JP2023178443A - Man-power driven vehicle control device - Google Patents

Abstract

To provide a man-power driven vehicle control device that can accomplish the stable running of a man-power driven vehicle.SOLUTION: A man-power driven vehicle control device includes: a first sensor that detects at least one of the inclined state of a man-power driven vehicle in the longitudinal direction and the steering angle of the man-power driven vehicle; a motor that gives propulsive force to the man-power driven vehicle; and a control unit that controls the motor. The control unit controls the motor in a first control state when the detection value by the first sensor within a first predetermined time period is equal to or greater than a first predetermined value and the number of times of detection that is equal to or greater than the first predetermined value within the first predetermined time period is equal to or greater than a first predetermined number of times, and controls the motor in a second control state different from the first control state when the number of times of detection by the first sensor that is equal to or greater than the first predetermined value within the first predetermined time period is less than the first predetermined number of times. The assist force by the motor in the first control state is smaller than the assist force by the motor in the second control state.SELECTED DRAWING: Figure 2

Description

The present disclosure relates to a control device for a human-powered vehicle.

2. Description of the Related Art A control device that controls a human-powered vehicle according to the running state of the human-powered vehicle is known. The control device disclosed in Patent Document 1 executes different control from that during normal running when determining that the driver is running while standing.

JP 2018-1837 Publication

In the case of electrically assisted bicycles that use electric motors to assist in propulsion of the vehicle, there is a need for motor control that can achieve stable running under various running conditions.
An object of the present invention is to provide a control device for a human-powered vehicle that can realize stable running of the human-powered vehicle.

A control device for a human-powered vehicle according to a first aspect of the present disclosure includes a first sensor that detects at least one of an inclination state of the human-powered vehicle in the left-right direction and a steering angle of the human-powered vehicle; a motor that applies a propulsive force to the motor; and a control section that controls the motor, and the control section is configured such that the detected value by the first sensor within a first predetermined period is greater than or equal to a first predetermined value, and If the number of detections of the first predetermined value or more within the first predetermined period is the first predetermined number or more, the motor is controlled in a first control state, and the first sensor detects the first predetermined value or more within the first predetermined period. If the number of detections of a predetermined value or more is less than the first predetermined number, the motor is controlled in a second control state different from the first control state, and the assist force by the motor in the first control state is It is smaller than the assist force by the motor in the second control state.
According to the human-powered vehicle control device of the first aspect, the motor can be controlled with an assist force in the first control state that is smaller than an assist force of the motor in the second control state. Therefore, when the human-powered vehicle is running inclined in the left-right direction, stable running of the human-powered vehicle can be realized by controlling the motor in the first control state.

In the second aspect of the control device for a human-powered vehicle according to the first aspect of the present disclosure, the assist force may include a maximum output value of the motor, a minimum output value of the motor, a maximum output torque of the motor, and a minimum output of the motor. torque, a response speed of the motor, a ratio of the output of the motor to the human torque input to the human-powered vehicle, and a driving force of the motor to the human-powered driving force input to the human-powered vehicle. .
According to the human-powered vehicle control device of the second aspect, the motor can be controlled so as to apply an appropriate assisting force. Therefore, stable running of the human-powered vehicle can be realized.

The third aspect of the control device for a human-powered vehicle according to the first or second aspect of the present disclosure further includes a second sensor that acquires information regarding the traveling speed of the human-powered vehicle, and the control unit is configured to control the second sensor. The motor is controlled in the first control state or the second control state based on the information regarding the traveling speed of the human-powered vehicle acquired by.
According to the human-powered vehicle control device of the third aspect, the motor can be controlled in the first control state or the second control state based on the information regarding the traveling speed of the human-powered vehicle. Therefore, stable running of the human-powered vehicle can be achieved.

In the control device for a human-powered vehicle according to the fourth aspect according to the third aspect of the present disclosure, the control unit may be arranged such that the traveling speed is set to a first speed based on information regarding the traveling speed of the human-powered vehicle acquired by the second sensor. If the speed is less than the predetermined speed, the motor is controlled in the second control state.
According to the human-powered vehicle control device of the fourth aspect, when the traveling speed is less than the first predetermined speed, the motor can be controlled in the second control state. Therefore, the running speed can be easily increased, and usability is improved.

In the fifth aspect of the human-powered vehicle control device according to any one of the first to fourth aspects of the present disclosure, at least one of the first predetermined period, the first predetermined value, and the first predetermined number of times is configured to be changeable.
According to the human-powered vehicle control device of the fifth aspect, an appropriate first predetermined period, first predetermined value, and first predetermined number of times can be set. Therefore, stable running of the human-powered vehicle can be realized.

In the sixth aspect of the human-powered vehicle control device according to any one of the first to fifth aspects of the present disclosure, the first sensor includes at least one of an acceleration sensor and a steering angle sensor.
According to the human-powered vehicle control device of the sixth aspect, the motor can be controlled based on at least one value detected from the angular velocity sensor and the steering angle sensor.

In the control device for a human-powered vehicle according to the seventh aspect according to any one of the first to sixth aspects of the present disclosure, the control unit may control the first predetermined value within a second predetermined period in the first control state. If the number of times of detection is less than a second predetermined number of times, the motor is controlled in the second control state.
According to the control device for a human-powered vehicle in the seventh aspect, when the number of detections of the first predetermined value or more within the second predetermined period is less than the second predetermined number, the control device switches from the first control state to the second control state. Can control motors. Therefore, it is possible to provide an assist force suitable for driving a human-powered vehicle.

In the control device for a human-powered vehicle according to the eighth aspect of the present disclosure, a first sensor that detects at least one of a tilting state of the human-powered vehicle in the left-right direction and a steering angle of the human-powered vehicle; a second sensor that acquires information regarding the traveling speed of the human-powered vehicle, a motor that provides propulsive force to the human-powered vehicle, and a control unit that controls the motor, and the control unit is configured to detect the If the detected value within one predetermined period is greater than or equal to a first predetermined value, and the number of times the detection value is greater than or equal to the first predetermined value within the first predetermined period is greater than or equal to the first predetermined number, the The control state of the motor is changed based on the traveling speed based on the information.
According to the human-powered vehicle control device of the eighth aspect, the motor is controlled in the first control state or the second control state based on the values detected from the first sensor and the second sensor. Therefore, stable running of the human-powered vehicle can be realized.

In the control device for a human-powered vehicle according to the ninth aspect according to any one of the first to eighth aspects of the present disclosure, the control section is configured to be able to switch the control state of the motor according to an operation of an operation section. be done.
According to the human-powered vehicle control device of the ninth aspect, the control state can be switched by the user. Therefore, usability is improved.

In the control device for a human-powered vehicle according to the tenth aspect according to any one of the first to ninth aspects of the present disclosure, the control unit is configured to be able to register a user according to an operation of an operation unit, and the control unit is configured to be able to register a user according to an operation of an operation unit. The control state of the motor can be switched depending on the user.
According to the human-powered vehicle control device of the tenth aspect, control states can be registered for each user and switched during driving. Therefore, usability is improved.

According to the human-powered vehicle control device of the present disclosure, stable running of the human-powered vehicle can be realized.

1 is a side view of a human-powered vehicle including a human-powered vehicle control device according to a first embodiment; FIG. FIG. 2 is a block diagram showing electrical connections of the human-powered vehicle in FIG. 1; A graph showing an example of the relationship between a detection value detected by a first sensor and a first predetermined value. 1 is a flowchart illustrating an example of a first selection control procedure executed by a control unit of a control device for a human-powered vehicle according to a first embodiment; 5 is a flowchart illustrating an example of the procedure of second selection control executed by the control unit of the control device for a human-powered vehicle according to the first embodiment. 5 is a flowchart illustrating an example of the procedure of first change control executed by the control unit of the control device for a human-powered vehicle according to the first embodiment. 7 is a flowchart illustrating an example of a second change control procedure executed by the control unit of the human-powered vehicle control device according to the first embodiment. 7 is a flowchart showing an example of the procedure of the third change control executed by the control unit of the control device for a human-powered vehicle according to the first embodiment. 7 is a flowchart illustrating an example of a third selection control procedure executed by the control unit of the human-powered vehicle control device according to the second embodiment. 12 is a flowchart illustrating an example of a fourth selection control procedure executed by the control unit of the human-powered vehicle control device according to the third embodiment.

<First embodiment>
A human-powered vehicle control device 40 according to a first embodiment will be described with reference to FIGS. 1 to 8. Below, the human-powered vehicle control device 40 may be simply referred to as the control device 40. The human-powered vehicle 10 is a vehicle that can be driven by at least human-powered driving force. The number of wheels of the human-driven vehicle 10 is not limited, and includes, for example, a one-wheel vehicle, a two-wheel vehicle, and a vehicle having three or more wheels. The human-powered vehicle 10 includes, for example, types of bicycles such as mountain bikes, road bikes, city bikes, cargo bikes, recumbent bikes, and electric bicycles. Electric bicycles include electric assist bicycles that use electric motors to assist in propulsion of the vehicle. Hereinafter, in the embodiment, the human-powered vehicle 10 will be described as a power-assisted bicycle.

The human-powered vehicle 10 includes a crank 12 to which human-powered driving force is input. The human powered vehicle 10 further includes wheels 14 and a vehicle body 16. The wheels 14 include a rear wheel 14A and a front wheel 14B. Vehicle body 16 includes a frame 18 . The crank 12 includes a crankshaft 12A that is rotatable with respect to the frame 18, and crank arms 12B that are provided at the ends of the crankshaft 12A in the axial direction. A pedal 20 is connected to each crank arm 12B. The rear wheels 14A are driven by the rotation of the crank 12. The rear wheel 14A is supported by the frame 18. The crank 12 and the rear wheel 14A are connected by a drive mechanism 22. The drive mechanism 22 includes a first rotating body 24 connected to the crankshaft 12A. The crankshaft 12A and the first rotating body 24 may be connected to rotate together, or may be connected via a first one-way clutch. The first one-way clutch rotates the first rotating body 24 forward when the crank 12 rotates forward, and allows relative rotation between the crank 12 and the first rotating body 24 when the crank 12 rotates backward. It is composed of The first rotating body 24 includes at least one sprocket, at least one pulley, or a bevel gear. The drive mechanism 22 further includes a second rotating body 26 and a connecting member 28. The connecting member 28 transmits the rotational force of the first rotating body 24 to the second rotating body 26 . Connection member 28 includes, for example, a chain, a belt, or a shaft.

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

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

The human-powered vehicle 10 includes a battery 36 for the human-powered vehicle. Battery 36 includes one or more battery elements. The battery element includes a rechargeable battery. Battery 36 supplies power to control device 40 . The battery 36 is preferably communicably connected to the control unit 46 of the control device 40 by wire or wirelessly. The battery 36 can communicate with the control unit 46 by, for example, power line communication (PLC), CAN (Controller Area Network), or UART (Universal Asynchronous Receiver/Transmitter).

The human powered vehicle 10 includes an operating section 38. The operation unit 38 is operated by the user and outputs an operation signal corresponding to the content of the user's operation. The operation signal is output to the control unit 46 of the control device 40, for example. The operating section 38 includes at least one of a lever and a button. The operation unit 38 may be configured by a touch panel. The operation signal includes, for example, a switching signal that switches the control state and a user information change signal that changes information regarding the user. The operation unit 38 may be configured to be able to operate the configuration of another human-powered vehicle 10.

The human powered vehicle 10 includes a control device 40 . The control device 40 includes a first sensor 42 that detects at least one of the tilt state of the human-powered vehicle 10 in the left-right direction and the steering angle of the human-powered vehicle 10, and a motor 44 that provides propulsive force to the human-powered vehicle 10. and a control unit 46 that controls the motor 44. The left-right direction of the human-powered vehicle 10 is equal to the left-right direction of the user when the user rides the human-powered vehicle 10 in a general posture. The first sensor 42 is communicably connected to the control unit 46 wirelessly or by wire. The first sensor 42 includes at least one of an acceleration sensor 42A and a steering angle sensor 42B. The acceleration sensor 42A is configured to be able to detect at least one of the yaw angle of the human-powered vehicle 10, the roll angle of the human-powered vehicle 10, and the pitch angle of the human-powered vehicle 10. Preferably, the acceleration sensor 42A is configured to be able to detect all of the yaw angle of the human-powered vehicle 10, the roll angle of the human-powered vehicle 10, and the pitch angle of the human-powered vehicle 10. Preferably, the three axes of the acceleration sensor 42A are along the front-rear direction, the left-right direction, and the up-down direction of the human-powered vehicle 10 when the human-powered vehicle 10 is standing upright with the front wheels and rear wheels on a horizontal surface. It is provided in the human powered vehicle 10. The tilt state in the left-right direction corresponds to the roll angle of the human-powered vehicle. The steering angle sensor 42B includes, for example, a potentiometer. The steering angle sensor 42B is provided, for example, in the head tube and detects the relative rotation angle between the head tube and the steering column to which the handlebar 34 is connected. The first sensor 42 may include a gyro sensor that detects the angular velocity of the human-powered vehicle 10 in the left-right direction, front-back direction, and up-down direction.

Motor 44 includes one or more electric motors. The motor 44 is configured to transmit rotation to at least one of the power transmission path for human power driving force from the pedal 20 to the rear wheel 14A and the front wheel 14B. The power transmission path of the human power driving force from the pedal 20 to the rear wheel 14A includes the rear wheel 14A. In this embodiment, the motor 44 is provided on the frame 18 of the human-powered vehicle 10 and is configured to transmit rotation to the first rotating body 24 . A drive unit is configured including the motor 44 and a housing in which the motor 44 is provided. Preferably, the power transmission path between the motor 44 and the crankshaft 12A is configured to prevent the motor 44 from rotating due to the rotational force of the crank 12 when the crankshaft 12A is rotated in the direction in which the human-powered vehicle 10 moves forward. A third one-way clutch is provided. When the motor 44 is provided in at least one of the rear wheels 14A and the front wheels 14B, the motor 44 may include a hub motor.

The control unit 46 includes an arithmetic processing unit that executes a predetermined control program. The arithmetic processing device includes, for example, a CPU (Central Processing Unit) or an MPU (Micro Processing Unit). The arithmetic processing units may be provided at multiple locations separated from each other. The control unit 46 may include one or more microcomputers. Preferably, control device 40 further includes a storage unit 48. The storage unit 48 stores various control programs and information used for various control processes. The storage unit 48 includes, for example, nonvolatile memory and volatile memory. Nonvolatile memory includes, for example, at least one of ROM (Read-Only Memory), EPROM (Erasable Programmable Read Only Memory), EEPROM (Electrically Erasable Programmable Read-Only Memory), and flash memory. Volatile memory includes, for example, RAM (Random Access Memory).

Control device 40 preferably further includes a drive circuit for motor 44. The drive circuit and the control unit 46 are preferably provided in a housing in which the motor 44 is provided. The drive circuit and the control unit 46 may be provided on the same circuit board, for example. The drive circuit includes an inverter circuit. The drive circuit controls the power supplied to the motor 44 from the battery 36. The drive circuit is connected to the control unit 46 by wire or wirelessly. The drive circuit drives the motor 44 in response to a control signal from the control unit 46.

Control device 40 further includes a second sensor 50 that obtains information regarding the traveling speed of human-powered vehicle 10 . The second sensor 50 acquires information regarding the traveling speed of the human-powered vehicle 10 . The second sensor 50 is communicably connected to the control unit 46 wirelessly or by wire. The second sensor 50 is, for example, a vehicle speed sensor. The vehicle speed sensor is configured to detect the rotational speed of the wheels 14 of the human-powered vehicle 10 . The vehicle speed sensor includes a magnetic reed or a Hall element that constitutes a reed switch. The second sensor 50 includes at least one of a crank rotation sensor that detects the rotational speed of the crank 12 of the human-powered vehicle 10, an acceleration sensor that detects the acceleration of the human-powered vehicle 10, and a position information sensor that detects the position of the human-powered vehicle 10. It may be composed of two.

Preferably, the human powered vehicle 10 further includes a notification section 52. The notification section 52 includes a display section. The display section includes, for example, a display panel. The display unit includes, for example, at least one of a portable electronic device, a display, a smartphone, a tablet computer, and a cycle computer. The notification section 52 may include a speaker. The notification unit 52 reports, for example, the current control state of the motor 44 by the control unit 46.

Preferably, the human-powered vehicle 10 includes a transmission 54 configured to change the gear ratio R in the human-powered vehicle 10 . The gear ratio R of the human-powered vehicle 10 is the ratio of the rotational speed of the drive wheels to the rotational speed N of the crank 12. In this embodiment, the driving wheel is the rear wheel 14A. The transmission 54 includes, for example, at least one of a front derailleur, a rear derailleur, and an internal transmission. When the transmission 54 includes an internal transmission, the internal transmission is provided, for example, at the hub of the rear wheel 14A. Transmission 54 includes at least one of an electric transmission configured to operate with an electric actuator and a cable transmission configured to operate with a Bowden cable.

The control executed by the control unit 46 will be explained. The control unit 46 controls the motor 44 in a first control state or a second control state. The assist force by the motor 44 is different between the first control state and the second control state. In one example, the assist force by the motor 44 in the first control state is smaller than the assist force by the motor 44 in the second control state. The assist force is determined by the maximum output value of the motor 44, the minimum output value of the motor 44, the maximum output torque of the motor 44, the minimum output torque of the motor 44, the response speed of the motor 44, and the motor relative to the human torque input to the human-powered vehicle 10. 44 and the driving force of the motor 44 relative to the human power driving force input to the human powered vehicle 10. When controlling the motor 44 in the first control state, the control unit 46 controls the maximum output value of the motor 44, the minimum output value of the motor 44, the maximum output torque of the motor 44, the minimum output torque of the motor 44, and the response speed of the motor 44. , the ratio of the output of the motor 44 to the human torque input to the human-powered vehicle 10, and at least one value of the driving force of the motor 44 to the human-powered driving force input to the human-powered vehicle 10 are changed from the values in the second control state. . When controlling the motor 44 in the second control state, the control unit 46 controls the maximum output value of the motor 44, the minimum output value of the motor 44, the maximum output torque of the motor 44, the minimum output torque of the motor 44, and the response speed of the motor 44. , the ratio of the output of the motor 44 to the human torque input to the human-powered vehicle 10, and at least one value of the driving force of the motor 44 to the human-powered driving force input to the human-powered vehicle 10 are changed from the values in the first control state. .

In one example, the maximum output value of motor 44 in the first control state is smaller than the maximum output value of motor 44 in the second control state. The minimum output value of the motor 44 in the first control state is smaller than the minimum output value of the motor 44 in the second control state. The maximum output torque of the motor 44 in the first control state is smaller than the maximum output torque of the motor 44 in the second control state. The minimum output torque of the motor 44 in the first control state is smaller than the minimum output torque of the motor 44 in the second control state. The response speed of the motor 44 in the first control state is slower than the response speed of the motor 44 in the second control state. The ratio of the motor output to the human torque input to the human powered vehicle 10 in the first control state is smaller than the ratio of the motor output to the human torque input to the human powered vehicle 10 in the second control state. The driving force of the motor 44 relative to the human-powered driving force input to the human-powered vehicle 10 in the first control state is smaller than the driving force of the motor 44 relative to the human-powered driving force input to the human-powered vehicle 10 in the second control state.

The control unit 46 executes first selection control to select the control state of the motor 44. The first selection control is control for selecting the first control state or the second control state when the control unit 46 shifts from a state in which it does not control the motor 44 to a state in which it controls the motor 44. In the first selection control, the control unit 46 determines that the detection value by the first sensor 42 within the first predetermined period is greater than or equal to the first predetermined value TH1, and the number of times the detection value is greater than or equal to the first predetermined value TH1 within the first predetermined period is If the number of times is greater than or equal to the first predetermined number, the motor 44 is controlled in the first control state. In the first selection control, if the number of times the first sensor 42 detects the first predetermined value TH1 or more within the first predetermined period is less than the first predetermined number, the control unit 46 performs a second control state different from the first control state. The motor 44 is controlled in this state. An arbitrary period is set as the first predetermined period. An arbitrary number of times is set as the first predetermined number of times. In one example, the first predetermined number of times is one. In another example, the first predetermined number of times is an arbitrary number of times greater than or equal to two.

At least one of the first predetermined period, the first predetermined value TH1, and the first predetermined number of times is configured to be changeable. In one example, the first predetermined period, the first predetermined value TH1, and the first predetermined number of times are all configured to be changeable. The first predetermined period, the first predetermined value TH1, and the first predetermined number of times are changed, for example, by the user's operation of the operating unit 38. The control unit 46 changes the first predetermined period, the first predetermined value TH1, and the first predetermined number of times in response to a change signal output by operating the operating unit 38.

FIG. 3 shows the relationship between the value related to the inclination angle of the human-powered vehicle detected by the first sensor 42, the time related to the first predetermined period, and the first predetermined value TH1. The first sensor 42 is, for example, an acceleration sensor 42A that detects the inclination of the human-powered vehicle 10 in the left-right direction. The vertical axis in FIG. 3 indicates the magnitude of the tilted state of the human-powered vehicle 10 in the left-right direction. A value of 0 on the vertical axis indicates that the human-powered vehicle 10 is not tilted in the left-right direction. The larger the value on the vertical axis is than 0, the more the human-powered vehicle 10 is tilted to one side in the left-right direction. The smaller the value on the vertical axis is than 0, the more the human-powered vehicle 10 is tilted to the other side in the left-right direction. The horizontal axis in FIG. 3 represents time. The broken line in FIG. 3 represents the first predetermined value TH1. The control unit 46 acquires detected values from the first sensor 42 at predetermined intervals. The control unit 46 compares the number of times the value of the first sensor 42 exceeds the first predetermined value TH1 within a predetermined period with a first predetermined number of times.

The control unit 46 executes second selection control instead of or in addition to the first selection control. The second selection control is control for selecting the first control state or the second control state when the control unit 46 shifts from a state in which it does not control the motor 44 to a state in which it controls the motor 44. The control unit 46 controls the motor 44 in the first control state or the second control state based on information regarding the traveling speed of the human-powered vehicle 10 acquired by the second sensor 50. In one example, the first control state or the second control state is selected based on the relationship between a value detected from information regarding the traveling speed of the human-powered vehicle 10 and a predetermined value. The control unit 46 selects the first control state or the second control state, for example, based on whether the traveling speed based on the information regarding the traveling speed of the human-powered vehicle 10 is equal to or higher than the first predetermined speed. The control unit 46 controls the motor 44 in the first control state when the traveling speed is equal to or higher than the first predetermined value. The control unit 46 controls the motor 44 in the second control state when the traveling speed is less than the first predetermined value.

If the selection of the control state of the motor 44 based on the first selection control and the selection of the control state of the motor 44 based on the second selection control are different, the control unit 46 controls the motor 44 in an arbitrary control state. In the first example, the control state of the selected motor 44 is selected based on the first selection control. In the second example, the control state of the selected motor 44 is selected based on the second selection control. In the third example, the motor 44 is controlled in the first control state. In the fourth example, the motor 44 is controlled in the second control state. The selection of the control states from the first example to the fourth example may be configured to be changeable by operating the operation unit 38.

The control unit 46 executes first change control to change the control state of the motor 44. The first change control is control in which the control unit 46 changes from a state in which it controls the motor 44 in the first control state to a state in which it controls the motor 44 in the second control state. The control unit 46 controls the motor 44 in the second control state when the traveling speed based on the information regarding the traveling speed of the human-powered vehicle 10 acquired by the second sensor 50 is less than the first predetermined speed. The control unit 46 controls the motor 44 in the second control state when the number of detections of the first predetermined value TH1 or more within the second predetermined period is less than the second predetermined number in the first control state. The second predetermined period and the second predetermined number of times are set arbitrarily. In the first example, the length of the second predetermined period is the same length as the first predetermined period. The second predetermined number of times is the same number of times as the first predetermined number of times. In the second example, the length of the second predetermined time is longer than the length of the first predetermined time. The second predetermined number of times is less than the first predetermined number of times.

The control unit 46 executes a second change control that changes the control state of the motor 44 instead of or in addition to the first change control. The second change control is a control in which the control unit 46 changes from a state in which it controls the motor 44 in the second control state to a state in which it controls the motor 44 in the first control state. In the second control state, if the running speed based on the information regarding the running speed of the human-powered vehicle 10 acquired by the second sensor 50 is equal to or higher than the first predetermined speed, the control unit 46 controls the motor 44 in the first control state. Control. The control unit 46 controls the motor 44 in the first control state when the number of detections of the first predetermined value TH1 or more within the first predetermined period is the first predetermined number or more.

The control unit 46 executes a third change control that changes the control state of the motor 44 instead of or in addition to the first change control and the second change control. The third change control is a change from a state in which the control unit 46 controls the motor 44 in one of the first control state and the second control state to a state in which the control unit 46 controls the motor 44 in the other of the first control state and the second control state. control. The control unit 46 is configured to be able to switch the control state of the motor 44 according to the operation of the operation unit 38. When the control unit 46 is controlling the motor 44 in the first control state and the operation signal from the operation unit 38 includes a switching signal, the control unit 46 changes the control state from the first control state to the second control state. The control unit 46 changes the control state from the second control state to the first control state when the operation signal from the operation unit 38 includes the second change instruction while the motor 44 is being controlled in the second control state. do. When the control state is changed by the third change control, the control unit 46 may be configured not to perform the first change control and the second change control for a predetermined period.

The control unit 46 is configured to be able to register a user according to the operation of the operating unit 38, and configured to be able to switch the control state of the motor 44 depending on the registered user. User information regarding registered users is stored in the storage unit 48, for example. The user information includes at least one of a first predetermined period, a first predetermined value TH1, a first predetermined number of times, a second predetermined period, and a second predetermined number of times set for each user. The control unit 46 refers to the user information and selects at least one of a first selection control, a second selection control, a first change control, a second change control, and a third change control in which conditions are set for each user. Execute.

The procedure of the first selection control executed by the control unit 46 will be described with reference to FIG. 4. The control unit 46 executes the process of step S11 in order to execute the first selection control when power is supplied to the control unit 46 and the control state of the motor 44 is not set. The control unit 46 may be configured to determine whether or not to perform the first selection control depending on whether or not the human-powered vehicle 10 is traveling. In one example, when the human-powered vehicle 10 is stopped, the first selection control is not executed.

In step S11, the control unit 46 acquires a detected value regarding the inclination angle of the human-powered vehicle from the first sensor 42. After acquiring the detected value regarding the inclination angle of the human-powered vehicle from the first sensor 42, the control unit 46 executes the process of step S12. In step S12, the control unit 46 determines whether the first predetermined period has elapsed. If it is determined that the first predetermined period has elapsed, the control unit 46 executes the process of step S13. If it is determined that the first predetermined period has not elapsed, the control unit 46 executes the process of step S11 again.

In step S13, the control unit 46 determines whether the number of detections of the first predetermined value TH1 or more during the first predetermined period is the first predetermined number or more. If it is determined that the number of times has exceeded the first predetermined number, the control unit 46 executes the process of step S14. If it is determined that the number of times has not exceeded the first predetermined number, the control unit 46 executes the process of step S15.

The control unit 46 sets the control state of the motor 44 to the first control state in step S14. In step S15, the control unit 46 sets the control state of the motor 44 to a second control state in which the assist force of the motor 44 is different from the first control state.

The procedure of the second selection control executed by the control unit 46 will be described with reference to FIG. 5. The control unit 46 executes the process of step S21 in order to execute the second selection control when power is supplied to the control unit 46 and the control state of the motor 44 is not set.

In step S21, the control unit 46 acquires information regarding driving from the second sensor. After acquiring information regarding driving from the second sensor, the control unit 46 executes the process of step S22. In step S22, the control unit 46 determines whether the traveling speed of the human-powered vehicle 10 is equal to or higher than a first predetermined speed. If it is determined that the speed is equal to or higher than the first predetermined speed, the control unit 46 executes the process of step S23. If it is determined that the speed is lower than the first predetermined speed, the control unit 46 executes the process of step S24.

The control unit 46 sets the control state of the motor 44 to the first control state in step S23. In step S24, the control unit 46 sets the control state of the motor 44 to a second control state in which the assist force of the motor 44 is different from the first control state.

The procedure of the first change control executed by the control unit 46 will be described with reference to FIG. 6. When controlling the motor 44 in the first control state, the control unit 46 executes the first change control at a predetermined period.

The control unit 46 acquires information regarding the traveling speed from the second sensor 50 in step S31. After acquiring the information regarding the traveling speed from the second sensor 50, the control unit 46 executes the process of step S32. In step S32, the control unit 46 determines whether the traveling speed of the human-powered vehicle 10 is less than a first predetermined speed. When the traveling speed of the human-powered vehicle 10 is less than the first predetermined speed, the control unit 46 ends the first change control. If the traveling speed of the human-powered vehicle 10 is not less than the first predetermined speed, the control unit 46 executes the process of step S33. The control unit 46 acquires the detected value from the first sensor 42 in step S33. After acquiring the detected value from the first sensor 42, the control unit 46 executes the process of step S34.

In step S34, the control unit 46 determines whether the second predetermined period has elapsed. If it is determined that the second predetermined period has elapsed, the control unit 46 executes the process of step S35. If it is determined that the second elapsed time has not elapsed, the control unit 46 executes the process of step S33 again.

In step S35, the control unit 46 determines whether the number of times of detection of the first predetermined value or more within the second predetermined period is less than the second predetermined number of times. If it is determined that the number of detections equal to or greater than the first predetermined value within the second predetermined period is less than the second predetermined number, the control unit 46 executes the process of step S36. If it is determined that the number of detections equal to or greater than the first predetermined value within the second predetermined period is equal to or greater than the second predetermined number, the control unit 46 ends the first change control. The control unit 46 sets the control state of the motor 44 to the second control state in step S36. After step S36 ends, the control unit 46 ends the first change control.

The procedure of the second change control executed by the control unit 46 will be described with reference to FIG. 7. When controlling the motor 44 in the second control state, the control unit 46 executes the second change control at a predetermined period.

The control unit 46 acquires a detected value from the first sensor 42 in step S41. After acquiring the detected value from the first sensor 42, the control unit 46 executes the process of step S42. In step S42, the control unit 46 determines whether the first predetermined period has elapsed. If it is determined that the first predetermined period has elapsed, the control unit 46 executes the process of step S43. If it is determined that the first predetermined period has not elapsed, the control unit 46 executes the process of step S41 again.

In step S43, the control unit 46 determines whether the number of detections of the first predetermined value TH1 or more during the first predetermined period is the first predetermined number or more. When the number of times of detection equal to or greater than the first predetermined value TH1 is equal to or greater than the first predetermined number, the control unit 46 executes the process of step S44. When the number of detections of the first predetermined value TH1 or more is less than the first predetermined number, the control unit 46 ends the second change control. The control unit 46 sets the control state of the motor 44 to the first control state in step S44. After completing step S44, the control unit 46 ends the second change control.

The procedure of the third change control executed by the control unit 46 will be described with reference to FIG. 8. When controlling the motor 44 in the first control state or the second control state, the control unit 46 executes the third change control at a predetermined period.

The control unit 46 controls the motor 44 in either the first control state or the second control state in step S51. After controlling the motor 44 in either the first control state or the second control state, the control unit 46 executes the process of step S52. The control unit 46 determines whether a switching signal has been received from the operation unit 38 in step S52. If it is determined that the switching signal has been received, the control unit 46 executes the process of step S53. If it is determined that the switching signal has not been received, the control unit 46 executes the process of step S52 again. In step S53, the control unit 46 changes the control state and controls the motor 44 in the other of the first control state and the second control state. After completing step S53, the control unit 46 ends the third change control.

<Second embodiment>
Referring to FIG. 8, a human-powered vehicle control device 40 according to a second embodiment will be described. The human-powered vehicle control device 40 of the second embodiment is similar to the human-powered vehicle control device 40 of the first embodiment except that third selection control is executed instead of the first selection control and the second selection control. Therefore, the same components as those in the first embodiment are given the same reference numerals as those in the first embodiment, and redundant explanations will be omitted.

The control unit 46 executes third selection control. The third selection control is control in which the control unit 46 selects the control state of the motor 44 based on both the detection value of the first sensor 42 and the detection value of the second sensor 50. The control unit 46 is configured such that the detected value by the first sensor 42 within the first predetermined period is greater than or equal to the first predetermined value TH1, and the number of times the detection value is greater than or equal to the first predetermined value TH1 within the first predetermined period is greater than or equal to the first predetermined number of times. In this case, the control state of the motor 44 is changed based on the traveling speed based on the information acquired by the second sensor 50. The control unit 46 controls the motor 44 in the first control state when the traveling speed is equal to or higher than the first predetermined speed. The control unit 46 controls the motor 44 in the second control state when the traveling speed is less than the first predetermined speed. When controlling the motor 44 in the first control state, the control unit 46 controls the motor 44 such that, for example, the ratio of the output of the motor 44 to the human torque input to the human-powered vehicle 10 becomes the first assist ratio. When controlling the motor 44 in the second control state, the control unit 46 controls the motor 44 so that the ratio of the output of the motor 44 to the human torque input to the human-powered vehicle 10 becomes the second assist ratio. The second assist ratio is larger than the first assist ratio.

The procedure of the third selection control executed by the control unit 46 will be described with reference to FIG. 9. The control unit 46 executes the process of step S61 in order to execute the third selection control when power is supplied to the control unit 46 and the control state of the motor 44 is not set.

The control unit 46 acquires a detected value from the first sensor 42 in step S61. After acquiring the detected value from the first sensor 42, the control unit 46 executes the process of step S62. In step S62, the control unit 46 determines whether the first predetermined period has elapsed. If it is determined that the first predetermined period has elapsed, the control unit 46 executes the process of step S63. If it is determined that the first predetermined period has not elapsed, the control unit 46 executes the process of step S61 again.

In step S63, the control unit 46 determines whether or not the number of times of detection equal to or greater than the first predetermined value TH1 is equal to or greater than the first predetermined number of times. If the number of detections equal to or greater than the first predetermined value TH1 is equal to or greater than the first predetermined number, the control unit 46 executes the process of step S64. If the number of detections equal to or greater than the first predetermined value TH1 is less than the first predetermined number, the control unit 46 ends the third selection control.

The control unit 46 acquires information regarding the traveling speed from the second sensor 50 in step S64. After acquiring the information regarding the traveling speed from the second sensor 50, the control unit 46 executes the process of step S65. In step S65, the control unit 46 determines whether the traveling speed is equal to or higher than a first predetermined speed. If the traveling speed is equal to or higher than the first predetermined speed, the control unit 46 executes the process of step S66. If the traveling speed is less than the first predetermined speed, the control unit 46 executes the process of step S67.

The control unit 46 sets the control state of the motor 44 to the first control state in step S66. After completing step S66, the control unit 46 ends the third selection control. The control unit 46 sets the control state of the motor 44 to the second control state in step S67. After completing step S67, the control unit 46 ends the third selection control.

<Third embodiment>
Referring to FIG. 10, a human-powered vehicle control device 40 according to a third embodiment will be described. The human-powered vehicle control device according to the second embodiment is the human-powered vehicle control device according to the first embodiment and the second embodiment except that the fourth selection control is executed instead of or in addition to the first to third selection controls. Since it is the same as the driving vehicle control device 40, the same components as in the first embodiment and the second embodiment are given the same reference numerals as in the first embodiment and the second embodiment, and redundant explanations are omitted. do.

The control unit 46 executes fourth selection control. The fourth selection control is control for selecting the control state of the motor 44 based on the yaw angle of the human-powered vehicle 10 detected by the first sensor 42. The control unit 46 sets the motor 44 to be controlled in the first control state when the number of times the yaw angle of the human-powered vehicle 10 becomes equal to or greater than the first predetermined value during the first predetermined period is equal to or greater than the first predetermined number. The control unit 46 controls the motor 44 to enter the first control state when the number of increases and decreases in the yaw angle of the human-powered vehicle 10 during the first predetermined period is equal to or greater than the third predetermined number. In one example, the number of increases and decreases is counted as one when the yaw angle increases or decreases by a threshold value or more. In one example, the number of increases and decreases is one. In another example, the number of increases and decreases is an arbitrary number of times greater than or equal to 2.

The procedure of the fourth selection control executed by the control unit 46 will be described with reference to FIG. 10. The control unit 46 executes the process of step S71 in order to execute the fourth selection control when power is supplied to the control unit 46 and the control state of the motor 44 is not set.

The control unit 46 acquires the yaw angle of the human-powered vehicle 10 from the first sensor in step S71. After acquiring the yaw angle of the human-powered vehicle 10 from the first sensor, the control unit 46 executes the process of step S72. In step S72, the control unit 46 determines whether the first predetermined period has elapsed. If it is determined that the first predetermined period has elapsed, the control unit 46 executes the process of step S73. If it is determined that the first predetermined period has not elapsed, the control unit 46 executes the process of step S71 again.

In step S73, the control unit 46 determines whether or not the number of times greater than or equal to the first predetermined value is greater than or equal to the first predetermined number of times. If the number of times greater than or equal to the first predetermined value is greater than or equal to the first predetermined number, the control unit 46 executes the process of step S75. If the number of times greater than or equal to the first predetermined value is less than the first predetermined number of times, the control unit 46 executes the process of step S74.

In step S74, the control unit 46 determines whether the number of increases and decreases in the yaw angle is equal to or greater than a third predetermined number of times. If the number of increases and decreases in the yaw angle is equal to or greater than the third predetermined number, the control unit 46 executes the process of step S75. If the number of increases and decreases in the yaw angle is less than the third predetermined number, the control unit 46 executes the process of step S76.

The control unit 46 sets the control state of the motor 44 to the first control state in step S75. After completing step S75, the control unit 46 ends the fourth selection control. The control unit 46 sets the control state of the motor 44 to the second control state in step S76. After completing step S76, the control unit 46 ends the fourth selection control.

According to the human-powered vehicle control device 40 of the third embodiment, the following effects can be obtained.
Since the first control state and the second control state are selected based on the yaw angle of the human-powered vehicle 10, for example, when the human-powered vehicle 10 is meandering, the motor 44 is operated in the first control state where the assist force is small. can be controlled. Therefore, stable running of the human-powered vehicle can be realized.

<Modified example>
The description regarding each embodiment is an example of the form that the control device for a human-powered vehicle according to the present disclosure can take, and is not intended to limit the form. The control device for a human-powered vehicle according to the present disclosure can take a form in which, for example, a modification of each embodiment shown below or a combination of at least two modifications that are not mutually contradictory. In the following modified examples, the same parts as in the embodiment are given the same reference numerals as in the embodiment, and the explanation thereof will be omitted.

- In the human-powered vehicle control device 40 of the first to third embodiments, information regarding the traveling speed is calculated from at least one of cadence, torque acting on the crank 12 of the human-powered vehicle 10, and power. You can leave it there. Cadence is synonymous with the number of revolutions of the crank 12. Power is the product of cadence and torque. The control unit 46 calculates the running speed from sensors suitable for each detection.

- In the human-powered vehicle control device 40 of the first to third embodiments, a torque sensor that detects the torque of the crank 12 may be further provided, and the control unit 46 selects the value of the torque sensor as the first selection. It is used from control to third selection control. In one example, if the value of the torque sensor is larger than a predetermined value, it is determined that the user of the human-powered vehicle 10 is in a standing rowing state, and even if the conditions for setting the first control state are met, the second control state is set. configured to set.

- In the selection control executed by the control unit 46 of the first to third embodiments, the selection of the first control state and the second control state may be realized by another means. In one example, the control unit 46 acquires the detected value from the first sensor 42 a fourth predetermined number of times, which is greater than the first predetermined number of times. The control unit 46 controls the motor 44 in the first control state when the majority of the detected values detected a fourth predetermined number of times are equal to or greater than the first predetermined value TH1.

- The user information may include, for example, the user's own information. An example of the user's own information is the user's height, weight, age, and gender. By registering the user's own information, at least one of the first predetermined period, the first predetermined value TH1, the first predetermined number of times, the second predetermined period, and the second predetermined number of times recorded in the registered user information is changed. It may be configured so that

- In the selection control executed by the control unit 46 of the first to third embodiments, the control unit 46 controls the motor when the fluctuation range of the detected value from the first sensor 42 is equal to or greater than a threshold value in the first predetermined period. 44 may be controlled in the first control state. The selection control may be performed based on the yaw angle of the human-powered vehicle 10 detected by the first sensor 42.

- In the third selection control of the second embodiment, if the number of detections of the first predetermined value TH1 or more is less than the first predetermined number, the control unit 46 does not end the third selection control and changes the control state of the motor 44. may be configured to set the control state to the second control state.

- The expression "at least one" as used herein means "one or more" of the desired options. As an example, the expression "at least one" as used herein means "only one option" or "both of the two options" if the number of options is two. As another example, the expression "at least one" as used herein means "only one option" or "any combination of two or more options" if there are three or more options. means.

DESCRIPTION OF SYMBOLS 10... Human powered vehicle, 40... Human powered vehicle control device, 42... First sensor, 42A... Acceleration sensor, 42B... Rudder angle sensor, 44... Motor, 46... Control unit, 50... Second sensor, first predetermined Value TH1.

Claims (11)

a first sensor that detects at least one of a tilting state of the human-powered vehicle in the left-right direction and a steering angle of the human-powered vehicle;
a motor that provides propulsion to the human-powered vehicle;
a control unit that controls the motor;
The control unit includes:
If the detected value by the first sensor within the first predetermined period is greater than or equal to the first predetermined value, and the number of times the detection value is greater than or equal to the first predetermined value within the first predetermined period is greater than or equal to the first predetermined number, the first controlling the motor in a controlled state;
If the number of times the first sensor detects the first predetermined value or more within the first predetermined period is less than the first predetermined number of times, the motor is controlled in a second control state different from the first control state. ,
The assist force by the motor in the first control state is smaller than the assist force by the motor in the second control state. The assist force is
A maximum output value of the motor, a minimum output value of the motor, a maximum output torque of the motor, a minimum output torque of the motor, a response speed of the motor, and a ratio of the output of the motor to the human torque input to the human-powered vehicle. The control device for a human-powered vehicle according to claim 1, comprising at least one of a ratio, and a driving force of the motor to a human-powered driving force input to the human-powered vehicle. further comprising a second sensor that obtains information regarding the traveling speed of the human-powered vehicle;
3. The control unit according to claim 1, wherein the control unit controls the motor in the first control state or the second control state based on information regarding the traveling speed of the human-powered vehicle acquired by the second sensor. The control device for the human-powered vehicle described above. The control unit controls the motor in the second control state when the traveling speed based on information regarding the traveling speed of the human-powered vehicle acquired by the second sensor is less than a first predetermined speed. The control device for a human-powered vehicle according to item 3. The control device for a human-powered vehicle according to any one of claims 1 to 4, wherein at least one of the first predetermined period, the first predetermined value, and the first predetermined number of times is configured to be changeable. . The control device for a human-powered vehicle according to any one of claims 1 to 5, wherein the first sensor includes at least one of an acceleration sensor and a steering angle sensor. The control unit controls the motor in the second control state if the number of times the first predetermined value or more is detected within a second predetermined period is less than a second predetermined number in the first control state. 7. The control device for a human-powered vehicle according to any one of 1 to 6. a first sensor that detects at least one of a tilting state of the human-powered vehicle in the left-right direction and a steering angle of the human-powered vehicle;
a second sensor that acquires information regarding the traveling speed of the human-powered vehicle;
a motor that provides propulsion to the human-powered vehicle;
a control unit that controls the motor;
The control unit includes:
When the detection value by the first sensor within a first predetermined period is equal to or greater than a first predetermined value, and the number of times the detection value is equal to or greater than the first predetermined value within the first predetermined period is equal to or greater than a first predetermined number,
If the traveling speed based on the information acquired by the second sensor is equal to or higher than the first predetermined speed, the motor is controlled in the first control state, and if the traveling speed is less than the first predetermined speed, If so, the control device for a human-powered vehicle controls the motor in a second control state different from the first control state. In the first control state, the assist force by the motor is different from the second control state,
The assist force is
The human power according to claim 8, comprising at least one of a maximum output value of the motor, a minimum output value of the motor, a maximum output torque of the motor, a minimum output torque of the motor, and a response speed of the motor. Control device for drive vehicles. The control device for a human-powered vehicle according to any one of claims 1 to 9, wherein the control unit is configured to be able to switch the control state of the motor according to an operation of an operation unit. The control unit includes:
It is configured so that users can be registered according to the operation of the operation panel,
The control device for a human-powered vehicle according to any one of claims 1 to 10, configured to be able to switch the control state of the motor depending on a registered user.