JP6652617B2 - Control method - Google Patents

Description

The present invention relates to a control method for an ABS unit (Antilock Brake System).

  Bicycle devices having an ABS unit are known. According to the bicycle device of Patent Document 1 as one example, the braking force applied to the wheels of the bicycle is controlled by the ABS unit.

International Publication No. WO 2014/108235

  An object of the present invention is to provide a control method of an ABS unit.

  A control method according to a first aspect of the present disclosure is a control method of an ABS unit that is executed by a control device of a bicycle and controls a braking force applied to at least one of a front wheel and a rear wheel of the bicycle, wherein the vehicle speed of the bicycle is controlled. Determining whether the bicycle speed is equal to or higher than a predetermined speed; and determining whether the bicycle is in a predetermined state when determining that the vehicle speed of the bicycle is equal to or higher than the predetermined vehicle speed. Controlling based on at least one of the vehicle speed of the bicycle and the predetermined state of the bicycle, wherein the predetermined state is such that a difference between a rotation speed of the front wheel and a rotation speed of the rear wheel is a predetermined value. At least one of a first state in which the rotation speed is equal to or higher than a rotation speed and a second state in which the rotation speed of the front wheel and the rotation speed of the rear wheel have changed by a predetermined value or more. It is.
  The control method according to the second aspect according to the first aspect of the present disclosure, further comprising a step of controlling a motor that controls the braking force.
  The control method according to the third aspect according to the second aspect of the present disclosure, further comprising the step of supplying hydraulic oil to the braking device of the bicycle and controlling a pump driven by the motor.
  In the control method according to the fourth aspect according to the third aspect of the present disclosure, in the step of controlling the pump, the pump is controlled to supply hydraulic oil to a braking device for the front wheels.
  The control method according to the fifth aspect according to the third or fourth aspect of the present disclosure, further includes a step of determining whether or not a brake lever of the front wheel has been operated.
  In the control method according to the sixth aspect according to the fifth aspect of the present disclosure, when the brake speed of the front wheel is determined to be operated and the vehicle speed of the bicycle is determined to be equal to or higher than the predetermined speed, the control signal is given to the front wheel. The method further comprises controlling the motor to control a braking force.
  In the control method of the seventh aspect according to any one of the third to sixth aspects of the present disclosure, in the step of controlling the pump, the pump is controlled to supply hydraulic oil to a braking device for the rear wheel. .
  The control method according to the eighth aspect according to the third or seventh aspect of the present disclosure, further includes a step of determining whether or not a brake lever of the rear wheel has been operated.
  In the control method according to the ninth aspect according to the eighth aspect of the present disclosure, when it is determined that the brake lever of the rear wheel has been operated and the vehicle speed of the bicycle is equal to or higher than the predetermined speed, The method further includes controlling the motor for controlling the applied braking force.
  The control method according to the tenth aspect according to any one of the first to ninth aspects of the present disclosure, further comprising the step of controlling the braking force by controlling a braking device of the bicycle.
  In the control method according to the eleventh aspect according to the tenth aspect of the present disclosure, in the step of controlling the braking force, a braking force applied to the front wheels is controlled by controlling a braking device for the front wheels.
  In the control method according to the twelfth aspect according to the tenth or eleventh aspect of the present disclosure, in the step of controlling the braking force, the braking force applied to the rear wheel is controlled by controlling a braking device of the rear wheel. I do.
  The control method according to the thirteenth aspect according to any one of the first to twelfth aspects of the present disclosure, further comprising the step of controlling the ABS unit according to a first pattern for increasing a hydraulic pressure applied to the braking device of the bicycle. .
  The control method according to the fourteenth aspect according to any one of the first to thirteenth aspects of the present disclosure, further comprising the step of controlling the ABS unit according to a second pattern for reducing a hydraulic pressure applied to the braking device of the bicycle. .
  In a control method according to a fifteenth aspect according to any one of the first to fourteenth aspects of the present disclosure, the step of controlling the ABS unit in accordance with a third pattern for maintaining a constant hydraulic pressure applied to the braking device for the bicycle is provided. Further prepare.
  In the control method according to the sixteenth aspect according to any one of the thirteenth to fifteenth aspects of the present disclosure, in the step of controlling the ABS unit, the first valve of the ABS unit that applies a hydraulic pressure to the braking device of the bicycle. And controlling the ABS unit via the control of the second valve.
  The control method according to the seventeenth aspect according to any one of the first to sixteenth aspects of the present disclosure, further comprising a step of receiving information on an operation state of a brake lever of the bicycle from a first detection device.
  The control method according to the eighteenth aspect according to any one of the first to seventeenth aspects of the present disclosure, further comprising a step of receiving information on a rotation speed of at least one of the front wheel and the rear wheel from a second detection device.
  In the control method according to the nineteenth aspect according to any one of the first to eighteenth aspects of the present disclosure, the predetermined speed is 5 km / h or less.

  A bicycle device according to a first aspect of the present disclosure includes an ABS unit that is driven by an assist motor that applies an assist force to a manual driving force input from a crankshaft of a bicycle and controls a braking force applied to wheels of the bicycle. The ABS unit includes a pump that applies a hydraulic pressure to a braking device that applies a braking force to the wheels, and the pump is driven by the assist motor.
  The bicycle device according to the second aspect of the present disclosure according to the first aspect, further comprising the assist motor.
  In the bicycle device according to the third aspect according to the first aspect or the second aspect according to the present disclosure, an assist force is added to the human-powered driving force by rotating the assist motor in a first direction, and the assist motor is driven by the first motor. The pump is driven by rotating in a second direction opposite to the direction.
  In the bicycle device according to the fourth aspect according to the third aspect, the assist motor does not transmit a driving force from the assist motor to the pump when the assist motor rotates in the first direction. And a one-way clutch for transmitting a driving force from the assist motor to the pump when rotated in the second direction.
  The bicycle device according to the fifth aspect according to any one of the first to fourth aspects of the present disclosure, further comprising a control device that controls the assist motor and the ABS unit.
  In the bicycle device according to the sixth aspect according to the fifth aspect of the present disclosure, the control device detects a rotation state of the wheel, and a first detection device that detects an operation state of an operation device connected to the braking device. The assist motor is connected to a second detection device and controls the assist motor and the ABS unit based on a detection result of the first detection device and a detection result of the second detection device.
  In the bicycle device according to the seventh aspect according to the sixth aspect of the present disclosure, an assist force is added to the human-powered driving force by rotating the assist motor in a first direction, and the assist motor is driven in the first direction. The pump is driven by rotating in the opposite second direction, and the control device operates the assist device when the operating device is operated while rotating the assist motor in the first direction. The output of the motor in the first direction is reduced.
  In the bicycle device according to the eighth aspect according to the sixth aspect or the seventh aspect according to the present disclosure, the control device is configured to control a hydraulic pressure applied to the braking device based on a rotation state of the wheel when the operating device is operated. Is reduced by the ABS unit, and the assist motor is rotated in the second direction.
  In the bicycle device according to the ninth aspect according to the eighth aspect of the present disclosure, when the control device is in a state where the operation device is not operated when the assist motor is rotating in the second direction, The rotation of the assist motor in the second direction is stopped.
  In the bicycle device according to the 10A aspect according to the 8A or 9A aspect of the present disclosure, the control device may be configured such that when the assist motor is rotating in the second direction, the rotation speed of the wheel is lower than a predetermined speed. Then, the rotation of the assist motor in the second direction is stopped.
  In the bicycle device according to the eleventh aspect according to any one of the eighth aspect to the tenth aspect, the control device increases the hydraulic pressure by the pump after the hydraulic pressure applied to the braking device is reduced. .
  The bicycle device according to the twelfth aspect according to any one of the first to eleventh aspects of the present disclosure, further comprising a housing provided with the assist motor and the ABS unit.
  In the bicycle device according to the thirteenth aspect according to the twelfth aspect of the present disclosure, the pump of the ABS unit is provided in an internal space of the housing.
  The bicycle device according to any one of aspects 1A to 13A of the present disclosure, wherein the wheels include a front wheel and a rear wheel, and the ABS unit controls a braking force applied to the front wheels. A first ABS unit and a second ABS unit for controlling a braking force applied to the rear wheel.

  According to the control method of the present disclosure, the ABS unit can be controlled.

FIG. 2 is a side view of the bicycle according to the first embodiment. FIG. 2 is a block diagram of the bicycle of FIG. 1. 3 is a flowchart of control executed by the control device of FIG. 3 is a flowchart of control executed by the control device of FIG. The block diagram of the bicycle of a 2nd embodiment. The block diagram of the bicycle of a modification.

(1st Embodiment)
FIG. 1 is an external view of an electric assist bicycle (hereinafter, “bicycle 10”). The bicycle 10 includes a frame 12 that constitutes a main body of the bicycle, a front wheel 14 and a rear wheel 16 that are wheels rotatably mounted on the frame 12, and a handle 18 that is operated to change the direction of the front wheel 14. The bicycle 10 further includes a pair of brake levers 20F and 20R, which are operation devices attached to the steering wheel 18, a braking device 22F that applies a braking force to the front wheels 14, and a braking device 22R that applies a braking force to the rear wheels 16. The diameters of the front wheel 14 and the rear wheel 16 are substantially the same.

  Each of the braking devices 22F and 22R is, for example, a disc brake. Each of the braking devices 22F, 22R includes a disk rotor 26F, 26R fixed to the hubs 24F, 24R so as to be able to rotate integrally with the wheels, a pair of brake pads (not shown), and a disk rotor 26F, 26R. Calipers 28F and 28R that brake the rotation of the disc rotors 26F and 26R by pressing the calipers 28F and 28R.

  One brake lever 20F of the pair of brake levers 20F, 20R is connected to a caliper 28F for braking the front wheel 14. The other brake lever 20R is connected to a caliper 28R for braking the rear wheel 16. Each of the calipers 28F, 28R sandwiches the disc rotors 26F, 26R via a brake pad when the corresponding brake lever 20F, 20R is operated. Thereby, the rotation of the wheel is braked.

  The brake levers 20F and 20R each include a base 21A attached to the handle 18, a lever 21B rotatably connected to the base 21A, and a piston (not shown) connected to the lever 21B. When the brake levers 20F and 20R are operated, the lever 21B is displaced with respect to the base 21A from an initial position, which is the position of the lever 21B when no force is applied.

  The bicycle 10 further includes a driving mechanism 30 that transmits driving force to the rear wheels. The drive mechanism 30 includes a drive unit 32 that is detachably fixed to the frame 12, and a crankshaft 34 that is rotatably attached to the drive unit 32. The drive unit 32 includes an assist motor 36 that applies an assist force to a human-powered driving force input from a crankshaft 34, and a housing 38 that houses a plurality of mechanical elements. The assist motor 36 is an electric motor, and is provided on the housing 38. The assist motor 36 may be provided in an internal space of the housing 38. The bicycle 10 further includes a battery 40 that supplies power to the assist motor 36. Battery 40 is attached to frame 12.

  The drive mechanism 30 further includes a pair of crank arms 42 connected to the crankshaft 34 and a pair of pedals 44 rotatably attached to the crank arm 42. The drive mechanism 30 further includes a front sprocket 48 connected to the crankshaft 34 via a one-way clutch 46 (see FIG. 2), and a rear wheel rotatably attached to the hub 24R of the rear wheel 16 via a freewheel (not shown). A sprocket 50 and a chain 52 wound around the front sprocket 48 and the rear sprocket 50 are provided.

  When a manual driving force for rotating the crank arm 42 forward is input to the pedal 44, the crank arm 42 and the crank shaft 34 rotate forward integrally with the frame 12, and the rotation of the crank shaft 34 is transmitted to the front sprocket 48. The rotation of the front sprocket 48 is transmitted by the chain 52 to the rear sprocket 50 and the rear wheel 16. On the other hand, when a manual driving force for rotating the crank arm 42 backward is input to the pedal 44 and the crank arm 42 and the crank shaft 34 rotate backward integrally with the frame 12, the rotation of the crank shaft 34 is It is not transmitted to the front sprocket 48.

  The assist motor 36 rotates in a first direction according to a manual driving force for rotating the crank arm 42 forward. When the assist motor 36 rotates in the first direction, the rotation of the assist motor 36 is transmitted to the front sprocket 48 via a speed reduction mechanism (not shown) and a one-way clutch 54 (see FIG. 2). Therefore, an assist force is added to the manual driving force.

  FIG. 2 shows the electrical or mechanical connection of the bicycle 10 (see FIG. 1). Note that the broken lines in FIG. 2 indicate the electrical connection relationship of the bicycle 10. The solid line in FIG. 2 shows the mechanical connection of the bicycle 10.

  The bicycle 10 further includes a bicycle device 56 including a plurality of mechanical elements including the drive unit 32 (see FIG. 1). The bicycle device 56 is driven by the assist motor 36 and controls an ABS unit 58F that controls a braking force applied to the front wheels 14 (see FIG. 1) from the caliper 28F, and a control device 60 that controls the assist motor 36 and the ABS unit 58F. Is provided. The ABS unit 58F is housed in the internal space of the housing 38.

  The ABS unit 58F includes a pump 62 that supplies hydraulic oil and applies hydraulic pressure to the caliper 28F, and a reservoir 64F that stores hydraulic oil. The pump 62 is realized by, for example, a piston pump or a gear pump. A one-way clutch 66, which is a component of the bicycle device 56, is arranged between the assist motor 36 and the pump 62. The pump 62 is mechanically connected to the assist motor 36 via a one-way clutch 66.

  One-way clutch 66 transmits the rotation of assist motor 36 to pump 62 when the output shaft of assist motor 36 rotates in a second direction opposite to the first direction. Therefore, when the assist motor 36 rotates in the second direction, the pump 62 is driven via the one-way clutch 66. On the other hand, the one-way clutch 66 does not transmit the rotation of the assist motor 36 to the pump 62 when the output shaft of the assist motor 36 rotates in the first direction. The bicycle device 56 may further include a speed reduction mechanism (not shown) in a power transmission path between the assist motor 36 and the pump 62.

  The ABS unit 58F further includes a first valve 68F and a second valve 70F for adjusting the hydraulic pressure applied to the caliper 28F. The first valve 68F is disposed in a conduit connecting the brake lever 20F and the caliper 28F. The second valve 70F is arranged in a pipe connecting the caliper 28F and the reservoir 64F.

  The first valve 68F and the second valve 70F are realized by a solenoid valve or a motor-operated valve. When each of the valves 68F and 70F is realized by an electromagnetic valve, an electromagnetic valve that is opened when power is not supplied is used as the first valve 68F and power is not supplied from the viewpoint of suppressing power waste. It is preferable to use a solenoid valve that is sometimes closed as the second valve 70F. The control device 60 controls the opening and closing of the valves 68F and 70F, so that the hydraulic pressure applied to the caliper 28F is controlled.

  When the hydraulic pressure applied to the caliper 28F is large, the caliper 28F is brought closer to the disk rotor 26F (see FIG. 1). In this case, the caliper 28F sandwiches the disc rotor 26F via the brake pad, and the rotation of the front wheel 14 is braked. On the other hand, when the hydraulic pressure applied to the caliper 28F is small, the caliper 28F moves away from the disc rotor 26F. For this reason, the rotation of the front wheel 14 is not braked.

  The hydraulic oil supplied from the pump 62 flows through the first pipeline 72F, the second pipeline 74F, and the third pipeline 76F. The first conduit 72F, the second conduit 74F, and the third conduit 76F are each a three-branched conduit. Each end of the first conduit 72F is connected to the brake lever 20F, the pump 62, and the first valve 68F. Each end of the second conduit 74F is connected to the caliper 28F, the first valve 68F, and the second valve 70F. Each end of the third conduit 76F is connected to the pump 62, the reservoir 64F, and the second valve 70F.

  The ABS unit 58F further includes a first check valve 78F disposed on the first conduit 72F and a second check valve 80F disposed on the third conduit 76F. The first check valve 78F has a role of flowing hydraulic oil from the pump 62 to the brake lever 20F side and not flowing hydraulic oil to the opposite side. The second check valve 80F has a role of flowing hydraulic oil from the reservoir 64F to the pump 62 and not flowing hydraulic oil to the opposite side. Therefore, when the pump 62 is driven, the operating oil is supplied from the third pipe 76F connected to the reservoir 64F to the first pipe 72F. When the pump 62 is driven, the hydraulic pressure in the first pipeline 72F increases. When the second valve 70F is open, the operating oil flows from the second pipe 74F into the third pipe 76F via the second valve 70F as the pump 62 is driven.

  The bicycle 10 further detects a first detection device 82F that detects the operation state of the brake lever 20F, a second detection device 84F that detects the rotation state of the front wheel 14, and the rotation state of the rear wheel 16 (see FIG. 1). A second detection device 84R is provided. The first detection device 82F and each of the second detection devices 84F and 84R are electrically connected to the control device 60.

  The first detection device 82F is a sensor for detecting whether or not the lever 21B (see FIG. 1) of the brake lever 20F is operated by the user. The first detection device 82F is, for example, an angle sensor attached to the brake lever 20F. The angle sensor is realized by, for example, a potentiometer, a magnetic sensor, an optical sensor, or the like. The first detection device 82F detects an operation state of the brake lever 20F by detecting an operation angle that is an angle of the lever portion 21B with respect to the base portion 21A (see FIG. 1). When the angle sensor is realized by a magnetic sensor, a magnetic sensor provided on the base 21A detects a movement of a magnet provided on the lever 21B.

  The second detection device 84F includes, for example, a magnetic sensor attached to the frame 12 (see FIG. 1) near the front wheel 14, and a magnet attached to the disk rotor 26F or the spoke of the front wheel 14. The second detection device 84F detects the rotation speed, which is the rotation state of the front wheel 14, by detecting the magnet by the magnetic sensor. A plurality of magnets that rotate with the front wheel 14 may be provided in the circumferential direction of the front wheel 14, may be formed in an annular shape, and may be magnetized alternately in the circumferential direction with different polarities.

  The second detection device 84R includes, for example, a magnetic sensor attached to the frame 12 near the rear wheel 16, and a magnet attached to the disk rotor 26R or the spoke of the rear wheel 16. The second detection device 84R detects a rotation speed, which is a rotation state of the rear wheel 16, by a magnetic sensor detecting a magnet. A plurality of magnets that rotate with the rear wheel 16 may be provided in the circumferential direction of the rear wheel 16, may be formed in an annular shape, and may be alternately magnetized in the circumferential direction with different polarities.

  Control device 60 calculates the vehicle speed, which is the speed of bicycle 10, based on the detection result of the rotation speed of at least one of front wheel 14 and rear wheel 16 detected by each of second detection devices 84F and 84R. The control device 60 calculates the vehicle speed of the bicycle 10 based on the detection result of the high rotation speed among the detection results of the second detection devices 84F and 84R.

  The bicycle 10 further includes an operation unit 86 attached to the handle 18 (see FIG. 1) and operated to switch the operation mode of the assist motor 36, and a torque sensor 87 that detects a manual driving force. The operation unit 86 and the torque sensor 87 are electrically connected to the control device 60. The torque sensor 87 is provided on a power transmission path between the crankshaft 34 and the front sprocket 48, for example. The torque sensor 87 is realized by, for example, a strain sensor or a magnetostrictive sensor.

  The operation unit 86 includes an assist selection switch (not shown) for selecting an operation mode of the assist motor 36. When the operation mode of the assist motor 36 is set to the assist-on mode by the assist selection switch, electric power is supplied from the battery 40 (see FIG. 1) to the assist motor 36 according to the detection result of the torque sensor 87. On the other hand, when the operation mode of the assist motor 36 is set to the assist off mode by the assist selection switch, the manual driving force is not assisted by the assist motor 36.

  The operation unit 86 further includes an ABS operation changeover switch (not shown) for switching between an ABS operation mode in which the ABS unit 58F can be operated and an ABS non-operation mode in which the ABS unit 58F is not operated. The control of the ABS unit 58F by the control device 60 is executed by switching from the ABS non-operation mode to the ABS operation mode by the ABS operation changeover switch. The control of the ABS unit 58F by the control device 60 does not depend on the operation of the assist selection switch.

  The control device 60 controls the output and the rotation direction of the assist motor 36 based on the detection results of the first detection device 82F and the second detection devices 84F and 84R. The control device 60 includes a microprocessor and a memory, and operates by the microprocessor executing a program stored in the memory. The control device 60 determines the open / close state of the first valve 68F and the second valve 70F based on the detection results of the first detection device 82F and the second detection devices 84F and 84R in a first pattern and a second pattern. , And the third pattern. Table 1 shows the open / closed state of the first valve 68F and the second valve 70F in each pattern.

The first pattern is a state where the first valve 68F is opened and the second valve 70F is closed. The second pattern is a state in which the first valve 68F is closed and the second valve 70F is open. The third pattern is a state where both the first valve 68F and the second valve 70F are closed. When the operation unit 86 sets the ABS non-operation mode, the first pattern is selected.

  When the first pattern is selected, when the brake lever 20F is operated, the piston of the brake lever 20F compresses the hydraulic oil in the first pipeline 72F and the second pipeline 74F. That is, the hydraulic pressure of the second conduit 74F is increased, and the hydraulic pressure applied to the caliper 28F increases. Therefore, when the brake lever 20F is operated, the caliper 28F sandwiches the disc rotor 26F via the brake pad, and the rotation of the front wheel 14 is braked.

  When the second pattern is selected, the hydraulic oil in the second conduit 74F moves into the third conduit 76F, so that the hydraulic pressure in the second conduit 74F is reduced. Therefore, the hydraulic pressure applied to caliper 28F is also reduced, and the braking force applied to front wheels 14 is reduced. The hydraulic oil in the third conduit 76F flows into the reservoir 64F and the pump 62. In the second pattern, since the first valve 68F is closed, even if the brake lever 20F is operated, the oil pressure in the second conduit 74F does not change. Therefore, the braking force applied to the front wheels 14 does not depend on the operation of the brake lever 20F.

  When the third pattern is selected, the hydraulic oil in the second conduit 74F is retained in the second conduit 74F, so that the hydraulic pressure of the second conduit 74F is retained. Therefore, the hydraulic pressure applied to the caliper 28F is also maintained, and the braking force applied to the front wheels 14 is maintained constant. In the third pattern, since the first valve 68F is closed, the braking force applied to the front wheels 14 does not depend on the operation of the brake lever 20F as in the second pattern.

  3 and 4 are flowcharts of the ABS operation control executed by the control device 60. The control device 60 starts the processing shown in FIGS. 3 and 4 by being set to the ABS operation mode by the operation unit 86. When the ABS operation mode is already set, the processing shown in FIGS. 3 and 4 is started by turning on the power of the control device 60. The power of the control device 60 is switched on and off by the operation unit 86. Here, a case where the assist-on mode is selected by the operation unit 86 will be described.

  Control device 60 rotates assist motor 36 in the first direction according to the manual driving force. In addition, the first pattern is maintained until the control device 60 switches the open / close state of each of the valves 68F and 70F.

  The control device 60 determines whether or not the brake lever 20F is operated based on the detection result of the first detection device 82F in step S1. If it is determined in step S1 that the brake lever 20F has not been operated, the process of step S1 is executed again. On the other hand, if it is determined in step S1 that the brake lever 20F has been operated, the process of step S2 is executed. When the ABS operation control is performed only on the front wheels 14 as in the first embodiment, only the brake lever 20F corresponding to the front wheels 14 is detected. On the other hand, when the ABS operation control is performed only on the rear wheel 16, only the brake lever 20R corresponding to the rear wheel 16 is to be detected.

  The control device 60 reduces the output of the assist motor 36 when the assist motor 36 is rotated in the first direction according to the manual driving force in step S2. Then, the control device 60 finally stops the assist motor 36 by reducing the output of the assist motor 36.

  In step S3, control device 60 determines whether or not the vehicle speed of bicycle 10 is equal to or higher than a predetermined speed based on the detection results of second detection devices 84F and 84R. The predetermined speed is preferably, for example, a speed of 5 km / h or less. If it is determined in step S3 that the vehicle speed is equal to or higher than the predetermined speed, the process of step S4 is performed.

  In step S4, control device 60 determines whether or not the state of bicycle 10 is in a predetermined state based on the detection results of second detection devices 84F and 84R. The predetermined state is at least one of a state in which the difference between the rotation speed of the front wheel 14 and the rotation speed of the rear wheel 16 is equal to or higher than a predetermined speed and a state in which the rotation speed of the wheel is changed by a predetermined value or more. It has been done.

  When the ABS operation control is performed only on the front wheels 14 as in the first embodiment, only the front wheels 14 are detected as to whether or not the rotation speed of the wheels has changed by a predetermined value or more. On the other hand, when the ABS operation control is performed only on the rear wheel 16, only the rear wheel 16 is detected as to whether or not the rotation speed of the wheel has changed by a predetermined value or more. If the predetermined state is established, it indicates that the front wheel 14 that is braked by operating the brake lever 20F may be locked.

  If it is determined in step S4 that the state of the bicycle 10 is the predetermined state, the process of step S6 is executed. On the other hand, if it is determined in step S3 that the vehicle speed is lower than the predetermined speed, or if it is determined in step S4 that the state of the bicycle 10 is not the predetermined state, the process of step S5 is executed.

  In step S5, the control device 60 returns the output of the assist motor 36 so that the assist motor 36 outputs a driving force corresponding to the manual driving force. That is, the control device 60 returns the output of the assist motor 36, which has been forcibly reduced in step S2, to a state in which a driving force corresponding to the manual driving force is output. Then, after finishing the process of step S5, the control device 60 executes the process of step S1 again.

  In step S6, control device 60 switches the open / close state of first valve 68F and second valve 70F from the first pattern to the second pattern. Therefore, the first valve 68F is closed, and the second valve 70F is opened. Therefore, the hydraulic pressure applied to caliper 28F is reduced, and the braking force applied to front wheels 14 is reduced.

  The control device 60 rotates the assist motor 36 in the second direction in step S7. When the assist motor 36 rotates in the second direction, a driving force is transmitted from the assist motor 36 to the pump 62, and the pump 62 is driven. Therefore, the hydraulic oil is supplied to the first pipeline 72F, and the hydraulic pressure of the first pipeline 72F starts increasing. When the oil pressure in the first pipeline 72F is increased, the lever portion 21B of the brake lever 20F is pushed back toward the initial position.

  In step S8, control device 60 determines whether or not a predetermined time has elapsed since execution of the process in step S6. If it is determined in step S8 that the predetermined time has not elapsed, the process of step S8 is executed again. On the other hand, if it is determined in step S8 that the predetermined time has elapsed, the process of step S9 is performed.

  In step S9, control device 60 switches the open / closed state of first valve 68F and second valve 70F from the second pattern to the third pattern. Therefore, both the first valve 68F and the second valve 70F are closed. Thus, the hydraulic pressure applied to the caliper 28F is maintained, and the braking force applied to the front wheels 14 is maintained constant. The hydraulic pressure applied to the caliper 28F continues to be reduced until the valves 68F and 70F are switched from the second pattern to the third pattern.

  In step S10, the control device 60 determines whether or not the brake lever 20F is operated based on the detection result of the first detection device 82F. If it is determined in step S10 that the brake lever 20F has been operated, the process of step S11 is executed.

  At step S11, control device 60 determines whether or not the vehicle speed of bicycle 10 is equal to or higher than a predetermined speed based on the detection results of second detection devices 84F and 84R. The predetermined speed is preferably, for example, a speed of 5 km / h or less. If it is determined in step S11 that the vehicle speed is equal to or higher than the predetermined speed, the process of step S13 is performed. On the other hand, if it is determined in step S10 that the brake lever 20F has not been operated, or if it is determined in step S11 that the vehicle speed is lower than the predetermined speed, the process of step S12 is executed.

  In step S12, control device 60 switches the open / close state of first valve 68F and second valve 70F from the third pattern to the first pattern. Therefore, the first valve 68F is opened, and the second valve 70F is closed. Therefore, the rotation of the front wheel 14 is braked in conjunction with the operation of the brake lever 20F. Then, after finishing the process of step S12, the control device 60 executes the process of step S19.

  In step S13, control device 60 performs substantially the same processing as the processing performed in step S4. When it is determined in step S13 that the state of the bicycle 10 is the predetermined state, the processing of step S14 is performed.

  In step S14, control device 60 performs substantially the same processing as the processing performed in step S6. Then, after finishing the process of step S14, the control device 60 executes the process of step S8 again. When executing the processing of step S8 after the processing of step S14, the control device 60 determines whether or not a predetermined time has elapsed since the execution of the processing of step S14.

  On the other hand, when it is determined in step S13 that the state of the bicycle 10 is not the predetermined state, the processing of step S15 is executed. In step S15, the control device 60 performs substantially the same processing as the processing performed in step S12.

  In step S16, the control device 60 determines whether or not the brake lever 20F is operated based on the detection result of the first detection device 82F. If it is determined in step S16 that the brake lever 20F has been operated, the process of step S17 is performed.

  In step S17, control device 60 determines whether or not the vehicle speed of bicycle 10 is equal to or higher than a predetermined speed, based on the detection results of second detection devices 84F and 84R. The predetermined speed is preferably, for example, a speed of 5 km / h or less. If it is determined in step S17 that the vehicle speed is equal to or higher than the predetermined speed, the process of step S18 is performed. On the other hand, if it is determined in step S16 that the brake lever 20F has not been operated, or if it is determined in step S17 that the vehicle speed is lower than the predetermined speed, the process of step S19 is executed.

  In step S18, control device 60 performs substantially the same processing as the processing performed in step S4. When it is determined in step S18 that the state of the bicycle 10 is the predetermined state, the processing of step S14 is executed. On the other hand, when it is determined in step S18 that the state of the bicycle 10 is not the predetermined state, the processing of step S19 is executed.

  In step S19, control device 60 determines whether or not a predetermined time has elapsed after executing the processing in step S6 or the processing in step S14. Specifically, it is determined whether or not a predetermined time has elapsed from the last processing in which the open / close state of each of the valves 68F and 70F has been switched to the second pattern. The predetermined time is predetermined based on, for example, a time required to raise the amount of hydraulic oil in the first pipeline 72F and the second pipeline 74F to a predetermined amount. The predetermined amount is, for example, substantially the same amount as in the state before the processing in step S6.

  If it is determined in step S19 that the predetermined time has not elapsed, the process of step S19 is executed again. On the other hand, if it is determined in step S19 that the predetermined time has elapsed, the process of step S20 is executed.

  Control device 60 stops the rotation of assist motor 36 in the second direction in step S20. Therefore, the driving of the pump 62 is stopped. The control device 60 repeatedly executes the processing of steps S1 to S20 until the operation unit 86 switches from the ABS operation mode to the ABS non-operation mode. When the assist-off mode is selected by the operation unit 86, the ABS operation control in which the processes of steps S2 and S5 are omitted from the processes shown in FIGS. 3 and 4 is executed.

The operation of the bicycle device 56 will be described with reference to FIGS.
The user operates the operation unit 86 before riding the bicycle 10 or while traveling. By setting the assist-on mode by the operation unit 86, the assist motor 36 rotates in the first direction according to the manual driving force input to the pedal 44, and the assist force is added to the manual driving force.

  When the user operates the brake lever 20F when the vehicle speed is equal to or higher than the predetermined speed, the front wheel 14 may be locked depending on the road surface condition or the strength with which the user grips the brake lever 20F. At this time, the assist motor 36 and the ABS unit 58F are controlled by the control device 60, and the braking force applied to the front wheels 14 of the bicycle 10 is controlled. Specifically, when the operation section 86 sets the ABS operation mode, the processing of steps S1 to S20 shown in FIGS. 3 and 4 is repeatedly executed.

  For this reason, even if the front wheel 14 is about to be locked due to the operation of the brake lever 20F, the ABS unit 58F is driven by the control device 60 and the front wheel 14 returns to the normal state. For this reason, it is difficult for the user to lose balance during traveling.

  The pump 62 of the ABS unit 58F is driven by the assist motor 36 rotating in the second direction. That is, when the assist motor 36 rotates in the first direction, an assist force is added to the manual driving force, and when the assist motor 36 rotates in the second direction, the pump 62 is driven. For this reason, the assist device 36 applies an assist force to the manual drive force, and the bicycle device 56 is less likely to be larger than in a configuration in which the pump 62 is driven by a drive source different from the assist motor 36. For this reason, it is possible to contribute to miniaturization and weight reduction of the bicycle 10.

According to the bicycle device 56 of the first embodiment, the following effects can be further obtained.
(1) The bicycle device 56 causes the control device 60 to reduce the output of the assist motor 36 when the brake lever 20F is operated while rotating the assist motor 36 in the first direction. For this reason, when the front wheel 14 is about to be locked due to the operation of the brake lever 20F, the output of the assist motor 36 is small, so that the user is less likely to lose balance during traveling.

  (2) By controlling the assist motor 36 and the ABS unit 58F by the control device 60, the bicycle device 56 reduces the hydraulic pressure applied to the caliper 28F and rotates the assist motor 36 in the second direction. To drive the pump 62. For this reason, compared with a configuration in which the hydraulic pressure applied to the caliper 28F is reduced and then the pump 62 is driven, the amount of hydraulic oil flowing through the first pipeline 72F and the second pipeline 74F is quickly reduced to a predetermined amount. Easy to rise.

  (3) When the rotation speed of the wheels of the bicycle 10 is lower than the predetermined speed, that is, when the vehicle speed of the bicycle 10 is lower than the predetermined speed, even if the wheels are locked, it is difficult for the user to lose balance during traveling. Based on this point, the bicycle device 56 does not drive the ABS unit 58F or stops driving the ABS unit 58F when the control device 60 determines that the vehicle speed is lower than the predetermined speed. Therefore, waste of power can be suppressed as compared with a configuration in which the ABS unit 58F is driven even when the vehicle speed is lower than the predetermined speed, or a configuration in which the ABS unit 58F is continuously driven.

  (4) The bicycle device 56 accommodates the assist motor 36 and the ABS unit 58F in the internal space of the housing 38. Therefore, as compared with a configuration in which a part or the whole of the ABS unit 58F is provided outside the housing 38, it is possible to contribute to protection of the ABS unit 58F.

  (5) According to the bicycle 10, the brake lever 20F is operated even after the front wheel 14 returns to the normal state by reducing the hydraulic pressure applied to the caliper 28F with the operation of the ABS unit 58F. If so, the front wheel 14 may be likely to lock again. Based on this point, the bicycle device 56 performs steps S16 to S18 by the control device 60 after the front wheel 14 returns to the normal state by reducing the hydraulic pressure applied to the caliper 28F. . Therefore, even when the wheels are about to lock again, the ABS unit 58F operates again, so that the user is less likely to lose balance.

(2nd Embodiment)
The bicycle device 56 of the second embodiment is different from the bicycle device 56 of the first embodiment in the points described below, and has substantially the same configuration as the bicycle device 56 of the first embodiment in other points. Prepare. In the description of the bicycle device 56 of the second embodiment, the same reference numerals are given to the same components as those of the bicycle device 56 of the first embodiment, and a part or all of the description of the configuration will be omitted.

  FIG. 5 shows the electrical or mechanical connection of the bicycle 10 (see FIG. 1). The broken line in FIG. 5 indicates the electrical connection of the bicycle 10. The solid line in FIG. 5 shows the mechanical connection of the bicycle 10.

  The bicycle device 56 includes an ABS unit that is driven by the assist motor 36 and controls the braking force applied to the wheels from the calipers 28F and 28R. The ABS unit includes a first ABS unit 58F that controls a braking force applied to the front wheels 14 (see FIG. 1), and a second ABS unit 58R that controls a braking force applied to the rear wheels 16 (see FIG. 1). . Each of the ABS units 58F and 58R is accommodated in the internal space of the housing 38. The control device 60 controls the assist motor 36, the first ABS unit 58F, and the second ABS unit 58R. Since the first ABS unit 58F has substantially the same configuration as the ABS unit 58F of the first embodiment, a part or all of the description will be omitted.

  The second ABS unit 58R includes a pump 62 common to the first ABS unit 58F, and a reservoir 64R for storing hydraulic oil. The pump 62 is a common component of each of the ABS units 58F and 58R, and has a role of applying oil pressure to each of the calipers 28F and 28R. Note that a pump 62 may be provided for each of the ABS units 58F and 58R.

  The second ABS unit 58R further includes a first valve 68R and a second valve 70R for adjusting the hydraulic pressure applied to the caliper 28R. The first valve 68R has substantially the same configuration as the first valve 68F in the first ABS unit 58F, and is arranged in a pipe connecting the brake lever 20R and the caliper 28R. The second valve 70R has substantially the same configuration as the second valve 70F in the first ABS unit 58F, and is arranged in a pipe connecting the caliper 28R and the reservoir 64R.

  When the hydraulic pressure applied to the caliper 28R is large, the caliper 28R is brought closer to the disk rotor 26R (see FIG. 1). In this case, the caliper 28R sandwiches the disc rotor 26R via the brake pad, and the rotation of the rear wheel 16 is braked. On the other hand, when the hydraulic pressure applied to the caliper 28R is small, the caliper 28R moves away from the disc rotor 26R. Therefore, the rotation of the rear wheel 16 is not braked.

  The hydraulic oil supplied from the pump 62 flows through the first conduit 72F, the second conduit 74F, and the third conduit 76F in the first ABS unit 58F, and the second ABS unit 58R Flows through the first pipeline 72R, the second pipeline 74R, and the third pipeline 76R. The first pipeline 72R, the second pipeline 74R, and the third pipeline 76R are each a pipeline branched into three.

  Each end of the first pipeline 72R is connected to the brake lever 20R, the pump 62, and the first valve 68R. The first conduit 72R is connected to the pump 62 by being connected to a portion of the first conduit 72F between the pump 62 and the first check valve 78F. Each end of the second conduit 74R is connected to the caliper 28R, the first valve 68R, and the second valve 70R. Each end of the third conduit 76R is connected to the pump 62, the reservoir 64R, and the second valve 70R. The third conduit 76R is connected to the pump 62 by being connected to a portion of the third conduit 76F between the pump 62 and the second check valve 80F.

  The second ABS unit 58R further includes a first check valve 78R disposed on the first conduit 72R and a second check valve 80R disposed on the third conduit 76R. The first check valve 78R has substantially the same configuration as the first check valve 78F in the first ABS unit 58F. The second check valve 80R has substantially the same configuration as the second check valve 80F in the first ABS unit 58F.

  The bicycle 10 further includes a first detection device 82R that detects an operation state of the brake lever 20R. The first detection device 82R has substantially the same configuration as the first detection device 82F. The first detection device 82R is electrically connected to the control device 60.

  The operation unit 86 is an ABS operation changeover switch (shown in the drawing) for switching between an ABS operation mode for activating each of the ABS units 58F and 58R and an ABS non-operation mode for disabling each of the ABS units 58F and 58R. Abbreviation).

  The control device 60 controls the output and the rotation direction of the assist motor 36 based on the detection results of the first detection devices 82F and 82R and the second detection devices 84F and 84R. The control device 60 opens and closes the first valve 68F and the second valve 70F in the first ABS unit 58F based on the detection results of the first detection devices 82F and 82R and the second detection devices 84F and 84R. , And individually switches the open / close state of the first valve 68R and the second valve 70R in the second ABS unit 58R. The control regarding the switching of the open / close state of each valve 68R, 70R in the second ABS unit 58R is substantially the same as the control regarding the switching of the open / close state of each valve 68F, 70F in the first ABS unit 58F.

The control device 60 starts the processing shown in FIGS. 3 and 4 by being set to the ABS operation mode by the operation unit 86.
In steps S1, S10, and S16, the control device 60 determines whether or not each of the brake levers 20F, 20R is operated based on each of the first detection devices 82F, 82R. When at least one of the brake levers 20F, 20R is operated, it is determined that the brake levers 20F, 20R are operated.

  In step S6, the control device 60 determines at least one of the first valve 68F and the second valve 70F in the first ABS unit 58F and the first valve 68R and the second valve 70R in the second ABS unit 58R. One of the open / close states is switched from the first pattern to the second pattern.

  The control device 60 operates the ABS units 58F and 58R corresponding to the wheels for which the change in the rotation speed equal to or more than the predetermined value is detected in step S4, for example. That is, when it is determined in step S4 that the rear wheel 16 has changed in rotational speed by a predetermined value or more in step S4, the control device 60 determines in step S6 that the first valve 68R and the second valve The open / close state of the second valve 70R is switched from the first pattern to the second pattern.

  Further, for example, when it is detected in step S4 that the difference between the rotation speed of the front wheel 14 and the rotation speed of the rear wheel 16 is equal to or higher than a predetermined speed, the control device 60 corresponds to the wheel having the lower rotation speed. The ABS units 58F and 58R are operated. That is, when it is determined in step S4 that the rotation speed of the rear wheel 16 is lower than the rotation speed of the front wheel 14 by a predetermined speed or more, the control device 60 determines in step S6 that the first valve 68R and the second valve 68R of the second ABS unit 58R The open / close state of the second valve 70R is switched from the first pattern to the second pattern. Step S14 is the same as step S6.

The operation of the bicycle device 56 will be described with reference to FIGS.
When the user operates each of the brake levers 20F and 20R when the vehicle speed is equal to or higher than a predetermined speed, at least one of the front wheel 14 and the rear wheel 16 depends on the road surface condition or the strength with which the user grips the brake levers 20F and 20R. May lock up. At this time, the assist motor 36 and the ABS units 58F, 58R are controlled by the control device 60, and the braking force applied to the wheels of the bicycle 10 is controlled.

  Therefore, even if at least one of the front wheel 14 and the rear wheel 16 is likely to be locked due to the operation of the brake levers 20F, 20R, the control unit 60 drives the respective ABS units 58F, 58R to bring the wheels into a normal state. Return. For this reason, it is difficult for the user to lose balance during traveling.

According to the bicycle device 56 of the second embodiment, the following effects can be obtained in addition to the effects (1) to (5) obtained by the first embodiment.
(6) The bicycle device 56 includes a first ABS unit 58F that controls the braking force applied to the front wheels 14, and a second ABS unit 58R that controls the braking force applied to the rear wheels 16. Therefore, even if one or both of the front wheels 14 and the rear wheels 16 are likely to be locked due to the operation of the brake levers 20F and 20R, the front wheels 14 and the rear wheels are activated by operating the ABS units 58F and 58R. 16 returns to the normal state. For this reason, compared to a configuration including only one of the first ABS unit 58F and the second ABS unit 58R, the user is less likely to lose balance during traveling.

(Modification)
The description of each of the above embodiments is an exemplification of a form that the bicycle device according to the present invention can take, and is not intended to limit the form. The bicycle device according to the present invention can take a form in which, for example, a modification of the embodiment described below and at least two modifications that do not conflict with each other are combined. In the following modified examples, portions common to the embodiment will be denoted by the same reference numerals as those in the embodiment, and description thereof will be omitted.

  In the ABS operation control, the control device 60 of the modified example executes the processing of step S6 and the processing of step S7 simultaneously. The control device 60 of another modified example executes the processing of step S7 prior to the processing of step S6 in the ABS operation control.

  According to the control device 60 of the modified example, in the ABS operation control, the processes of steps S16 to S18 are omitted from the processes shown in FIGS. 3 and 4.

  According to the control device 60 of the modified example, in the ABS operation control, the processing of step S19 is omitted from the processing shown in FIGS. According to this modification, it is preferable to use the assist motor 36 having a high performance capable of driving the pump 62 so as to increase the amount of hydraulic pressure in a short time.

  According to the control device 60 of the modified example, the rotation speed of the front wheel 14 and the rotation speed of the rear wheel 16 are changed from the predetermined state determined in the processing of steps S4, S13, and S18 shown in FIGS. The state where the difference from the rotation speed is equal to or higher than the predetermined speed is omitted.

  The first detection devices 82F and 82R of the modified example are oil pressure sensors that detect the oil pressure of the first pipelines 72F and 72R instead of the angle sensors. The oil pressure sensor is realized by, for example, a pressure sensor provided on the inner wall of the first pipeline 72F, 72R.

  -The operation device of the modified example includes a grip in which the rotation of the wheel is braked by rotating the handle 18 around the axis of the handle 18 with respect to the handle 18 instead of the brake levers 20F and 20R. According to this modification, the braking force applied to the wheels is adjusted according to the amount of rotation of the grip. The operation device of another modification includes a button attached to the handle 18 instead of the brake levers 20F and 20R. According to this other modification, the braking force applied to the wheels is adjusted according to the amount of pressing the button.

  -The braking devices 22F and 22R of the modification are, for example, rim brakes or cantilever brakes instead of the disc brakes.

  -The bicycle device 56 of the modification of the first embodiment includes an ABS unit 58R that controls a braking force applied to the rear wheel 16 instead of the ABS unit 58F. The ABS unit 58R has substantially the same configuration as the second ABS unit 58R of the second embodiment.

  -According to the bicycle device 56 of the modified example of the first embodiment, the ABS unit 58F is attached to the outside of the housing 38. As shown in FIG. 6, the bicycle device 56 further includes a case 88 attached to, for example, the outside of the housing 38. According to this modification, the ABS unit 58F is housed in the internal space of the case 88. Note that the same modification is realized in the second embodiment. According to the bicycle device 56 of the modified example of the second embodiment, for example, at least one of the first ABS unit 58F and the second ABS unit 58R is housed in the internal space of the case 88.

  The bicycle device 56 according to the modification of the first embodiment accommodates the pump 62 of the ABS unit 58F in the internal space of the housing 38, and arranges other elements of the ABS unit 58F outside the housing 38. According to this modification, the other elements of the ABS unit 58F are housed in the internal space of a case attached to the outside of the housing 38, for example. Note that the same modification is realized in the second embodiment.

  According to the bicycle device 56 of the modified example, the control of the ABS units 58F and 58R by the control device 60 depends on the operation of the assist selection switch. For example, when the assist-on mode is selected, the mode is always switched to the ABS operation mode.

  -According to the bicycle 10 of the modified example, the ABS operation changeover switch is omitted from the operation unit 86. According to this modification, for example, the assist operation mode is switched to the ABS operation mode by selecting the assist on mode by the assist selection switch. On the other hand, when the assist off mode is selected by the assist selection switch, the mode is switched to the ABS non-operation mode.

DESCRIPTION OF SYMBOLS 10 ... Bicycle, 14 ... Front wheel, 16 ... Rear wheel, 20F, 20R ... Brake lever (operating device), 22F, 22R ... Braking device, 34 ... Crank shaft, 36 ... Assist motor, 38 ... Housing, 56 ... Bicycle device , 58F, 58R ABS unit, 60 control device, 62 pump, 66 one-way clutch, 82F, 82R first detection device, 84F, 84R second detection device.

Claims (19)

  A method of controlling an ABS unit, which is executed by a control device of a bicycle and controls a braking force applied to at least one of a front wheel and a rear wheel of the bicycle,
  Determining whether the vehicle speed of the bicycle is equal to or higher than a predetermined speed;
  When determining that the vehicle speed of the bicycle is equal to or higher than the predetermined vehicle speed, determining whether the bicycle is in a predetermined state;
  Controlling the ABS unit based on at least one of a vehicle speed of the bicycle and the predetermined state of the bicycle,
  The predetermined state includes a first state in which a difference between the rotation speed of the front wheel and the rotation speed of the rear wheel is equal to or higher than a predetermined rotation speed, and a predetermined state in which the rotation speed of the front wheel and the rotation speed of the rear wheel are different. A control method that is at least one of a second state in which a change in rotation speed equal to or greater than a value occurs.   The control method according to claim 1, further comprising controlling a motor that controls the braking force.   The control method according to claim 2, further comprising: supplying hydraulic oil to the bicycle braking device to control a pump driven by the motor.   4. The control method according to claim 3, wherein the step of controlling the pump controls the pump to supply hydraulic oil to a braking device for the front wheels.   The control method according to claim 3, further comprising determining whether or not a brake lever of the front wheel has been operated.   When determining that the brake lever of the front wheel has been operated, and determining that the vehicle speed of the bicycle is equal to or higher than the predetermined speed, the method further includes controlling the motor to control a braking force applied to the front wheel. The control method according to claim 5, further comprising:   The control method according to any one of claims 3 to 6, wherein in the step of controlling the pump, the pump is controlled to supply hydraulic oil to the braking device for the rear wheel.   The control method according to claim 3, further comprising determining whether or not a brake lever of the rear wheel has been operated.   When determining that the brake lever of the rear wheel has been operated, and determining that the vehicle speed of the bicycle is equal to or higher than the predetermined speed, the method further includes controlling the motor that controls a braking force applied to the rear wheel. The control method according to claim 8, comprising:   The control method according to claim 1, further comprising controlling the braking force by controlling a braking device of the bicycle.   The control method according to claim 10, wherein in the step of controlling the braking force, a braking force applied to the front wheels is controlled by controlling a braking device for the front wheels.   The control method according to claim 10, wherein, in the step of controlling the braking force, a braking force applied to the rear wheel is controlled by controlling a braking device of the rear wheel.   The control method according to any one of claims 1 to 12, further comprising: controlling the ABS unit according to a first pattern for increasing a hydraulic pressure applied to the bicycle braking device.   The control method according to any one of claims 1 to 13, further comprising a step of controlling the ABS unit according to a second pattern for reducing the hydraulic pressure applied to the bicycle braking device.   The control method according to any one of claims 1 to 14, further comprising a step of controlling the ABS unit according to a third pattern for maintaining a constant hydraulic pressure applied to the bicycle braking device.   The step of controlling the ABS unit includes controlling the ABS unit via control of a first valve and a second valve of the ABS unit that apply hydraulic pressure to a braking device of the bicycle. The control method according to claim 1.   The control method according to any one of claims 1 to 16, further comprising a step of receiving information on an operation state of a brake lever of the bicycle from a first detection device.   The control method according to any one of claims 1 to 17, further comprising a step of receiving information on a rotation speed of at least one of the front wheel and the rear wheel from a second detection device.   The control method according to any one of claims 1 to 18, wherein the predetermined speed is 5 km / h or less.