JP7264938B2 - Controller and detection system - Google Patents

Description

The present invention relates to controllers and detection systems.

Patent Literature 1 discloses a device that adjusts the traveling speed so that the vehicle can pass through the corner at an appropriate traveling speed when it is determined that the vehicle cannot pass through the corner based on map information. .

JP-A-6-281471

SUMMARY OF THE INVENTION It is an object of the present invention to provide a controller and detection system that can efficiently adjust the travel speed of a manpowered vehicle when deceleration is required.

A control device according to a first aspect of the present invention comprises a control unit for controlling a first component of a manpowered vehicle and a second component of a manpowered vehicle, wherein the first component controls the second component of the manpowered vehicle. The second component is a braking device, and the controller controls the first component so that the first component operates before the second component operates. do.
According to the control device of the first aspect, by controlling the first component before braking, the manpowered vehicle can be effectively decelerated. Therefore, the running speed of the manpowered vehicle can be efficiently adjusted when deceleration is required.

The control device of the second aspect according to the first aspect, wherein the first component includes at least one of a transmission, a suspension, an adjustable seat post, and a driving aid.
According to the control device of the second aspect, it is possible to effectively decelerate the manpowered vehicle by controlling the first component.

A control device according to a third aspect of the present invention comprises a control unit for controlling a first component of a manpowered vehicle and a second component of the manpowered vehicle based on a detection result of a detection device, the first component comprising: , has a different function than the second component.
According to the control device of the third aspect, the two components can be controlled in conjunction with each other, which makes the user more comfortable.

In the control device according to the fourth aspect according to the third aspect, the control unit controls the second component when the detection result deviates from a predetermined condition after starting control of the first component.
According to the control device of the fourth aspect, two components are interlocked only when one component is insufficient, which contributes to cost reduction.

In the control device according to the fifth aspect according to the fourth aspect, when controlling the second component, the controller further controls the first component according to the detection result.
According to the control device of the fifth aspect, since the control is performed in the order of the first component, the second component, and the first component, the range of control variations is widened.

The control device according to the sixth aspect according to any one of the fourth or fifth aspect, further comprising a storage unit for storing setting information, wherein the predetermined condition corresponds to the setting information.
According to the control device of the sixth aspect, the predetermined condition can be controlled according to the setting.

In the control device of the seventh aspect according to any one of the third to sixth aspects, the first component includes at least one of a transmission, a suspension, an adjustable seat post, and a driving assist device.
According to the control device of the seventh aspect, it is possible to effectively decelerate the manpowered vehicle by controlling the first component before controlling the braking device.

The control device of the eighth aspect according to any one of the third to seventh aspects, wherein said second component comprises a braking device.
According to the control device of the eighth aspect, since the first component different from the braking device is controlled before braking, user's comfort is improved.

A control device according to a ninth aspect of the present invention controls components of a human-powered vehicle based on a storage unit that stores setting information in a changeable manner, detection results from a detection device, and predetermined conditions corresponding to the setting information. and a control unit.
According to the control device of the ninth aspect, since the components of the human-powered vehicle are controlled based on the predetermined conditions corresponding to the setting information, user's comfort is improved.

In the control device of the tenth aspect according to the ninth aspect, the components of the manpowered vehicle include at least one of a transmission, a suspension, an adjustable seat post, a driving assistance device, and a braking device.
According to the control device of the tenth aspect, since the components of the human-powered vehicle are controlled based on the predetermined conditions corresponding to the setting information, user's comfort is improved.

The control device of the eleventh aspect according to any one of the sixth, ninth, and tenth aspects, further comprising an input unit that receives a change input, wherein the control unit controls the storage unit based on the change input. change the setting information of
According to the control device of the eleventh aspect, since the setting information can be changed based on the change input, user comfort is improved.

In the control device of the twelfth aspect according to any one of the third to eleventh aspects, the detection result includes a parameter related to the travel speed of the manpowered vehicle.
According to the control device of the twelfth aspect, it is possible to control the components of the human-powered vehicle based on the detection result of the detection device, thereby improving comfort for the user.

In the control device according to the thirteenth aspect according to the twelfth aspect, the detection device detects at least one of running speed, acceleration, and jerk of the manpowered vehicle as a parameter related to the running speed of the manpowered vehicle. .
According to the control device of the thirteenth aspect, it is possible to control the components of the human-powered vehicle based on the detection result of the detection device, thereby improving comfort for the user.

In the control device of the 14th aspect according to any one of the 3rd to 13th aspects, the detection device detects at least one of a vehicle, an animal, a signal, a sign, and a mark in a traveling direction of the human-powered vehicle. To detect.
According to the control device of the fourteenth aspect, the components of the manpowered vehicle can be controlled based on at least one of a vehicle, an animal, a signal, a sign, and a mark in the traveling direction of the manpowered vehicle, User comfort is improved.

In the control device according to the fifteenth aspect according to any one of the third to fourteenth aspects, the detection device detects the state of the travel road of the manpowered vehicle.
According to the control device of the fifteenth aspect, since the components of the manpower-driven vehicle can be controlled based on the state of the travel road of the manpower-driven vehicle, the user's comfort is improved.

In the control device of the sixteenth aspect according to any one of the third to fifteenth aspects, the detection device detects a position of the manpowered vehicle based on map information and a user's input to an operating device of the manpowered vehicle. Detect at least one.
According to the control device of the sixteenth aspect, the components of the manpowered vehicle can be controlled based on at least one of the location of the manpowered vehicle based on map information and user input to the operating device of the manpowered vehicle. As a result, user comfort is improved.

In the control device of the 17th aspect according to any one of the 3rd to 16th aspects, the detection device detects a yaw axis angle with respect to the traveling direction of the manpowered vehicle, an acceleration in the translational direction of the pitch axis, a steering angle of the steering wheel, and , to detect at least one of the steering acceleration.
According to the control device of the seventeenth aspect, based on at least one of the yaw axis angle with respect to the traveling direction of the manpowered vehicle, the acceleration in the translational direction of the pitch axis, the steering wheel steering angle, and the steering wheel steering acceleration, the The ability to control components increases user comfort.

A detection system according to the eighteenth aspect of the present invention comprises the controller and the detector.
According to the detection system of the eighteenth aspect, the components of the manpowered vehicle can be controlled before braking based on the detection result of the detection device.

The control device and detection system of the present invention can effectively adjust the travel speed of a human powered vehicle when deceleration is required.

1 is a side view of a human-powered vehicle to which the control device of the first embodiment is applied; FIG. The block diagram which shows the control apparatus of 1st Embodiment. 4 is a flowchart showing an example of a vehicle control processing procedure; The block diagram which shows the control apparatus of 2nd Embodiment. 4 is a flowchart showing an example of a vehicle control processing procedure;

<First embodiment>
A manpowered vehicle A including a detection system 40 will be described with reference to FIG.
Here, the human-powered vehicle means a vehicle that at least partially uses human power as a driving force for running, and includes vehicles that assist human power electrically. Vehicles that use only motive power other than human power are not included in man-powered vehicles. In particular, a vehicle using only an internal combustion engine as a motive power is not included in a human-powered vehicle. The illustrated manpowered vehicle A is a bicycle including a travel assistance device 66 that assists the manpowered vehicle A in propulsion using electrical energy. Specifically, the illustrated manpowered vehicle A is a city cycle. The configuration of the manpowered vehicle A can be changed arbitrarily. The manpowered vehicle A can be configured without the travel assistance device 66 . In other words, the human-powered vehicle A may be a normal bicycle that is driven only by human-powered driving force. The type of manpowered vehicle A may be a road bike, a mountain bike, or a cross bike. Manpowered vehicle A further includes a body A1, a handlebar A2, a front wheel A3, a rear wheel A4 and a drive mechanism B. The body A1 includes a frame A5. Manpowered vehicle A further includes component C. Component C includes a first component C1 and a second component C2.

The drive mechanism B transmits human power driving force to the rear wheel A4. The drive mechanism B includes a front sprocket B1, a rear sprocket B2, a chain B3, a crank assembly E, and a pair of pedals B4. The drive mechanism B may be of belt drive type or shaft drive type, for example.

Crank assembly E includes crankshaft E1, right crank E2, and left crank E3. The crankshaft E1 is rotatably supported by a bottom bracket provided on the frame A5. Right crank E2 and left crank E3 are each connected to crankshaft E1. One of the pair of pedals B4 is rotatably supported by the right crank E2. The other of the pair of pedals B4 is rotatably supported by the left crank E3.

The front sprocket B1 is connected to the crankshaft E1. The rotation axis of the crankshaft E1 is coaxial with the rotation axis of the front sprocket B1. The structure for connecting the front sprocket B1 with the crankshaft E1 can be arbitrarily selected. A one-way clutch is provided between the crankshaft E1 and the front sprocket B1. The one-way clutch transmits the rotation of the crankshaft E1 to the front sprocket B1 when the rotational speed of the forward-rotating crankshaft E1 is higher than the rotational speed of the front sprocket B1. Note that the one-way clutch may be omitted.

Rear sprocket B2 is supported by hub H of rear wheel A4. Chain B3 is wound around front sprocket B1 and rear sprocket B2. When the crankshaft E1 and the front sprocket B1 rotate forward due to the human-powered driving force applied to the pair of pedals B4, the rear wheel A4 rotates forward due to the human-powered driving force transmitted via the chain B3 and the rear sprocket B2.

As shown in FIG. 2, the detection system 40 comprises a control device 50 and a detection device 70 . The control device 50 includes a control unit 52 that controls the first component C1 of the manpowered vehicle A and the second component C2 of the manpowered vehicle A. As shown in FIG. The control unit 52 controls the first component C1 so that the first component C1 operates before the second component C2 operates. The control unit 52 includes a CPU (Central Processing Unit), an MPU (Micro Processing Unit), and the like. The control device 50 further includes a storage section 54 . The control device 50 implements vehicle control by causing the control unit 52 to execute a program stored in the storage unit 54 . The storage unit 54 stores setting information 54A. The storage unit 54 stores setting information 54A in a changeable manner. The control device 50 further includes an input section 56 that receives input to change the setting information 54A stored in the storage section 54 . The control unit 52 changes the setting information 54A in the storage unit 54 based on the change input received by the input unit 56 . The setting information 54A includes parameters related to the travel speed of the manpowered vehicle A and information related to the tendency of the user to operate cornering. The storage unit 54 is composed of a RAM (Random Access Memory), a ROM (Read Only Memory), and the like.

The control unit 52 controls the component C of the human-powered vehicle A based on the detection result of the detection device 70 and predetermined conditions corresponding to the setting information 54A. A predetermined condition corresponds to the setting information 54A. The predetermined condition includes, for example, a condition related to the running speed of the human-powered vehicle A. A component C of the manpowered vehicle A includes at least one of a transmission 60 , a suspension 62 , an adjustable seat post 64 , a driving assistance device 66 and a braking device 68 . The first component C1 has a different function than the second component C2. In one example, the first component C1 includes at least one of the transmission 60, the suspension 62, the adjustable seat post 64, and the driving assistance device 66. A second component C2 includes a braking device 68 .

After the start of control of the first component C1, the control unit 52 controls the second component C2 if the detection result of the detection device 70 deviates from the predetermined condition. The control unit 52 controls the second component C2, for example, when the traveling speed of the manpowered vehicle A is equal to or higher than the first predetermined value. When controlling the second component C2, the control unit 52 further controls the first component C1 according to the detection result of the detection device 70. FIG.

The transmission 60 includes an internal transmission provided on the hub H of the rear wheel A4. The internal transmission includes a planetary gear mechanism and is configured to change the gear ratio of the manpowered vehicle A by changing the engagement of the gears. In one example, when the controller 52 determines that the traveling speed of the manpowered vehicle A needs to be reduced, it changes the gear ratio of the transmission 60 to prompt the manpowered vehicle A to decelerate. The control unit 52, for example, lowers the gear ratio of the transmission 60 to idle, or raises the gear ratio of the transmission 60 to increase the weight of the pedal B4, thereby increasing the speed of the human-powered vehicle A. encourage slowing down. Further, the control unit 52 notifies the user of the deceleration of the manpower-driven vehicle A in advance by changing the gear ratio of the transmission 60 .

Suspension 62 includes a front suspension. The front suspension operates so as to mitigate the impact that the front wheel A3 receives from the ground. When determining that the traveling speed of the manpowered vehicle A needs to be reduced, the control unit 52 changes the suspension 62 to wait for the manpowered vehicle A to decelerate. The control unit 52 locks the suspension 62, for example, to stabilize the posture of the user during braking.

Adjustable seatpost 64 includes an electric motor and is configured to vary the height of seat S of manpowered vehicle A relative to frame A5. When the controller 52 determines that the traveling speed of the manpowered vehicle A needs to be reduced, it controls the adjustable seat post 64 to wait for the manpowered vehicle A to decelerate. The controller 52 lowers the seat S of the manpowered vehicle A, for example, to stabilize the posture of the user during braking.

The travel assistance device 66 includes an auxiliary motor 66A, a drive circuit 66B, a speed reducer 66C, and a one-way clutch. The travel assistance device 66 assists the propulsion of the manpowered vehicle A by transmitting torque to the front sprocket B1. The auxiliary motor 66A operates with power supplied from the power supply device BT. When determining that the traveling speed of the manpowered vehicle A needs to be reduced, the control unit 52 controls the travel assistance device 66 to prompt the manpowered vehicle A to decelerate. The control unit 52 prompts the manpower-driven vehicle A to decelerate, for example, by changing the parameters related to the assistance of the driving assistance device 66 . Parameters related to the assist of the driving assist device 66 include assist ratio, maximum assist torque, and rise curve.

The braking device 68 is driven by electric power so as to brake the rotating body F of the manpowered vehicle A. The rotating bodies F are disc brake rotors provided on the front wheel A3 and the rear wheel A4 of the manpowered vehicle A, for example. In this embodiment, a pair of braking devices 68 are provided respectively corresponding to the front wheel A3 and the rear wheel A4. In one example, braking device 68 is a disc brake device that changes the rotational speed of a disc brake rotor. The braking device 68 comprises an electric motor 68A and a braking portion 68B. The electric motor 68A operates with power supplied from the power supply device BT. The braking portion 68B includes, for example, a hydraulic mechanism and a braking member operated by the hydraulic mechanism. The braking portion 68B brakes the rotating body F of the manpowered vehicle A, which is a disc brake rotor, by sandwiching it between a pair of braking members. The braking device 68 may be a rim braking device.

The control unit 52 controls the first component C<b>1 of the manpowered vehicle A and the second component C<b>2 of the manpowered vehicle A based on the detection result of the detection device 70 . The detection results of the detection device 70 include parameters related to the running speed of the manpowered vehicle A. FIG. Note that the control unit 52 controls the first component C1 of the manpowered vehicle A and the second component C2 of the manpowered vehicle A based on not only the detection result of the detection device 70 but also the operation of the operation device 80 described later. You may

The detection device 70 detects at least one of the running speed, acceleration, and jerk of the manpowered vehicle A as a parameter related to the running speed of the manpowered vehicle A. FIG. Detection device 70 includes a wheel rotation sensor. The detection results of the wheel rotation sensors include parameters related to the travel speed of the manpowered vehicle A. The wheel rotation sensor detects the rotation speed of at least one of the front wheel A3 and the rear wheel A4 of the manpowered vehicle A. The wheel rotation sensor is provided on the front fork of the manpowered vehicle A, for example. The wheel rotation sensor outputs a signal to the controller 52 according to a change in relative position between the magnet M1 attached to the front wheel A3 and the wheel rotation sensor. The controller 52 calculates the travel speed of the manpowered vehicle A based on the signal output from the wheel rotation sensor. The wheel rotation sensor may output a signal to the controller 52 according to a change in relative position between the magnet M2 attached to the rear wheel A4 and the wheel rotation sensor. A wheel rotation sensor may be provided in the braking device 68 so as to detect the rotation of the disk brake rotor, which is the rotating body F.

The detection device 70 includes a crank rotation sensor. The detection result of the crank rotation sensor includes a parameter related to the travel speed of the manpowered vehicle A. The crank rotation sensor detects the cadence of the manpowered vehicle A based on the rotation speed of the crankshaft E1 of the manpowered vehicle A. FIG. The crank rotation sensor is provided on the frame A5 of the manpowered vehicle A, for example. The crank rotation sensor includes a magnetic sensor that outputs a signal corresponding to the strength of the magnetic field. The crank rotation sensor outputs a signal to the control unit 52 according to the rotation speed and rotation angle of the crankshaft E1.

Detection device 70 includes a torque sensor. The detection results of the torque sensor include parameters related to the travel speed of the manpowered vehicle A. The torque sensor detects the magnitude of torque acting on the crankshaft E1 when the manpowered vehicle A travels. The torque sensor is provided on the crankshaft E1 of the manpowered vehicle A, for example. The torque sensor outputs a signal to the controller 52 according to the torque acting on the crankshaft E1.

The detection device 70 includes an acceleration sensor for detecting acceleration of the manpowered vehicle A. FIG. An acceleration sensor is attached to the frame A5. The jerk of the manpower-driven vehicle A is calculated by the control unit 52, for example, based on the change in the acceleration of the manpower-driven vehicle A over time.

The detection device 70 detects at least one of a vehicle, an animal, a signal, a sign, and a mark in the traveling direction of the manpowered vehicle A. In one example, the detection device 70 includes an environment sensor that detects at least one of a vehicle, an animal, a signal, a sign, and a mark in the direction of travel of the manpowered vehicle A. The environment sensor is provided on the manpowered vehicle A so as to detect electromagnetic waves with a frequency of 30 GHz or higher, excluding visible light. The frequency range of visible light is a range based on the regulations of ISO (International Organization for Standardization). The environment sensor outputs electromagnetic waves with a frequency of 30 GHz or higher, excluding visible light, and detects echoed electromagnetic waves. Therefore, the surrounding environment of the human-powered vehicle A can be detected with high accuracy. Hereinafter, electromagnetic waves with a frequency of 30 GHz or higher, excluding visible light rays, are simply referred to as electromagnetic waves. The detector 70 detects at least one of ultraviolet rays, infrared rays, submillimeter waves, and millimeter waves. The detection device 70 outputs electromagnetic waves including at least one of ultraviolet rays, infrared rays, submillimeter waves, and millimeter waves, and detects echoed electromagnetic waves.

The detection device 70 detects the state of the road on which the manpowered vehicle A travels. The road conditions include slope, unevenness, curve curvature, wetness, presence/absence of obstacles, stairs, and steps. In one example, the detection device 70 includes a vibration sensor that detects vibrations from the road surface based on the acceleration of the manpowered vehicle A. The control unit 52 controls the component C of the manpowered vehicle A according to the magnitude of vibration detected by the detection device 70 . The control unit 52 controls the component C of the manpowered vehicle A so as to encourage deceleration of the manpowered vehicle A as the vibration from the road surface increases, for example. Further, the control unit 52 performs control to increase the traction of the manpower-driven vehicle A when the travel path of the manpower-driven vehicle A is in a slippery state. A state in which the manpowered vehicle A is slippery includes a state in which muddy ground, tree roots, stones, rocky areas, moss, or the like exists in front of the manpowered vehicle A, and the like. The control for increasing the traction of the manpowered vehicle A includes adjusting the number of shift gears, adjusting the assist output, reducing the tire air pressure, opening the suspension 62, and outputting a warning.

The detection device 70 detects at least one of the position of the manpowered vehicle A based on the map information and the user's input to the operating device 80 of the manpowered vehicle A. FIG. In one example, detection device 70 includes a cycle computer having a GPS (Global Positioning System) function. In this case, the cycle computer identifies the position of the manpowered vehicle A based on, for example, GPS information and map information, detects the inclination data of the corners in the traveling direction of the manpowered vehicle A, and controls the detection signal. Output to unit 52 . In another example, detection device 70 includes a detector that detects user input to manipulator A operating device 80 .

The detection device 70 detects at least one of a yaw axis angle with respect to the traveling direction of the manpowered vehicle A, an acceleration in the translational direction of the pitch axis, a steering wheel steering angle, and a steering wheel steering acceleration. In one example, detection device 70 includes at least one of a tilt angle sensor, an acceleration sensor, and a steering sensor. The tilt angle sensor detects a yaw axis angle with respect to the traveling direction of the manpowered vehicle A. The acceleration sensor detects the acceleration of the manpowered vehicle A in the translational direction of the pitch axis. The steering sensor detects at least one of a steering angle of the manpowered vehicle A and a steering acceleration of the manpowered vehicle A. FIG.

The operating device 80 is manually operated to control at least one of the first component C1 and the second component C2 of the manpowered vehicle A. The operation device 80 includes, for example, a braking operation lever. The operation device 80 transmits a signal to the control section 52 according to the operation of the brake operation lever. The operating device 80 is communicably connected to the control unit 52 via a PLC (Power Line Communication) electric wire or a communication line. Note that the operating device 80 may be communicably connected to the control section 52 by a wireless communication unit capable of wireless communication. When the operation device 80 is operated, a signal for braking at least one of the front wheel A3 and the rear wheel A4 is transmitted to the control unit 52, and the braking device 68 operates according to the signal.

The control unit 52 controls the second component C2 after executing the control of the first component C1. The control unit 52 applies braking force to the manpower-driven vehicle A by controlling the braking device 68 after executing the control of the first component C1. The control unit 52 determines the magnitude of the braking force to be applied to the manpowered vehicle A according to the speed, torque, and cadence of the manpowered vehicle A detected by the detection device 70 .

An example of vehicle control will be described with reference to FIG. In step S<b>11 , the control unit 52 determines whether or not the traveling speed of the human-powered vehicle A needs to be reduced based on the detection result of the detection device 70 . In one example, the control unit 52 determines whether or not the traveling speed of the manpowered vehicle A needs to be reduced based on whether or not there is a corner in the traveling direction of the manpowered vehicle A. When the determination result in step S11 is a negative determination, the control unit 52 repeats the process of step S11. On the other hand, when the determination result in step S11 is a positive determination, the control unit 52 controls the first component C1 in step S12. In this embodiment, the first component C1 includes at least a transmission 60, and the controller 52 controls the transmission 60 so that the transmission ratio of the manpowered vehicle A increases or decreases. Next, in step S13, the control unit 52 determines whether or not the running speed of the manpowered vehicle A is equal to or higher than the first predetermined value. If the determination result in step S13 is a positive determination, the control unit 52 controls the second component C2 in step S14. In this embodiment, the second component C2 includes a braking device 68, and the controller 52 controls the braking device 68 so that the traveling speed of the manpowered vehicle A is reduced. In this embodiment, the control unit 52 controls the second component C2 after controlling the first component C1. That is, the control unit 52 controls the first component C1 so that the first component C1 operates before the second component C2 operates.

In step S15, the controller 52 determines whether or not the travel speed of the manpowered vehicle A is lower than the first predetermined value. When the determination result in step S15 is a negative determination, the control unit 52 executes the process of step S14 again. If the determination result in step S15 is a positive determination, the control unit 52 stops controlling the second component C2 in step S16. Next, the control unit 52 determines whether or not the operating state of the first component C1 is suitable for the traveling speed of the manpowered vehicle A in step S17. In this embodiment, the control unit 52 determines whether or not the gear ratio of the manpowered vehicle A is suitable for the running speed of the manpowered vehicle A. If the determination result in step S17 is negative, the controller 52 controls the first component C1 in step S18. In this embodiment, the controller 52 controls the transmission 60 so that the gear ratio of the manpowered vehicle A increases or decreases. When the determination result in step S13 is negative, when the determination result in step S17 is positive, and after executing the process of step S18, the control unit 52 ends the vehicle control.

The operation of this embodiment will be described. When the traveling speed of manpowered vehicle A needs to be reduced, the first component C1 is firstly controlled to notify manpowered vehicle A to decelerate in the first stage and/or decelerate in the second stage. After the control of the first component C1 is executed, the manpowered vehicle A is decelerated in the second stage by controlling the second component C2. In addition, in the present embodiment, when the traveling speed of the manpowered vehicle A no longer needs to be reduced, the gear ratio of the manpowered vehicle A is set to an appropriate value, thereby facilitating the rowing of the manpowered vehicle A. to

In step S11, the control unit 52 determines whether or not the traveling speed of the manpowered vehicle A needs to be reduced based on a criterion different from whether or not there is a corner in the traveling direction of the manpowered vehicle A. You can judge. In the first example, the control unit 52 determines whether or not at least one of a vehicle, an animal, a signal, a sign, and a mark is present in the traveling direction of the manpowered vehicle A. It may be determined whether or not the traveling speed of the manpowered vehicle A needs to be reduced. In a second example, the control unit 52 may determine whether or not the travel speed of the manpowered vehicle A needs to be reduced based on the state of the travel road in the traveling direction of the manpowered vehicle A. In the third example, the control unit 52 adjusts the travel speed of the manpowered vehicle A based on at least one of the position of the manpowered vehicle A based on the map information and the user's input to the operating device 80 of the manpowered vehicle A. It may be determined whether it needs to be lowered. In the fourth example, the control unit 52 controls the manpowered vehicle A based on at least one of the yaw axis angle with respect to the traveling direction of the manpowered vehicle A, the acceleration in the pitch axis translational direction, the steering wheel steering angle, and the steering wheel steering acceleration. It may be determined whether or not it is necessary to reduce the running speed of the vehicle. Also, in the present embodiment, steps S17 and S18 may be omitted.

<Second embodiment>
The control device 150 according to the second embodiment is the same as the control device 50 according to the first embodiment except for the electrical connection relationship. The same reference numerals as in the form are given, and redundant description is omitted.

As shown in FIG. 4, the manpowered vehicle A of the second embodiment includes a detection system 140 instead of the detection system 40 of the first embodiment. The detection system 140 comprises a control device 150 and a detection device 70 . The control device 150 includes a control unit 152 that controls the first component C1 of the manpowered vehicle A and the second component C2 of the manpowered vehicle A. As shown in FIG. The controller 152 has substantially the same configuration and functions as the controller 52 of the first embodiment. Control device 150 further includes a storage unit 154 that stores setting information 154A. Control device 150 realizes vehicle control by control unit 152 executing a program stored in storage unit 154 . The storage unit 154 has substantially the same configuration and functions as the storage unit 54 of the first embodiment. The setting information 154A is substantially the same as the setting information 54A of the first embodiment. Control device 150 further includes an input unit 156 that receives input to change setting information 154A stored in storage unit 154 . Control unit 152 changes setting information 154A in storage unit 154 based on the change input received by input unit 156 .

An example of vehicle control will be described with reference to FIG. The control unit 152 can automatically adjust the running speed of the manpowered vehicle A during cornering. In step S21, the control unit 152 determines whether or not the manpowered vehicle A is traveling through a corner. In this embodiment, the control unit 152 determines whether or not the manpowered vehicle A is traveling through a corner based on the yaw axis angular velocity detected by the detection device 70 . If the determination result in step S21 is affirmative, the controller 152 determines in step S22 whether or not the travel speed of the manpowered vehicle A detected by the detection device 70 is equal to or higher than the second predetermined value. If the determination result in step S22 is affirmative, the control unit 152 controls the second component C2 in step S23. In this case, the control unit 152 calculates the predicted turning angle when the manpowered vehicle A passes the corner based on the corner inclination data based on the output of the detection device 70, and calculates the predicted turning angle according to the calculated predicted turning angle. The second component C2 is controlled so as to generate an additional braking force. Note that the control unit 152 may consider the user's past travel history when calculating the predicted turning angle. Next, in step S24, the controller 152 determines whether or not the running speed of the manpowered vehicle A is smaller than the second predetermined value. When the determination result in step S24 is a negative determination, the control unit 152 executes the process of step S23 again. If the determination result in step S24 is a positive determination, the control unit 152 stops controlling the second component C2 in step S25. Next, the control unit 152 determines whether or not the operating state of the first component C1 is suitable for the running speed of the manpowered vehicle A in step S26. In this embodiment, the control unit 52 determines whether or not the gear ratio of the manpowered vehicle A is suitable for the running speed of the manpowered vehicle A. If the determination result in step S26 is negative, the control unit 152 controls the first component C1 in step S27. In this embodiment, the control unit 152 controls the first component C1 so that the gear ratio of the manpowered vehicle A increases or decreases. If the determination results in steps S21 and S22 are negative, if the determination result in step S26 is positive, and after executing the process of step S27, control unit 152 ends the vehicle control.

The operation of this embodiment will be described. The control device 150 prompts the manpowered vehicle A to decelerate by controlling the second component C2 when the manpowered vehicle A passes through a corner. Further, if the gear ratio of the manpowered vehicle A does not match the traveling speed of the manpowered vehicle A after executing the control of the second component C2, the control device 150 controls the first component C1 to By setting the gear ratio of the driving vehicle A to an appropriate value, the manpower-driven vehicle A can be easily rowed.

In step S21, it may be determined whether or not the manpowered vehicle A is traveling through a corner based on a reference different from the yaw axis angular velocity detected by the detector 70. FIG. The control unit 152 determines whether or not the manpowered vehicle A is traveling through a corner based on at least one of the acceleration in the translational direction of the pitch axis, the steering angle of the steering wheel, and the steering acceleration of the steering wheel detected by the detection device 70. may be determined. Also, the second predetermined value may be the same as or different from the first predetermined value. Also, in the present embodiment, steps S26 and S27 may be omitted.

<Modification>
The descriptions of the above embodiments are examples of control devices and detection systems according to the present invention, and are not intended to limit the forms thereof. The control device according to the present invention can take a form in which, for example, modifications of the above-described embodiments shown below and at least two mutually consistent modifications are combined. In the modifications below, the same reference numerals as in each embodiment are given to the parts that are common to each embodiment, and the description thereof will be omitted.

• The first component C1 may include a notification device. The notification device generates vibration, light, sound, and the like. The notification device includes, for example, at least one of a cycle computer, eyewear, smart phone, smart watch, lamp, and speaker. In this embodiment, the notification device includes a cycle computer attached to handlebar A2. When it is determined that the traveling speed of the manpowered vehicle A needs to be reduced, the control devices 50 and 150 notify the user boarding the manpowered vehicle A of the necessity of speed reduction by means of vibration, light, sound, or the like. to control the alarm device.

- The control devices 50 and 150 may be communicatively connected to a portable information terminal possessed by a user who boards the manpowered vehicle A. In this case, the control devices 50 and 150 may specify the position of the human-powered vehicle A using the GPS installed in the mobile information terminal.

- Based on the position of the manpowered vehicle A, the control devices 50 and 150 may detect a merging point or a branching point in front of the manpowered vehicle A by referring to map information. In this case, the control devices 50 and 150 control the component C of the manpowered vehicle A so as to accelerate the deceleration of the manpowered vehicle A when the merging point or the branching point is detected from the front of the manpowered vehicle A. may

- The control devices 50 and 150 may control the component C of the manpowered vehicle A so as to realize automatic shifting in a preset course based on the position of the manpowered vehicle A. In this case, travel data may be collected in a server from a plurality of manpower-driven vehicles A, and the number of gears or the level of a slope may be set in advance for each predetermined course point based on the data collected in the server. Further, the control devices 50 and 150 predict the amount of change in the running speed of the manpowered vehicle A based on the change in the gradient at the travel point of the manpowered vehicle A, and based on the result of the prediction, determine a preset course. The shift timing of the human-powered vehicle A may be adjusted so that the number of shift stages is appropriate for each point.

- The control device 50, 150 may control the components C of the manpowered vehicle A based on the parameters relating to the driving conditions of the manpowered vehicle A specified through GPS. The parameters relating to the driving conditions of the manpowered vehicle A include altitude, slope, distance, exercise time, and estimated time to the destination. Unexpected situations include left and right turns at intersections, trail splits, and uphill and downhill changes in road grade.

A... Human-powered vehicle, C... Component, C1... First component, C2... Second component, 40... Detection system, 50... Control device, 52... Control unit, 54... Storage unit, 54A... Setting information, 56... Input Part 60 Transmission 62 Suspension 64 Adjustable seat post 66 Driving assistance device 68 Braking device 70 Detection device 80 Operation device 140 Detection system 150 Control device 152 Control unit 154 Storage unit 154A Setting information 156 Input unit.

Claims (18)

a control unit that electrically controls a first component of the manpowered vehicle and a second component of the manpowered vehicle based on a detection result of the detection device;
the first component has a different function than the second component;
The control unit
after starting control of the first component, if the detection result deviates from a predetermined condition, controlling the second component;
A control device that controls the first component based on the state of the first component and the detection result after starting the control of the second component. further comprising a storage unit for storing setting information,
2. The control device according to claim 1, wherein said predetermined condition corresponds to said setting information. 3. The control device according to claim 2, wherein said storage unit stores said setting information in a changeable manner. a control unit that controls a first component of the manpowered vehicle and a second component of the manpowered vehicle based on a detection result of the detection device;
the first component has a different function than the second component;
The control unit controls the second component when the detection result deviates from a predetermined condition after the start of control of the first component,
further comprising a storage unit for storing setting information,
The predetermined condition corresponds to the setting information,
The control device, wherein the storage unit stores the setting information in a changeable manner. further comprising an input unit for accepting change input,
The control device according to any one of claims 2 to 4, wherein the control section changes the setting information in the storage section based on the change input. a control unit that controls a first component of the manpowered vehicle and a second component of the manpowered vehicle based on a detection result of the detection device;
the first component has a different function than the second component;
The control unit controls the second component when the detection result deviates from a predetermined condition after the start of control of the first component,
further comprising a storage unit for storing setting information,
The predetermined condition corresponds to the setting information,
further comprising an input unit for accepting change input,
The control device, wherein the control unit changes the setting information in the storage unit based on the change input. 7. The control device according to any one of claims 2 to 6, wherein said setting information is a parameter relating to the running speed of said manpowered vehicle or information relating to a tendency of a user's cornering operation. The control device according to any one of claims 1 to 7 , wherein the detection result of the detection device includes at least one of a vehicle, an animal, a signal, a sign, and a mark in the traveling direction of the human-powered vehicle. . 9. The apparatus of claim 1, wherein the detection result of the detection device includes at least one of a yaw axis angle with respect to the traveling direction of the manpowered vehicle, an acceleration in a translational direction of the pitch axis, a steering angle, and a steering acceleration. A controller according to any one of the preceding claims. a control unit that electrically controls a first component of the manpowered vehicle and a second component of the manpowered vehicle based on a detection result of the detection device;
the first component has a different function than the second component and includes a motor;
The detection results of the detection device include a vehicle in the direction of travel of the manpowered vehicle, an animal in the direction of travel of the manpowered vehicle, a signal in the direction of travel of the manpowered vehicle, a sign in the direction of travel of the manpowered vehicle, and the A control device comprising at least one of a marking of the direction of travel of a manpowered vehicle, a yaw axis angle with respect to the direction of travel of the manpowered vehicle, an acceleration in a pitch axis translational direction, a steering wheel steering angle, and a steering wheel steering acceleration. 11. The control device according to any one of claims 1 to 10 , wherein the first component includes at least one of a transmission, a suspension, an adjustable seat post, and a driving aid. 12. A control device as claimed in any preceding claim, wherein the second component comprises a braking device. The control device according to any one of claims 1 to 12 , wherein, when controlling the second component, the control unit further controls the first component according to the detection result. 14. The control device according to any one of claims 1 to 13 , wherein said detection result includes a parameter relating to the running speed of said manpowered vehicle. 15. The control device according to claim 14 , wherein said detection device detects at least one of running speed, acceleration and jerk of said manpowered vehicle as a parameter relating to running speed of said manpowered vehicle. 16. The control device according to any one of claims 1 to 15 , wherein said detection result of said detection device includes a state of a travel road of said manpower-driven vehicle. 17. The method according to any one of claims 1 to 16 , wherein the detection result of the detection device includes at least one of a position of the manpowered vehicle based on map information and a user's input to an operating device of the manpowered vehicle. Control device as described. a control device according to any one of claims 1 to 17 ;
A detection system comprising: the detection device.

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