JP7266987B2 - CONTROL DEVICE FOR MAN-POWERED VEHICLE AND CONTROL METHOD FOR MAN-POWERED VEHICLE - Google Patents

Description

The present invention relates to a control device for a man-powered vehicle and a control method for a man-powered vehicle.

For example, a control device for a human-powered vehicle disclosed in Patent Document 1 drives a motor that assists the propulsion of the human-powered vehicle when the number of revolutions of the crank is equal to or greater than a predetermined value.

JP 2013-121797 A

SUMMARY OF THE INVENTION One of the objects of the present invention is to provide a control device for a manpower-driven vehicle and a control method for a manpower-driven vehicle capable of suitably controlling a motor.

A control device for a man-powered vehicle according to a first aspect of the present disclosure is a control device for a man-powered vehicle, wherein the man-powered vehicle includes a crank rotatable by a man-powered driving force and a propulsion force applied to the man-powered vehicle. wherein the controller is configured to drive or stop the motor when a parameter relating to the rotational speed of the crank satisfies a predetermined condition; and the control unit is configured to change the predetermined condition according to at least one of a state of the manpowered vehicle and an environment of the manpowered vehicle.
According to the control device for the manpowered vehicle of the first aspect, the motor is operated according to a predetermined condition regarding the rotation speed of the crank suitable for at least one of the state of the manpowered vehicle and the environment of the manpowered vehicle. Can be driven or stopped. Therefore, the motor can be preferably controlled.

A control apparatus for a manpowered vehicle in a second aspect according to the first aspect of the present disclosure, wherein said at least one of a state of said manpowered vehicle and an environment of said manpowered vehicle comprises: a travel speed of said manpowered vehicle; Running resistance of the manpower-driven vehicle, remaining amount of the battery of the manpower-driven vehicle, limit on power consumption of the battery of the manpower-driven vehicle, acceleration of the manpower-driven vehicle, operation of an operating device of the manpower-driven vehicle, and the manpower-driven vehicle at least one of a vehicle control mode, an incline of the roadway of the manpowered vehicle, and wind speed.
According to the control device for the manpower-driven vehicle of the second aspect, the running speed of the manpower-driven vehicle, the running resistance of the manpower-driven vehicle, the remaining amount of the battery of the manpower-driven vehicle, the limit on the power consumption of the battery of the manpower-driven vehicle, the human power suitably driving or stopping the motor in accordance with at least one of the acceleration of the vehicle, the operation of the operating device of the manpowered vehicle, the control mode of the manpowered vehicle, the inclination of the roadway of the manpowered vehicle, and the wind speed. can be done.

In the control device for a manpowered vehicle of the third aspect according to the second aspect of the present disclosure, the predetermined condition includes a first condition, and the control unit controls the parameter related to the rotational speed of the crank to be the first condition is satisfied, and configured to change the first condition depending on the at least one of a state of the manpowered vehicle and an environment of the manpowered vehicle.
According to the control device for the manpowered vehicle of the third aspect, the motor can be suitably stopped according to at least one of the state of the manpowered vehicle and the environment of the manpowered vehicle.

In the control device for a manpowered vehicle according to the third aspect of the present disclosure, the first condition is when the parameter related to the rotational speed of the crank is equal to or less than a first value, or Satisfied when the parameter related to the rotational speed is equal to or less than the first value continues for a first time or longer, and the control unit controls the state of the manpowered vehicle and the at least one of the environment of the manpowered vehicle. and configured to change at least one of the first value and the first time in response to a second time.
According to the control device for the manpowered vehicle of the fourth aspect, at least one of the first value and the first time changed according to at least one of the state of the manpowered vehicle and the environment of the manpowered vehicle. The motor can be stopped accordingly.

In the control device for a manpowered vehicle according to the fourth aspect of the present disclosure, the control unit increases the first value when the travel speed of the manpowered vehicle increases. decrease, or increase the first value and decrease the first time.
According to the control device for the manpower-driven vehicle of the fifth aspect, when the running speed of the manpower-driven vehicle is high, the motor is likely to stop as the rotation speed of the crank decreases. Therefore, when the traveling speed of the manpowered vehicle is high, the time until the motor stops when pedaling is stopped is the time until the motor stops when the first value and the first time are not changed. can be shortened by comparison.

In the control device for a manpowered vehicle of the sixth aspect according to the fourth or fifth aspect of the present disclosure, the control unit reduces the first value when the running resistance of the manpowered vehicle increases. Increase one hour, or decrease the first value and increase the first time.
According to the control device for the manpower-driven vehicle of the sixth aspect, when the running resistance of the manpower-driven vehicle is large, the motor is less likely to stop even if the rotational speed of the crank decreases. Therefore, when the running resistance of the manpower-driven vehicle is large, the propulsion force can be suitably applied to the manpower-driven vehicle.

In the control device for a manpowered vehicle according to any one of the fourth to sixth aspects of the present disclosure, when the remaining amount of the battery of the manpowered vehicle decreases, the control unit controls the first Increase the value, decrease the first time, or increase the first value and decrease the first time.
According to the control device for the manpower-driven vehicle of the seventh aspect, when the remaining amount of the battery of the manpower-driven vehicle is small, the motor is likely to stop as the rotation speed of the crank decreases. Therefore, power consumption of the battery of the manpower-driven vehicle can be suppressed.

In the control device for the manpowered vehicle of the eighth aspect according to any one of the fourth to seventh aspects of the present disclosure, the controller controls the battery of the manpowered vehicle so that power consumption of the battery is reduced. is limited, the first value is increased, the first time period is decreased, or the first value is increased and the first time period is decreased.
According to the control device for the manpower-driven vehicle of the eighth aspect, when the use of the power of the battery of the manpower-driven vehicle is restricted so as to reduce the power consumption of the battery, the motor operates according to the decrease in the rotation speed of the crank. Easy to stop. Therefore, power consumption of the battery of the manpower-driven vehicle can be suppressed.

In the control device for a manpowered vehicle according to any one of the fourth to eighth aspects of the present disclosure, the controller controls, when the acceleration of the manpowered vehicle has a negative value and decreases, the Increase one value, decrease the first time, or increase the first value and decrease the first time.
According to the control device for the manpowered vehicle of the ninth aspect, when the acceleration of the manpowered vehicle is a negative value and decreases, the motor is likely to stop as the rotational speed of the crank decreases. Therefore, when the manpowered vehicle decelerates, the time until the motor stops when pedaling is stopped is compared with the time until the motor stops when the first value and the first time are not changed. can be shortened.

A control device for a man-powered vehicle according to a tenth aspect of the present disclosure is a control device for a man-powered vehicle, wherein the man-powered vehicle includes a crank rotatable by a man-powered driving force and a propulsion force applied to the man-powered vehicle. wherein the control device drives or stops the motor when a parameter related to the rotation speed of the crank and a parameter related to the human power drive satisfy predetermined conditions. a controller configured to change the predetermined condition according to at least one of a state of the manpowered vehicle and an environment of the manpowered vehicle. .
According to the control device for the manpowered vehicle of the tenth aspect, according to predetermined conditions regarding the rotational speed of the crank and the manpowered driving force suitable for at least one of the state of the manpowered vehicle and the environment of the manpowered vehicle , can drive or stop the motor. Therefore, the motor can be preferably controlled.

A control apparatus for a manpowered vehicle according to the tenth aspect of the present disclosure, wherein the at least one of a state of the manpowered vehicle and an environment of the manpowered vehicle comprises: a traveling speed of the manpowered vehicle; Running resistance of the manpower-driven vehicle, remaining amount of the battery of the manpower-driven vehicle, limit on power consumption of the battery of the manpower-driven vehicle, acceleration of the manpower-driven vehicle, operation of an operating device of the manpower-driven vehicle, and the manpower-driven vehicle at least one of a vehicle control mode, an incline of the roadway of the manpowered vehicle, and wind speed.
According to the control device for the manpower-driven vehicle of the eleventh aspect, the running speed of the manpower-driven vehicle, the running resistance of the manpower-driven vehicle, the remaining amount of the battery of the manpower-driven vehicle, the limit on the power consumption of the battery of the manpower-driven vehicle, the human power suitably driving or stopping the motor in accordance with at least one of the acceleration of the vehicle, the operation of the operating device of the manpowered vehicle, the control mode of the manpowered vehicle, the inclination of the roadway of the manpowered vehicle, and the wind speed. can be done.

In the control device for a manpowered vehicle of the twelfth aspect according to the eleventh aspect of the present disclosure, the predetermined condition includes a second condition, and the control unit controls the parameter related to the rotation speed of the crank and the human power configured to drive the motor if a parameter related to drive force satisfies the second condition, the second condition depending on the at least one of the state of the manpowered vehicle and the environment of the manpowered vehicle; configured to change the
According to the control device for the manpowered vehicle of the twelfth aspect, the motor can be preferably driven according to at least one of the state of the manpowered vehicle and the environment of the manpowered vehicle.

In the control device for a manpowered vehicle of the thirteenth aspect according to the twelfth aspect of the present disclosure, the second condition is that the parameter related to the rotational speed of the crank remains at a second value or higher for a second time or longer, Further, when the parameter related to the human-powered driving force is equal to or greater than the third value and continues for a third time or longer, the parameter related to the rotational speed of the crank becomes equal to or greater than the second value, and the human-powered drive if the parameter related to force remains equal to or greater than the third value for the third time or longer, the parameter related to the rotational speed of the crank remains equal to or greater than the second value for the second time or longer; , when the parameter relating to the manpower driving force is the third value or higher, or when the parameter relating to the rotational speed of the crank is the second value or higher and the parameter relating to the manpower driving force is is satisfied when a state of a third value or higher is reached, and the control unit controls the second value and the second time according to at least one of the state of the manpowered vehicle and the environment of the manpowered vehicle. , the third value, and the third time.
According to the control device for the manpowered vehicle of the thirteenth aspect, the second value, the second time, the third value, and the motor can be driven according to at least one of the third times .

In the control device for a manpowered vehicle according to the thirteenth aspect of the present disclosure, when the running speed of the manpowered vehicle increases, the controller controls the second value, the second time, the third at least one of the value and the third time.
According to the control device for the manpower-driven vehicle of the fourteenth aspect, when the traveling speed is high, it becomes difficult to drive the motor when the rotational speed of the crank increases. Therefore, power consumption of the battery can be reduced.

In the control device for a manpowered vehicle of the fifteenth aspect according to the thirteenth aspect of the present disclosure, when the running speed of the manpowered vehicle increases, the control unit controls the second value, the second time, the third at least one of the value and the third time.
According to the control device for the manpower-driven vehicle of the fifteenth aspect, when the traveling speed is high, the motor is easily driven when the rotation speed of the crank increases. Therefore, when the traveling speed of the manpowered vehicle is high, the second value, the second time, the third value, and the third time are not changed until the motor is driven when pedaling is started. It can be shortened compared to the time until the motor is driven in the case.

In the control device for a manpowered vehicle according to any one of the thirteenth to fifteenth aspects of the present disclosure, the controller controls, when the running resistance of the manpowered vehicle increases, the second value, At least one of the second time, the third value, and the third time is decreased.
According to the control device for the manpower-driven vehicle of the sixteenth aspect, when the running resistance is large, it becomes easier to drive the motor when the rotational speed of the crank increases. Therefore, when the running resistance of the manpowered vehicle is large, the second value, the second time, the third value, and the third time are not changed until the motor is driven when pedaling is started. can be shortened compared to the time until the motor is driven.

In the control device for a manpowered vehicle according to any one of the 13th to 16th aspects of the present disclosure, when the remaining amount of the battery of the manpowered vehicle decreases, the control unit controls the second At least one of a value, said second time, said third value, and said third time is increased.
According to the control device for a manpower-driven vehicle of the seventeenth aspect, when the remaining amount of the battery is small, it becomes difficult to drive the motor when the rotational speed of the crank increases. Therefore, power consumption of the battery can be reduced.

In the control device for the eighteenth aspect of the manpowered vehicle according to any one of the thirteenth to seventeenth aspects of the present disclosure, the controller controls the battery of the manpowered vehicle so that power consumption of the battery is reduced. power usage is limited, at least one of the second value, the second time period, the third value and the third time period is increased.
According to the control device for a manpower-driven vehicle of the eighteenth aspect, if the use of battery power is restricted so that the power consumption of the battery is reduced, it becomes difficult to drive the motor when the rotation speed of the crank increases. . Therefore, power consumption of the battery can be reduced.

In the control device for a manpowered vehicle in a nineteenth aspect according to any one of the thirteenth to eighteenth aspects of the present disclosure, when the acceleration of the manpowered vehicle increases, the controller controls the second value, the At least one of the second time, the third value, and the third time is decreased.
According to the control device for the manpowered vehicle of the nineteenth aspect, when the acceleration increases, it becomes easier to drive the motor when the rotational speed of the crank increases. Therefore, when pedaling is started and the acceleration of the manpowered vehicle increases, the second value, the second time, the third value, and the third time are not changed until the motor is driven. can be shortened compared to the time it takes for the motor to start running.

A control apparatus for a manpowered vehicle according to the twentieth aspect according to any one of the first through nineteenth aspects of the present disclosure, comprising: a first detector configured to detect said parameter relating to said crank rotational speed; Including further.
According to the control device for the manpower-driven vehicle of the twentieth aspect, the first detector can suitably detect the parameter related to the rotation speed of the crank.

In the control device for a manpowered vehicle according to the twentieth aspect of the present disclosure, the first detection section includes a first sensor configured to output a signal corresponding to the rotation speed of the crank. .
According to the control device for the manpowered vehicle of the 21st aspect, the rotation speed of the crank can be detected by the first sensor.

In the control device for a manpowered vehicle of the 22nd aspect according to the 20th or 21st aspect of the present disclosure, the first detection unit includes a second sensor configured to output a signal corresponding to the rotational speed of the motor. ,including.
According to the control device for the manpowered vehicle of the 22nd aspect, the rotation speed of the motor can be detected by the second sensor.

The control device for the manpowered vehicle of the twenty-third aspect according to any one of the first to twenty-second aspects of the present disclosure, further comprising a storage unit that stores information about the predetermined condition.
According to the control device for the manpower-driven vehicle of the twenty-third aspect, the storage unit can store information about predetermined conditions.

A control apparatus for a man-powered vehicle according to the twenty-fourth aspect according to any one of the first to twenty-third aspects of the present disclosure, comprising a speed detector configured to obtain information about a traveling speed of the man-powered vehicle. Including further.
According to the control device for the manpower-driven vehicle of the twenty-fourth aspect, information regarding the running speed of the manpower-driven vehicle can be preferably acquired by the speed detector.

A control method for a man-powered vehicle according to a twenty-fifth aspect of the present disclosure is a control method for a man-powered vehicle, wherein the man-powered vehicle includes a crank rotatable by man-powered driving force and a propulsion force for the man-powered vehicle. a motor configured to provide a state of the manpowered vehicle, wherein the control method includes the step of activating or deactivating the motor when a parameter relating to the rotational speed of the crank satisfies a predetermined condition; and modifying said predetermined condition in response to at least one of said man-powered vehicle's environment.
According to the control method for a manpowered vehicle of the twenty-fifth aspect, the motor is operated according to a predetermined condition regarding the rotational speed of the crank suitable for at least one of the state of the manpowered vehicle and the environment of the manpowered vehicle. Can be driven or stopped. Therefore, the motor can be preferably controlled.

A control method for a man-powered vehicle according to a twenty-sixth aspect of the present disclosure is a control method for a man-powered vehicle, wherein the man-powered vehicle includes a crank rotatable by a man-powered driving force and a propulsion force applied to the man-powered vehicle. wherein the control method drives or stops the motor when a parameter related to the rotational speed of the crank and a parameter related to the human driving force satisfy predetermined conditions. and changing the predetermined condition according to at least one of a state of the manpowered vehicle and an environment of the manpowered vehicle.
According to the control method for the manpowered vehicle of the twenty-sixth aspect, according to predetermined conditions regarding the rotational speed of the crank and the manpowered driving force suitable for at least one of the state of the manpowered vehicle and the environment of the manpowered vehicle. can be used to start or stop the motor. Therefore, the motor can be preferably controlled.

The control device for a manpowered vehicle and the control method for a manpowered vehicle according to the present disclosure can suitably control a motor.

1 is a side view of a manpowered vehicle including a control device for a manpowered vehicle according to an embodiment; FIG. 1 is a block diagram showing an electrical configuration of a control device for a manpowered vehicle according to an embodiment; FIG. FIG. 3 is a flowchart of motor stopping processing executed by the control unit in FIG. 2 ; FIG. FIG. 3 is a flowchart of motor driving processing executed by the control unit in FIG. 2 ; FIG. The block diagram which shows the electrical structure of the control apparatus for human-powered vehicles of a modification.

A controller 50 for a manpowered vehicle and a control method for a manpowered vehicle according to an embodiment will be described with reference to FIGS. 1 to 4. FIG. Hereinafter, the controller 50 for the manpowered vehicle will simply be referred to as the controller 50 . The control device 50 is provided in the manpowered vehicle 10 . The manpowered vehicle 10 is a vehicle that can be driven by at least the manpower driving force H. As shown in FIG. The manpowered vehicle 10 is not limited in the number of wheels and includes, for example, unicycles and vehicles with three or more wheels. The human powered vehicle 10 includes various types of bicycles, such as mountain bikes, road bikes, city bikes, cargo bikes, recumbent bikes, and the like. Bicycles include electric bicycles (E-bikes) powered by electric motors. Electric bicycles include electrically assisted bicycles whose propulsion is assisted by an electric motor. In the following embodiments, the manpowered vehicle 10 will be described as a bicycle having two wheels.

The manpowered vehicle 10 includes driven wheels 12A and drive wheels 12B to which the manpower driving force H and the driving force of the motor 42 are transmitted. The manpowered vehicle 10 has a crank 14 and a vehicle body 16 . The vehicle body 16 has a frame 18 and a steering section 20 . A human power driving force H is input to the crank 14 . The crank 14 includes a crankshaft 14A rotatable with respect to the frame 18 and crank arms 14B provided at axial ends of the crankshaft 14A. A pair of pedals 22 are individually connected to each crank arm 14B. Drive wheel 12B is driven by rotation of crank 14 . Drive wheel 12B is supported by frame 18 . A drive mechanism 24 connects the crank 14 and the drive wheel 12B. The drive mechanism 24 includes a first rotor 26 coupled to the crankshaft 14A. The crankshaft 14A and the first rotating body 26 may be coupled so as to rotate integrally, or may be coupled via a first one-way clutch. The first one-way clutch rotates the first rotating body 26 forward when the crank 14 rotates forward, and prevents the first rotating body 26 from rotating backward when the crank 14 rotates backward. The first rotating body 26 includes a sprocket, pulley, or bevel gear. Drive mechanism 24 further includes a second rotating body 28 and a connecting member 30 . The connecting member 30 transmits the rotational force of the first rotating body 26 to the second rotating body 28 . Coupling member 30 includes, for example, a chain, a belt, or a shaft.

The second rotating body 28 is connected to the drive wheel 12B. The second rotating body 28 includes a sprocket, pulley, or bevel gear. A second one-way clutch is preferably provided between the second rotor 28 and the drive wheel 12B. The second one-way clutch is configured to rotate the driving wheel 12B forward when the second rotating body 28 rotates forward, and prevent the driving wheel 12B from rotating backward when the second rotating body 28 rotates backward. . The manpowered vehicle 10 may include a transmission 46 that is used to vary the rotational speed of the drive wheels 12B relative to the rotational speed of the crankshaft 14A. Transmission 46 includes, for example, at least one of a front derailleur, a rear derailleur, and an internal transmission. In this embodiment, at least one of the first rotating body 26 and the second rotating body 28 includes multiple sprockets. The derailleur includes a front derailleur when the first rotating body 26 includes multiple front sprockets, and includes a rear derailleur when the second rotating body 28 includes multiple front sprockets. In this embodiment, the first rotor 26 includes one sprocket, the second rotor 28 includes multiple sprockets, and the transmission 46 includes a rear derailleur . If transmission 46 includes an internal transmission, the internal transmission is provided, for example, at the hub of drive wheel 12B.

Manpowered vehicle 10 includes front and rear wheels. A front wheel is attached to the frame 18 via a steering section 20 . The steering portion 20 includes a front fork 32 and a handle portion 34 . Handle portion 34 includes stem 36 and handlebar 38 . A handlebar 38 is connected to the front fork 32 via a stem 36 . In the following embodiment, the front wheels are driven wheels 12A and the rear wheels are driven wheels 12B, but the front wheels may be driven wheels 12B and the rear wheels may be driven wheels 12A.

Manpowered vehicle 10 further includes a battery 40 . Battery 40 includes one or more battery cells. A battery cell includes a rechargeable battery. The battery 40 is provided in the manpowered vehicle 10 and supplies power to other electrical components electrically connected to the battery 40 , such as the control device 50 . The battery 40 is communicably connected to the control device 50 by wire or wirelessly. The battery 40 can communicate with the control device 50 by, for example, power line communication (PLC), UART (Universal Asynchronous Receiver Transmitter) communication, or CAN (Controller Area Network) communication. The battery 40 may be attached to the outside of the frame 18 or at least partially housed inside the frame 18 .

Manpowered vehicle 10 further includes motor 42 and drive circuit 44 . Drive circuit 44 includes an inverter circuit. Motor 42 is preferably provided in the same housing as drive circuit 44 . A drive circuit 44 controls power supplied from the battery 40 to the motor 42 . The drive circuit 44 is communicably connected to the control device 50 by wire or wirelessly. The drive circuit 44 can communicate with the control unit 52 of the control device 50 by serial communication, for example. The drive circuit 44 drives the motor 42 according to a control signal from the control section 52 of the control device 50 . Drive circuit 44 may be included in controller 50 .

Motor 42 includes an electric motor. The motor 42 is provided so as to transmit rotation to the power transmission path of the manpower driving force H from the pedals 22 to the rear wheels or to the front wheels. The motor 42 is provided on the frame 18 of the manpowered vehicle 10, the rear wheels, or the front wheels. In this embodiment, the motor 42 is coupled to the power transmission path from the crankshaft 14A to the first rotating body 26. As shown in FIG. The power transmission path between the motor 42 and the crankshaft 14A preferably has a shaft so that the torque of the crank 14 does not cause the motor 42 to rotate when the crankshaft 14A is rotated in the direction in which the manpowered vehicle 10 moves forward. A one-way clutch is provided. The housing in which the motor 42 and the drive circuit 44 are provided may be provided with components other than the motor 42 and the drive circuit 44, for example, a reduction gear that reduces the speed of rotation of the motor 42 and outputs it may be provided.

Controller 50 includes crank 14 rotatable by manpower H and motor 42 configured to provide propulsion to manpower vehicle 10 . The control device 50 includes a control section 52 . Control unit 52 includes an arithmetic processing unit that executes a predetermined control program. The arithmetic processing unit includes, for example, a CPU (Central Processing Unit) or an MPU (Micro Processing Unit). Control unit 52 may include one or more microcomputers. The control unit 52 may include a plurality of processing units that are spaced apart at a plurality of locations. The control unit 52 is provided, for example, in a housing in which the motor 42 is provided.

Preferably, the control device 50 further includes a storage section 54 . The storage unit 54 stores information about predetermined conditions. The storage unit 54 stores various control programs and information used for various control processes. The storage unit 54 includes, for example, nonvolatile memory and volatile memory. The storage unit 54 is provided, for example, in a housing in which the motor 42 is provided. The storage unit 54 is electrically connected to the control unit 52 and configured to be controlled by the control unit 52 .

The control device 50 preferably further includes a first detector 56 configured to detect a parameter P related to the rotational speed N of the crank 14 . The first detector 56 preferably includes a first sensor 56A configured to output a signal corresponding to the rotation speed N of the crank 14. As shown in FIG. The parameter P is preferably the rotational speed N of the crank 14 .

The first sensor 56A is used to detect the rotation speed N of the crank 14 of the manpowered vehicle 10. As shown in FIG. The first sensor 56A is attached, for example, to the frame 18 of the manpowered vehicle 10 or the housing in which the motor 42 is provided. The first sensor 56A includes a magnetic sensor that outputs a signal corresponding to the strength of the magnetic field. Magnetic sensors include, for example, Hall elements or magnetoresistive sensors. An annular magnet whose magnetic field strength changes in the circumferential direction is provided on the crankshaft 14A or on the power transmission path between the crankshaft 14A and the first rotating body 26 . The first sensor 56A is communicably connected to the controller 52 by wire or wirelessly. The first sensor 56A outputs a signal corresponding to the rotational speed N of the crank 14 to the control section 52 . The first sensor 56A may be provided on the crankshaft 14A or on a member that rotates integrally with the crankshaft 14A in the power transmission path of the manpower driving force H from the crankshaft 14A to the first rotor 26 . For example, the first sensor 56A may be provided on the first rotating body 26 if a first one-way clutch is not provided between the crankshaft 14A and the first rotating body 26. The first sensor 56A may be used to detect the travel speed V of the manpowered vehicle 10 . In this case, the control unit 52 calculates the rotational speed of the driving wheels 12B according to the rotational speed N of the crank 14 detected by the first sensor 56A and the gear ratio, and calculates the travel speed V of the manpowered vehicle 10. to detect Information about the gear ratio is pre-stored in the storage unit 54 .

When the manpowered vehicle 10 is provided with a transmission 46 for changing the gear ratio, the control unit 52 calculates the gear ratio according to the travel speed V of the manpowered vehicle 10 and the rotational speed N of the crank 14. You may In this case, information about the circumference of the drive wheel 12B, the diameter of the drive wheel 12B, or the radius of the drive wheel 12B is stored in advance in the storage unit 54 . Controller 50 may include a shift sensor. A shift sensor is provided in the transmission 46, for example. In this case, the shift sensor is electrically connected to the controller 52 . A shift sensor detects the current shift stage of the transmission 46 . The relationship between the shift stage and the gear ratio is pre-stored in the storage unit 54 . Thereby, the control unit 52 can detect the current gear ratio from the detection result of the gear shift sensor. The control unit 52 can calculate the rotation speed N of the crank 14 by dividing the rotation speed of the driving wheels 12B by the gear ratio. In this case, the vehicle speed sensor 58A and the shift sensor may be used as the first sensor 56A. Instead of the transmission 46, the shift sensor may be provided in the shift operating portion, or may be provided in the shift wire.

Preferably, the controller 50 further includes a speed detector 58 configured to obtain information about the traveling speed V of the manpowered vehicle 10 . The speed detector 58 preferably includes a vehicle speed sensor 58A. Vehicle speed sensor 58A is used to detect the rotational speed of the wheels. The vehicle speed sensor 58A is electrically connected to the controller 52 by wire or wirelessly. The vehicle speed sensor 58A is communicably connected to the controller 52 by wire or wirelessly. The vehicle speed sensor 58A outputs a signal to the control unit 52 according to the rotational speed of the wheels. The control unit 52 calculates the traveling speed V of the manpowered vehicle 10 based on the rotational speed of the wheels. The control unit 52 stops the motor 42 when the travel speed V reaches or exceeds a predetermined value. The predetermined value is, for example, 25 Km/h or 45 Km/h. The vehicle speed sensor 58A includes, for example, a magnetic lead that constitutes a reed switch or a Hall element. The vehicle speed sensor 58A may be attached to the chain stay, seat stay, or rear end of the frame 18 and may be configured to detect a magnet attached to the rear wheel, or may be provided to the front fork 32 to detect a magnet attached to the front wheel. may be configured. In another example, vehicle speed sensor 58A includes a GPS receiver. The control unit 52 may detect the traveling speed V of the manpowered vehicle 10 according to the GPS information acquired by the GPS receiving unit, map information prerecorded in the storage unit 54, and time. Control unit 52 preferably includes a timer circuit for measuring time.

Control device 50 preferably further includes a torque sensor 60 for detecting manpower driving force H. FIG. The torque sensor 60 is used to detect the torque TH of the manpower driving force H. FIG. The torque sensor 60 is provided, for example, in a housing in which the motor 42 is provided. The torque sensor 60 detects the torque TH of the manpower driving force H input to the crank 14 . For example, when a first one-way clutch is provided in the power transmission path, the torque sensor 60 is provided upstream of the first one-way clutch in the power transmission path. Torque sensor 60 includes a strain sensor, a magnetostrictive sensor, or the like. A strain sensor includes a strain gauge. When the torque sensor 60 includes a strain sensor, the strain sensor is preferably provided on the outer circumference of the rotating body included in the power transmission path. Torque sensor 60 may include a wireless or wired communication unit. A communication unit of the torque sensor 60 is configured to communicate with the control unit 52 . When the torque sensor 60 includes a magnetostrictive sensor, the magnetostrictive element is preferably provided on the outer circumference of the rotating body included in the power transmission path, and the magnetostrictive sensor is provided around the magnetostrictive element.

The control unit 52 controls the motor 42 so that the assist force of the motor 42 becomes a predetermined ratio A to the human-powered driving force H, for example. The control unit 52 may control the motor 42 so that the output torque TM of the assist force of the motor 42 with respect to the torque TH of the human-powered driving force H of the manpowered vehicle 10 becomes a predetermined ratio A. A torque ratio AT of the output torque TM of the motor 42 to the torque TH of the manpower driving force H of the manpowered vehicle 10 may be referred to as a ratio A in some cases. The control unit 52 may control the motor 42 so that the power WM (watts) of the motor 42 becomes a predetermined ratio A to the power WH (watts) of the human driving force H, for example. The control unit 52 controls the motor 42 in a plurality of control modes in which the ratio A of the output of the motor 42 to the human driving force H is different. The ratio AW of the power WM of the output of the motor 42 to the power WH of the manpower driving force H of the manpowered vehicle 10 may be referred to as ratio A in some cases. The power WH of the manpower driving force H is calculated by multiplying the manpower driving force H and the rotation speed N of the crank 14 . When the output of the motor 42 is input to the power path of the manpower driving force H through the speed reducer, the output of the speed reducer is the output of the motor 42 . The control unit 52 outputs a control command to the drive circuit 44 of the motor 42 according to the power WH or the torque TH of the manpower driving force H. The control command includes, for example, a torque command value.

The control unit 52 controls the motor 42 so that the maximum value MX of the output of the motor 42 is equal to or less than a predetermined value. The output of motor 42 includes the output torque TM of motor 42 . The output of motor 42 may include power WM of motor 42 . In this case, the controller 52 controls the motor 42 so that the power WM of the motor 42 is equal to or less than the predetermined value WM1. The predetermined value WM1 is 500 watts in one example. The predetermined value WM1 is 300 watts in another example. The control unit 52 may control the motor 42 so that the torque ratio AT is equal to or lower than the predetermined torque ratio AT1. The predetermined torque ratio AT1 is, for example, 300%.

At least one of the ratio A and the maximum value MX of the output of the motor 42 may be different in each of the plurality of control modes. Only the ratio A, only the maximum value MX, or both the ratio A and the maximum value MX may be different in each of the plurality of control modes. In this case, the control unit 52 controls the motor 42 so that the output of the motor 42 is equal to or less than the ratio A defined in the selected control mode of the motor 42 and is equal to or less than the predetermined value.

The control unit 52 is configured to drive or stop the motor 42 when the parameter P regarding the rotation speed N of the crank 14 satisfies a predetermined condition. The control unit 52 is configured to change the predetermined condition according to at least one of the state of the manpowered vehicle 10 and the environment of the manpowered vehicle 10 .

At least one of the state of the manpowered vehicle 10 and the environment of the manpowered vehicle 10 is the running speed V of the manpowered vehicle 10, the running resistance R of the manpowered vehicle 10, and the remaining amount B of the battery 40 of the manpowered vehicle 10. , a limit on the power consumption of the battery 40 of the manpowered vehicle 10, the acceleration D of the manpowered vehicle 10, the operation of the operating device of the manpowered vehicle 10, the control mode of the manpowered vehicle 10, the inclination of the running road of the manpowered vehicle 10, and at least one of wind speed. At least one of the state of the manpowered vehicle 10 and the environment of the manpowered vehicle 10 in the present disclosure is the state of the manpowered vehicle 10 only, the environment of the manpowered vehicle 10 only, or the state of the manpowered vehicle 10 and , both the environment of the manpowered vehicle 10 . In the present disclosure, the traveling speed V of the manpowered vehicle 10, the running resistance R of the manpowered vehicle 10, the remaining amount B of the battery 40 of the manpowered vehicle 10, the limits on the power consumption of the battery 40 of the manpowered vehicle 10, and the manpowered vehicle At least one of the acceleration D of the manpowered vehicle 10, the operation of the operating device of the manpowered vehicle 10, the control mode of the manpowered vehicle 10, the slope of the roadway of the manpowered vehicle 10, and the wind speed is the driving speed V of the manpowered vehicle 10. Only the running resistance R of the manpowered vehicle 10 Only the remaining amount B of the battery 40 of the manpowered vehicle 10 Only the power consumption limit of the battery 40 of the manpowered vehicle 10 Only the acceleration D of the manpowered vehicle 10 Manpowered Only the operation of the operation device of the vehicle 10, only the control mode of the manpowered vehicle 10, only the inclination of the road of the manpowered vehicle 10, or the running speed V of the manpowered vehicle 10, the running resistance R of the manpowered vehicle 10, and the human power Remaining amount B of the battery 40 of the manpowered vehicle 10, restriction on power consumption of the battery 40 of the manpowered vehicle 10, acceleration D of the manpowered vehicle 10, operation of the operating device of the manpowered vehicle 10, control mode of the manpowered vehicle 10, Including any combination of roadway incline for the manpowered vehicle 10 and wind speed.

Preferably, the control device 50 further includes a second detector 62 that detects at least one of the state of the manpowered vehicle 10 and the environment of the manpowered vehicle 10 . The second detection section 62 includes a running speed detection section 62A, a running resistance detection section 62B, a remaining battery level detection section 62C, a battery limited state detection section 62D, an acceleration detection section 62E, an operation detection section 62F, a control mode detection section 62G, and an inclination detection section 62G. At least one of the detector 62H and the wind detector 62J is included. The second detector 62 is electrically connected to the controller 52 by wire or wirelessly. The second detection unit 62 controls only the running speed detection unit 62A, only the running resistance detection unit 62B, only the remaining battery level detection unit 62C, only the battery limited state detection unit 62D, only the acceleration detection unit 62E, and only the operation detection unit 62F. Mode detector 62G only, tilt detector 62H only, wind detector 62J only, or running speed detector 62A, running resistance detector 62B, remaining battery level detector 62C, battery limited state detector 62D, acceleration detector 62E , operation detector 62F, control mode detector 62G, tilt detector 62H, and wind detector 62J.

When the control unit 52 changes the predetermined condition according to the travel speed V, the second detection unit 62 preferably includes the travel speed detection unit 62A. When the control unit 52 changes the predetermined condition according to the running resistance R, the second detection unit 62 preferably includes a running resistance detection unit 62B. When control unit 52 changes the predetermined condition according to remaining amount B of battery 40, second detecting unit 62 preferably includes remaining battery amount detecting unit 62C. When the control unit 52 changes the predetermined condition according to the limitation on the power consumption of the battery 40, the second detection unit 62 preferably includes a battery limited state detection unit 62D. When the control unit 52 changes the predetermined condition according to the acceleration D, the second detection unit 62 preferably includes an acceleration detection unit 62E. When the control unit 52 changes the predetermined condition according to the operation of the operation device, the second detection unit 62 preferably includes the operation detection unit 62F. When the control unit 52 changes the predetermined condition according to the control mode, the second detection unit 62 preferably includes a control mode detection unit 62G. When the controller 52 changes the predetermined condition according to the slope of the travel road, the second detector 62 preferably includes the slope detector 62H. When the control unit 52 changes the predetermined condition according to the wind speed, the second detection unit 62 preferably includes the wind detection unit 62J.

The running speed detector 62A is configured in the same manner as the vehicle speed sensor 58A of the speed detector 58 . If the second detector 62 includes the travel speed detector 62A, the speed detector 58 may be omitted. When the second detection unit 62 includes the running speed detection unit 62A, the vehicle speed sensor 58A may be used as the running speed detection unit 62A. The travel speed detector 62A may be configured separately from the vehicle speed sensor 58A.

The running resistance detector 62B is used to detect the running resistance R. The running resistance detection unit 62B calculates the running resistance R according to, for example, the power WH of the human-powered driving force H, the power WM of the motor 42, and the running speed V of the manpowered vehicle 10. The running resistance detection unit 62B includes an arithmetic processing unit. The running resistance detection section 62B may be configured by an arithmetic processing section included in the control section 52 . The running resistance detection unit 62B does not calculate the running resistance R according to the power WH of the human-powered driving force H, the power WM of the motor 42, and the running speed V of the manpowered vehicle 10, but detects the running resistance A running resistance detection sensor for detecting a parameter related to R may be included, and the running resistance R may be calculated according to the detection result of the running resistance detection sensor. The parameters related to the running resistance R are the air resistance of the manpowered vehicle 10, the rolling resistance of the wheels of the manpowered vehicle 10, the slope resistance of the running road of the manpowered vehicle 10, the acceleration resistance of the manpowered vehicle 10, and the manpowered vehicle 10. parameters for calculating the air resistance of the manpowered vehicle 10, parameters for calculating the rolling resistance of the wheels of the manpowered vehicle 10, parameters for calculating the slope resistance of the road of the manpowered vehicle 10, and the manpowered vehicle It contains at least one of the parameters for detecting ten acceleration resistances. The running resistance detection sensor includes at least one of an inclination sensor, a wind speed sensor, and an acceleration sensor. At least one of the tilt sensor, the wind speed sensor and the acceleration sensor includes the tilt sensor only, the wind speed sensor only, the acceleration sensor only, or all of the tilt sensor, the wind speed sensor and the acceleration sensor. The slope resistance of the travel path of the manpowered vehicle 10 can be calculated from the detection result of the slope sensor. The air resistance of the manpowered vehicle 10 can be calculated from the detection result of the wind speed sensor. The acceleration resistance of the manpowered vehicle 10 can be calculated from the detection result of the acceleration sensor. The control unit 52 controls any one of, for example, the air resistance of the manpowered vehicle 10, the rolling resistance of the wheels of the manpowered vehicle 10, the gradient resistance of the travel road of the manpowered vehicle 10, and the acceleration resistance of the manpowered vehicle 10. or one, arbitrary two, arbitrary three, or a value obtained by adding all of them is used as the running resistance R. The running resistance R preferably includes tilt resistance and air resistance. The tilt sensor included in the running resistance detection sensor has the same configuration as the tilt detector 62H. When the second detection unit 62 includes the tilt detection unit 62H, the tilt sensor can be omitted from the running resistance detection sensor. The wind speed sensor included in the running resistance detection sensor has the same configuration as the wind detection section 62J. If the second detection unit 62 includes the wind detection unit 62J, the wind speed sensor of the running resistance detection sensor can be omitted.

The remaining battery level detection section 62C is used to detect the remaining capacity B of the battery 40 . Battery level detector 62</b>C may be provided in battery 40 , and may be a receiver that acquires a signal containing information about remaining capacity B of battery 40 output from battery 40 . 62 C of battery residual amount detection parts may be contained in the control part 52. FIG.

The battery limit state detector 62D is used to detect the limit of the power usage of the battery 40. FIG. Battery limit state detection unit 62D may be provided in battery 40 to detect the limit state of the use of the power of battery 40, and detects a command regarding the limit state of the use of power output from control unit 52 to battery 40. may Battery limited state detector 62</b>D may be included in controller 52 . For example, the control unit 52 may limit the use of the power of the battery 40 when changing from a control mode with a high ratio A to a control mode with a low ratio A, and when the distance to the destination is long, the battery 40 The use of the power of the battery 40 may be limited by the user operating a predetermined operation unit. The battery 40 may limit the use of power when the remaining amount B is equal to or less than a predetermined value BX, and may limit the use of power when the battery 40 has a problem. The control unit 52 may cause the storage unit 54, for example, to store information regarding the state of restriction on the use of the electric power of the battery 40 . The battery 40 may store the information regarding the restricted state of the power usage of the battery 40 in a storage unit provided in the battery 40, for example. Battery limit state detection unit 62D is configured to acquire information regarding the limit state of the power usage of battery 40 stored in storage unit 54 and a storage unit provided in battery 40, and to notify control unit 52 of the information. may The control unit 52 can determine whether or not the power consumption of the battery 40 of the manpowered vehicle 10 is restricted so as to reduce the power consumption of the battery 40 based on the detection result of the battery limit state detection unit 62D.

The acceleration detector 62E is used to detect the acceleration D of the manpowered vehicle 10. FIG. Acceleration in the longitudinal direction of the manpowered vehicle 10 is detected in a state in which the manpowered vehicle 10 is placed upright on a horizontal plane with the front and rear wheels on the ground.

The operation detection section 62F is used to detect the operation of the operating device. The operation device, in one example, includes an operation unit for changing at least one of the first condition and the second condition. At least one of the first condition and the second condition includes only the first condition, only the second condition, or both the first condition and the second condition. The operating device may be configured to change a threshold included in at least one of the first condition and the second condition. Examples of thresholds are the first value PX, the second value PY and the third value QX. The operation device includes, for example, at least one of an operation switch and a touch panel. The operation detection unit 62F is provided, for example, in the operation device. In another example, the operating device includes an operating portion for changing the operating mode of the motor 42 . The operation detection section 62F may include a sensor that detects an operation of the operation device, and may be configured to detect a signal from the operation section. When the operation detection section 62F detects a signal from the operation section, the operation detection section 62F may be configured by an arithmetic processing section included in the control section 52 .

The control mode detector 62G is used to detect the control mode of the manpowered vehicle 10. FIG. Control modes of manpowered vehicle 10 include, for example, operating modes of motor 42 . The control mode detection unit 62G may detect a mode change command set by the control unit 52, or may detect an operation of the operation unit for changing the control mode. The control mode detection section 62G may be configured by an arithmetic processing section included in the control section 52 .

The inclination detector 62H is used to detect the inclination of the travel path of the manpowered vehicle 10 . The tilt detection unit 62H detects, for example, the pitch angle of the manpowered vehicle 10 . The tilt detector 62H includes, for example, a tilt sensor. The tilt sensor detects the tilt angle of the vehicle body 16 . Tilt sensors include, for example, gyro sensors. The gyro sensor preferably includes a 3-axis gyro sensor. The gyro sensor is preferably configured to detect the yaw angle of the vehicle body 16, the roll angle of the vehicle body 16, and the pitch angle of the vehicle body 16. The three axes of the gyro sensor are preferably aligned in the longitudinal direction, the lateral direction, and the vertical direction of the manpowered vehicle 10 in a state in which the manpowered vehicle 10 is placed upright on a horizontal plane with its front and rear wheels on the ground. It is provided on the drive vehicle 10 . The gyro sensor may include a 1-axis gyro sensor or a 2-axis gyro sensor. The control unit 52 uses the pitch angle of the manpowered vehicle 10 detected by the tilt sensor as the inclination of the travel path of the manpowered vehicle 10 . The tilt detector 62H may include an acceleration sensor. The acceleration sensor of the tilt detection section 62H is configured similarly to the acceleration sensor of the acceleration detection section 62E, but preferably detects acceleration in a direction different from that of the acceleration sensor of the acceleration detection section 62E. When the acceleration sensor of the acceleration detection section 62E is used as the tilt detection section 62H, it is preferable to remove the influence of the speed change of the manpowered vehicle 10 from the acceleration sensor using the output of the vehicle speed sensor 58A. The tilt detector 62H may be configured separately from the acceleration sensor of the acceleration detector 62E.

The wind detector 62J is used, for example, to detect at least one of wind speed and wind pressure. Wind detector 62J includes at least one of a wind speed sensor and a wind pressure sensor. The wind detector 62J is provided on the handlebar 38 of the manpowered vehicle 10, for example. The wind detection unit 62J is preferably configured to detect at least one of a headwind and a tailwind when the manpowered vehicle 10 travels forward.

The predetermined conditions include a first condition, and the control unit 52 is configured to stop the motor 42 when the parameter P regarding the rotation speed N of the crank 14 satisfies the first condition, and the state of the manpowered vehicle 10, and configured to change the first condition according to at least one environment of the manpowered vehicle 10 .

The first condition is that the parameter P relating to the rotational speed N of the crank 14 is equal to or lower than the first value PX, or the parameter P relating to the rotational speed N of the crank 14 is equal to or lower than the first value PX. It is satisfied when it continues for T1 or more. The control unit 52 is configured to change at least one of the first value PX and the first time T1 according to at least one of the state of the manpowered vehicle 10 and the environment of the manpowered vehicle 10 . In the present disclosure, at least one of the first value PX and the first time T1 includes only the first value PX, only the first time T1, or both the first value PX and the first time T1.

In a first example regarding the first condition, the control unit 52 changes at least one of the first value PX and the first time T1 according to the running speed V of the manpowered vehicle 10 . The storage unit 54 preferably stores first information that associates the running speed V with at least one of the first value PX and the first time T1. The first information includes, for example, at least one of tables, maps, graphs, and functions. In this disclosure, at least one of tables, maps, graphs and functions means tables only, maps only, graphs only, functions only, or any combination of tables, maps, graphs and functions. Control unit 52 changes at least one of first value PX and first time T1 according to the first information. For example, when the travel speed V of the manpowered vehicle 10 increases, the control unit 52 increases the first value PX, decreases the first time T1, or increases the first value PX and shortens the first time T1. preferably reduced. In this case, in the first information, the first value PX when the travel speed V is the first travel speed V1 is greater than the first value PX when the travel speed V is the second travel speed V2 which is lower than the first travel speed V1. In the first information, the first time T1 when the running speed V is the first running speed V1 is shorter than the first time T1 when the running speed V is the second running speed V2. In the first information, the first value PX may increase linearly or stepwise as the travel speed V increases. In the first information, the first time T1 may shorten linearly or stepwise as the traveling speed V increases.

In the first example, when the traveling speed V of the manpowered vehicle 10 increases, the control unit 52 decreases the first value PX, increases the first time T1, or decreases the first value PX and Time T1 may be increased. When the traveling speed V of the manpowered vehicle 10 increases and the first value PX is decreased, in the first information, when the traveling speed V is the first traveling speed V1, the first value PX is the second traveling speed V2. is smaller than the first value PX in the case. When the first time T1 is increased when the traveling speed V of the manpowered vehicle 10 increases, in the first information, when the traveling speed V is the first traveling speed V1, the first time T1 becomes longer than the first time T1 in the case. When the first value PX is decreased when the traveling speed V of the manpowered vehicle 10 increases, and when the first time T1 is increased when the traveling speed V of the manpowered vehicle 10 increases, the traveling speed V is large. In this case, even if the rotational speed N of the crank 14 decreases, the motor 42 is less likely to be stopped, so that the application of the propulsive force to the manpowered vehicle 10 by the motor 42 is less likely to be interrupted. Therefore, the motor 42 can be preferably controlled.

In a second example regarding the first condition, the control unit 52 changes at least one of the first value PX and the first time T1 according to the running resistance R of the manpowered vehicle 10 . The storage unit 54 preferably stores second information that associates the running resistance R with at least one of the first value PX and the first time T1. The second information includes, for example, at least one of tables, maps, graphs, and functions. Control unit 52 changes at least one of first value PX and first time T1 according to the second information. For example, when the running resistance R of the manpowered vehicle 10 increases, the control unit 52 decreases the first value PX, increases the first time T1, or decreases the first value PX and increases the first time T1. preferably increased. When the first value PX is decreased when the running resistance R of the manpowered vehicle 10 increases, the first value PX when the running resistance R is the first running resistance R1 in the second information is is smaller than the first value PX in the case of the second running resistance R2, which is also smaller. When the first time T1 is increased when the running resistance R of the manpowered vehicle 10 increases, the first time T1 when the running resistance R is the first running resistance R1 in the second information is longer than the first time T1 in the case. In the second information, the first value PX may decrease linearly or stepwise as the running resistance R increases. In the second information, the first time T1 may increase linearly or stepwise as the running resistance R increases.

In the second example, when the running resistance R of the manpowered vehicle 10 increases, the control unit 52 increases the first value PX, decreases the first time T1, or increases the first value PX and increases the first Time T1 may be decreased. When the first value PX is increased when the running resistance R of the manpowered vehicle 10 increases, in the second information, when the running resistance R is the first running resistance R1, the first value PX is the second running resistance R2. is greater than the first value PX in the case. When the first time T1 is decreased when the running resistance R of the manpowered vehicle 10 increases, the first time T1 when the running resistance R is the first running resistance R1 in the second information is is shorter than the first time T1 in the case of

In a third example regarding the first condition, control unit 52 changes at least one of first value PX and first time T1 according to remaining amount B of battery 40 . The storage unit 54 preferably stores third information that associates the remaining amount B of the battery 40 with at least one of the first value PX and the first time T1. The third information includes, for example, at least one of tables, maps, graphs, and functions. Control unit 52 changes at least one of first value PX and first time T1 according to the third information. For example, when the remaining amount B of the battery 40 of the manpowered vehicle 10 decreases, the control unit 52 increases the first value PX, decreases the first time T1, or increases the first value PX and It is preferable to reduce the time T1. When the first value PX is increased when the remaining amount B of the battery 40 decreases, in the third information, the first value PX when the remaining amount B of the battery 40 is the first remaining amount B1 is the first remaining amount B1 is greater than the first value PX in the case of the second remaining amount B2 greater than . When the first time T1 is decreased when the remaining amount B of the battery 40 decreases, the third information indicates that the first time T1 when the remaining amount B of the battery 40 is the first remaining amount B1 is reduced to the second remaining amount B2. is shorter than the first time T1 in the case of In the third information, the first value PX may increase linearly or stepwise as the remaining amount B of the battery 40 decreases. In the third information, the first time T1 may shorten linearly or stepwise as the remaining amount B of the battery 40 decreases.

In the third example, when the remaining amount B of the battery 40 of the manpowered vehicle 10 decreases, the control unit 52 decreases the first value PX, increases the first time T1, or decreases the first value PX. And the first time T1 may be increased. When the first value PX is decreased when the remaining amount B of the battery 40 of the manpowered vehicle 10 decreases, in the third information, the first value PX when the remaining amount B of the battery 40 is the first remaining amount B1 is It is smaller than the first value PX for the second remaining amount B2. When the first time T1 is increased when the remaining amount B of the battery 40 of the manpowered vehicle 10 decreases, the first time T1 when the remaining amount B of the battery 40 is the first remaining amount B1 in the third information is It is longer than the first time T1 for the second remaining amount B2.

In a fourth example regarding the first condition, control unit 52 changes at least one of first value PX and first time T1 according to the limit of battery 40 . The storage unit 54 preferably stores fourth information that associates the limited state of the battery 40 with at least one of the first value PX and the first time T1. The fourth information includes, for example, at least one of tables, maps, graphs, and functions. Control unit 52 changes at least one of first value PX and first time T1 according to the fourth information. For example, when the use of the power of the battery 40 of the manpowered vehicle 10 is restricted so that the power consumption of the battery 40 of the manpowered vehicle 10 is reduced, the control unit 52 increases the first value PX, decreases the first time T1, Alternatively, it is preferable to increase the first value PX and decrease the first time T1. When the use of the power of the battery 40 is restricted so that the power consumption of the battery 40 is reduced, when the first value PX is increased, the fourth information indicates that the power consumption of the battery 40 of the manpowered vehicle 10 is reduced. The first value PX when the power consumption of the battery 40 of the manpowered vehicle 10 is limited is greater than the first value PX when the power consumption of the battery 40 of the manpowered vehicle 10 is not limited. When the use of the power of the battery 40 is restricted so that the power consumption of the battery 40 is reduced, when the first time T1 is decreased, the fourth information indicates that the power consumption of the battery 40 of the manpowered vehicle 10 is reduced. The first time T1 when the power consumption of the battery 40 of the manpowered vehicle 10 is limited is shorter than the first time T1 when the power consumption of the battery 40 of the manpowered vehicle 10 is not limited. In the fourth information, the first value PX may increase linearly or stepwise as the limit on the use of the electric power of the battery 40 increases. In the fourth information, the first time T1 may be shortened linearly or stepwise as the restriction on the use of the power of the battery 40 increases.

In the fourth example, when the use of the power of the battery 40 of the manpowered vehicle 10 is restricted so that the power consumption of the battery 40 of the manpowered vehicle 10 is reduced, the control unit 52 reduces the first value PX to set the first time T1. Alternatively, the first value PX may be decreased and the first time T1 increased. When the use of the power of the battery 40 is restricted so that the power consumption of the battery 40 is reduced, when the first value PX is decreased, the fourth information indicates that the power consumption of the battery 40 of the manpowered vehicle 10 is reduced. The first value PX when the power consumption of the battery 40 of the manpowered vehicle 10 is limited is smaller than the first value PX when the power consumption of the battery 40 of the manpowered vehicle 10 is not limited. When the use of the power of the battery 40 is restricted so that the power consumption of the battery 40 is reduced, when the first time T1 is increased, the fourth information indicates that the power consumption of the battery 40 of the manpowered vehicle 10 is reduced. The first time T1 when the power consumption of the battery 40 of the manpowered vehicle 10 is limited is longer than the first time T1 when the power consumption of the battery 40 of the manpowered vehicle 10 is not limited.

In a fifth example regarding the first condition, the control unit 52 changes at least one of the first value PX and the first time T1 according to the acceleration D of the manpowered vehicle 10 . The storage unit 54 preferably stores fifth information that associates the acceleration D with at least one of the first value PX and the first time T1. The fifth information includes, for example, at least one of tables, maps, graphs, and functions. Control unit 52 changes at least one of first value PX and first time T1 according to the fifth information. For example, when the acceleration D of the manpowered vehicle 10 has a negative value and decreases, the control unit 52 increases the first value PX, decreases the first time T1, or increases the first value PX and the first It is preferable to reduce the time T1. If the acceleration D of the manpowered vehicle 10 is negative and decreases, the first value PX is increased. The value PX is greater than the first value PX for a second acceleration D2 greater than the first acceleration D1. When the acceleration D of the manpowered vehicle 10 is a negative value and decreases, when the first time T1 is decreased, in the fifth information, the first time T1 for the first acceleration D1 is the first Shorter than 1 hour T1. The second acceleration D2 may have a value of 0 or more. In the fifth information, the first value PX may increase linearly or stepwise as the acceleration D becomes a negative value and becomes smaller. In the fifth information, the first time T1 may shorten linearly or stepwise as the acceleration D becomes negative and small.

In the fifth example, when the acceleration D of the manpowered vehicle 10 is negative and decreases, the control unit 52 decreases the first value PX, increases the first time T1, or decreases the first value PX. And the first time T1 may be increased. If the acceleration D of the manpowered vehicle 10 is negative and decreases, the first value PX is decreased. The value PX is smaller than the first value PX for the second acceleration D2. When the first time T1 is increased when the acceleration D of the manpowered vehicle 10 is negative and decreases, in the fifth information, when the acceleration D is the first acceleration D1, the first time T1 becomes longer than the first time T1 in the case.

The control unit 52 controls the first, second, third, fourth, and fifth examples of the first condition, or the first example, the first example, and the fifth example of the first condition. At least one of the first value PX and the first time T1 may be changed according to a combination of a plurality of the second example, the third example, the fourth example, and the fifth example. In this case, for example, the first information, the second information, the third information, the fourth information, and the fifth information include at least information regarding the weighting of the first value PX and information regarding the weighting of the first time T1, respectively. Including one, the control unit 52 may calculate at least one of the first value PX and the first time T1 by a predetermined arithmetic expression using information regarding weighting obtained from each piece of information. At least one of the information about the weighting of the first value PX and the information about the weighting of the first time T1 may be only information about the weighting of the first value PX, only information about the weighting of the first time T1, or the first value It contains both information about the weighting of PX and information about the weighting of the first time T1. For example, the control unit 52 may select one of the first information, the second information, the third information, the fourth information, and the fifth information, or the first information and the second information, according to a predetermined condition. , third information, fourth information, and fifth information may be selected and at least one of the first value PX and the first time T1 may be changed using the selected information. .

The control method of the manpowered vehicle 10 includes the step of driving or stopping the motor 42 when the parameter P related to the rotational speed N of the crank 14 satisfies a predetermined condition, the state of the manpowered vehicle 10, and the state of the manpowered vehicle 10. and changing the predetermined condition according to at least one of the environments of the. In this embodiment, the method for controlling the manpowered vehicle 10 includes the step of stopping the motor 42 when the parameter P relating to the rotational speed N of the crank 14 satisfies a first condition.

Processing for stopping the motor 42 will be described with reference to FIG. When power is supplied to the control unit 52, the control unit 52 starts processing and proceeds to step S11 of the flowchart shown in FIG. After the flow chart of FIG. 3 ends, the control unit 52 repeats the process from step S11 after a predetermined period until the power supply is stopped. The flowchart shown in FIG. 3 may be executed only when the control unit 52 is in an operation mode in which the motor 42 assists the manpowered vehicle 10 in propulsion.

In step S11, the control section 52 determines whether or not the motor 42 is being driven. If the motor 42 is driven, the controller 52 ends the process. If the motor 42 is not driven, the controller 52 proceeds to step S12.

In step S12, the control unit 52 changes the first condition according to at least one of the state of the manpowered vehicle 10 and the environment of the manpowered vehicle 10, and proceeds to step S13. Specifically, the control unit 52 changes at least one of the first value PX and the first time T1 to the first information, second information, third information, fourth information, and fifth information. In the present disclosure, at least one of the first information, the second information, the third information, the fourth information, and the fifth information includes only the first information, only the second information, only the third information, and only the fourth information. , the fifth information only, or any combination of the first information, the second information, the third information, the fourth information, and the fifth information.

In step S13, the control unit 52 determines whether or not the first condition is satisfied. Specifically, when the parameter P is equal to or less than the first value PX included in the first condition changed in step S12, or when the parameter P changes to the first condition changed in step S12. When the included first value PX or less continues for the first time T1 or longer included in the first condition changed in step S12, it is determined that the first condition is satisfied. The control unit 52 terminates the process when the first condition is not satisfied. If the first condition is satisfied, the control unit 52 proceeds to step S14. In step S14, the control unit 52 stops the motor 42 and terminates the process.

Table 1 shows examples of combinations of first conditions used in step S13 and values included in the first conditions changed in step S12. The control unit 52 can perform the processing of FIG. 3 using the combination examples shown in Table 1.

The control unit 52 is configured to drive or stop the motor 42 when the parameter P regarding the rotation speed N of the crank 14 and the parameter Q regarding the manpower driving force H satisfy predetermined conditions. The control unit 52 is configured to change the predetermined condition according to at least one of the state of the manpowered vehicle 10 and the environment of the manpowered vehicle 10 . The parameter Q is preferably the human drive force H. The parameter Q may be the torque TH of the manpower driving force H or the power WH of the manpower driving force H.

The predetermined conditions include a second condition. The control unit 52 is configured to drive the motor 42 when the parameter P related to the rotational speed N of the crank 14 and the parameter Q related to the human-powered driving force H satisfy the second condition. It is configured to change the second condition according to at least one environment of the driving vehicle 10 . When the second condition is satisfied, the control unit 52 controls the motor 42 according to the operation mode of the motor 42, the human power driving force H, the rotation speed N of the crank 14, the traveling speed V, and the like. For example, when the second condition is satisfied, the control unit 52 drives the motor 42 so that the ratio A corresponding to the operation mode in which the human-powered driving force H is selected, and the human-powered driving force H is equal to or less than the predetermined driving force. If so, the motor 42 is stopped.

The second condition is that the parameter P related to the rotational speed N of the crank 14 is equal to or greater than the second value PY and continues for a second time period T2 or longer, and the parameter Q related to the manpower driving force H is equal to or greater than the third value QX. , when it continues for a third time T3 or longer, the parameter P relating to the rotation speed N of the crank 14 is equal to or higher than the second value PY, and the parameter Q relating to the manpower driving force H is equal to or higher than the third value QX. If the parameter P related to the rotation speed N of the crank 14 continues to be equal to or greater than the second value PY for 3 hours T3 or longer, and the parameter Q related to the human driving force H is equal to or greater than the third value QX. or when the parameter P relating to the rotational speed N of the crank 14 is equal to or greater than the second value PY and the parameter Q relating to the manpower driving force H is equal to or greater than the third value QX. be The control unit 52 controls at least one of the second value PY, the second time T2, the third value QX, and the third time T3 according to at least one of the state of the manpowered vehicle 10 and the environment of the manpowered vehicle 10. configured to change the In the present disclosure, at least one of the second value PY, the second time T2, the third value QX, and the third time T3 is the second value PY only, the second time T2 only, the third value QX only, the third Including only three times T3 or any combination of the second value PY, the second time T2, the third value QX and the third time T3.

In the first example regarding the second condition, the control unit 52 selects at least one of the second value PY, the second time T2, the third value QX, and the third time T3 according to the traveling speed V of the manpowered vehicle 10. change one. The storage unit 54 preferably stores sixth information that associates the running speed V with at least one of the second value PY, the second time T2, the third value QX, and the third time T3. The sixth information includes, for example, at least one of tables, maps, graphs, and functions. Control unit 52 changes at least one of second value PY, second time T2, third value QX, and third time T3 according to the sixth information. For example, when the traveling speed V of the manpowered vehicle 10 increases, the control unit 52 preferably increases at least one of the second value PY, the second time T2, the third value QX, and the third time T3. . When the second value PY is increased when the traveling speed V of the manpowered vehicle 10 increases, in the sixth information, when the traveling speed V is the third traveling speed V3, the second value PY is higher than the third traveling speed V3. is greater than the second value PY for the fourth vehicle speed V4, which is also smaller. When the traveling speed V of the manpowered vehicle 10 increases, the second time T2 is increased. longer than the second time T2 in the case. When the third value QX is increased when the traveling speed V of the manpowered vehicle 10 increases, the third value QX when the traveling speed V is the third traveling speed V3 in the sixth information is is greater than the third value QX in the case. When the traveling speed V of the manpowered vehicle 10 increases, the third time T3 is increased. In the sixth information, when the traveling speed V is the third traveling speed V3, the third time T3 becomes longer than the third time T3 in the case. In the sixth information, the second value PY may increase linearly or stepwise as the running speed V increases. In the sixth information, the second time T2 may lengthen linearly or stepwise as the traveling speed V increases. In the sixth information, the third value QX may increase linearly or stepwise as the traveling speed V increases. In the sixth information, the third time T3 may lengthen linearly or stepwise as the running speed V increases.

In the first example, when the traveling speed V of the manpowered vehicle 10 increases, the control unit 52 reduces at least one of the second value PY, the second time T2, the third value QX, and the third time T3. may When the traveling speed V of the manpowered vehicle 10 increases, the second value PY is decreased. is smaller than the second value PY when When the second time T2 is decreased when the running speed V of the manpowered vehicle 10 increases, the second time T2 when the running speed V is the third running speed V3 in the sixth information is reduced to the fourth running speed V4. is shorter than the second time T2 in the case of When the traveling speed V of the manpowered vehicle 10 increases and the third value QX is decreased, in the sixth information, the third value QX when the traveling speed V is the third traveling speed V3 is the fourth traveling speed V4. is smaller than the third value QX in the case. When the travel speed V of the manpowered vehicle 10 increases and the third time T3 is decreased, in the sixth information, when the travel speed V is the third travel speed V3, the third time T3 is reduced to the fourth travel speed V4. is shorter than the third time T3 in the case.

In the second example regarding the second condition, the control unit 52 selects at least one of the second value PY, the second time T2, the third value QX, and the third time T3 according to the running resistance R of the manpowered vehicle 10. change one. The storage unit 54 preferably stores seventh information that associates the running resistance R with at least one of the second value PY, the second time T2, the third value QX, and the third time T3. The seventh information includes, for example, at least one of tables, maps, graphs, and functions. Control unit 52 changes at least one of second value PY, second time T2, third value QX, and third time T3 according to the seventh information. For example, when the running resistance R of the manpowered vehicle 10 increases, the control unit 52 preferably reduces at least one of the second value PY, the second time T2, the third value QX, and the third time T3. . When the second value PY is decreased when the running resistance R of the manpowered vehicle 10 increases, in the seventh information, when the running resistance R is the third running resistance R3, the second value PY is is smaller than the second value PY for the fourth running resistance R4, which is also smaller. When the second time T2 is decreased when the running resistance R of the manpowered vehicle 10 increases, in the seventh information, when the running resistance R is the third running resistance R3, the second time T2 becomes is shorter than the second time T2 in the case of When the third value QX is decreased when the running resistance R of the manpowered vehicle 10 increases, the third value QX when the running resistance R is the third running resistance R3 in the seventh information is It is smaller than the third value QX for the running resistance R4. When the running resistance R of the manpowered vehicle 10 increases and the third time T3 is decreased, in the seventh information, when the running resistance R is the third running resistance R3, the third time T3 becomes is shorter than the third time T3 in the case. In the seventh information, the second value PY may decrease linearly or stepwise as the running resistance R increases. In the seventh information, the second time T2 may shorten linearly or stepwise as the running resistance R increases. In the seventh information, the third value QX may decrease linearly or stepwise as the running resistance R increases. In the seventh information, the third time T3 may shorten linearly or stepwise as the running resistance R increases.

In the second example, when the running resistance R of the manpowered vehicle 10 increases, the control unit 52 increases at least one of the second value PY, the second time T2, the third value QX, and the third time T3. may When the second value PY is increased when the running resistance R of the manpowered vehicle 10 increases, in the seventh information, when the running resistance R is the third running resistance R3, the second value PY becomes is greater than the second value PY when When the second time T2 is increased when the running resistance R of the manpowered vehicle 10 increases, in the seventh information, when the running resistance R is the third running resistance R3, the second time T2 becomes longer than the second time T2 in the case. When the third value QX is increased when the running resistance R of the manpowered vehicle 10 increases, the third value QX when the running resistance R is the third running resistance R3 in the seventh information is is greater than the third value QX in the case. When the third time T3 is increased when the running resistance R of the manpowered vehicle 10 increases, in the seventh information, when the running resistance R is the third running resistance R3, the second time T2 becomes longer than the second time T2 in the case.

In the third example regarding the second condition, the control unit 52 sets at least one of the second value PY, the second time T2, the third value QX, and the third time T3 according to the remaining amount B of the battery 40. change. The storage unit 54 preferably stores eighth information that associates the remaining amount B of the battery 40 with at least one of the second value PY, the second time T2, the third value QX, and the third time T3. . The eighth information includes, for example, at least one of tables, maps, graphs, and functions. Control unit 52 changes at least one of second value PY, second time T2, third value QX, and third time T3 according to the eighth information. For example, when the remaining amount B of the battery 40 of the manpowered vehicle 10 decreases, the control unit 52 increases at least one of the second value PY, the second time T2, the third value QX, and the third time T3. is preferred. When the second value PY is increased when the remaining amount B of the battery 40 decreases, in the eighth information, the second value PY when the remaining amount B of the battery 40 is the third remaining amount B3 is the third remaining amount B3 is greater than the second value PY in the case of the fourth remaining amount B4, which is greater than the second value PY. When the second time T2 is increased when the remaining amount B of the battery 40 decreases, in the eighth information, the second time T2 when the remaining amount B of the battery 40 is the third remaining amount B3 is increased to the fourth remaining amount B4. is longer than the second time T2 in the case of . When the third value QX is increased when the remaining amount B of the battery 40 decreases, in the eighth information, the third value QX when the remaining amount B of the battery 40 is the third remaining amount B3 is the fourth remaining amount B4. is greater than the third value QX in the case of . When the third time T3 is increased when the remaining amount B of the battery 40 decreases, in the eighth information, the third time T3 when the remaining amount B of the battery 40 is the third remaining amount B3 is increased to the fourth remaining amount B4. is longer than the third time T3 in the case of . In the eighth information, the second value PY may increase linearly or stepwise as the remaining amount B of the battery 40 decreases. In the eighth information, the second time T2 may increase linearly or stepwise as the remaining amount B of the battery 40 decreases. In the eighth information, the third value QX may increase linearly or stepwise as the remaining amount B of the battery 40 decreases. In the eighth information, the third time T3 may lengthen linearly or stepwise as the remaining amount B of the battery 40 decreases.

In the third example, when the remaining amount B of the battery 40 of the manpowered vehicle 10 decreases, the control unit 52 controls at least one of the second value PY, the second time T2, the third value QX, and the third time T3. may be decreased. When the second value PY is decreased when the remaining amount B of the battery 40 decreases, in the eighth information, the second value PY when the remaining amount B of the battery 40 is the third remaining amount B3 is the fourth remaining amount B4. is smaller than the second value PY in the case of . When the second time T2 is decreased when the remaining amount B of the battery 40 decreases, in the eighth information, the second time T2 when the remaining amount B of the battery 40 is the third remaining amount B3 is reduced to the fourth remaining amount B4. is shorter than the second time T2 in the case of . When the third value QX is decreased when the remaining amount B of the battery 40 decreases, in the eighth information, the third value QX when the remaining amount B of the battery 40 is the third remaining amount B3 is the fourth remaining amount B4. is smaller than the third value QX in the case of . When the third time T3 is decreased when the remaining amount B of the battery 40 decreases, in the eighth information, when the remaining amount B of the battery 40 is the third remaining amount B3, the third time T3 is reduced to the fourth remaining amount B4. is shorter than the third time T3 in the case of

In a fourth example regarding the second condition, the control unit 52 changes at least one of the second value PY, the second time T2, the third value QX, and the third time T3 according to the limit of the battery 40. . Storage unit 54 preferably stores ninth information that associates the limited state of battery 40 with at least one of second value PY, second time T2, third value QX, and third time T3. The ninth information includes, for example, at least one of tables, maps, graphs, and functions. Control unit 52 changes at least one of second value PY, second time T2, third value QX, and third time T3 according to the ninth information. For example, when the use of the power of the battery 40 of the manpowered vehicle 10 is restricted so that the power consumption of the battery 40 of the manpowered vehicle 10 is reduced, the control unit 52 controls the second value PY, the second time T2, the third value QX, and , the third time T3 is preferably increased. If the use of the power of the battery 40 of the manpowered vehicle 10 is restricted so as to reduce the power consumption of the battery 40 of the manpowered vehicle 10, when the second value PY is increased, the ninth information indicates that the consumption of the battery 40 of the manpowered vehicle 10 The second value PY when the power consumption of the battery 40 of the manpowered vehicle 10 is not limited so that the power consumption of the battery 40 is reduced is lower than the second value PY when the power consumption of the battery 40 of the manpowered vehicle 10 is not limited. is also big. When the use of the power of the battery 40 of the manpowered vehicle 10 is restricted so as to reduce the power consumption of the battery 40 of the manpowered vehicle 10, when the second time T2 is increased, the ninth information indicates that the consumption of the battery 40 of the manpowered vehicle 10 The second time T2 when the power consumption of the battery 40 is restricted so as to reduce the power is longer than the second time T2 when the power consumption of the battery 40 of the manpowered vehicle 10 is not restricted so as to decrease. too long. When the use of the power of the battery 40 of the manpowered vehicle 10 is restricted so that the power consumption of the battery 40 of the manpowered vehicle 10 is reduced, if the third value QX is increased, the ninth information indicates that the battery 40 of the manpowered vehicle 10 The third value QX when the power consumption of the battery 40 of the manpowered vehicle 10 is not limited so as to reduce the power consumption of the battery 40 is the third value QX when the power consumption of the battery 40 of the manpowered vehicle 10 is not limited Larger than QX. When the use of the power of the battery 40 of the manpowered vehicle 10 is restricted so that the power consumption of the battery 40 of the manpowered vehicle 10 is reduced, the consumption of the battery 40 of the manpowered vehicle 10 is determined in the ninth information when the third time T3 is increased. The third time T3 when the power consumption of the battery 40 is restricted so as to reduce the power is longer than the third time T3 when the power consumption of the battery 40 of the manpowered vehicle 10 is not restricted so as to decrease. too long. In the ninth information, the second value PY may increase linearly or stepwise as the limit on the use of the power of the battery 40 increases. In the ninth information, the second time T2 may lengthen linearly or stepwise as the limit on the use of the power of the battery 40 increases. In the ninth information, the third value QX may increase linearly or stepwise as the limit on the use of the electric power of the battery 40 increases. In the ninth information, the third time T3 may lengthen linearly or stepwise as the limit on the use of the power of the battery 40 increases.

In the fourth example, when the use of the power of the battery 40 of the manpowered vehicle 10 is restricted so that the power consumption of the battery 40 of the manpowered vehicle 10 is reduced, the control unit 52 controls the second value PY, the second time T2, the third value At least one of QX and the third time T3 may be decreased. When the use of the power of the battery 40 of the manpowered vehicle 10 is restricted so that the power consumption of the battery 40 of the manpowered vehicle 10 is reduced, when the second value PY is decreased, the ninth information indicates that the consumption of the battery 40 of the manpowered vehicle 10 The second value PY when the power consumption of the battery 40 of the manpowered vehicle 10 is not limited so that the power consumption of the battery 40 is reduced is lower than the second value PY when the power consumption of the battery 40 of the manpowered vehicle 10 is not limited. is also small. If the use of the power of the battery 40 of the manpowered vehicle 10 is restricted so that the power consumption of the battery 40 of the manpowered vehicle 10 is reduced, and if the second time T2 is decreased, the ninth information indicates that the battery 40 of the manpowered vehicle 10 The second time T2 when the power consumption of the battery 40 of the manpowered vehicle 10 is not limited so that the power consumption of the battery 40 is reduced is the second time T2 when the power consumption of the battery 40 of the manpowered vehicle 10 is not limited Shorter than T2. If the use of the power of the battery 40 of the manpowered vehicle 10 is restricted so that the power consumption of the battery 40 of the manpowered vehicle 10 is reduced, the consumption of the battery 40 of the manpowered vehicle 10 is determined in the ninth information when the third value QX is decreased. The third value QX when the use of the power of the battery 40 is restricted so as to reduce the power is higher than the third value QX when the power consumption of the battery 40 of the manpowered vehicle 10 is not restricted so as to decrease. is also small. When the use of the power of the battery 40 of the manpowered vehicle 10 is restricted so that the power consumption of the battery 40 of the manpowered vehicle 10 is reduced, the consumption of the battery 40 of the manpowered vehicle 10 is determined in the ninth information when the third time T3 is increased. The third time T3 when the power consumption of the battery 40 is restricted so as to reduce the power is longer than the third time T3 when the power consumption of the battery 40 of the manpowered vehicle 10 is not restricted so as to decrease. is also short.

In the fifth example regarding the second condition, the control unit 52 selects at least one of the second value PY, the second time T2, the third value QX, and the third time T3 according to the acceleration D of the manpowered vehicle 10. to change The storage unit 54 preferably stores tenth information that associates the acceleration D with at least one of the second value PY, the second time T2, the third value QX, and the third time T3. The tenth information includes, for example, at least one of tables, maps, graphs, and functions. Control unit 52 changes at least one of second value PY, second time T2, third value QX, and third time T3 according to the tenth information. For example, the controller 52 preferably decreases at least one of the second value PY, the second time T2, the third value QX, and the third time T3 when the acceleration D of the manpowered vehicle 10 increases. When the second value PY is decreased when the acceleration D of the manpowered vehicle 10 increases, the second value PY when the acceleration D of the manpowered vehicle 10 is a positive third acceleration D3 in the tenth information is: It is less than the second value PY for the fourth acceleration D4, which is less than the third acceleration D3. When the second time T2 is decreased when the acceleration D of the manpowered vehicle 10 increases, in the tenth information, the second time T2 for the third acceleration D3 is longer than the second time T2 for the fourth acceleration D4. is also short. When the acceleration D of the manpowered vehicle 10 increases and the third value QX is decreased, in the tenth information, the third value QX when the acceleration D is the third acceleration D3 is the third value QX when the acceleration D is the fourth acceleration D4. less than the value QX. When the acceleration D of the manpowered vehicle 10 increases and the third time T3 is decreased, in the tenth information, the third time T3 when the acceleration D is the third acceleration D3 is the third time T3 when the acceleration D is the fourth acceleration D4. Shorter than time T3. In the tenth information, the second value PY may decrease linearly or stepwise as the acceleration D increases. In the tenth information, the second time T2 may shorten linearly or stepwise as the acceleration D increases. In the tenth information, the third value QX may decrease linearly or stepwise as the acceleration D increases. In the tenth information, the third time T3 may shorten linearly or stepwise as the acceleration D increases.

In the fifth example, when the acceleration D of the manpowered vehicle 10 increases, the control unit 52 increases at least one of the second value PY, the second time T2, the third value QX, and the third time T3. good too. If the acceleration D of the manpowered vehicle 10 increases, the second value PY is increased. is greater than the second value PY in the case of . When the second time T2 is increased when the acceleration D of the manpowered vehicle 10 increases, in the tenth information, the second time T2 when the acceleration D is the third acceleration D3 is the second longer than time T2. When the third value QX is increased when the acceleration D of the manpowered vehicle 10 increases, in the tenth information, the third value QX when the acceleration D is the third acceleration D3 is the third value when the acceleration D is the fourth acceleration D4. greater than the value QX. When the third time T3 is increased when the acceleration D of the manpowered vehicle 10 increases, in the tenth information, the third time T3 when the acceleration D is the third acceleration D3 is the third longer than time T3.

The control unit 52 controls the first, second, third, fourth, and fifth examples of the second condition, or the first example, the first example, and the fifth example of the first condition. At least one of the second value PY, the second time T2, the third value QX, and the third time T3 according to a combination of a plurality of the second example, the third example, the fourth example, and the fifth example. You can change one. In this case, for example, the sixth information, the seventh information, the eighth information, the ninth information, and the tenth information include information regarding the weighting of the second value PY, information regarding the weighting of the second time T2, and the third value, respectively. At least one of information on the weighting of QX and information on the weighting of the third time T3 is included, and the control unit 52 calculates the second value PY, At least one of the second time T2, the third value QX, and the third time T3 may be calculated. For example, the control unit 52 may select one of the sixth information, the seventh information, the eighth information, the ninth information, and the tenth information, or the sixth information and the seventh information, according to a predetermined condition. , the eighth information, the ninth information, and the tenth information, and using the selected information, the second value PY, the second time T2, the third value QX, and the third At least one of the times T3 may be changed.

The control method for the manpowered vehicle 10 includes steps of driving or stopping the motor 42 when a parameter P related to the rotational speed N of the crank 14 and a parameter Q related to the manpowered driving force H satisfy predetermined conditions; 10, and changing the predetermined conditions in response to at least one of the environment of the rickshaw vehicle 10. In this embodiment, the control method for the manpowered vehicle 10 includes stopping the motor 42 if the parameter P for the rotation speed N of the crank 14 and the parameter Q for the manpowered force H satisfy a second condition. .

Processing for driving the motor 42 will be described with reference to FIG. When power is supplied to the control unit 52, the control unit 52 starts processing and proceeds to step S21 in the flowchart shown in FIG. After the flow chart of FIG. 4 ends, the control unit 52 repeats the process from step S21 after a predetermined cycle until the power supply is stopped. The flowchart shown in FIG. 4 may be executed only when the control unit 52 is in an operation mode in which the motor 42 assists the manpowered vehicle 10 in propulsion.

In step S21, the control unit 52 determines whether or not the motor 42 is stopped. If the motor 42 is stopped, the controller 52 ends the process. If the motor 42 is not stopped, the controller 52 proceeds to step S22.

In step S22, the control unit 52 changes the second condition according to at least one of the state of the manpowered vehicle 10 and the environment of the manpowered vehicle 10, and proceeds to step S23. Specifically, the control unit 52 controls the second value PY, the second time T2, the third value QX, and At least one of the third times T3 is changed according to at least one of the sixth information, the seventh information, the eighth information, the ninth information, and the tenth information. In the present disclosure, at least one of the sixth information, the seventh information, the eighth information, the ninth information, and the tenth information is the seventh information only, the eighth information only, the ninth information only, or the tenth information only. or any combination of the sixth, seventh, eighth, ninth and tenth information.

In step S23, the control unit 52 determines whether or not the second condition is satisfied. Specifically, the control unit 52 uses the second condition including at least one of the second value PY, the second time T2, the third value QX, and the third time T3 changed in step S22 to perform step The determination of S23 is performed. The control unit 52 controls the parameter P is equal to or greater than the second value PY, and the state in which the parameter Q is equal to or greater than the third value QX continues for a third time T3 or longer, the state in which the parameter P is equal to or greater than the second value PY continues for a second time T2 If the above continues and the parameter Q is equal to or greater than the third value QX, or if the parameter P is equal to or greater than the second value PY and the parameter Q is equal to or greater than the third value QX , the second condition is satisfied. The control unit 52 terminates the process when the second condition is not satisfied. If the second condition is satisfied, the control unit 52 proceeds to step S24. In step S24, the control unit 52 drives the motor 42 and terminates the process. The control unit 52 controls the motor 42 according to the operation mode of the motor 42, the human power driving force H, the rotation speed N of the crank 14, the traveling speed V, and the like.

Table 2 shows examples of combinations of the second conditions used in step S23 and the values included in the second conditions changed in step S22. The control unit 52 can perform the processing of FIG. 4 using the combination examples shown in Table 2.

(Modification)
The description of the embodiment is an illustration of the possible forms of the control device and control method for a manpowered vehicle according to the present invention, and is not intended to limit the forms. A control device and a control method for a manpowered vehicle according to the present invention may take the form of, for example, modifications of the embodiments shown below, and combinations of at least two mutually consistent modifications. In the following modified examples, the same reference numerals as in the embodiment are given to the parts that are common to the embodiment, and the description thereof is omitted.

- 56 A of 1st sensors may be replaced with a magnetic sensor, and may be comprised including an optical sensor. For example, first sensor 56A includes a rotary encoder that detects the rotation angle of crankshaft 14A with respect to frame 18 .

- As shown in FIG. 5 , the first detector 56 may include a second sensor 56B configured to output a signal corresponding to the rotation speed of the motor 42 . The first detector 56 may include a second sensor 56B instead of the first sensor 56A. In this case, parameter P is preferably the rotational speed of motor 42 . The second sensor 56B may detect the rotational speed of the output shaft of the motor 42, and if there is a speed reducer between the output shaft of the motor 42 and the power transmission path of the manpower driving force H, the speed reducer The rotation speed of the rotating body included may be detected. Second sensor 56B preferably includes a resolver. The resolver may be a magnetic sensor or an optical sensor. When the crank 14 rotates and the motor 42 is driven, the crank 14, the rotating shaft of the motor 42, and the rotating body included in the speed reducer rotate proportionally at a predetermined ratio, and the motor 42 rotates. The rotational speed of the rotating body included in the speed and speed reducer and the rotational speed of the crank 14 are proportional. Therefore, even if the second sensor 56B is used instead of the first sensor 56A, the controller 52 can control the motor 42 in the same manner as when the first sensor 56A is used when the motor 42 is stopped. In the modification shown in FIG. 5, a one-way clutch may not be provided between the motor 42 and the power transmission path of the human-powered driving force H. In this case, even if the second sensor 56B is used instead of the first sensor 56A, the control unit 52 uses the first sensor 56A even when the motor 42 is stopped and when the motor 42 is driven. can control the motor 42 in the same manner as

The control unit 52 may be configured to execute both the motor stopping process shown in the flowchart of FIG. 3 and the motor driving process shown in the flowchart of FIG. 42 may be configured not to execute the process of stopping the motor 42, or may be configured not to execute the process of driving the motor 42 shown in the flowchart of FIG.

The control unit 52 drives the motor 42 according to the parameter P related to the rotational speed N of the crank 14 even when the human-powered driving force H is 0, and the motor 42 imparts the driving force to the human-powered vehicle 10. may be configured to

- The control unit 52 may change the predetermined condition according to at least one of the pitch angle of the manpowered vehicle 10, the wind speed, and the wind pressure. The pitch angle, wind speed, and wind pressure of the manpowered vehicle 10 are similar to the running resistance R. Therefore, in the process of changing the predetermined condition according to the running resistance R, the control unit 52 replaces the running resistance R with at least one of the pitch angle, the wind speed, and the wind pressure. Predetermined conditions can be changed in the same manner as in the case of processing for changing predetermined conditions according to .

DESCRIPTION OF SYMBOLS 10... Human-powered vehicle, 14... Crank, 40... Battery, 42... Motor, 50... Control device, 52... Control part, 54... Storage part, 56... First detection part, 56A... First sensor, 56B... Second sensor, 58... speed detection unit;

Claims (14)

A controller for a human powered vehicle, comprising:
The human-powered vehicle is
a crank rotatable by a human-powered driving force;
a motor configured to provide propulsion to the manpowered vehicle;
The control device is
a control unit configured to drive or stop the motor when a parameter relating to the rotation speed of the crank satisfies a predetermined condition;
The control unit is configured to change the predetermined condition according to at least one of a state of the manpowered vehicle and an environment of the manpowered vehicle,
The parameters related to the rotation speed of the crank include the rotation speed of the crank,
The at least one of the state of the manpowered vehicle and the environment of the manpowered vehicle is a travel speed of the manpowered vehicle, a running resistance of the manpowered vehicle, a remaining amount of a battery of the manpowered vehicle, and the human power. At least a limit on the power consumption of the battery of the vehicle, the acceleration of the vehicle, the operation of the operation device of the vehicle, the control mode of the vehicle, the slope of the road of the vehicle, and the wind speed. A controller, including one. The predetermined conditions include a first condition,
The control unit
configured to stop the motor when the parameter related to the rotation speed of the crank satisfies the first condition;
configured to change the first condition according to the at least one of a state of the manpowered vehicle and an environment of the manpowered vehicle;
The first condition is
when the parameter relating to the rotation speed of the crank is equal to or less than a first value, or
Satisfied when the parameter related to the rotation speed of the crank remains equal to or less than the first value for a first time or longer,
The controller is configured to change at least one of the first value and the first time in response to the at least one of a state of the manpowered vehicle and an environment of the manpowered vehicle. A control device according to claim 1 . A controller for a human powered vehicle, comprising:
The human-powered vehicle is
a crank rotatable by a human-powered driving force;
a motor configured to provide propulsion to the manpowered vehicle;
The control device is
a control unit configured to drive or stop the motor when a parameter relating to the rotation speed of the crank satisfies a predetermined condition;
The control unit is configured to change the predetermined condition according to at least one of a state of the manpowered vehicle and an environment of the manpowered vehicle,
The parameters related to the rotation speed of the crank include the rotation speed of the crank or the rotation speed of the motor,
The at least one of the state of the manpowered vehicle and the environment of the manpowered vehicle is a travel speed of the manpowered vehicle, a running resistance of the manpowered vehicle, a remaining amount of a battery of the manpowered vehicle, and the human power. At least a limit on the power consumption of the battery of the vehicle, the acceleration of the vehicle, the operation of the operation device of the vehicle, the control mode of the vehicle, the slope of the road of the vehicle, and the wind speed. one, including
The predetermined conditions include a first condition,
The control unit
configured to stop the motor when the parameter related to the rotation speed of the crank satisfies the first condition;
configured to change the first condition according to the at least one of a state of the manpowered vehicle and an environment of the manpowered vehicle;
The first condition is
when the parameter relating to the rotation speed of the crank is equal to or less than a first value, or
Satisfied when the parameter related to the rotation speed of the crank remains equal to or less than the first value for a first time or longer,
The controller is configured to change at least one of the first value and the first time in response to the at least one of a state of the manpowered vehicle and an environment of the manpowered vehicle. Control device. The control unit increases the first value, decreases the first time period, or increases the first value and decreases the first time period when the running speed of the manpowered vehicle increases. 4. A control device according to claim 2 or 3 . The control unit decreases the first value, increases the first time period, or decreases the first value and increases the first time period when the running resistance of the manpowered vehicle increases. A control device according to any one of claims 2 to 4 . The control unit increases the first value, decreases the first time period, or increases the first value and the first time period when the remaining amount of the battery of the manpowered vehicle decreases. 6. A control device as claimed in any one of claims 2 to 5 , for decreasing. The control unit increases the first value, reduces the first time, or, 7. A controller as claimed in any one of claims 2 to 6 , which increases the first value and decreases the first time period. When the acceleration of the manpowered vehicle has a negative value and decreases, the control unit increases the first value, decreases the first time period, or increases the first value and the first time period. 8. A control device according to any one of claims 2 to 7 , which reduces the 9. A control device according to any one of the preceding claims, further comprising a first detector configured to detect said parameter relating to the rotational speed of said crank. 10. The control device according to claim 9 , wherein said first detector includes a first sensor configured to output a signal corresponding to the rotation speed of said crank. 11. The control device according to claim 9 , wherein said first detector includes a second sensor configured to output a signal corresponding to the rotation speed of said motor. 12. The control device according to any one of claims 1 to 11 , further comprising a storage unit that stores information about said predetermined condition. 13. A control device according to any one of the preceding claims, further comprising a speed detector configured to obtain information about the traveling speed of the manpowered vehicle. A control method for a human-powered vehicle, comprising:
The human-powered vehicle is
a crank rotatable by a human-powered driving force;
a motor configured to provide propulsion to the manpowered vehicle;
The control method is
a step of driving or stopping the motor when the parameter relating to the rotational speed of the crank satisfies a predetermined condition;
changing the predetermined condition according to at least one of a state of the manpowered vehicle and an environment of the manpowered vehicle;
The parameters related to the rotation speed of the crank include the rotation speed of the crank,
The at least one of the state of the manpowered vehicle and the environment of the manpowered vehicle is a travel speed of the manpowered vehicle, a running resistance of the manpowered vehicle, a remaining amount of a battery of the manpowered vehicle, and the human power. At least a limit on the power consumption of the battery of the vehicle, the acceleration of the vehicle, the operation of the operation device of the vehicle, the control mode of the vehicle, the slope of the road of the vehicle, and the wind speed. A method of control, comprising:

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