JP7386127B2 - Control device for human-powered vehicles - Google Patents

Description

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

For example, a control device for a human-powered vehicle disclosed in Patent Document 1 controls a braking device.

JP 2017-30395 Publication

One of the objects of the present invention is to provide a control device for a human-powered vehicle that can contribute to usability.

A control device according to a first aspect of the present invention is a control device for a human-powered vehicle, and includes a control unit that controls a braking device that brakes a rotating body of the human-powered vehicle, and the control unit is configured to control the human-powered vehicle. The braking device is controlled in response to information related to the distribution of the load on the vehicle saddle.
According to the control device of the first aspect, the braking device is controlled according to information related to the distribution of the load applied to the saddle, so the braking device is suitable for changes in the driver's posture that affect the distribution of the load applied to the saddle. can be controlled. Therefore, it can contribute to usability.

In the control device of the second aspect according to the first aspect, the control unit changes the braking force of the braking device according to information related to the distribution of the load applied to the saddle.
According to the control device of the second aspect, the braking device can be controlled with a suitable braking force based on the information regarding the distribution of the load applied to the saddle.

In the control device according to the third aspect according to the second aspect, the information related to the distribution of the load applied to the saddle may be a ratio of a load at the front in the running direction of the human-powered vehicle to a load at the rear in the running direction of the human-powered vehicle. the control unit increases the braking force of the braking device when the ratio is larger than a first predetermined ratio.
According to the control device of the third aspect, when the ratio of the rear load to the front load in the traveling direction of the human-powered vehicle is larger than the first predetermined ratio, the braking force of the braking device can be increased.

In the fourth aspect of the control device according to the first aspect to the third aspect, the control unit is configured to control a rate of increase in braking force when the braking device operates according to information related to distribution of a load applied to the saddle. change.
According to the control device of the fourth aspect, when the braking device operates, the rate of increase in braking force can be changed in accordance with information related to the distribution of the load applied to the saddle.

In the control device according to the fifth aspect according to the fourth aspect, the information related to the distribution of the load applied to the saddle may be a distribution of a load at the rear in the running direction of the human-powered vehicle relative to a load at the front in the running direction of the human-powered vehicle. a ratio, and the control unit increases the rate of increase of the braking force when the ratio is larger than a second predetermined ratio.
According to the control device of the fifth aspect, when the ratio of the rear load to the front load in the traveling direction of the human-powered vehicle is larger than the second predetermined ratio, the rate of increase in the braking force of the braking device can be increased.

In the control device according to the sixth side according to the first side to the fifth side, the rotating body includes a rear wheel of the human-powered vehicle.
According to the control device of the sixth aspect, the braking device that brakes the rear wheels can be suitably controlled.

In the control device according to the seventh aspect according to the first to fifth aspects, the braking device includes a first braking device and a second braking device that brakes the rotating body different from the first braking device, The section controls the first braking device and the second braking device according to information related to the distribution of the load applied to the saddle.
According to the control device of the seventh aspect, the first braking device and the second braking device can be suitably controlled according to information related to the distribution of the load applied to the saddle.

In the control device of the eighth aspect according to the seventh aspect, the information related to the distribution of the load applied to the saddle may be a distribution of a load at the rear of the human-powered vehicle in the running direction relative to a load at the front in the running direction of the human-powered vehicle. the control unit controls the braking force of the first braking device and the braking force of the second braking device when the ratio is greater than a third predetermined ratio and when the ratio is less than or equal to the third predetermined ratio. The relationship with power is different.
According to the control device of the eighth aspect, the ratio of the load at the rear in the running direction of the human-powered vehicle to the load at the front in the running direction of the human-powered vehicle is greater than or equal to the third predetermined ratio. , the relationship between the braking force of the first braking device and the braking force of the second braking device can be made different.

In the control device according to the ninth aspect according to the first to eighth aspects, the control unit controls the manual drive according to information related to the distribution of the load applied to the saddle when the braking device operates. Control the car's braking system.
According to the control device of the ninth aspect, the braking device can be suitably controlled when the braking device operates.

In the control device according to the tenth aspect according to the ninth aspect, the control unit controls when the operating device of the braking device is operated, and at least one of the driving environment of the human-powered vehicle and the driving state of the human-powered vehicle. The braking device is operated in at least one of the cases where operating conditions for the braking device regarding the two conditions are satisfied.
According to the control device of the tenth aspect, the braking device can be suitably controlled in at least one of the following cases: when the operating device of the braking device is operated, and when the operating conditions for the braking device are satisfied.

In the control device according to the eleventh aspect according to the tenth aspect, at least one of the driving environment of the human-powered vehicle and the driving state of the human-powered vehicle includes a vehicle speed of the human-powered vehicle, and the control unit is configured to control the vehicle speed. The braking device is controlled so that the vehicle speed is less than or equal to a predetermined vehicle speed.
According to the control device of the eleventh aspect, the vehicle speed of the human-powered vehicle can be braked to a predetermined speed or less.

In the control device according to the twelfth aspect according to the eleventh aspect, at least one of the driving environment of the human-powered vehicle and the driving state of the human-powered vehicle includes a slope of a traveling path of the human-powered vehicle, and the control unit When the human-powered vehicle travels downhill, the braking device is controlled so that the vehicle speed is equal to or less than the predetermined vehicle speed.
According to the control device of the twelfth aspect, when the human-powered vehicle travels on a downhill slope where the vehicle speed becomes high, the vehicle speed can be braked to a predetermined speed or less.

In the control device according to the thirteenth aspect according to the tenth to twelfth aspects, at least one of the traveling environment of the human-powered vehicle and the traveling state of the human-powered vehicle includes acceleration in the traveling direction of the human-powered vehicle, The control unit controls the braking device so that the acceleration is equal to or less than a predetermined acceleration.
According to the control device of the thirteenth aspect, the acceleration of the human-powered vehicle can be braked to a predetermined acceleration or less.

In the control device according to the fourteenth aspect according to the thirteenth aspect, at least one of the driving environment of the human-powered vehicle and the driving state of the human-powered vehicle includes a gradient of a traveling path of the human-powered vehicle, and the control unit When the human-powered vehicle travels downhill, the braking device is controlled so that the acceleration is equal to or less than the predetermined acceleration.
According to the control device of the fourteenth aspect, when the human-powered vehicle travels on a downhill slope where the vehicle speed becomes high, the vehicle speed can be braked to a predetermined speed or less.

In the control device according to the fifteenth aspect according to the first aspect to the fourteenth aspect, the control unit controls the adjustable seat post of the human-powered vehicle according to information related to distribution of a load applied to the saddle .
According to the control device of the fifteenth aspect, the adjustable seat post can be suitably controlled according to information related to the distribution of the load applied to the saddle.

In the control device of the 16th aspect according to the 15th aspect, the control section controls the adjustable seat post such that the position of the saddle is lowered when operating the braking device.
According to the control device of the sixteenth aspect, when the braking device is operated, the position of the saddle is lowered, so that the rider can easily take a posture with a low center of gravity.

In the control device according to the seventeenth aspect according to the first aspect to the sixteenth aspect, the control unit controls a suspension device of the human-powered vehicle according to information related to distribution of a load applied to the saddle .
According to the control device of the seventeenth aspect, the suspension device can be suitably controlled according to information related to the distribution of the load applied to the saddle.

In the control device according to the eighteenth aspect according to the seventeenth aspect, the suspension device includes a first portion and a second portion that moves relative to the first portion, and the control unit operates the braking device. , controlling the suspension device so that relative movement between the first portion and the second portion is facilitated;
According to the control device of the eighteenth aspect, when the braking device operates, the first portion and the second portion of the suspension device tend to move relative to each other, so that the rider is less affected by the running condition of the human-powered vehicle. .

In the control device according to the nineteenth aspect according to the eighteenth aspect, the suspension device includes a rear suspension device.
According to the control device of the nineteenth aspect, the rear suspension device can be suitably controlled.

In the control device according to the twentieth aspect according to the first aspect to the nineteenth aspect, the control section causes the notification section to notify information regarding the operation of the braking device.
According to the control device of the twentieth aspect, the rider can easily grasp information regarding the operation of the braking device by the notification section.

The control device for a human-powered vehicle of the present disclosure can contribute to usability.

FIG. 1 is a side view of a human-powered vehicle including a control device for a human-powered vehicle according to a first embodiment. FIG. 2 is a block diagram showing the electrical configuration of the human-powered vehicle in FIG. 1. FIG. 3 is a flowchart illustrating a first example of a process executed by the control unit in FIG. 2 to control a braking device. 3 is a flowchart showing a second example of a process executed by the control unit in FIG. 2 to control a braking device. 3 is a flowchart illustrating a third example of a process executed by the control unit in FIG. 2 to control a braking device. 12 is a flowchart illustrating a fourth example of a process executed by the control unit of the second embodiment to control the braking device. 12 is a flowchart illustrating a fifth example of a process executed by the control unit of the second embodiment to control the braking device. 12 is a flowchart illustrating a sixth example of processing executed by the control unit of the second embodiment to control the braking device. 7 is a flowchart illustrating a process executed by a control unit of a first modification to control a braking device and an adjustable seat post device. 12 is a flowchart showing a process executed by a control unit of a second modification example to control a braking device and a suspension device. 12 is a flowchart illustrating a process executed by a control unit of a third modification example to control a notification unit.

<First embodiment>
A control device 70 for a human-powered vehicle according to a first embodiment will be described with reference to FIGS. 1 to 5. The human-powered vehicle 10 is a vehicle that has at least one wheel and can be driven by at least a human-powered driving force H. The human-powered vehicle 10 includes various types of bicycles, such as mountain bikes, road bikes, city bikes, cargo bikes, hand bikes, and recumbent bikes. The number of wheels that the human-powered vehicle 10 has is not limited. The human-powered vehicle 10 also includes, for example, a one-wheeled vehicle and a vehicle having three or more wheels. The human-powered vehicle 10 is not limited to a vehicle that can be driven only by the human-powered driving force H. The human-powered vehicle 10 includes an E-bike that uses not only the human-powered driving force H but also the driving force of an electric motor for propulsion. E-bikes include electrically assisted bicycles whose propulsion is assisted by an electric motor. Hereinafter, in the embodiment, the human-powered vehicle 10 will be described as a bicycle.

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

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

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

Human-powered vehicle 10 further includes a battery 36. Battery 36 includes one or more battery elements. The battery element includes a rechargeable battery. Battery 36 is configured to power controller 70 . The battery 36 is preferably communicably connected to the control unit 72 of the control device 70 by wire or wirelessly. The battery 36 can communicate with the control unit 72 by, for example, power line communication (PLC), CAN (Controller Area Network), or UART (Universal Asynchronous Receiver/Transmitter). In one example, battery 36 is attached to a battery holder provided in frame 18 or rear carrier.

The human-powered vehicle 10 further includes a braking device 38 . The braking device 38 brakes the rotating body 40 of the human-powered vehicle 10 . In this embodiment, the rotating body 40 is a wheel of the wheel 14. The braking device 38 is provided to be able to brake the wheels of the wheels 14. Braking device 38 includes an electric actuator. The electric actuator includes, for example, an electric motor. The braking device 38 includes, for example, at least one of a rim brake, a roller brake, and a disc brake. The braking device 38 may be one in which a friction member that can come into contact with the wheel is operated by an electric actuator, or the hydraulic pressure of the hydraulic braking device 38 may be controlled by an electric actuator, and the friction member and the connection The cable may be moved by an electric actuator.

The braking device 38 includes a first braking device 38F and a second braking device 38R that brakes a rotating body 40 different from the first braking device 38F. In this embodiment, the rotating body 40 braked by the first braking device 38F includes the front wheel 14B of the human-powered vehicle 10. In this embodiment, the rotating body 40 braked by the second braking device 38R includes the rear wheel 14A of the human-powered vehicle 10. The first braking device 38F is provided to be able to brake the front wheels 14B. The first braking device 38F includes an electric actuator. The first braking device 38F is driven by an electric actuator to apply braking force to the front wheels 14B. The second braking device 38R includes an electric actuator . The second braking device 38R is provided to be able to brake the rear wheels 14A. The second braking device 38R is driven by an electric actuator to apply braking force to the rear wheels 14A.

The braking device 38 may include only one of the first braking device 38F and the second braking device 38R. In this case, a manual brake device may be provided in place of the other of the first brake device 38F and the second brake device 38R.

The human-powered vehicle 10 further includes an operating device 42 . The operating device 42 is provided to be able to operate the braking device 38. The operating device 42 is provided on the handlebar 34, for example. The operating device 42 outputs an operating signal corresponding to the operation input to the operating device 42 to the control unit 72. The control unit 72 controls the braking device 38 according to the operation signal. When the braking device 38 includes a first braking device 38F and a second braking device 38R, the operating device 42 preferably includes an operating device 42 corresponding to the first braking device 38F and an operating device corresponding to the second braking device 38R. 42. The control unit 72 of the control device 70 is configured to be able to receive at least an operation signal from the operation device 42. Preferably, the operating device 42 and the control unit 72 are configured to be able to communicate with each other. In this embodiment, the operating device 42 and the control unit 72 are connected via a power line. Preferably, operating device 42 is powered by battery 36 . Preferably, the control unit 72 performs power line communication with the operating device 42. The operating device 42 and the control unit 72 are configured to include a wireless communication unit, and may communicate wirelessly. In this case, the operating device 42 is provided with a power source separate from the battery 36.

Human-powered vehicle 10 includes a saddle 44 . Saddle 44 is attached to frame 18.
Preferably, the human powered vehicle 10 includes an adjustable seat post 46. Adjustable seatpost 46 connects saddle 44 and frame 18. Adjustable seat post 46 includes a mechanism for adjusting the height of saddle 44. Adjustable seat post 46 includes an electric actuator. The height of the saddle 44 changes by driving the electric actuator. Electric power is supplied to the adjustable seat post 46 from the battery 36. Preferably, the adjustable seat post 46 includes at least one of a mechanism for adjusting the longitudinal position of the saddle 44 and a mechanism for adjusting the angle of the saddle 44. Preferably, by operating the electric actuator, at least one of the longitudinal position of the saddle 44 and the angle of the saddle 44 changes.

The human-powered vehicle 10 includes a saddle load detection section 48. The saddle load detection section 48 is provided between the saddle 44 and the adjustable seat post 46. The saddle load detection unit 48 detects information related to the distribution of the load applied to the saddle 44. Preferably, the saddle load detection unit 48 detects, for example, a load in the front X1 of the human-powered vehicle 10 in the traveling direction X, a load in the rear X2 of the human-powered vehicle 10 in the traveling direction X, and a load in the traveling direction X of the human-powered vehicle 10. Information regarding at least one of the ratio R of the load at the rear X2 in the traveling direction X of the human-powered vehicle 10 to the load at the front X1 is detected.

The saddle load detection section 48 includes one or more detection elements. The detection element includes at least one of a pressure sensor and a load sensor. The detection element is arranged, for example, on at least one of the surface of the saddle 44 and between the saddle 44 and the adjustable seat post 46.

When the saddle load detection unit 48 includes a plurality of detection elements, at least one detection element is configured to be able to detect the load in the front direction X1 in the traveling direction X of the human-powered vehicle 10, and the other at least one detection element is configured to It is configured to be able to detect the load on the rear side X2 in the traveling direction X of the human-powered vehicle 10. When the saddle load detection unit 48 includes a plurality of detection elements, for example, at least one detection element is provided in a portion of the saddle 44 to which the rider's load is applied and a portion forward X1 of the center in the traveling direction X, At least one other detection element is provided at a portion of the saddle 44 on which the rider's load is applied and at a rearward portion X2.

When the saddle load detection unit 48 includes one detection element, the detection element is a load on the front side X1 of the saddle 44 in the running direction X of the human-powered vehicle 10 and a load on the rear side X2 of the human-powered vehicle 10 in the running direction X. It may be provided at a position where only one of the two can be detected. When the saddle load detection section 48 includes one detection element, the saddle load detection section 48 is preferably arranged on the surface of the saddle 44 or at a location other than the attachment portion between the saddle 44 and the adjustable seat post 46. The saddle load detection unit 48 may be a sheet-like sensor capable of detecting loads at a plurality of positions on a portion of the saddle 44 on which a rider's load is applied.

When the saddle 44 is provided so as to be tiltable with respect to the frame 18, the saddle load detection section 48 may be configured to detect the tilt angle of the saddle 44 in the running direction X. In this case, the saddle load detection section 48 may be a gyro sensor or a rotation angle sensor that detects the rotational phase of the saddle 44 with respect to the adjustable seat post 46 or the vehicle body 16. Preferably, the control unit 72 of the control device 70 adjusts the load at the rear X2 in the running direction X of the human-powered vehicle 10 relative to the load at the front X1 in the running direction X of the human-powered vehicle 10, depending on the inclination angle of the saddle 44. Calculate the ratio R.

The control unit 72 of the control device 70 is configured to be able to receive at least a signal from the saddle load detection unit 48. Preferably, the saddle load detection section 48 and the control section 72 are configured to be able to communicate with each other. In this embodiment, the saddle load detection section 48 and the control section 72 are connected via a power line. For example, power is supplied to the saddle load detection section 48 from the battery 36. The control unit 72 is configured to perform power line communication with the saddle load detection unit 48. The saddle load detection section 48 and the control section 72 are each configured to include a wireless communication unit, and may communicate wirelessly. In this case, the saddle load detection section 48 is provided with a power source separate from the battery 36.

Preferably, the human powered vehicle 10 includes a vehicle speed detection section 50. The vehicle speed detection unit 50 is configured to detect information according to the rotational speed NW of the wheels 14 of the human-powered vehicle 10. The vehicle speed detection unit 50 is configured to detect, for example, the rotation of an annular body provided on the wheel 14 of the human-powered vehicle 10. The annular body has a plurality of detected portions in the circumferential direction. The detected portion is a groove or a hole. The vehicle speed detection section 50 outputs a signal corresponding to the rotational speed NW of the wheel 14 based on passage of a plurality of detected sections provided on the annular body. The control unit 72 can calculate the vehicle speed V of the human-powered vehicle 10 based on the rotational speed NW of the wheel 14 and information regarding the circumference of the wheel 14. Information regarding the circumference of the wheel 14 is stored in the storage unit 74. The vehicle speed detection section 50 includes, for example, a coil and a magnetic pole. When the annular body rotates, the magnetic flux passing through the coil changes and an alternating current voltage is generated, so that the rotational speed NW of the wheel 14 is detected. Vehicle speed detection section 50 includes, for example, a Hall element. The vehicle speed detection section 50 is not limited to a configuration that detects a detected section provided on the wheel 14, but may include, for example, a magnetic reed constituting a reed switch, a phonic wheel, an optical sensor, etc. . The vehicle speed detection section 50 may be attached to the chainstay of the frame 18 of the human-powered vehicle 10 and may be configured to detect a detected section provided on the rear wheel 14A, or may be attached to the front fork 30 and detected on the front wheel 14B. It is also possible to adopt a configuration in which the detection unit detects the detection unit. Vehicle speed detection section 50 is connected to control section 72 via a wireless communication device or an electric cable. Preferably, the vehicle speed detection unit 50 is configured to output a detection signal a predetermined number of times, for example, while the wheel 14 rotates once. The predetermined number of times is, for example, 2 or more. Preferably, the predetermined number of times is 4 or more. Preferably, the predetermined number of times is a multiple of four. Preferably, the predetermined number of times is 30 or more. In this embodiment, the vehicle speed detection unit 50 is configured to detect the detected portion 60 times or more when the wheel 14 rotates once.

Preferably, the human powered vehicle 10 includes an acceleration detection section 52. The acceleration detection unit 52 detects the acceleration of the human-powered vehicle 10. The acceleration detection unit 52 is configured to detect a signal corresponding to acceleration in the direction in which the human-powered vehicle 10 moves forward. The acceleration detection section 52 is connected to the control section 72 via a wireless communication device or an electric cable. The acceleration detection section 52 may include a vehicle speed detection section 50. When the acceleration detection section 52 includes the vehicle speed detection section 50, the acceleration in the direction in which the human-powered vehicle 10 moves forward can be obtained by differentiating the vehicle speed V.

Preferably, the human powered vehicle 10 includes a suspension device 54 . Preferably, the suspension device 54 includes a first portion 54A and a second portion 54B that moves relative to the first portion 54A. The suspension device 54 may be either a hydraulic suspension device or a pneumatic suspension device. Preferably, suspension system 54 includes a rear suspension system 56. Suspension device 54 includes an electric actuator. By operating the electric actuator, the relative positions of the first portion 54A and the second portion 54B change.

The suspension device 54 preferably includes at least one of a mechanism for switching between enabling and disabling the suspension function , a mechanism for switching the natural length of the suspension, and a mechanism for switching the damping force of the suspension. Preferably, by operating the electric actuator, at least one of switching between enabling and disabling the suspension function, the natural length of the suspension, and the damping force of the suspension changes.

Preferably, the human powered vehicle 10 includes a notification section 58. The notification section 58 includes a display section. The display section includes, for example, a display panel. The notification unit 58 includes, for example, at least one of a portable electronic device, a display, a smartphone, a tablet computer, and a cycle computer. The notification section 58 may include a speaker. The notification unit 58 may be formed integrally with the audio device. The notification unit 58 can be attached to the handlebar 34, for example. The notification unit 58 displays information regarding the operation of the braking device 38. Preferably, the notification unit 58 displays at least one of the driving situation of the human-powered vehicle 10, the surrounding environment, and the remaining power level of the battery 36.

The control device 70 includes a control section 72. The control unit 72 includes an arithmetic processing unit that executes a predetermined control program. The arithmetic processing device includes, for example, a CPU (Central Processing Unit) or an MPU (Micro Processing Unit). The arithmetic processing units may be provided at multiple locations separated from each other. Control unit 72 may include one or more microcomputers. Preferably, control device 70 further includes a storage section 74. The storage unit 74 stores various control programs and information used for various control processes. The storage unit 74 includes, for example, nonvolatile memory and volatile memory. Nonvolatile memory includes, for example, at least one of ROM (Read-Only Memory), EPROM (Erasable Programmable Read Only Memory), EEPROM (Electrically Erasable Programmable Read-Only Memory), and flash memory. Volatile memory includes, for example, RAM (Random Access Memory).

The control unit 72 of the control device 70 controls the braking device 38 that brakes the rotating body 40 of the human-powered vehicle 10. The control unit 72 controls the braking device 38 in accordance with information related to the distribution of the load applied to the saddle 44 of the human-powered vehicle 10. Information related to the distribution of the load applied to the saddle 44 of the human-powered vehicle 10 is included in the output signal of the saddle load detection section 48. Preferably, the information related to the distribution of the load applied to the saddle 44 includes a ratio R of the load at the rear X2 in the traveling direction X of the human-powered vehicle 10 to the load at the front X1 in the traveling direction X of the human-powered vehicle 10. The control unit 72 controls the braking device 38 in response to a signal that is output from the saddle load detection unit 48 and corresponds to information related to the distribution of the load applied to the saddle 44 of the human-powered vehicle 10 .

The control unit 72 executes at least one control of the first example, the second example, and the third example according to information related to the distribution of the load applied to the saddle 44. The control unit 72 may perform a combination of two or more controls among the first example, the second example, and the third example.

In the first example, the control unit 72 changes the braking force P of the braking device 38 in accordance with information related to the distribution of the load applied to the saddle 44. For example, the control unit 72 increases the braking force P of the braking device 38 when the ratio R is larger than the first predetermined ratio R1. Preferably, the first predetermined ratio R1 is a value that allows determination of the rider's intention to brake the human-powered vehicle 10. The control unit 72 increases the braking force P of the braking device 38 when the rider changes his posture so that a load is applied to the rear of the human-powered vehicle 10 in the traveling direction X in order to brake the human-powered vehicle 10 . Preferably, the control unit 72 controls the braking device 38 so that when the ratio R is larger than the first predetermined ratio R1, the braking force P becomes larger than when the ratio R is less than or equal to the first predetermined ratio R1. Preferably, the control unit 72 changes the braking force P of the second braking device 38R according to information related to the distribution of the load applied to the saddle 44. The control unit 72 may or may not change the braking force P of the first braking device 38F according to information related to the distribution of the load applied to the saddle 44.

In the second example, the control unit 72 changes the braking force increase rate S when the braking device 38 operates, according to information related to the distribution of the load applied to the saddle 44. For example, the control unit 72 increases the rate of increase S of the braking force P when the ratio R is larger than the second predetermined ratio R2. Preferably, the second predetermined ratio R2 is a value that allows determination of the rider's intention to brake the human-powered vehicle 10. The second predetermined ratio R2 may be equal to or different from the first predetermined ratio R1. When the rider changes his posture so that a load is applied to the rear of the human-powered vehicle 10 in the running direction X in order to brake the human-powered vehicle 10, the control unit 72 controls the increasing speed S of the braking force P of the braking device 38. increase. Preferably, the control unit 72 controls the braking device 38 so that when the ratio R is larger than the second predetermined ratio R2, the rising speed S of the braking force P is greater than when the ratio R is less than or equal to the second predetermined ratio R2. Control. Preferably, the control unit 72 changes the rate of increase S of the braking force P of the second braking device 38R in accordance with information related to the distribution of the load applied to the saddle 44. The control unit 72 may or may not change the rate of rise S of the braking force P of the first braking device 38F depending on information related to the distribution of the load applied to the saddle 44.

In the third example, the control unit 72 controls the first braking device 38F and the second braking device 38R according to information related to the distribution of the load applied to the saddle 44. For example, the control unit 72 controls the braking force P of the first braking device 38F and the braking force P of the second braking device 38R when the ratio R is larger than the third predetermined ratio R3 and when it is less than or equal to the third predetermined ratio R3. The relationship with power P is made different. Preferably, the third predetermined ratio R3 is a value that allows determination of the rider's intention to brake the human-powered vehicle 10. The third predetermined ratio R3 may be equal to or different from the first predetermined ratio R1 or the second predetermined ratio R2. The control unit 72 controls the first braking device depending on whether the rider changes the posture so that a load is applied to the rear of the human-powered vehicle 10 in the running direction The relationship between the braking force P of the 38F and the braking force P of the second braking device 38R is made different. Preferably, the control unit 72 controls the braking force P of the first braking device 38F and the second braking device when the ratio R is larger than the third predetermined ratio R3 and when the ratio R is less than or equal to the third predetermined ratio R3. The relationship between the 38R and the braking force P is made different. For example, the control unit 72 controls the braking force P of the first braking device 38F and the braking force P of the second braking device 38R when the ratio R is larger than the third predetermined ratio R3 than when the ratio R is less than or equal to the third predetermined ratio R3. You may make it control the 1st braking device 38F and the 2nd braking device 38R so that at least one of these becomes large. When the ratio R is larger than the third predetermined ratio R3, the control unit 72 controls the first braking device so that the relationship between the braking force P of the first braking device 38F and the braking force P of the second braking device 38R becomes a predetermined relationship. The braking device 38F and the second braking device 38R may be controlled. The control unit 72 may vary the relationship between the braking force P of the first braking device 38F and the braking force P of the second braking device 38R depending on the magnitude of the ratio R.

Preferably, the control unit 72 controls the braking device 38 of the human-powered vehicle 10 in accordance with information related to the distribution of the load applied to the saddle 44 of the human-powered vehicle 10 when the braking device 38 operates. For example, when the operating device 42 of the braking device 38 is operated, the control unit 72 determines that the operating condition of the braking device 38 regarding at least one of the driving environment of the human-powered vehicle 10 and the driving state of the human-powered vehicle 10 is satisfied. In at least one of the cases, the braking device 38 is operated. The operating state of the braking device 38 includes, for example, the operating state of the operating device 42. Preferably, the driving environment and driving state of the human-powered vehicle 10 include, for example, the rotational speed N of the crank 12 of the human-powered vehicle 10, the vehicle speed V of the human-powered vehicle 10, the road gradient of the road on which the human-powered vehicle 10 is traveling, and , the brightness of the road on which the human-powered vehicle 10 is traveling, and the like. For example, the control unit 72 performs at least one of the following: when the vehicle speed V is higher than the predetermined vehicle speed V, when the acceleration A is higher than the predetermined acceleration A, and when the human-powered vehicle 10 is stopped on a slope. It is determined that the operating conditions for the braking device 38 are satisfied. The operating conditions for the braking device 38 may be any conditions suitable for operating the braking device 38.

With reference to FIG. 3, a first example of processing for controlling the braking device 38 will be described. When power is supplied to the control unit 72, the control unit 72 starts processing and moves to step S11 of the flowchart shown in FIG. 3. After the flowchart in FIG. 3 ends, the control unit 72 repeats the process from step S11 after a predetermined period until the power supply is stopped.

In step S11, the control unit 72 determines whether the operating device 42 of the braking device 38 is being operated. If the determination result in step S11 is affirmative, the control unit 72 moves to step S13. If the determination result in step S11 is negative, the control unit 72 moves to step S12.

In step S12, the control unit 72 determines whether the operating conditions for the braking device 38 are satisfied. If the determination result in step S12 is negative, the control unit 72 ends the process without controlling the braking device 38. If the determination result in step S12 is affirmative, the control unit 72 moves to step S13.

In step S13, the control unit 72 acquires information regarding the distribution of the load applied to the saddle 44, and proceeds to step S14. In this process, preferably, the control unit 72 calculates the ratio R in step S13 according to the signal from the saddle load detection unit 48.

In step S14, the control unit 72 determines whether the ratio R is larger than the first predetermined ratio R1. If the determination result in step S14 is negative, the control unit 72 moves to step S17. The control unit 72 controls the braking device 38 in step S17, and ends the process. In step S17, the control unit 72 controls the braking device 38 so that the braking force P corresponds to the operation signal from the operating device 42 in step S11 or the braking force P corresponds to the operating condition established in step S12. do.

If the determination result in step S14 is affirmative, the control unit 72 moves to step S15. The control unit 72 sets the braking force P of the braking device 38 to increase in step S15, and proceeds to step S16. In step S15, the control unit 72 sets the braking force P to be larger than the braking force P in accordance with the operation signal from the operating device 42 in step S11 or the braking force P in accordance with the operating condition established in step S12. , to set the braking force P. The control unit 72 controls the braking device 38 in step S16, and ends the process. In step S16, the control unit 72 controls the braking device 38 according to the braking force P set in step S15.

A second example of the process for controlling the braking device 38 will be described with reference to FIG. 4. When power is supplied to the control unit 72, the control unit 72 starts processing and moves to step S21 of the flowchart shown in FIG. 4. When the flowchart in FIG. 4 ends, the control unit 72 repeats the process from step S21 after a predetermined period until the power supply is stopped.

In step S21, the control unit 72 determines whether the operating device 42 of the braking device 38 is being operated. If the determination result in step S21 is affirmative, the control unit 72 moves to step S23. If the determination result in step S21 is negative, the control unit 72 moves to step S22.

In step S22, the control unit 72 determines whether the operating conditions for the braking device 38 are satisfied. If the determination result in step S22 is negative, the control unit 72 ends the process without controlling the braking device 38. If the determination result in step S22 is affirmative, the control unit 72 moves to step S23.

In step S23, the control unit 72 acquires information regarding the distribution of the load applied to the saddle 44, and proceeds to step S24. In this process, preferably, the control unit 72 calculates the ratio R in step S23 according to the signal from the saddle load detection unit 48.

In step S24, the control unit 72 determines whether the ratio R is larger than the second predetermined ratio R2. If the determination result in step S24 is negative, the control unit 72 moves to step S27. The control unit 72 controls the braking device 38 in step S27, and ends the process. In step S27, the control unit 72 sets the rate of increase S of the braking force P according to the operation signal from the operating device 42 in step S21 or the rate of increase S of the braking force P according to the operating condition established in step S22. The braking device 38 is controlled as follows.

If the determination result in step S24 is affirmative, the control unit 72 moves to step S25. The control unit 72 sets the increase rate S of the braking force P of the braking device 38 to increase in step S25, and proceeds to step S26. In step S25, the control unit 72 controls the braking force P to be higher than the increasing speed S of the braking force P according to the operation signal from the operating device 42 in step S21 or the increasing rate S of the braking force P according to the operating condition established in step S22. The rising speed S of the braking force P is set so that the rising speed S of the braking force P becomes large. The control unit 72 controls the braking device 38 in step S26, and ends the process. In step S26, the control unit 72 controls the braking device 38 according to the rate of increase S of the braking force P set in step S25.

A third example of the process for controlling the braking device 38 will be described with reference to FIG. 5. When power is supplied to the control unit 72, the control unit 72 starts processing and proceeds to step S31 of the flowchart shown in FIG. 5. When the flowchart of FIG. 5 ends, the control unit 72 repeats the process from step S31 after a predetermined period until the power supply is stopped.

In step S31, the control unit 72 determines whether the operating device 42 of the braking device 38 is being operated. If the determination result in step S31 is affirmative, the control unit 72 moves to step S33. If the determination result in step S31 is negative, the control unit 72 moves to step S32.

In step S32, the control unit 72 determines whether the operating conditions for the braking device 38 are satisfied. If the determination result in step S32 is negative, the control unit 72 ends the process without controlling the braking device 38. If the determination result in step S32 is affirmative, the control unit 72 moves to step S33.

In step S33, the control unit 72 acquires information regarding the distribution of the load applied to the saddle 44, and proceeds to step S34. In this process, preferably, the control unit 72 calculates the ratio R in step S33 according to the signal from the saddle load detection unit 48.

In step S34, the control unit 72 determines whether the ratio R is larger than the third predetermined ratio R3. If the determination result in step S34 is a negative determination, the control unit 72 moves to step S37. In step S37, the control unit 72 sets the first braking device 38F to operate with the braking force P12, sets the second braking device 38R to operate with the braking force P22, and proceeds to step S38 . In step S38, the control unit 72 controls the braking device 38 to achieve the braking force P set in step S37, and ends the process. The braking force P12 of the first braking device 38F is, for example, the braking force P of the first braking device 38F according to the operation signal from the operating device 42 in step S31 or the operating condition established in step S32. The braking force P22 of the second braking device 38R is, for example, the braking force P of the second braking device 38R according to the operation signal from the operating device 42 in step S31 or the operating condition established in step S22.

If the determination result in step S34 is affirmative, the control unit 72 moves to step S35. In step S35, the control unit 72 sets the first braking device 38F to operate with the braking force P11, sets the second braking device 38R to operate with the braking force P21, and proceeds to step S36. In step S36, the control unit 72 controls the braking device 38 to achieve the braking force P set in step S35, and ends the process. The relationship between the braking force P11 of the first braking device 38F and the braking force P21 of the second braking device 38R is different from the relationship between the braking force P12 of the first braking device 38F and the braking force P22 of the second braking device 38R. For example, the braking force P21 of the second braking device 38R is greater than the braking force P22 of the second braking device 38R, and the braking force P11 of the first braking device 38F is less than or equal to the braking force P12 of the first braking device 38F.

<Second embodiment>
A control device 70 according to the second embodiment will be described with reference to FIGS. 6 to 8. The control device 70 of the second embodiment is the same as the control device 70 of the first embodiment except that it executes the processes of FIGS. 6 to 8 instead of the processes of FIGS. 3 to 5. Configurations common to the embodiment are given the same reference numerals as in the first embodiment, and redundant explanation will be omitted.

In the present embodiment, the control unit 72 controls the operation of the braking device 38 when the operating device 42 of the braking device 38 is operated, and the operation of the braking device 38 regarding at least one of the driving environment of the human-powered vehicle 10 and the driving state of the human-powered vehicle 10. The braking device 38 is operated in at least one of the cases where the condition is met.

In this embodiment, the operating conditions include at least one of a first operating condition and a second operating condition.

In the first operating condition, at least one of the driving environment of the human-powered vehicle 10 and the driving state of the human-powered vehicle 10 includes the vehicle speed V of the human-powered vehicle 10 , and the control unit 72 controls the vehicle speed V to be equal to or lower than a predetermined vehicle speed V1. The braking device 38 is controlled so that this occurs. For example, at least one of the driving environment of the human-powered vehicle 10 and the driving state of the human-powered vehicle 10 includes the slope of the traveling path of the human-powered vehicle 10, and the control unit 72 controls whether the human-powered vehicle 10 runs downhill. In this case, the braking device 38 is controlled so that the vehicle speed V becomes equal to or less than the predetermined vehicle speed V1.

In the second operating condition, at least one of the traveling environment of the human-powered vehicle 10 and the traveling state of the human-powered vehicle 10 includes an acceleration A in the traveling direction of the human-powered vehicle 10, and the control unit 72 determines that the acceleration A is a predetermined acceleration. The braking device 38 is controlled so that A1 or less. For example, at least one of the driving environment of the human-powered vehicle 10 and the driving state of the human-powered vehicle 10 includes the slope of the traveling path of the human-powered vehicle 10, and the control unit 72 controls whether the human-powered vehicle 10 runs downhill. In this case, the braking device 38 is controlled so that the acceleration A becomes equal to or less than the predetermined acceleration A1.

In this embodiment, the human-powered vehicle 10 is equipped with an inclination sensor that detects the slope of the road on which the human-powered vehicle 10 is traveling, and the control unit 72 controls whether the human-powered vehicle 10 runs downhill according to the output of the inclination sensor. Alternatively, it may be determined whether or not the

A fourth example of the process for controlling the braking device 38 will be described with reference to FIG. 6. When power is supplied to the control unit 72, the control unit 72 starts processing and moves to step S11 of the flowchart shown in FIG. 6. When the flowchart of FIG. 6 ends, the control unit 72 repeats the process from step S11 after a predetermined period until the power supply is stopped.

The control unit 72 performs the same process from step S11 to step S13 in FIG. 6 as in step S11 to step S13 in FIG. If the determination result in step S14 is negative, the control unit 72 moves to step S44. In step S44, the control unit 72 determines whether the human-powered vehicle 10 is traveling downhill. If the determination result in step S44 is negative, the control unit 72 performs the same process as step S17 in FIG. 3 in step S17, and ends the process. If the determination result in step S44 is affirmative, the control unit 72 moves to step S45. In step S45, the control unit 72 controls the braking device 38 so that the vehicle speed V of the human-powered vehicle 10 becomes equal to or less than the predetermined vehicle speed V1, and controls the braking device 38 so that the acceleration A of the human-powered vehicle 10 becomes equal to or less than the predetermined acceleration A1. control and end the process.

If the determination result in step S14 is affirmative, the control unit 72 performs the process of step S15 in the same manner as step S15 of FIG. 3, and proceeds to step S41. In step S41, the control unit 72 determines whether the human-powered vehicle 10 is traveling downhill. If the determination result in step S41 is negative, the control unit 72 moves to step S16. The control unit 72 performs the same process as step S16 in FIG. 3 in step S16, and ends the process. If the determination result in step S41 is affirmative, the control unit 72 moves to step S42. In step S42, the control unit 72 controls the braking device 38 so that the vehicle speed V of the human-powered vehicle 10 becomes equal to or less than the predetermined vehicle speed V1, and controls the braking device 38 so that the acceleration A of the human-powered vehicle 10 becomes equal to or less than the predetermined acceleration A1. control and end the process. Preferably, the control unit 72 controls the braking device 38 in step S42 according to the braking force P set in step S15. In step S42, the control unit 72 may control the braking device 38 using a different braking force P from the braking force P set in step S15.

With reference to FIG. 7, a fifth example of processing for controlling the braking device 38 will be described. When power is supplied to the control unit 72, the control unit 72 starts processing and moves to step S21 of the flowchart shown in FIG. 7. When the flowchart in FIG. 7 ends, the control unit 72 repeats the process from step S21 after a predetermined period until the power supply is stopped.

The control unit 72 performs the same processing as from step S21 to step S23 in FIG. 4 from step S21 to step S23 in FIG. If the determination result in step S24 is negative, the control unit 72 moves to step S44. In step S44, the control unit 72 determines whether the human-powered vehicle 10 is traveling downhill. If the determination result in step S44 is negative, the control unit 72 moves to step S27. The control unit 72 performs the same process as step S27 in FIG. 4 in step S27, and ends the process. If the determination result in step S44 is affirmative, the control unit 72 controls the braking device 38 in step S45 so that the vehicle speed V of the human-powered vehicle 10 becomes equal to or less than the predetermined vehicle speed V1, and the acceleration A of the human-powered vehicle 10 is reduced. The braking device 38 is controlled so that the acceleration becomes equal to or less than the predetermined acceleration A1, and the process ends.

If the determination result in step S24 is affirmative, the control unit 72 performs the process of step S25 in the same manner as step S25 of FIG . 4 , and proceeds to step S41. In step S41, the control unit 72 determines whether the human-powered vehicle 10 is traveling downhill. If the determination result in step S41 is negative, the control unit 72 moves to step S26. The control unit 72 performs the same process as step S26 in FIG. 4 in step S26, and ends the process. If the determination result in step S41 is affirmative, the control unit 72 moves to step S42. In step S42, the control unit 72 controls the braking device 38 so that the vehicle speed V of the human-powered vehicle 10 becomes equal to or less than the predetermined vehicle speed V1, and controls the braking device 38 so that the acceleration A of the human-powered vehicle 10 becomes equal to or less than the predetermined acceleration A1. control and end the process. Preferably, the control unit 72 controls the braking device 38 in step S42 according to the rate of increase S of the braking force P set in step S25. In step S42, the control unit 72 may control the braking device 38 using a rate of increase S of the braking force P that is different from the rate of increase S of the braking force P set in step S25.

With reference to FIG. 8, a sixth example of the process for controlling the braking device 38 will be described. When power is supplied to the control unit 72, the control unit 72 starts processing and proceeds to step S31 of the flowchart shown in FIG. 8. When the flowchart in FIG. 8 ends, the control unit 72 repeats the process from step S31 after a predetermined period until the power supply is stopped.

The control unit 72 performs the same processing as from step S31 to step S33 in FIG. 5 from step S31 to step S33 in FIG. If the determination result in step S34 is negative, the control unit 72 moves to step S37 . In step S37 , the control unit 72 performs the same process as step S37 in FIG. 5, and proceeds to step S44. In step S44, the control unit 72 determines whether the human-powered vehicle 10 is traveling downhill. If the determination result in step S44 is negative, the process moves to step S38 . The control unit 72 performs the same process as step S38 in FIG. 5 in step S38 , and ends the process. If the determination result in step S44 is affirmative, the control unit 72 moves to step S45. In step S45, the control unit 72 controls the braking device 38 so that the vehicle speed V of the human-powered vehicle 10 becomes equal to or less than the predetermined vehicle speed V1, and controls the braking device 38 so that the acceleration A of the human-powered vehicle 10 becomes equal to or less than the predetermined acceleration A1. control and end the process.

If the determination result in step S34 is affirmative, the control unit 72 performs the process in step S35 in the same manner as step S35 in FIG . 5 , and proceeds to step S41. In step S41, the control unit 72 determines whether the human-powered vehicle 10 is traveling downhill. If the determination result in step S41 is negative, the control unit 72 moves to step S36 . The control unit 72 performs the same process as step S36 in FIG . 5 in step S36 , and ends the process. If the determination result in step S41 is affirmative, the control unit 72 moves to step S42. In step S42, the control unit 72 controls the braking device 38 so that the vehicle speed V of the human-powered vehicle 10 becomes equal to or less than the predetermined vehicle speed V1, and controls the braking device 38 so that the acceleration A of the human-powered vehicle 10 becomes equal to or less than the predetermined acceleration A1. control and end the process. Preferably, in step S42, the control unit 72 controls the first braking device 38F according to the braking force P11 of the first braking device 38F set in step S35, and controls the braking force P11 of the second braking device 38R set in step S35. The second braking device 38R is controlled according to the power P21. In step S42, the control unit 72 controls the first braking device 38F with a braking force P different from the braking force P11 of the first braking device 38F set in step S35, and controls the first braking device 38F with a braking force P different from the braking force P11 of the first braking device 38F set in step S35. The second braking device 38R may be controlled by a different braking force P from the braking force P21 of the second braking device 38R.

<Modified example>
The description of the embodiments is an example of the form that the control device 70 for a human-powered vehicle according to the present disclosure can take, and is not intended to limit the form. The control device 70 for a human-powered vehicle according to the present disclosure may take, for example, a modification of the embodiment shown below, or a combination of at least two modifications that are not mutually contradictory. In the following modified examples, the same parts as in the embodiment are given the same reference numerals as in the embodiment, and the explanation thereof will be omitted.

- The control unit 72 may control the adjustable seat post 46 of the human-powered vehicle 10 in accordance with information related to the distribution of the load applied to the saddle 44. Preferably, when operating the braking device 38, the control unit 72 controls the adjustable seat post 46 so that the position of the saddle 44 is lowered. An example of a process for controlling the braking device 38 and the adjustable seat post 46 will be described with reference to FIG. 9 . For example, after executing the process of step S16 in FIG. 3, the control unit 72 moves to step S51 in FIG. In step S51, the control unit 72 controls the adjustable seat post 46 to lower the position of the saddle 44, and ends the process. The control unit 72 may add the process of step S51 to the processes of FIGS. 4, 5, 6, 7, and 8.

- The control unit 72 may control the suspension device 54 of the human-powered vehicle 10 in accordance with information related to the distribution of the load applied to the saddle 44 of the human-powered vehicle 10. For example, when operating the braking device 38, the control unit 72 controls the suspension device 54 to facilitate relative movement between the first portion 54A and the second portion 54B. An example of a process for controlling the braking device 38 and the suspension device 54 will be described with reference to FIG. 10. For example, after executing the process of step S16 in FIG. 3, the control unit 72 moves to step S52 in FIG. In step S52, the control unit 72 controls the adjustable seat post 46 to facilitate relative movement between the first portion 54A and the second portion 54B, and ends the process. The control unit 72 may add the process of step S52 to the processes of FIGS. 4, 5, 6, 7, and 8.

- The control unit 72 adds both the process of step S51 of FIG. 9 and the process of step S52 of FIG. 10 to the processes of FIGS. 3, 4, 5, 6, 7, and 8. You can also do this.

- The control unit 72 may cause the notification unit 58 to notify information regarding the operation of the braking device 38. Information regarding the operation of the braking device 38 is stored in advance in the storage unit 74, for example. The information regarding the operation of the brake device 38 includes, for example, information for teaching a suitable method of operating the brake device 38. For example, the notification unit 58 displays on the display unit at least one of a rider's posture suitable for braking and a suitable magnitude of braking force P with respect to at least one of the driving state and the driving environment of the human-powered vehicle 10. . When the braking device 38 includes a first braking device 38F and a second braking device 38R, the information regarding the operation of the braking device 38 includes a suitable braking force P for each of the first braking device 38F and the second braking device 38R. may include the size of. The display unit reports information regarding the operation of the braking device 38 using at least one of an image and text, for example. When the information regarding the operation of the braking device 38 includes the rider's posture suitable for braking, the display unit may display a schematic diagram of the preferable rider's posture or a preferable position of the rider's center of gravity.
With reference to FIG. 11, processing for controlling the notification section 58 will be described. When power is supplied to the control unit 72, the control unit 72 starts processing and moves to step S61 of the flowchart shown in FIG. 11. After the flowchart in FIG. 11 ends, the control unit 72 repeats the process from step S61 after a predetermined period until the power supply is stopped. In step S61, the control unit 72 determines whether the notification condition is satisfied. For example, the notification conditions include conditions regarding the operation of the braking device 38. If the determination result in step S61 is negative, the control unit 72 ends the process. If the determination result in step S61 is affirmative , the control unit 72 moves to step S62. In step S62, the control unit 72 controls the notification unit 58 to notify the notification unit 58 of information regarding the operation of the braking device 38, and ends the process.

- In the processes of FIGS. 3 and 6, the control unit 72 may execute only one of steps S11 and S12 and omit the other process. In this case, if the control unit 72 makes a positive determination in either step S11 or step S12, the process proceeds to step S13, and if it makes a negative determination, it ends the process.

- In the processes of FIGS. 4 and 7, the control unit 72 may execute only one of steps S21 and S22 and omit the other. In this case, if the control unit 72 makes a positive determination in either step S21 or step S22, the process proceeds to step S23, and if the determination is negative, the process ends.

- The control unit 72 may execute only one of steps S31 and S32 in the processes of FIGS. 5 and 8, and may omit the other process. In this case, if the control unit 72 makes a positive determination in either step S31 or step S32, the process proceeds to step S33, and if the determination is negative, the process ends.

- Instead of the adjustable seat post 46, the human-powered vehicle 10 may include a seat post whose height is manually adjusted.
- The human-powered vehicle 10 does not need to include the suspension device 54.

- Instead of or in addition to the information related to the distribution of the load applied to the saddle 44, the control unit 72 detects the rider's posture according to at least one of the load applied to the pedals 20 and the load applied to the handlebar 34, The braking device 38 may be controlled depending on the rider's posture. For example, when the control unit 72 determines that the rider's posture is a backward leaning posture according to at least one of the load applied to the pedals 20 and the load applied to the handlebar 34, the control unit 72 increases the braking force P of the braking device 38. The increasing speed S of the braking force P of the braking device 38 is increased, or the relationship between the first braking device 38F and the second braking device 38R is changed.

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

DESCRIPTION OF SYMBOLS 10... Human powered vehicle, 14A... Rear wheel, 38... Braking device, 38F... First braking device, 38R... Second braking device, 40... Rotating body, 42... Operating device, 44... Saddle, 46... Adjustable seat post, 54... Suspension device, 54A... First part, 54B... Second part, 56... Rear suspension device, 58... Notification section, 70... Control device, 72... Control section.

Claims (19)

A control device for a human-powered vehicle,
comprising a control unit that controls a braking device that brakes a rotating body of the human-powered vehicle,
The control unit controls the braking device according to information related to a distribution of a load applied to a saddle of the human-powered vehicle,
The information related to the distribution of the load applied to the saddle includes a ratio of a load at the rear in the running direction of the human-powered vehicle to a load at the front in the running direction of the human-powered vehicle,
The controller is configured to change at least one of a braking force of the braking device and an increase rate of the braking force when the braking device operates, according to the ratio. The control device according to claim 1 , wherein the control unit increases the braking force when the ratio is larger than a first predetermined ratio. The control device according to claim 1 or 2 , wherein the control unit increases the rate of increase of the braking force when the ratio is larger than a second predetermined ratio. The control device according to any one of claims 1 to 3 , wherein the rotating body includes a rear wheel of the human-powered vehicle. The braking device includes a first braking device and a second braking device that brakes the rotating body different from the first braking device,
The control device according to any one of claims 1 to 3 , wherein the control unit controls the first braking device and the second braking device according to information related to distribution of a load applied to the saddle. . The control unit controls the braking force of the first braking device and the braking force of the second braking device when the ratio is greater than a third predetermined ratio and when the ratio is less than or equal to the third predetermined ratio. The control device according to claim 5 , wherein the relationships are different. A control device for a human-powered vehicle,
comprising a control unit that controls a braking device that brakes a rotating body of the human-powered vehicle,
The control unit controls the braking device according to information related to a distribution of a load applied to a saddle of the human-powered vehicle,
The braking device includes a first braking device and a second braking device that brakes the rotating body different from the first braking device,
The information related to the distribution of the load applied to the saddle includes a ratio of a load at the rear in the running direction of the human-powered vehicle to a load at the front in the running direction of the human-powered vehicle,
The control unit includes:
controlling the first braking device and the second braking device according to information related to the distribution of the load applied to the saddle;
Control that makes the relationship between the braking force of the first braking device and the braking force of the second braking device different depending on when the ratio is larger than a third predetermined ratio and when the ratio is less than or equal to the third predetermined ratio. Device. The controller according to any one of claims 1 to 7 , wherein the control unit controls the braking device according to information related to the distribution of the load applied to the saddle when the braking device operates. Control device. The control unit is configured to control the operation of the braking device when the operating device of the braking device is operated and when an operating condition of the braking device regarding at least one of a running environment of the human-powered vehicle and a running state of the human-powered vehicle is satisfied. 9. The control device according to claim 8 , wherein in at least one step the control device operates the braking device. At least one of the driving environment of the human-powered vehicle and the driving state of the human-powered vehicle includes a vehicle speed of the human-powered vehicle,
The control device according to claim 9 , wherein the control unit controls the braking device so that the vehicle speed is equal to or less than a predetermined vehicle speed. At least one of the driving environment of the human-powered vehicle and the driving condition of the human-powered vehicle includes a slope of a traveling path of the human-powered vehicle,
The control device according to claim 10 , wherein the control unit controls the braking device so that the vehicle speed becomes equal to or less than the predetermined vehicle speed when the human-powered vehicle travels downhill. At least one of the driving environment of the human-powered vehicle and the driving state of the human-powered vehicle includes acceleration in the traveling direction of the human-powered vehicle,
The control device according to any one of claims 9 to 11 , wherein the control unit controls the braking device so that the acceleration is equal to or less than a predetermined acceleration. At least one of the driving environment of the human-powered vehicle and the driving condition of the human-powered vehicle includes a slope of a traveling path of the human-powered vehicle,
The control device according to claim 12 , wherein the control unit controls the braking device so that the acceleration becomes equal to or less than the predetermined acceleration when the human-powered vehicle travels downhill. The control device according to any one of claims 1 to 13 , wherein the control unit controls an adjustable seat post of the human-powered vehicle according to information related to distribution of a load applied to the saddle. The control device according to claim 14 , wherein the control section controls the adjustable seat post so that the position of the saddle is lowered when the braking device is operated. The control device according to any one of claims 1 to 15 , wherein the control unit controls a suspension device of the human-powered vehicle according to information related to distribution of a load applied to the saddle. The suspension device includes a first part and a second part that moves relative to the first part,
The control device according to claim 16 , wherein the control unit controls the suspension device so that relative movement between the first portion and the second portion is facilitated when the braking device is operated. The control device according to claim 17 , wherein the suspension device includes a rear suspension device. The control device according to any one of claims 1 to 18 , wherein the control unit causes a notification unit to notify information regarding the operation of the braking device.

Images