 is configured to output a signal corresponding to the torque applied to the crankshaft 12 by the human-powered force. The signal corresponding to the torque applied to the crankshaft 12 by the human-powered force includes information about the human-powered force input to the human-powered vehicle 10.

[0055] For example, the human-powered driving force detection unit 48 is provided on a member located near the human-powered driving force transmission path or a member included in the human-powered driving force transmission path. For example, the members included in the human-powered driving force transmission path include the crankshaft 12 and a member that transmits human-powered driving force between the crankshaft 12 and at least one first rotating body 14. For example, the power transmission unit is provided on the outer circumference of the crankshaft 12.

[0056] The human-powered driving force detection unit 48 includes a strain sensor, a magnetostrictive sensor, or a pressure sensor. The strain sensor includes a strain gauge. The human-powered driving force detection unit 48 may have any configuration as long as it can acquire information about the human-powered driving force.

[0057] For example, the human-powered driving force detection unit 48 may be provided on the crank arms 28A, 28B, or on at least one of the two pedals 30. For example, if the human-powered driving force detection unit 48 is provided on at least one of the two pedals 30, the human-powered driving force detection unit 48 may include a sensor that detects the pressure applied to at least one of the two pedals 30. For example, the human-powered driving force detection unit 48 may be provided on the chain included in the transmission body 20. For example, if the human-powered driving force detection unit 48 is provided on the chain, the human-powered driving force detection unit 48 may include a sensor that detects the tension of the chain.

[0058] For example, the human-powered vehicle 10 further includes a crank rotation state detection unit 50. For example, the crank rotation state detection unit 50 is communicated with the control unit 62 by wire or wireless means. The crank rotation state detection unit 50 detects at least one amount of rotation of the crankshaft 12 and at least one first rotating body 14. For example, the crank rotation state detection unit 50 is configured to detect information corresponding to the rotational speed of the crankshaft 12. For example, the crank rotation state detection unit 50 is configured to detect information corresponding to the rotational speed of at least one first rotating body 14. The information corresponding to the rotational speed of the crankshaft 12 includes the angular acceleration of the crankshaft 12. The information corresponding to the rotational speed of at least one first rotating body 14 includes the angular acceleration of at least one first rotating body 14.

[0059] For example, the crank rotation state detection unit 50 includes a magnetic sensor that outputs a signal corresponding to the strength of the magnetic field. The crank rotation state detection unit 50 includes an annular magnet with multiple magnetic poles arranged in the circumferential direction. The annular magnet is provided between the crankshaft 12, at least one first rotating body 14, or a power transmission path from the crankshaft 12 to at least one first rotating body 14. For example, the annular magnet includes one south pole and one north pole. The south pole and the north pole each extend continuously for 180° around the axis of the crankshaft 12.

[0060] For example, the crank rotation state detection unit 50 outputs a signal corresponding to at least one of the rotational speed of the crankshaft 12 and the rotational speed of at least one first rotating body 14. 2、 and at least one first rotating body 14 few Even if not present, the system is configured to output a detection signal corresponding to the rotation angle of the crankshaft 12 during one rotation. The crank rotation state detection unit 50 may include an optical sensor, acceleration sensor, gyro sensor, or torque sensor instead of a magnetic sensor.

[0061] For example, the crank rotation state detection unit 50 is provided on the frame 26 of the human-powered vehicle 10. For example, if the crank rotation state detection unit 50 is provided on the frame 26, the crank rotation state detection unit 50 may be configured to include a vehicle speed sensor. If the crank rotation state detection unit 50 includes a vehicle speed sensor, the control unit 62 may be configured to calculate the rotational speed of the crankshaft 12 according to the vehicle speed detected by the vehicle speed sensor and a ratio R.

[0062] The crank rotation state detection unit 50 may be configured to detect the amount of rotation of at least one second rotating body 18. The crank rotation state detection unit 50 may be configured to detect information corresponding to the rotational speed of at least one second rotating body 18. For example, the information corresponding to the rotational speed of at least one second rotating body 18 includes the angular acceleration of at least one second rotating body 18. For example, the crank rotation state detection unit 50 may output a signal corresponding to the rotational speed of at least one second rotating body 18.

[0063] For example, the human-powered vehicle 10 further includes a gradient detection unit 52. The gradient detection unit 52 includes, for example, at least one of a tilt sensor and a GPS (Global Positioning System) receiver. The tilt sensor includes, for example, at least one of a gyro sensor and an acceleration sensor. If the gradient detection unit 52 includes a GPS receiver, map information including information about the gradient of the road is pre-stored in the storage unit 64, and the control unit 62 acquires the gradient of the road at the current location of the human-powered vehicle 10.

[0064] The control device 60 for a human-powered vehicle includes a control unit 62. For example, the control unit 62 includes a processing unit that executes a predetermined control program. For example, the processing unit included in the control unit 62 includes a CPU (Central Processing Unit) or an MPU (Micro Processing Unit).

[0065] For example, the arithmetic processing unit included in the control unit 62 may be located in multiple locations that are far apart from each other. For example, part of the arithmetic processing unit may be located in the human-powered vehicle 10, and other parts of the arithmetic processing unit may be located in a server connected to the Internet. When the arithmetic processing unit is located in multiple locations that are far apart from each other, each part of the arithmetic processing unit is connected to each other so as to be able to communicate with each other via a wireless communication device. The control unit 62 may include one or more microcomputers.

[0066] For example, the control device 60 further comprises a storage unit 64. For example, the storage unit 64 is communicated with the control unit 62 by wire or wireless means. For example, the storage unit 64 stores control programs and information used for control processing. For example, the storage unit 64 includes, for example, non-volatile memory and volatile memory. For example, the non-volatile memory includes at least one of ROM (Read-Only Memory), EPROM (Erasable Programmable Read Only Memory), EEPROM (Electrically Erasable Programmable Read-Only Memory), and flash memory. For example, the volatile memory includes RAM (Random Access Memory).

[0067] The control unit 62 controls the transmission 42. The control unit 62 is configured to control the transmission 42 by a first shift operation that changes the ratio R by only one step when the shift condition is met. The control unit 62 is configured to control the transmission 42 by a second shift operation that changes the ratio R by two or more steps when the shift condition is met and the vehicle state of the human-powered vehicle 10 is in a predetermined state. The predetermined state includes a state in which the amount of change in parameters related to the vehicle state of the human-powered vehicle 10 is greater than or equal to a predetermined amount.

[0068] The first gear shift operation includes, for example, a gear shift operation in which the chain of the human-powered vehicle 10 is shifted from the first sprocket among a plurality of sprockets to the second sprocket adjacent to the first sprocket. In the first gear shift operation, the control unit 62 changes the ratio R by one step by, for example, moving the external gear shifter 42A from a position corresponding to the first sprocket with which the chain engages to a position corresponding to the second sprocket adjacent to the sprocket with which the chain engages. When the control unit 62 performs the first gear shift operation and changes the ratio R by two or more steps, it changes the ratio R by two or more steps by repeating the start and completion of the first gear shift operation.

[0069] The second gear shift operation includes, for example, a gear shift operation in which the chain of the human-powered vehicle 10 is switched from the third sprocket among a plurality of sprockets to the fourth sprocket, with another sprocket in between the third sprocket and the fourth sprocket. In the second gear shift operation, the control unit 62 changes the ratio R in two or more steps by, for example, moving the external gear shifter 42A from a position corresponding to the third sprocket with which the chain engages to a position corresponding to the fourth sprocket that is not adjacent to the third sprocket with which the chain engages. The second gear shift operation includes, for example, a gear shift operation in which the gear shifter 42 is controlled so that the estimated rotational speed of the crankshaft 12, calculated based on the vehicle speed and ratio R, is within a predetermined range. Gear shifting In operation, the system calculates a shift stage in which the estimated rotational speed of the crankshaft 12, calculated based on the vehicle speed and ratio R, is within a predetermined range, and controls the external gearbox 42A so that the chain engages with the fourth sprocket corresponding to the calculated shift stage. The control unit 62 may, for example, if it is estimated that the estimated rotational speed of the crankshaft 12 will be within a predetermined range by changing the ratio R by only one step, control the gearbox 42 in the first shift operation to change the ratio R by only one step, even if the amount of change in the parameters related to the vehicle state of the human-powered vehicle 10 is greater than a predetermined amount.

[0070] In the first gear shift operation, the control unit 62 performs a gear shift operation based on the gear shift acceleration region 22 by, for example, changing the ratio R by only one step. In the first gear shift operation, for example in an upshift operation, the control unit 62 is configured such that when the external derailleur 42A is moved from a position corresponding to the first sprocket to a position corresponding to the second sprocket, the chain passes through a position corresponding to the first gear shift acceleration region 22A of the first sprocket. In the first gear shift operation, for example in a downshift operation, the control unit 62 is configured such that when the external derailleur 42A is moved from a position corresponding to the first sprocket to a position corresponding to the second sprocket, the chain passes through a position corresponding to the second gear shift acceleration region 22B of the second sprocket. The chain is in a position corresponding to the second gear shift acceleration region 22B of the second sprocket when the chain moved by the external derailleur 42A is in a position where it can contact the sprocket teeth included in the second gear shift acceleration region 22B of the second sprocket.

[0071] In the second gear shift operation, the control unit 62 performs a gear shift operation that is not based on the gear shift acceleration region 22 in part, for example, by changing the ratio R by two or more steps. In the second gear shift operation, for example, in an upshift operation, the control unit 62 is configured to move the external derailleur 42A from the position corresponding to the third sprocket to the position corresponding to the fourth sprocket before confirming that the chain has passed the position corresponding to the first gear shift acceleration region 22A of the third sprocket. In the second gear shift operation, for example, in a downshift operation, the control unit 62 is configured to move the external derailleur 42A from the position corresponding to the third sprocket to the position corresponding to the fourth sprocket before confirming that the chain has passed the position corresponding to the second gear shift acceleration region 22B of the sprocket between the third sprocket and the fourth sprocket. When the chain is in a position corresponding to the second gear-accelerating region 22B of the fourth sprocket, it means that the chain, moved by the external derailleur 42A, is in a position to contact the sprocket teeth included in the second gear-accelerating region 22B of the fourth sprocket.

[0072] The control unit 62 may initiate a gear shift operation based on the gear shift acceleration region 22 during the first gear shift operation. The control unit 62 may control the external derailleur 42A to operate during the first gear shift operation, for example, in an upshift operation, when the chain is in a position corresponding to the first gear shift acceleration region 22A of the first sprocket. The control unit 62 may control the external derailleur 42A to operate during the first gear shift operation, for example, in a downshift operation, when the chain is in a position corresponding to the second gear shift acceleration region 22B of the second sprocket.

[0073] The gear shifting conditions relate, for example, to at least one of the driving state and driving environment of the human-powered vehicle 10. The driving state includes, for example, the rotational speed of the crankshaft 12, the human-powered driving force, and at least one of the vehicle speed. The driving environment includes, for example, the gradient of the road. At least one of the driving state and driving environment includes, for example, driving resistance. Driving resistance includes, for example, at least one of air resistance, rolling resistance, gradient resistance, and acceleration resistance.

[0074] The gear shifting conditions include, for example, the rotational speed of the crankshaft 12, the human driving force, and the vehicle speed. In this embodiment, the gear shifting conditions include the rotational speed of the crankshaft 12. The control unit 62 controls the gear shift 42 so that the ratio R increases when the rotational speed of the crankshaft 12 is greater than an upper threshold, and controls the gear shift 42 so that the ratio R decreases when the rotational speed of the crankshaft 12 is less than a lower threshold.

[0075] If the gear shifting conditions include human power, the conditions are met, for example, when the human power is outside the first range. If the gear shifting conditions include vehicle speed, the conditions are met, for example, when the vehicle speed is outside the second range.

[0076] The gear shifting conditions include, for example, the gradient of the road and at least one of the driving resistance. If the gear shifting conditions include the gradient of the road, the conditions are met, for example, when the gradient of the road is outside the third range. If the gear shifting conditions include driving resistance, the conditions are met, for example, when the driving resistance is outside the fourth range.

[0077] The parameters include, for example, the estimated rotational speed of the crankshaft 12, which is calculated based on the vehicle speed and the ratio R. The control unit 62 calculates the estimated rotational speed of the crankshaft 12 by, for example, dividing the vehicle speed by the ratio R and the tire diameter, which is stored in the storage unit 64 beforehand. If the parameters include the estimated rotational speed of the crankshaft 12, the predetermined amount is, for example, 10 rpm or more and 30 rpm or less. If the parameters include the estimated rotational speed of the crankshaft 12, the predetermined amount is, for example, 20 rpm.

[0078] The parameters include, for example, the rotational speed of the crankshaft 12. When the parameters include the rotational speed of the crankshaft 12, the predetermined amount is, for example, 10 rpm or more and 30 rpm or less. When the parameters include the rotational speed of the crankshaft 12, the amount of change in the parameters is expressed, for example, as the amount of change when the vehicle's motion state changes from a first state to a second state. The first state and the second state are significantly different in terms of the vehicle's motion state. The control unit 62 determines, for example, that the human-powered vehicle 10 has changed from a first state to a second state when it decelerates rapidly after accelerating. When the human-powered vehicle 10 decelerates rapidly after accelerating, for example, this includes when the road changes rapidly from a downhill slope to an uphill slope. When the parameters include the rotational speed of the crankshaft 12, the predetermined amount is, for example, 20 rpm.

[0079] The parameters include, for example, vehicle speed. If the parameters include vehicle speed, the predetermined amount is, for example, 1 km / h or more and 10 km / h or less. If the parameters include vehicle speed, the amount of change in the parameters is expressed, for example, as the amount of change per detection cycle of the vehicle speed detection unit 46. If the parameters include vehicle speed, the predetermined amount is, for example, 5 km / h.

[0080] The parameters include, for example, the gradient of the road the human-powered vehicle 10 travels on. The gradient of the road is expressed, for example, by an angle. When the parameters include the gradient of the road, the amount of change in the parameters is expressed, for example, by the amount of change per second. When the parameters include the gradient of the road, the predetermined amount is, for example, 5 degrees or more and 15 degrees or less. When the parameters include the gradient of the road, the predetermined amount is, for example, 10 degrees.

[0081] The predetermined state includes, for example, a state in which the human-powered driving force input to the human-powered vehicle 10 is within a predetermined range. The predetermined state includes, for example, a case in which the human-powered driving force is less than or equal to the first driving force and the gear shift conditions for increasing the ratio R are met. The predetermined state includes, for example, a case in which the human-powered driving force is less than or equal to the first driving force, the acceleration of the human-powered vehicle 10 is greater than or equal to the first acceleration, and the gear shift conditions for increasing the ratio R are met. The first driving force is, for example, 1 Nm or more and 20 Nm or less. The first driving force is, for example, 10 Nm. The first acceleration is, for example, 0 km / h / s or more. The first acceleration is 0 km / h / s. The predetermined state includes, for example, a case in which the human-powered driving force is greater than or equal to the second driving force and the gear shift conditions for decreasing the ratio R are met. The predetermined state includes, for example, a case in which the human-powered driving force is greater than or equal to the second driving force, the acceleration of the human-powered vehicle 10 is less than or equal to the second acceleration, and the gear shift conditions for decreasing the ratio R are met. The second driving force is, for example, greater than the first driving force. The second driving force is, for example, 60 Nm or more and 80 Nm or less. The second driving force is, for example, 70 Nm. The second acceleration is, for example, 0 km / h / s or less. The second acceleration is, for example, 0 km / h / s.

[0082] The predetermined state includes, for example, a state in which the difference between the detected rotational speed based on the output of the detection unit that detects the rotational speed of the crankshaft 12 and the estimated rotational speed of the crankshaft 12 calculated based on the vehicle speed and ratio R is greater than or equal to a predetermined difference. The detection unit that detects the rotational speed of the crankshaft 12 is the crank rotation state detection unit 50. The predetermined difference is, for example, 10 rpm.

[0083] The predetermined state includes, for example, a state in which the rotation amount of the crankshaft 12 is less than or equal to a predetermined rotation amount. The rotation amount of the crankshaft 12 may be represented by the stroke amount of the pedal 30. The predetermined rotation amount is, for example, 270 degrees or more and 450 degrees. below The predetermined amount of rotation is, for example, 360 degrees.

[0084] Referring to Figure 4, the process by which the control unit 62 controls the transmission 42 will be described. For example, when power is supplied to the control unit 62, it starts processing and moves to step S11 of the flowchart shown in Figure 4. When the flowchart in Figure 4 ends, the control unit 62 repeats the processing from step S11 at predetermined intervals, for example, until the power supply is stopped.

[0085] In step S11, the control unit 62 determines whether or not the gear shifting condition is met. If the gear shifting condition is not met in step S11, the control unit 62 terminates the process. If the gear shifting condition is met, the control unit 62 proceeds to step S12.

[0086] In step S12, the control unit 62 determines whether the vehicle is in a predetermined state. If the vehicle is in a predetermined state, the control unit 62 proceeds to step S13. In step S13, the control unit 62 controls the transmission 42 by the first gear shift operation and terminates the process.

[0087] If the vehicle is not in a predetermined state in step S12, the control unit 62 proceeds to step S14. In step S14, the control unit 62 controls the transmission 42 by a second gear shift operation and terminates the process.

[0088] <Example of changes> The description of embodiments is illustrative of possible forms of control devices for human-powered vehicles according to this disclosure, and is not intended to limit such forms. Control devices for human-powered vehicles according to this disclosure may take the following modified embodiments, and combinations of at least two non-inconsistent modifications. In the following modifications, parts common to the embodiments are denoted by the same reference numerals as in the embodiments and their descriptions are omitted.

[0089] The control unit 62 may be configured to control the transmission 42 by a first gear change operation when the gear change conditions are met and the predetermined conditions are not met, and to control the transmission 42 by a second gear change operation when the gear change conditions are met and the predetermined conditions are met. The first gear change operation includes a gear change operation in which the chain of the human-powered vehicle 10 is shifted from the first sprocket among the plurality of sprockets to the second sprocket adjacent to the first sprocket. The second gear change operation includes a gear change operation in which the chain of the human-powered vehicle 10 is shifted from the third sprocket among the plurality of sprockets to the fourth sprocket with another sprocket in between it and the third sprocket. The predetermined conditions are met, for example, when the vehicle state of the human-powered vehicle 10 is in a predetermined state. The predetermined state includes, for example, a state in which the amount of change in parameters related to the vehicle state of the human-powered vehicle 10 is greater than or equal to a predetermined amount. The predetermined conditions may not be based on the amount of change in a parameter, but rather, for example, if a parameter relating to the vehicle state of the human-powered vehicle 10 is outside a predetermined range. Referring to Figure 5, the process by which the control unit 62 controls the transmission 42 will be described. For example, when power is supplied to the control unit 62, it starts processing and moves to step S21 of the flowchart shown in Figure 5. When the flowchart in Figure 5 is completed, the control unit 62 repeats the processing from step S21 at predetermined intervals, for example, until the power supply is stopped. In step S21, the control unit 62 determines whether or not the gear shifting condition is met. If the gear shifting condition is not met in step S21, the control unit 62 terminates the process. If the gear shifting condition is met, the control unit 62 proceeds to step S22. In step S22, the control unit 62 determines whether a predetermined condition is met. If the predetermined condition is met, the control unit 62 proceeds to step S23. In step S23, the control unit 62 controls the transmission 42 by the first gear shift operation and terminates the process. If the predetermined conditions are not met in step S22, the control unit 62 proceeds to step S24. In step S24, the control unit 62 controls the transmission 42 by a second gear shift operation and terminates the process.

[0090] 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]

[0091] 10...Human-powered vehicle, 12...Crankshaft, 16...Wheel, 42...Transmission, 42A...External transmission, 60...Control device, 62...Control unit.

Claims

1. A control device for a human-powered vehicle, The vehicle is equipped with a control unit that controls a transmission that changes the ratio of the rotational speed of the wheels to the rotational speed of the crankshaft in stages. The control unit, When the gear shifting conditions are met, the transmission is configured to be controlled by a first gear shift operation that changes the ratio by only one step. When the aforementioned gear shifting conditions are met and the vehicle state of the human-powered vehicle is in a predetermined state, the gear shifting device is configured to be controllable by a second gear shifting operation that changes the ratio in two or more stages. The predetermined state includes a state in which the amount of change in the parameters related to the vehicle state of the human-powered vehicle is greater than or equal to a predetermined amount. The control device includes the parameters, which include the estimated rotational speed of the crankshaft calculated based on the vehicle speed and the ratio.

2. A control device for a human-powered vehicle, The vehicle is equipped with a control unit that controls a transmission that changes the ratio of the rotational speed of the wheels to the rotational speed of the crankshaft in stages. The control unit, When the gear shifting conditions are met, the transmission is configured to be controlled by a first gear shift operation that changes the ratio by only one step. When the aforementioned gear shifting conditions are met and the vehicle state of the human-powered vehicle is in a predetermined state, the gear shifting device is configured to be controllable by a second gear shifting operation that changes the ratio in two or more stages. The predetermined state includes a state in which the amount of change in the parameters related to the vehicle state of the human-powered vehicle is greater than or equal to a predetermined amount. The predetermined state includes a control device in which the human-powered driving force input to the human-powered vehicle is within a predetermined range.

3. A control device for a human-powered vehicle, The vehicle is equipped with a control unit that controls a transmission that changes the ratio of the rotational speed of the wheels to the rotational speed of the crankshaft in stages. The control unit, When the gear shifting conditions are met, the transmission is configured to be controlled by a first gear shift operation that changes the ratio by only one step. When the aforementioned gear shifting conditions are met and the vehicle state of the human-powered vehicle is in a predetermined state, the gear shifting device is configured to be controllable by a second gear shifting operation that changes the ratio in two or more stages. The predetermined state includes a state in which the amount of change in the parameters related to the vehicle state of the human-powered vehicle is greater than or equal to a predetermined amount. The predetermined state includes a control device in which the difference between the detected rotational speed based on the output of a detection unit that detects the rotational speed of the crankshaft and the estimated rotational speed of the crankshaft calculated based on the vehicle speed and the ratio is greater than or equal to a predetermined difference.

4. A control device for a human-powered vehicle, The vehicle is equipped with a control unit that controls a transmission that changes the ratio of the rotational speed of the wheels to the rotational speed of the crankshaft in stages. The control unit, When the gear shifting conditions are met, the transmission is configured to be controlled by a first gear shift operation that changes the ratio by only one step. When the aforementioned gear shifting conditions are met and the vehicle state of the human-powered vehicle is in a predetermined state, the gear shifting device is configured to be controllable by a second gear shifting operation that changes the ratio in two or more stages. The predetermined state includes a state in which the amount of change in the parameters related to the vehicle state of the human-powered vehicle is greater than or equal to a predetermined amount. The predetermined state includes a control device in which the amount of rotation of the crankshaft is less than or equal to a predetermined amount of rotation.

5. A control device for a human-powered vehicle, The vehicle is equipped with a control unit that controls a transmission that changes the ratio of the rotational speed of the wheels to the rotational speed of the crankshaft in stages. The transmission includes an external gearbox that changes the chain of the human-powered vehicle from one of several sprockets to another. The control unit, When the gear shifting conditions are met, and the predetermined conditions are not met, the gear shifting device is configured to control the ratio by the first gear shifting operation. When the aforementioned gear shifting conditions are met and the predetermined conditions are met, the gear shifting device is configured to control the ratio by a second gear shifting operation. The first gear shift operation includes a gear shift operation in which the chain of the human-powered vehicle is shifted from the first sprocket among the plurality of sprockets to the second sprocket adjacent to the first sprocket. The second gear shift operation includes shifting the chain of the human-powered vehicle from the third sprocket among the multiple sprockets to the fourth sprocket, with another sprocket in between the third sprocket and the fourth sprocket. The aforementioned predetermined conditions are met when the vehicle state of the human-powered vehicle is in a predetermined state. The predetermined state includes a state in which the amount of change in the parameters related to the vehicle state of the human-powered vehicle is greater than or equal to a predetermined amount. The control device includes the parameters, which include the estimated rotational speed of the crankshaft calculated based on the vehicle speed and the ratio.

6. A control device for a human-powered vehicle, The vehicle is equipped with a control unit that controls a transmission that changes the ratio of the rotational speed of the wheels to the rotational speed of the crankshaft in stages. The transmission includes an external gearbox that changes the chain of the human-powered vehicle from one of several sprockets to another. The control unit, When the gear shifting conditions are met, and the predetermined conditions are not met, the gear shifting device is configured to control the ratio by the first gear shifting operation. When the aforementioned gear shifting conditions are met and the predetermined conditions are met, the gear shifting device is configured to control the ratio by a second gear shifting operation. The first gear shift operation includes a gear shift operation in which the chain of the human-powered vehicle is shifted from the first sprocket among the plurality of sprockets to the second sprocket adjacent to the first sprocket. The second gear shift operation includes shifting the chain of the human-powered vehicle from the third sprocket among the multiple sprockets to the fourth sprocket, with another sprocket in between the third sprocket and the fourth sprocket. The aforementioned predetermined conditions are met when the vehicle state of the human-powered vehicle is in a predetermined state. The predetermined state includes a state in which the amount of change in the parameters related to the vehicle state of the human-powered vehicle is greater than or equal to a predetermined amount. The predetermined state includes a control device in which the human-powered driving force input to the human-powered vehicle is within a predetermined range.

7. A control device for a human-powered vehicle, The vehicle is equipped with a control unit that controls a transmission that changes the ratio of the rotational speed of the wheels to the rotational speed of the crankshaft in stages. The transmission includes an external gearbox that changes the chain of the human-powered vehicle from one of several sprockets to another. The control unit, When the gear shifting conditions are met, and the predetermined conditions are not met, the gear shifting device is configured to control the ratio by the first gear shifting operation. When the aforementioned gear shifting conditions are met and the predetermined conditions are met, the gear shifting device is configured to control the ratio by a second gear shifting operation. The first gear shift operation includes a gear shift operation in which the chain of the human-powered vehicle is shifted from the first sprocket among the plurality of sprockets to the second sprocket adjacent to the first sprocket. The second gear shift operation includes shifting the chain of the human-powered vehicle from the third sprocket among the multiple sprockets to the fourth sprocket, with another sprocket in between the third sprocket and the fourth sprocket. The aforementioned predetermined conditions are met when the vehicle state of the human-powered vehicle is in a predetermined state. The predetermined state includes a state in which the amount of change in the parameters related to the vehicle state of the human-powered vehicle is greater than or equal to a predetermined amount. The predetermined state includes a control device in which the difference between the detected rotational speed based on the output of a detection unit that detects the rotational speed of the crankshaft and the estimated rotational speed of the crankshaft calculated based on the vehicle speed and the ratio is greater than or equal to a predetermined difference.

8. A control device for a human-powered vehicle, The vehicle is equipped with a control unit that controls a transmission that changes the ratio of the rotational speed of the wheels to the rotational speed of the crankshaft in stages. The transmission includes an external gearbox that changes the chain of the human-powered vehicle from one of several sprockets to another. The control unit, When the gear shifting conditions are met, and the predetermined conditions are not met, the gear shifting device is configured to control the ratio by the first gear shifting operation. When the aforementioned gear shifting conditions are met and the predetermined conditions are met, the gear shifting device is configured to control the ratio by a second gear shifting operation. The first gear shift operation includes a gear shift operation in which the chain of the human-powered vehicle is shifted from the first sprocket among the plurality of sprockets to the second sprocket adjacent to the first sprocket. The second gear shift operation includes shifting the chain of the human-powered vehicle from the third sprocket among the multiple sprockets to the fourth sprocket, with another sprocket in between the third sprocket and the fourth sprocket. The aforementioned predetermined conditions are met when the vehicle state of the human-powered vehicle is in a predetermined state. The predetermined state includes a state in which the amount of change in the parameters related to the vehicle state of the human-powered vehicle is greater than or equal to a predetermined amount. The predetermined state includes a control device in which the amount of rotation of the crankshaft is less than or equal to a predetermined amount of rotation.

9. A control device for a human-powered vehicle, The vehicle is equipped with a control unit that controls a transmission that changes the ratio of the rotational speed of the wheels to the rotational speed of the crankshaft in stages. The control unit, When the gear shifting conditions are met, the transmission is configured to be controlled by a first gear shift operation that changes the ratio by only one step. When the aforementioned gear shifting conditions are met and the vehicle state of the human-powered vehicle is in a predetermined state, the gear shifting device is configured to be controllable by a second gear shifting operation that changes the ratio in two or more stages. The predetermined state includes a state in which the amount of change in the parameters related to the vehicle state of the human-powered vehicle is greater than or equal to a predetermined amount. The aforementioned gear shifting conditions include the rotational speed of the crankshaft, The control unit controls the transmission so that the ratio increases when the rotational speed of the crankshaft is greater than an upper threshold, and controls the transmission so that the ratio decreases when the rotational speed of the crankshaft is less than a lower threshold.

10. A control device for a human-powered vehicle, The vehicle is equipped with a control unit that controls a transmission that changes the ratio of the rotational speed of the wheels to the rotational speed of the crankshaft in stages. The transmission includes an external gearbox that changes the chain of the human-powered vehicle from one of several sprockets to another. The control unit, When the gear shifting conditions are met, and the predetermined conditions are not met, the gear shifting device is configured to control the ratio by the first gear shifting operation. When the aforementioned gear shifting conditions are met and the predetermined conditions are met, the gear shifting device is configured to control the ratio by a second gear shifting operation. The first gear shift operation includes a gear shift operation in which the chain of the human-powered vehicle is shifted from the first sprocket among the plurality of sprockets to the second sprocket adjacent to the first sprocket. The second gear shift operation includes shifting the chain of the human-powered vehicle from the third sprocket among the multiple sprockets to the fourth sprocket, with another sprocket in between the third sprocket and the fourth sprocket. The aforementioned predetermined conditions are met when the vehicle state of the human-powered vehicle is in a predetermined state. The predetermined state includes a state in which the amount of change in the parameters related to the vehicle state of the human-powered vehicle is greater than or equal to a predetermined amount. The aforementioned gear shifting conditions include the rotational speed of the crankshaft, The control unit controls the transmission so that the ratio increases when the rotational speed of the crankshaft is greater than an upper threshold, and controls the transmission so that the ratio decreases when the rotational speed of the crankshaft is less than a lower threshold.

11. The control device according to claim 2 or 6, wherein the predetermined state includes the case in which the human-powered driving force is less than or equal to the first driving force and the gear shifting condition for increasing the ratio is met.

12. The control device according to claim 11, wherein the predetermined state includes the case in which the human-powered driving force is less than or equal to the first driving force, the acceleration of the human-powered vehicle is greater than or equal to the first acceleration, and the gear shifting condition for increasing the ratio is met.

13. The control device according to claim 2 or 6, wherein the predetermined state includes the case in which the human-powered driving force is equal to or greater than the second driving force, and the gear shifting condition for reducing the ratio is met.

14. The control device according to claim 13, wherein the predetermined state includes a case in which the human-powered driving force is equal to or greater than the second driving force, the acceleration of the human-powered vehicle is equal to or less than the second acceleration, and the gear shifting condition for reducing the ratio is met.

Images