JP7332277B2 - Control device - Google Patents

Description

The present invention relates to control devices.

Patent Literature 1 discloses an electrically assisted bicycle that stabilizes the stationary state of the bicycle by applying a constant torque corresponding to the inclination angle of the road. Patent Literature 2 discloses controlling an assist device and a transmission in accordance with the slope of a road.

JP 2004-306818 A U.S. Pat. No. 8,768,585

SUMMARY OF THE INVENTION An object of the present invention is to provide a control device capable of improving the stability of a manpowered vehicle.

A control device according to the first aspect of the present invention controls a power assisting device that outputs driving force corresponding to the manpower driving force input to a manpowered vehicle, and at least one second component that is different from the power assisting device. The controller is configured to output a driving force corresponding to the inclination based on the running speed of the manpowered vehicle and the inclination of the manpowered vehicle in the longitudinal direction. and controlling the second component.
According to the control device of the first aspect, since the driving force corresponding to the inclination of the slope is output, the stability of the human-powered vehicle is increased, and the components other than the power assist device are controlled, so the convenience is improved. increases.

In the control device according to the second aspect according to the first aspect, the controller controls the power assist device and the Control at least one second component.
According to the control device of the second aspect, since the driving force corresponding to the inclination of the slope is output, the stability of the human-powered vehicle is increased, and the components other than the power assist device are controlled, so the convenience is improved. increases.

A control device of a third aspect according to said second aspect, wherein said second component comprises a suspension.
According to the control device of the third aspect, since the driving force corresponding to the inclination of the slope is output, the stability of the human-powered vehicle is increased, and the components other than the power assist device are controlled, so the convenience is improved. increases.

In the control device according to the fourth aspect according to the third aspect, the control unit controls the suspension so that it is locked when the travel speed exceeds the first predetermined value.
According to the control device of the fourth aspect, the ease of rowing of the manpowered vehicle is improved.

In the control device according to the fifth aspect according to the third or fourth aspect, the suspension includes a front suspension, and the control section controls the suspension so that the stroke of the front suspension is shortened.
According to the control device of the fifth aspect, the posture of the rider is stabilized on an uphill.

In the control device of the sixth aspect according to any one of the first to fifth aspects, the second component includes a notification device, and the control unit notifies the operating state of the power assist device. Control the notification device.
According to the control device of the sixth aspect, the operating state of the power assisting device can be checked, so the convenience is increased.

In the control device of the seventh aspect according to any one of the first to sixth aspects, the second component includes a transmission, and the control unit controls the transmission ratio of the manpowered vehicle to correspond to the inclination. The transmission is controlled so as to achieve the gear ratio.
According to the control device of the seventh aspect, the gear ratio becomes easy to row, which increases convenience.

The control device of the eighth aspect according to any one of the first to seventh aspects, wherein the second component includes an adjustable seat post, and the controller adjusts the height to correspond to the tilt. Control the adjustable seatpost.
According to the control device of the eighth aspect, the seat height becomes easy to row, which increases convenience.

A control device according to a ninth aspect of the present invention comprises a control unit that controls a restriction device that restricts movement of the manpowered vehicle, the control unit controlling the travel speed of the manpowered vehicle and the forward and rearward movement of the manpowered vehicle. Based on the inclination of the direction, the restriction device is controlled so as to be in a restricted state for restricting the movement of the manpowered vehicle.
According to the control device of the ninth aspect, the movement of the manpowered vehicle is restricted on a slope, thereby increasing the stability of the manpowered vehicle.

In the control device according to the tenth aspect according to the ninth aspect, the controller is configured to enter the restricted state when the traveling speed is equal to or less than a first predetermined value and the inclination is equal to or greater than a second predetermined value. to control the limiter.
According to the control device of the tenth aspect, since the movement of the manpowered vehicle is restricted on the slope, the stability of the manpowered vehicle is increased.

In the control device according to the eleventh aspect according to the ninth or tenth aspect, the limiting device includes a braking device, and the control unit controls the braking device to output a braking force corresponding to the tilt.
According to the control device of the eleventh aspect, since the movement of the manpowered vehicle is restricted on the slope, the stability of the manpowered vehicle is increased.

In the control device of the twelfth aspect according to any one of the ninth to eleventh aspects, the restricting device includes a locking device, and the control section controls the locking device so as to be in a locked state.
According to the control device of the twelfth aspect, since the movement of the manpowered vehicle is restricted on the slope, the stability of the manpowered vehicle is increased.

A control device according to the thirteenth aspect of the present invention controls at least one of a power assist device that outputs a driving force corresponding to the manpower driving force input to the manpowered vehicle, and a restriction device that limits the movement of the manpowered vehicle. a control unit for controlling, when the manpowered vehicle is in a non-riding state, the control unit adjusts the inclination based on the traveling speed of the manpowered vehicle and the inclination of the manpowered vehicle in the front-rear direction; Controlling the power assist device to output a corresponding driving force and/or controlling the restrictor device to be in a restricted state restricting movement of the manpowered vehicle.
According to the control device of the thirteenth aspect, the stability of the manpowered vehicle is increased when the manpowered vehicle is being pushed along a slope.

In the control device according to the 14th aspect according to the 13th aspect, the control unit controls that the human-powered vehicle is in a non-riding state, the running speed is equal to or less than a first predetermined value, and the inclination is a second predetermined value. If it is equal to or greater than the value, at least one of the power assist device and the limit device is controlled.
According to the control device of the fourteenth aspect, the stability of the manpowered vehicle is increased when the manpowered vehicle is being pushed along a slope.

In the control device according to the 15th aspect according to the 13th or 14th aspect, the control unit controls the power assisting device so that when the human-powered vehicle changes from a non-riding state to a riding state, output driving force increases. to control.
According to the control device of the fifteenth aspect, since the weight of the manpower-driven vehicle increases, increasing the driving force increases the stability of the manpower-driven vehicle.

In the control device of the sixteenth aspect according to any one of the first to eighth and thirteenth to fifteenth aspects, the control unit controls the tilt and the drive corresponding to the total weight of the manpowered vehicle. The auxiliary power unit is controlled to output force.
According to the control device of the sixteenth aspect, the stability of the manpowered vehicle is increased when the manpowered vehicle is being pushed along a slope.

In the control device of the seventeenth aspect according to any one of the thirteenth to fifteenth aspects, the limiting device includes a braking device, and the control unit outputs braking force corresponding to the inclination. control the device.
According to the control device of the seventeenth aspect, the stability of the manpowered vehicle is increased when the manpowered vehicle is being pushed on a slope.

In the control device according to the 18th aspect according to the 17th aspect, the control unit controls the braking device so that the braking force increases when the human-powered vehicle changes from the non-riding state to the riding state.
According to the control device of the eighteenth aspect, since the weight of the manpower-driven vehicle increases, increasing the braking force increases the stability of the manpower-driven vehicle.

In the control device of the 19th aspect according to any one of the 11th, 17th and 18th aspects, the control unit outputs a braking force corresponding to the tilt and the total weight of the manpowered vehicle. The braking device is controlled so as to
According to the control device of the nineteenth aspect, since the weight of the manpower-driven vehicle increases, increasing the braking force increases the stability of the manpower-driven vehicle.

In the control device of the twentieth aspect according to any one of the thirteenth to fifteenth and seventeenth to nineteenth aspects, the limiting device includes a locking device, and the control unit is configured to be in a locked state. to control the locking device;
According to the control device of the twentieth aspect, the stability of the manpowered vehicle is increased when the manpowered vehicle is being pushed along a slope.

According to the control device of the present invention, the stability of the human-powered vehicle can be improved.

1 is a side view of a human-powered vehicle to which the control device of the first embodiment is applied; FIG. The block diagram which shows the control apparatus of 1st Embodiment. 4 is a flowchart showing an example of a vehicle control processing procedure; The block diagram which shows the control apparatus of 2nd Embodiment. 4 is a flowchart showing an example of a vehicle control processing procedure; The block diagram which shows the control apparatus of 3rd Embodiment. 4 is a flowchart showing an example of a vehicle control processing procedure;

<First embodiment>
A human-powered vehicle A including a control device 30 will be described with reference to FIG.
Here, a human-powered vehicle means a vehicle that at least partially uses human power as a driving force for running, and includes vehicles that use electric power to assist human power. Vehicles that use only motive power other than human power are not included in man-powered vehicles. In particular, a vehicle using only an internal combustion engine as a motive power is not included in a human-powered vehicle. The manpowered vehicle A is a vehicle on which a rotating body F and a handlebar H are mounted. The illustrated manpowered vehicle A is a bicycle including a power assist device 50 that assists the manpowered vehicle A in propulsion using electrical energy. Specifically, the illustrated manpowered vehicle A is a trekking bike. Manpowered vehicle A further includes frame A1, front fork A2, front wheels WF, rear wheels WR, and drive train B.

The drive train B is configured as a chain drive type. Drivetrain B includes crank C, front sprocket D1, rear sprocket D2, and chain D3. The crank C includes a crankshaft C1 rotatably supported by the frame A1, and a pair of crank arms C2 provided at both ends of the crankshaft C1. A pedal PD is rotatably attached to the tip of each crank arm C2. The drive train B can be selected from any type, and may be a belt drive type or a shaft drive type.

The front sprocket D1 is provided on the crank C so as to rotate integrally with the crankshaft C1. The rear sprocket D2 is provided on the hub HR of the rear wheel WR. Chain D3 is wound around front sprocket D1 and rear sprocket D2. A driving force applied to the pedals PD by a passenger on the manpowered vehicle A is transmitted to the rear wheels WR via the front sprocket D1, the chain D3, and the rear sprocket D2.

As shown in FIG. 2, the manpowered vehicle A includes a control device 30, an operating device 40, an inclination sensor 42, a wheel rotation sensor 44, a crank rotation sensor 46, a power assist device 50, a second component CP, and a braking device. Further includes device 60 . Second component CP includes at least one of suspension 52 , notification device 54 , transmission 56 and adjustable seatpost 58 .

The control device 30 includes a power assisting device 50 that outputs driving force corresponding to the manpower driving force input to the manpowered vehicle A, and a control unit that controls at least one second component CP different from the power assisting device 50. 32. Based on the traveling speed of the manpowered vehicle A and the inclination of the manpowered vehicle A in the longitudinal direction, the control unit 32 controls the power assist device 50 so as to output a driving force corresponding to the inclination. It controls a two-component CP. Specifically, if the traveling speed of the manpowered vehicle A is equal to or less than a first predetermined value and the inclination of the manpowered vehicle A in the longitudinal direction is equal to or greater than a second predetermined value, the control unit 32 controls the power assist device. 50 and at least one second component CP. The control unit 32 is configured by a CPU (Central Processing Unit), an MPU (Micro Processing Unit), and the like. The control device 30 further includes a storage section 34 . The storage unit 34 is composed of a RAM (Random Access Memory), a ROM (Read Only Memory), and the like. The control device 30 realizes vehicle control by the control unit 32 executing a program stored in the storage unit 34 .

The operating device 40 is manually operated to drive the braking device 60 . The operating device 40 includes, for example, a lever. The operating device 40 is communicably connected to the control device 30 so as to transmit a signal corresponding to the operation of the lever to the braking device 60 . The operation device 40 is communicably connected to the control device 30 by an electric wire or a communication line capable of PLC (Power Line Communication). Note that the operation device 40 may be communicably connected to the control device 30 by a wireless communication unit capable of wireless communication. When the operation device 40 is operated, a signal for braking the front wheels WF and the rear wheels WR is transmitted to the control unit 32, and the braking device 60 operates according to the signal output from the control unit 32.

The tilt angle sensor 42 detects the tilt of the manpowered vehicle A in the front-rear direction. The slope shows a positive value when manpowered vehicle A is on an uphill slope, and a negative value when manpowered vehicle A is on a downhill slope. The tilt angle sensor 42 is provided on the frame A1 of the manpowered vehicle A, for example. The controller 32 calculates the tilt of the manpowered vehicle A in the longitudinal direction based on the output of the tilt angle sensor 42 .

The wheel rotation sensor 44 detects the rotation speed of at least one of the front wheels WF and the rear wheels WR of the manpowered vehicle A. The wheel rotation sensor 44 is provided on the front fork A2 of the manpowered vehicle A, for example. The wheel rotation sensor 44 outputs a signal to the controller 32 according to a change in relative position between the magnet attached to the front wheel WF and the wheel rotation sensor 44 . The control unit 32 calculates the running speed of the human-powered vehicle A based on the signal output from the wheel rotation sensor 44 . The wheel rotation sensor 44 may output a signal to the control unit 32 according to a change in relative position between the magnet attached to the rear wheel WR and the wheel rotation sensor 44 .

A crank rotation sensor 46 detects the rotation speed and rotation angle of the crankshaft C1. The crank rotation sensor 46 is provided on the frame A1 of the manpowered vehicle A, for example. The crank rotation sensor 46 includes a magnetic sensor that outputs a signal corresponding to the strength of the magnetic field. The crank rotation sensor 46 outputs a signal to the control unit 32 according to the rotation speed and rotation angle of the crankshaft C1. The control unit 32 calculates the running speed of the human-powered vehicle A based on the signal output from the crank rotation sensor 46 .

The power assist device 50 operates so that the propulsive force of the manpowered vehicle A is assisted. The power assist device 50 operates, for example, according to the driving force applied to the pedal PD. Power assist device 50 includes an electric motor. The power assist device 50 is driven by electric power supplied from the battery BT mounted on the manpowered vehicle A. As shown in FIG. Note that when the control unit 32 controls the power assist device 50 based on the running speed of the manpowered vehicle A and the inclination of the manpowered vehicle A in the longitudinal direction to output a driving force corresponding to the inclination, the power assisting device 50 does not correspond to the human-powered driving force input to the human-powered vehicle A.

The second component CP includes suspension 52 . In this embodiment, suspension 52 includes a front suspension. The control unit 32 controls the suspension 52 so that the stroke of the front suspension is shortened. For example, if the running speed of the manpowered vehicle A is equal to or less than a first predetermined value and the inclination of the manpowered vehicle A in the longitudinal direction is equal to or greater than a second predetermined value, the control unit 32 controls the stroke of the front suspension to The suspension 52 is controlled so as to be shortened. Further, the control unit 32 controls the suspension 52 so as to be locked when the traveling speed of the manpowered vehicle A becomes higher than the first predetermined value.

The second component CP includes a notification device 54 . The notification device 54 generates vibration, light, sound, and the like. The notification device 54 includes, for example, at least one of a cycle computer, eyewear, smart phone, smart watch, lamp, and speaker. In this embodiment, the notification device 54 includes a cycle computer attached to the handlebar H. FIG. The control unit 32 controls the notification device 54 to notify the operating state of the power assist device 50 . In one example, the control unit 32 controls the power assist device 50 if the traveling speed of the manpowered vehicle A is equal to or less than a first predetermined value and the inclination of the manpowered vehicle A in the longitudinal direction is equal to or greater than a second predetermined value. The notification device 54 is controlled to notify the operating state. Specifically, the control unit 32 controls the notification device 54 to notify that the power assist device 50 is in a state of outputting a driving force corresponding to the inclination of the manpowered vehicle A in the longitudinal direction.

A second component CP includes a transmission 56 . Transmission 56 includes an internal transmission provided on hub HR of rear wheel WR. The control unit 32 controls the transmission 56 so that the gear ratio of the manpowered vehicle A becomes a gear ratio corresponding to the inclination of the manpowered vehicle A in the longitudinal direction. For example, if the running speed of the manpowered vehicle A is equal to or less than a first predetermined value and the inclination of the manpowered vehicle A in the longitudinal direction is equal to or greater than a second predetermined value, the control unit 32 controls the manpowered vehicle A to The transmission 56 is controlled so that the gear ratio corresponds to the inclination of the manpowered vehicle A in the longitudinal direction.

A second component CP includes an adjustable seatpost 58 . The adjustable seat post 58 includes an electric motor and is configured to vary the height of the seat S of the human powered vehicle A. The control unit 32 controls the adjustable seat post 58 so that the height corresponds to the inclination of the manpowered vehicle A in the front-rear direction. For example, if the running speed of the manpowered vehicle A is equal to or less than a first predetermined value and the inclination of the manpowered vehicle A in the longitudinal direction is equal to or greater than a second predetermined value, the control unit 32 controls the manpowered vehicle A to The adjustable seat post 58 is controlled so as to have a height corresponding to the inclination in the longitudinal direction.

The manpowered vehicle A includes a braking device 60 corresponding to the front wheels WF and a braking device 60 corresponding to the rear wheels WR. The two braking devices 60 have the same configuration. In this embodiment, the braking device 60 is a disc braking device that brakes the rotating body F of the manpowered vehicle A. As shown in FIG. The rotating body F is a friction plate DR provided on each of the front wheel WF and the rear wheel WR of the manpowered vehicle A. As shown in FIG. The braking device 60 may be a rim braking device. In this case, the rotating body F is the rim R.

An example of vehicle control will be described with reference to FIG. The second component CP shall include at least the suspension 52 . In step S11, the control unit 32 determines whether or not the travel speed of the manpowered vehicle A is equal to or less than a first predetermined value based on the output of the wheel rotation sensor 44 or the crank rotation sensor 46. If the determination result in step S11 is affirmative, the control unit 32 determines whether the tilt in the longitudinal direction of the manpowered vehicle A is equal to or greater than the second predetermined value based on the output of the tilt angle sensor 42 in step S12. judge. If the determination result in step S12 is affirmative, the control unit 32 controls the power assist device 50 to output a driving force corresponding to the inclination of the manpowered vehicle A in the front-rear direction in step S13. Further, the control unit 32 controls the second component CP in step S14. Specifically, the controller 32 controls the suspension 52 so that the stroke of the front suspension is shortened. Further, in step S<b>15 , the control unit 32 determines whether or not the running speed of the manpowered vehicle A is higher than the first predetermined value based on the output of the wheel rotation sensor 44 or the crank rotation sensor 46 . If the determination result in step S15 is affirmative, the control unit 32 controls the suspension 52 so as to lock the suspension 52 in step S16, and terminates the vehicle control. Control part 32 ends vehicle control, when the decision result in any one of Step S11, Step S12, and Step S15 is a negative decision.

The operation of this embodiment will be described. When the running speed of the manpowered vehicle A is equal to or less than the first predetermined value, it is determined that the manpowered vehicle A has stopped. Further, when the inclination of the manpowered vehicle A in the longitudinal direction is equal to or greater than the second predetermined value, it is determined that the inclination of the uphill requires vehicle control. By controlling the power assist device 50 and the second component CP, the manpowered vehicle A is prevented from reversing on an uphill slope.

<Second embodiment>
The control device 130 according to the second embodiment is the same as the control device 30 according to the first embodiment except for the electrical connection relationship. The same reference numerals as in the form are given, and redundant description is omitted.

As shown in FIG. 4, the manpowered vehicle A according to this embodiment includes a control device 130 and a limit device RS. The control device 130 includes a control unit 132 that controls a restriction device RS that restricts the movement of the manpowered vehicle A. As shown in FIG. The control unit 132 controls the restriction device RS so that the movement of the manpowered vehicle A is restricted based on the running speed of the manpowered vehicle A and the inclination of the manpowered vehicle A in the longitudinal direction. The control unit 132 is configured by a CPU, an MPU, and the like. For example, if the running speed of manpowered vehicle A is equal to or less than a first predetermined value and the inclination of manpowered vehicle A in the longitudinal direction is equal to or greater than a second predetermined value, control unit 132 controls manpowered vehicle A to The restriction device RS is controlled so as to be in a restriction state that restricts movement. Control device 130 further includes storage unit 134 . The storage unit 134 is configured by RAM, ROM, and the like. Control device 130 realizes vehicle control by control unit 132 executing a program stored in storage unit 134 .

The restriction device RS includes a braking device 60 . The control unit 132 controls the braking device 60 so as to output a braking force corresponding to the inclination of the manpowered vehicle A in the longitudinal direction. For example, if the running speed of manpowered vehicle A is equal to or less than a first predetermined value and the inclination of manpowered vehicle A in the longitudinal direction is equal to or greater than a second predetermined value, control unit 132 controls manpowered vehicle A to The braking device 60 is controlled to output a braking force corresponding to the inclination in the longitudinal direction. The control unit 132 controls the braking device 60 so that the greater the inclination of the manpowered vehicle A in the longitudinal direction, the greater the output braking force.

The restriction device RS includes a locking device 62 . The locking device 62 is configured to be switchable between a locked state in which rotation of the rear wheel WR is restricted and an unlocked state in which rotation of the rear wheel WR is not restricted. The locking device 62 is attached to the frame A1 of the manpowered vehicle A, for example. Locking device 62 outputs a signal corresponding to the current state to control unit 132 in the locked state and the unlocked state. The control unit 132 controls the locking device 62 so as to enter the locked state. In one example, the controller 132 controls the vehicle to be locked when the travel speed of the manpowered vehicle A is equal to or less than a first predetermined value and the inclination of the manpowered vehicle A in the longitudinal direction is equal to or greater than a second predetermined value. to control the locking device 62.

An example of vehicle control will be described with reference to FIG. In step S21, the control unit 132 determines whether or not the travel speed of the manpowered vehicle A is equal to or less than the first predetermined value based on the output of the wheel rotation sensor 44 or the crank rotation sensor 46. If the determination result in step S21 is affirmative, the control unit 132 determines whether the tilt in the longitudinal direction of the manpowered vehicle A is equal to or greater than the second predetermined value based on the output of the tilt angle sensor 42 in step S22. judge. If the determination result in step S22 is affirmative, the control unit 132 controls the limiting device RS in step S23. Specifically, the control unit 132 controls the braking device 60 to output a braking force corresponding to the tilt, or controls the locking device 62 to enter a locked state, and ends the vehicle control. If the determination result in either step S21 or step S22 is negative, control unit 132 terminates vehicle control.

The operation of this embodiment will be described. When the running speed of the manpowered vehicle A is equal to or less than the first predetermined value, it is determined that the manpowered vehicle A has stopped. Further, when the inclination of the manpowered vehicle A in the longitudinal direction is equal to or greater than the second predetermined value, it is determined that the inclination of the uphill requires vehicle control. By controlling at least one of the braking device 60 and the locking device 62, the backward movement of the manpowered vehicle A on an uphill slope is suppressed.

<Third Embodiment>
The control device 230 according to the third embodiment is the same as the control device 130 according to the second embodiment except for the electrical connection relationship. The same reference numerals as in the form are given, and redundant description is omitted.

As shown in FIG. 6 , the human-powered vehicle A according to this embodiment includes a control device 230 and a load sensor 48 .
The control device 230 controls at least one of a power assist device 50 that outputs driving force corresponding to the manpower driving force input to the manpowered vehicle A, and a restriction device RS that limits the movement of the manpowered vehicle A. A control unit 232 is provided. When the manpowered vehicle A is not in the riding state, the control unit 232 outputs a driving force corresponding to the inclination based on the traveling speed of the manpowered vehicle A and the inclination of the manpowered vehicle A in the front-rear direction. and/or control the restrictor RS so that it is in a restrictive state that restricts the movement of the manpowered vehicle A. The control unit 232 is configured by a CPU, an MPU, and the like. Control device 230 further includes storage unit 234 . The storage unit 234 is composed of RAM, ROM, and the like. Control device 230 realizes vehicle control by control unit 232 executing a program stored in storage unit 234 .

The load sensor 48 detects the total weight of the manpowered vehicle A. The total weight of the manpowered vehicle A includes the weight of the manpowered vehicle A and the weight of the occupant of the manpowered vehicle A. The load sensor 48 detects the loads of the front wheels WF and the rear wheels WR. The load sensor 48 is provided, for example, on the hub axle of the front wheel WF or the hub axle of the rear wheel WR. The load sensor 48 is, for example, a load cell. The load sensor 48 outputs to the control unit 232 a signal corresponding to the pressure applied from the seat S of the manpowered vehicle A to the load sensor 48 . The load sensor 48 may be used to detect the load on the handlebar H, pedal PD, and seat S of the manpowered vehicle A. In this case, the sum of the predetermined weight of the manpowered vehicle A, the load of the handlebar H detected by the load sensor 48, the load of the pedal PD, and the load of the seat S is the total weight of the manpowered vehicle A. can be defined as Based on the output from the load sensor 48, the control unit 232 determines whether the human-powered vehicle A is in the riding state or the non-riding state.

The controller 232 determines that the human-powered vehicle A is in a non-riding state, the running speed of the human-powered vehicle A is equal to or less than a first predetermined value, and the inclination of the human-powered vehicle A in the longitudinal direction is equal to or greater than a second predetermined value. If so, at least one of the power assist device 50 and the limit device RS is controlled. The control unit 232 controls the power assist device 50 so that the output driving force increases when the human-powered vehicle A changes from the non-riding state to the riding state.

The control unit 232 controls the power assist device 50 so as to output driving force corresponding to the tilt of the manpowered vehicle A in the longitudinal direction and the total weight of the manpowered vehicle A. FIG. In one example, the control unit 232 determines that the manpowered vehicle A is in a non-riding state, the running speed of the manpowered vehicle A is equal to or lower than the first predetermined value, and the inclination of the manpowered vehicle A in the front-rear direction is the second level. If it is equal to or greater than the predetermined value, the power assist device 50 is controlled to output a driving force corresponding to the tilt of the manpowered vehicle A in the longitudinal direction and the total weight of the manpowered vehicle A. The controller 232 controls the power assist device 50 to output a larger driving force as the inclination of the manpowered vehicle A in the longitudinal direction increases. The control unit 232 controls the power assist device 50 to output a larger driving force as the total weight of the manpowered vehicle A is heavier.

The restriction device RS includes a braking device 60 . The control unit 232 controls the braking device 60 so as to output a braking force corresponding to the inclination of the manpowered vehicle A in the longitudinal direction. In one example, the control unit 232 determines that the manpowered vehicle A is in a non-riding state, the running speed of the manpowered vehicle A is equal to or lower than the first predetermined value, and the inclination of the manpowered vehicle A in the front-rear direction is the second level. If it is equal to or greater than the predetermined value, the braking device 60 is controlled so as to output a braking force corresponding to the inclination of the manpowered vehicle A in the longitudinal direction. The controller 232 controls the braking device 60 to output a greater braking force as the inclination of the manpowered vehicle A in the longitudinal direction increases. The control unit 232 controls the braking device 60 so that the braking force increases when the human-powered vehicle A changes from the non-riding state to the riding state.

The control unit 232 controls the braking device 60 to output a braking force corresponding to the tilt of the manpowered vehicle A in the longitudinal direction and the total weight of the manpowered vehicle A. FIG. In one example, the control unit 232 determines that the manpowered vehicle A is in a non-riding state, the running speed of the manpowered vehicle A is equal to or lower than the first predetermined value, and the inclination of the manpowered vehicle A in the front-rear direction is the second level. If it is equal to or greater than the predetermined value, the braking device 60 is controlled to output a braking force corresponding to the tilt of the manpowered vehicle A in the longitudinal direction and the total weight of the manpowered vehicle A. The control unit 232 controls the braking device 60 to output a larger braking force as the total weight of the manpowered vehicle A is heavier.

The restriction device RS includes a locking device 62 . The controller 232 controls the locking device 62 so as to be locked. In one example, the control unit 232 determines that the manpowered vehicle A is in a non-riding state, the running speed of the manpowered vehicle A is equal to or lower than the first predetermined value, and the inclination of the manpowered vehicle A in the front-rear direction is the second level. If it is equal to or greater than the predetermined value, the locking device 62 is controlled so as to be locked.

An example of vehicle control will be described with reference to FIG. In step S31, the control unit 232 determines whether or not the human-powered vehicle A is in a non-riding state based on the output of the load sensor 48. If the determination result in step S31 is affirmative, the controller 232 determines in step S32 based on the output of the wheel rotation sensor 44 or the crank rotation sensor 46 that the running speed of the manpowered vehicle A is equal to or less than the first predetermined value. Determine whether or not If the determination result in step S32 is affirmative, the control unit 232 determines whether the tilt in the longitudinal direction of the manpowered vehicle A is equal to or greater than the second predetermined value based on the output of the tilt angle sensor 42 in step S33. judge. If the determination result in step S33 is a positive determination, the control unit 232 controls the power assist device 50 in step S34. Also, the control unit 232 controls the restriction device RS in step S35. Specifically, the control unit 232 controls the braking device 60 to output a braking force corresponding to the inclination, or controls the locking device 62 to enter a locked state. After that, in step S36, the control unit 232 determines whether or not the human-powered vehicle A has changed from the non-riding state to the riding state based on the output of the load sensor 48 . If the determination result in step S36 is affirmative, the control unit 232 increases the driving force of the power assist device 50 in step S37. Further, in step S38, the control unit 232 controls the braking device 60 to increase the braking force, and terminates the vehicle control. If the determination result in any one of steps S31 to S33 and step S36 is negative, control unit 232 ends vehicle control.

The operation of this embodiment will be described. Based on the output of the load sensor 48, it is determined whether or not the human-powered vehicle A is in a non-riding state. Further, when the traveling speed of the manpowered vehicle A is equal to or less than the first predetermined value, it is determined that the manpowered vehicle A has stopped. Further, when the inclination of the manpowered vehicle A in the longitudinal direction is equal to or greater than the second predetermined value, it is determined that the inclination of the uphill requires vehicle control. By controlling at least one of the power assist device 50, the braking device 60, and the locking device 62, the manpowered vehicle A is prevented from reversing on an uphill slope.

Immediately after getting on the manpowered vehicle A while the user is pushing uphill, it is desired that the attitude of the manpowered vehicle A be stable. In this embodiment, based on the output of the load sensor 48, it is determined whether or not the human-powered vehicle A has changed from the non-riding state to the riding state. By controlling the power assist device 50 and the braking device 60, the posture of the manpowered vehicle A on the uphill is stabilized.

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

The controllers 30, 130, and 230 do not set thresholds for each of the running speed of the manpowered vehicle A and the inclination of the manpowered vehicle A in the longitudinal direction, but rather whether the combination of parameters satisfies a predetermined condition. Based on whether or not, the components of human powered vehicle A may be controlled.

- The type of human-powered vehicle A can be changed arbitrarily. In a first example, human powered vehicle A is a road bike, mountain bike, cross bike, city cycle, cargo bike or recumbent. In a second example, manpowered vehicle A is a kick scooter.

A... Human-powered vehicle CP... Second component RS... Limiting device 30... Control device 32... Control unit 50... Power assist device 52... Suspension 54... Notification device 56... Transmission 58... Adjustable Seat post 60 Braking device 62 Locking device 130 Control device 132 Control section 230 Control device 232 Control section.

Claims (9)

A power assisting device that outputs driving force corresponding to the manpower driving force input to the manpowered vehicle, and a control unit that controls at least one second component different from the power assisting device,
The control unit controls the power assist device based on the traveling speed of the manpowered vehicle and the inclination of the manpowered vehicle in the longitudinal direction so as to output a driving force corresponding to the inclination, and controlling the second component based on the running speed and the inclination;
the second component includes at least one of a suspension and an adjustable seatpost;
The control unit
Based on the running speed and the inclination, the power assist device is controlled to output a driving force corresponding to the inclination, and based on the running speed and the inclination, the suspension and , controlling at least one of said adjustable seatposts ;
controlling the power assist device and the at least one second component if the travel speed is less than or equal to a first predetermined value and the inclination is greater than or equal to a second predetermined value;
the first predetermined value is a value for determining whether the human-powered vehicle should stop;
The control device , wherein the second predetermined value is a value for determining a gradient of an uphill requiring vehicle control of the manpowered vehicle . 2. The controller of claim 1 , wherein said second component comprises a suspension. 3. The control device according to claim 2 , wherein said control unit controls said suspension so as to be in a locked state when said travel speed exceeds said first predetermined value. A power assisting device that outputs driving force corresponding to the manpower driving force input to the manpowered vehicle, and a control unit that controls at least one second component different from the power assisting device,
the second component includes a suspension;
The control unit
Based on the traveling speed of the manpowered vehicle and the inclination of the manpowered vehicle in the longitudinal direction, the power assist device is controlled to output a driving force corresponding to the inclination, and the second component is controlled. control and
controlling the power assist device and the at least one second component if the travel speed is less than or equal to a first predetermined value and the inclination is greater than or equal to a second predetermined value;
controlling the suspension to be in a locked state when the traveling speed exceeds the first predetermined value;
the first predetermined value is a value for determining whether the human-powered vehicle should stop;
The control device , wherein the second predetermined value is a value for determining a gradient of an uphill requiring vehicle control of the manpowered vehicle . The suspension includes a front suspension,
The control unit controls the suspension so that the stroke of the front suspension is shortened when the running speed is equal to or less than the first predetermined value and the inclination is equal to or greater than the second predetermined value. 5. The control device according to any one of 2 to 4 . the second component includes an alerting device;
The control device according to any one of claims 1 to 5 , wherein the control unit controls the notification device to notify the operating state of the power assist device. the second component includes a transmission;
The control device according to any one of claims 1 to 6 , wherein the control unit controls the transmission so that the gear ratio of the manpowered vehicle becomes a gear ratio corresponding to the inclination. the second component includes an adjustable seatpost;
The control device according to any one of claims 1 to 7 , wherein the control section controls the adjustable seat post to have a height corresponding to the inclination. 9. The control device according to any one of claims 1 to 8 , wherein said control unit controls said power assist device so as to output a driving force corresponding to said inclination and a total weight of said manpowered vehicle. .