JP7386439B2 - Electric bicycle control device and electric bicycle - Google Patents

Description

The present disclosure relates to an electric bicycle control device and an electric bicycle.

Conventionally, when it is determined that the electric motor and the electric assisted bicycle are in the first state in which the vehicle speed is increasing regardless of the pedal depression force, and the operation signal is input from the operation unit, the operation signal is input from the time when the operation signal is input. , and a motor control unit that controls driving of an electric motor so as to maintain a first vehicle speed (see, for example, Patent Document 1).

Patent No. 6226825

Therefore, an object of the present disclosure is to provide an electric bicycle control device and an electric bicycle that allow a person to comfortably push or support an electric bicycle.

In order to achieve the above object, an electric bicycle control device according to an aspect of the present disclosure includes an electric motor, and an electric bicycle that can be pushed while adding an auxiliary driving force by the electric motor to a pushing force against a vehicle body, or An electric bicycle control device for use in an electric bicycle, comprising: a control unit that executes a mode in which a vehicle is self-propelled by applying force; and a first sensor that outputs information regarding the speed of the vehicle body when executing the mode. When the mode is executed, if the speed of the vehicle body based on the information regarding the speed of the vehicle body becomes equal to or higher than a threshold value, the control unit sets a following amount that is smaller than a first following amount that follows a change in the speed of the vehicle body. The electric motor is controlled to apply the auxiliary driving force at a second follow-up amount in line with a target value that is greater than or equal to the threshold value.

Further, an electric bicycle control device according to an aspect of the present disclosure includes an electric motor, and an electric bicycle that is pushed by adding an auxiliary driving force by the electric motor to a pushing force against a vehicle body, or by adding an auxiliary driving force to the vehicle body. a control unit that executes a self-propelling mode, and the control unit controls the amount of variation in the output of the electric motor when the speed of the vehicle body increases and approaches the target speed and decreases and approaches the target speed when executing the mode. Make smaller .

Further, an electric bicycle control device according to an aspect of the present disclosure includes an electric motor, and an electric bicycle that is pushed by adding an auxiliary driving force by the electric motor to a pushing force against a vehicle body, or by adding an auxiliary driving force to the vehicle body. and a control unit that executes a self-propelling mode, and when the mode is executed, the control unit decreases the amount of variation in the output of the electric motor as the speed of the vehicle body increases toward the target speed, and As the speed decreases toward the target speed, the amount of variation in the output of the electric motor is reduced.

Further, an electric bicycle according to one aspect of the present disclosure includes an electric bicycle control device.

According to the electric bicycle control device and the like according to the present disclosure, a person can comfortably push or support an electric bicycle while walking.

FIG. 1 is a side view of the electric bicycle according to the first embodiment. FIG. 2 is a block diagram showing the configuration of the electric bicycle according to the first embodiment. FIG. 3 is a perspective view of the handle and operation section of the electric bicycle according to the first embodiment. FIG. 4 is a flowchart showing a case where the electric bicycle according to the first embodiment operates in the second mode. FIG. 5 is a diagram showing the relationship between the speed and time of the electric bicycle according to the first embodiment, and the relationship between the output current of the electric motor and time. FIG. 6 is a diagram showing the relationship between the speed of the electric bicycle and time and the relationship between the output current of the electric motor and time in a comparative example. FIG. 7 is a diagram showing the relationship between the speed and time of the electric bicycle according to the first modification of the first embodiment, and the relationship between the output current of the electric motor and time. FIG. 8A is a flowchart showing a case where the electric bicycle according to Modification 1 of Embodiment 1 operates in the second mode. FIG. 8B is a flowchart showing a case where the speed of the electric bicycle has reached the target speed in FIG. 8A. FIG. 9A is a flowchart showing a case where the electric bicycle according to the second modification of the first embodiment operates in the second mode. FIG. 9B is a flowchart showing a case where the speed of the electric bicycle has reached the target speed in FIG. 9A. FIG. 10 is a flowchart showing a case where the electric bicycle according to the second embodiment operates in the second mode.

Below, embodiments of the present disclosure will be described in detail using the drawings. Note that the embodiments described below each represent a specific example of the present disclosure. Therefore, the numerical values, shapes, materials, components, arrangement and connection forms of the components, steps, order of steps, etc. shown in the following embodiments are merely examples, and are not intended to limit the present disclosure. Therefore, among the constituent elements in the following embodiments, constituent elements that are not described in the independent claims will be described as arbitrary constituent elements.

Furthermore, each figure is a schematic diagram and is not necessarily strictly illustrated. Therefore, for example, the scale etc. of each figure do not necessarily match. Further, in each figure, substantially the same configurations are denoted by the same reference numerals, and overlapping explanations will be omitted or simplified.

Hereinafter, an electric bicycle control device and an electric bicycle according to the present embodiment will be described.

(Embodiment 1)
<Configuration>
FIG. 1 is a side view of an electric bicycle 1 according to the first embodiment.

As shown in FIG. 1, the electric bicycle 1 has a first mode and a second mode. The first mode is, for example, an assist mode, which assists the electric bicycle 1 to move forward based on the force applied to the pedals 17 by a person (user). The second mode includes, for example, at least one of a push walking mode and a self-propelled mode. In the push walking mode, when the user pushes the electric bicycle 1 while walking, the forward movement of the electric bicycle 1 is assisted based on the force of the user pushing the vehicle body 10 forward. In the self-propelled mode, when a person walks while supporting the electric bicycle 1, the electric bicycle 1 is assisted in moving forward.

FIG. 2 is a block diagram showing the configuration of the electric bicycle 1 according to the first embodiment.

As shown in FIGS. 1 and 2, the electric bicycle 1 includes a vehicle body 10, an operating section 21, a manual switch 22, a crank rotation sensor 31, and a motor rotation sensor 32 included in the configuration of the electric bicycle control device. , a pedal force sensor 33, a vehicle speed sensor 34, a transmission measuring section 35, a motor drive unit 40, a battery 50, a headlamp 60, and a transmission 70.

[Vehicle body 10]
The vehicle body 10 includes a frame 11, a front wheel 12, a rear wheel 13, a saddle 15, a handle 14, a crank 16, pedals 17, a sprocket (not shown), and a chain 19.

The frame 11 includes a head pipe 111, a main frame 112, a vertical pipe 113, a fork 114, and a chainstay 115. The head pipe 111 rotatably supports a fork 114 that supports the front wheel 12 and a handle 14 about the axis of the head pipe 111 . By turning the handle 14 left and right, the direction of the front wheel 12 supported by the fork 114 can be rotated left and right.

The main frame 112 is a part that connects the head pipe 111 and the vertical pipe 113. The crank 16 and the motor drive unit 40 are attached to the lower end of the main frame 112. The electric bicycle 1 according to the present embodiment is a so-called center unit type electric bicycle 1 in which the crank 16 and the motor drive unit 40 are integrated, but the electric bicycle 1 is not limited to the center unit type.

The vertical pipe 113 supports the saddle 15 in a detachable manner. Specifically, a seat post that supports the saddle 15 is inserted into and fixed to the vertical pipe 113. In this embodiment, the battery 50 is removably attached to the vertical pipe 113.

The fork 114 rotatably supports the front wheel 12. A headlamp 60 is attached to the fork 114 that supports the front wheel 12.

Chain stay 115 rotatably supports rear wheel 13.

The saddle 15 is a part on which a person sits when riding in an appropriate posture.

The handle 14 is provided with a pair of grips 141 and a pair of brake levers 142 on the left and right sides.

The pair of grips 141 are parts that are held by hands when riding in an appropriate posture. Furthermore, the pair of grips 141 are held in the hands when pushing or supporting the electric bicycle 1 while walking, and receive a forward pushing force. At least one of the pair of grips 141 may be provided with a grip sensor that detects gripping force or pressing force.

The pair of brake levers 142 are operation levers of a brake device (not shown) attached to each of the front wheels 12 and the rear wheels 13. By operating one of the brake levers 142, a brake device attached to the front wheels 12 is driven, and a mechanical braking force is applied to the front wheels 12. By operating the other brake lever 142, the brake device attached to the rear wheel 13 is driven, and provides mechanical braking force to the rear wheel 13.

The brake lever 142 is provided with a brake sensor, and this brake sensor detects an operation on the brake lever 142.

The crank 16 has a crankshaft 161 and a pair of crank arms 162. One crank arm 162 is provided on each side of the main frame 112, and is fixed to both ends of the crankshaft 161 extending in the left-right direction. One end of the crank arm 162 is fixed to the crankshaft 161, and the pedal 17 is rotatably fixed to the other end. When a pedal force is applied to the pedal 17, the crank arm 162 rotates around the crankshaft 161, and the human driving force resulting from this rotation is transmitted to the rear wheel 13 via the sprocket and chain 19. When operating in the first mode, the human driving force based on the pedal effort and the first auxiliary driving force by the electric motor 41 added to the human driving force are transmitted to the rear wheels 13.

[Operation unit 21]
FIG. 3 is a perspective view of the handle and operation section 21 of the electric bicycle 1 according to the first embodiment.

As shown in FIGS. 2 and 3, the operating section 21 is provided near one of the pair of brake levers 142 (the left brake lever 142 in this embodiment). The operation unit 21 is a terminal device that includes a light switch (not shown) that turns on the headlight 60 and the like. The operation unit 21 has buttons and the like for accepting human operations. The button may be a touch panel display, a mechanical button, or the like.

Further, the operation unit 21 includes a display unit 44 that displays, for example, that the rear wheel 13 in FIG. 1 is idling. The display section 44 is, for example, a liquid crystal display, an organic EL display, or the like.

[Manual switch 22]
The manual switch 22 is a mechanical switch that accepts a pushing operation or a self-propelling operation to execute the second mode. The manual switch 22 is, for example, a momentary type switch. Specifically, while the manual switch 22 is being pressed by a person, the operation unit 21 continues to output a second mode on signal for executing the second mode to the control device 42 (described later). On the other hand, during the period when the manual switch 22 is not pressed down, the operation unit 21 does not output the second mode-on signal to the control device 42.

Note that even if the manual switch 22 is pressed once, the second mode may be executed without continuing to press the manual switch 22. The second mode may be stopped if the manual switch 22 is pressed again during execution of the second mode. In this case, there is no need to keep pressing the manual switch 22, so the person can concentrate on pressing the vehicle body 10.

Further, the manual switch 22 includes two different switches: a push-and-walk switch for executing the second mode of push-and-walk mode, and a self-propelled switch for executing the second mode of self-propelled mode. Good too. In this case, the control unit 43 may execute the push-and-walk mode when the push-and-walk switch is pressed, and may execute the self-propelled mode when the self-propelled switch is pressed.

[Crank rotation sensor 31]
As shown in FIGS. 1 and 3, the crank rotation sensor 31 detects the number of rotations of the crank 16 per unit time when the first mode and the second mode are executed. The crank rotation sensor 31 is realized by having a gear-shaped rotating body and a photodetector having a light emitting part and a light receiving part arranged so as to sandwich the teeth of the rotating body. The crank rotation sensor 31 outputs crank rotation speed information indicating the detected rotation speed of the crank 16 to the control device 42 . Note that the crank rotation sensor 31 may have any configuration as long as it can detect the rotation speed of the crank 16. Further, the crank rotation sensor 31 is arranged near the crankshaft 161.

[Motor rotation sensor 32]
Motor rotation sensor 32 is arranged near the rotation axis of electric motor 41. The motor rotation sensor 32 outputs information regarding the speed of the electric bicycle 1 when the first mode and the second mode are executed. The motor rotation sensor 32 is a Hall IC sensor that detects the number of rotations per unit time of the electric motor 41 and outputs motor rotation number information. The motor rotation speed information is information that allows the speed of the electric bicycle 1 to be calculated based on the rotation speed per unit time of the electric motor 41, and is included in the information regarding the speed of the electric bicycle 1. In this embodiment, the speed of the electric bicycle 1 is mainly the speed of the vehicle body 10 when the second mode is executed. Motor rotation sensor 32 is an example of a first sensor.

Specifically, the motor rotation sensor 32 includes a magnet that rotates integrally with the rotation shaft of the electric motor 41 and a Hall IC. The Hall IC detects the number of rotations of the magnet per unit time, that is, the number of rotations of the electric motor 41, by detecting changes in the magnetic field that changes according to the rotation of the magnet. Note that the motor rotation sensor 32 may have any configuration as long as it can detect the rotation speed of the electric motor 41. Motor rotation sensor 32 outputs motor rotation speed information indicating the rotation speed of electric motor 41 to control device 42 .

[Tread force sensor 33]
The pedal force sensor 33 is a magnetostrictive torque sensor, and detects the human power driving force generated when the crankshaft 161 rotates based on the human power driving force applied to the pedal 17 . The pedal force sensor 33 includes a coil and a magnetostriction generating section. For example, when a pedal force is applied to the pedal 17 and a human driving force is generated, distortion occurs in the magnetostriction generating section. In the magnetostriction generating portion, there are areas where magnetic permeability increases and areas where magnetic permeability decreases. By detecting the inductance difference between these coils, the human power driving force is detected. The pedal force sensor 33 outputs pedal force information indicating the detected human power driving force to the control device 42 . Note that the configuration of the pedal force sensor 33 is not particularly limited, and any configuration may be used as long as it can detect the human driving force applied to the pedal 17.

Further, the pedal force sensor 33 is arranged near the crankshaft 161.

[Vehicle speed sensor 34]
The vehicle speed sensor 34 detects the speed of the electric bicycle 1 when the first mode and the second mode are executed. Vehicle speed sensor 34 outputs speed information indicating the detected speed of electric bicycle 1 to control device 42 . For example, the vehicle speed sensor 34 is a speed sensor such as a foil sensor that detects the speed of the electric bicycle 1 from the rotation of the front wheel 12 or the rear wheel 13 and outputs speed information indicating the speed to the control device 42. Vehicle speed sensor 34 is an example of a second sensor.

Note that the vehicle speed sensor 34 may be a foil sensor, a magnet sensor, or the like, or may be a cycle computer that calculates based on ground speed, and may have any configuration as long as it can detect the speed of the electric bicycle 1.

The vehicle speed sensor 34 is provided, for example, at the lower end of the fork 114, and is placed at a position where the speed can be easily measured.

[Transmission measurement unit 35]
The transmission measurement unit 35 measures the gear position of the transmission 70 of the rear wheel 13 and transmits information indicating the gear position of the transmission 70 to the control device 42 . Measurement of the gear of the transmission 70 may be realized, for example, by outputting information indicating the gear of the transmission 70 output by the transmission switching device to the control device 42.

[Motor drive unit 40]
The motor drive unit 40 is attached to the vehicle body 10 and includes an electric motor 41 and a control device 42 that are included in the configuration of an electric bicycle control device. The motor drive unit 40 is formed into a unit by housing an electric motor 41 and a control device 42 in a resin or metal casing. A crank rotation sensor 31, a motor rotation sensor 32, a pedal force sensor 33, and the like are provided inside the housing.

The electric motor 41 is driven by receiving electric power from the battery 50 under the control of the control device 42 . The rotational torque of the electric motor 41 is transmitted to the sprocket of the rear wheel 13, causing the rear wheel 13 to rotate. Rotational torque means the first auxiliary driving force and the second auxiliary driving force.

The electric motor 41 is a motor that provides a first auxiliary driving force and a second auxiliary driving force. The electric motor 41 adds the first auxiliary driving force to the human power driving force based on the pedal force applied to the pedal 17 while executing the first mode. Further, the electric motor 41 adds the second auxiliary driving force to the pushing force on the electric bicycle 1 while executing the second mode. Furthermore, during execution of the second mode, the electric motor 41 applies a second auxiliary driving force that allows the electric bicycle 1 to travel by itself while being supported by a person.

As shown in FIG. 2, the control device 42 includes an electric motor 41, a crank rotation sensor 31, a motor rotation sensor 32, a pedal force sensor 33, a vehicle speed sensor 34, a transmission measuring section 35, a manual switch 22, an operating section 21, and a battery. 50 and a headlamp 60 are electrically connected. The control device 42 controls the operation of the electric motor 41 based on sensing information from sensors such as the crank rotation sensor 31, the pedal force sensor 33, the motor rotation sensor 32, the vehicle speed sensor 34, and the transmission measuring section 35. In addition, the control device 42 receives operation signals from the operation unit 21 and the manual switch 22, and sensing information that is the detection result from each sensor. Sensing information is a general term that includes crank rotation speed information, motor rotation speed information, pedal force information, speed information, and information indicating the gear of the transmission 70.

The control device 42 includes a control section 43 included in the configuration of an electric bicycle control device. The control unit 43 drives the electric motor 41 according to the operating mode of the electric bicycle 1. Specifically, the control unit 43 has a first mode and a second mode, and executes each mode by switching between the first mode and the second mode. For example, if the pedal force sensor 33 does not detect the pedal force on the pedal 17 after the second mode is stopped, the control unit 43 restarts the second mode when receiving an instruction to start the second mode again. . Specifically, the control unit 43 restarts the second mode when the manual switch 22 is pressed after the second mode is stopped. Further, when the pedal force sensor 33 detects the pedal force on the pedal 17, the control unit 43 does not restart the second mode even if the manual switch 22 is pressed.

The first mode is an assist mode in which the vehicle travels by adding the first auxiliary driving force from the electric motor 41 to the human driving force based on the pedal force applied to the pedal 17 . The first mode is executed when a person is riding the electric bicycle 1 after the manual switch 22 is pressed and the power is turned on. Specifically, the first mode is executed when the pedal force on the pedal 17 detected by the pedal force sensor 33 is greater than a predetermined value.

When executing the first mode, the control unit 43 determines the magnitude of the first auxiliary driving force generated by the electric motor 41 based on the pedal force applied to the pedals 17 and the speed of the electric bicycle 1. The pressing force on the pedal 17 is obtained from the detection result by the pressing force sensor 33. For example, the speed of the electric bicycle 1 is calculated based on the number of revolutions per unit time of the front wheel 12 and the size of the front wheel 12, or the number of revolutions per unit time of the rear wheel 13 and the size of the rear wheel 13. Calculated based on

Note that a table in which the number of rotations per unit time of the front wheel 12 or the rear wheel 13 and the speed of the electric bicycle 1 are associated in advance may be stored in the memory of the control device 42. The control unit 43 may determine the speed of the electric bicycle 1 from the rotation speed of the front wheel 12 or the rear wheel 13 by referring to the table.

The first auxiliary driving force in the first mode varies depending on the traveling speed of the electric bicycle 1, but is, for example, twice or less the force applied to the pedals 17. For example, when the traveling speed of the electric bicycle 1 is less than 10 km/h, the control unit 43 generates the first auxiliary driving force that is twice or less the pedal force applied to the pedals 17 by driving the electric motor 41. The control unit 43 does not cause the electric motor 41 to generate the first auxiliary driving force when the speed is 24 km/h or more. When the speed is greater than or equal to 10 km/h and less than 24 km/h, the control unit 43 drives the electric motor 41 to generate a first auxiliary driving force determined according to the speed.

In the second mode, the vehicle body 10 is pushed by adding a second auxiliary driving force from the electric motor 41 to the pushing force, or the second auxiliary driving force is added to the supported vehicle body 10 to make it move on its own (supported walking). ) mode (push walking mode or self-propelled mode). The second mode is an example of a mode.

The push-and-walk mode is a mode in which the second auxiliary driving force by the electric motor 41 is applied to the body 10 of the electric bicycle 1 when the person pushes the body 10 of the electric bicycle 1 while the power is on. The push walking mode is executed when a person is not riding the electric bicycle 1 and walks while pushing the vehicle body 10.

The self-propelling mode is a mode in which the electric bicycle 1 is supported by a person and the second auxiliary driving force from the electric motor 41 is applied to the vehicle body 10 to make the electric bicycle 1 self-propelled. The self-propelled mode, like the push-and-walk mode, is executed when a person is not riding the electric bicycle 1 and walks while supporting the body 10 of the electric bicycle 1. In the self-propelled mode, the person is not applying any force to push the vehicle body 10 forward.

The control unit 43 can determine which mode to execute, the push-walking mode or the self-propelled mode, depending on the presence or absence of a forward pushing force on the vehicle body 10. For example, the control unit 43 detects the presence or absence of a force pushing the vehicle body 10 forward using a grip sensor provided on the grip 141 or the like, and switches and executes the pushing mode and the self-propelled mode according to the detection result. You can. Alternatively, the control unit 43 may execute the mode as a second mode in which the second auxiliary driving force is added, without determining whether the mode is push walking mode or self-propelled mode. Further, the control unit 43 may switch between the push walking mode and the self-propelled mode by operating the manual switch 22 by a person.

In this embodiment, each of the push walking mode and the self-propelled mode is executed while the manual switch 22 is pressed down. Each of the push walking mode and the self-propelling mode does not need to be executed if the pedal force applied to the pedal 17 is greater than a predetermined value. That is, the first mode and the second mode are executed exclusively. In addition, both the push walking mode and the self-propelled mode are executed exclusively.

Further, the control unit 43 acquires information regarding the speed of the electric bicycle 1 from the motor rotation sensor 32 when executing the second mode. The information regarding the speed of the electric bicycle 1 includes motor rotation speed information indicating the rotation speed of the electric motor 41 from which the speed of the electric bicycle 1 can be calculated. In this embodiment, the control unit 43 acquires motor rotation speed information from the motor rotation sensor 32 as information regarding the speed of the electric bicycle 1.

Moreover, when the control unit 43 acquires the motor rotation speed information from the motor rotation sensor 32 during execution of the second mode, the control unit 43 calculates the speed of the electric bicycle 1 from the motor rotation speed information. For example, the control unit 43 calculates the speed of the electric bicycle 1 from the number of rotations per unit time of the electric motor 41.

Further, the control unit 43 determines whether the speed of the electric bicycle 1 is equal to or higher than a threshold value. If the speed of the electric bicycle 1 is less than the threshold value, the control unit 43 controls the electric motor 41 according to the speed of the electric bicycle 1. Here, the threshold value is a predetermined value that is less than or equal to the target speed. The threshold value is set to approximately several tens of percent of the target speed.

Specifically, when the speed of the electric bicycle 1 is less than the threshold value, the control unit 43 increases the second auxiliary driving force by a first tracking amount that follows the speed of the electric bicycle 1 as the speed of the electric bicycle 1 approaches the threshold value. The electric motor 41 is controlled to strengthen the power. As for the first following amount, the closer the speed of the electric bicycle 1 is to the threshold value, the smaller the following amount is, and the lower the speed of the electric bicycle 1 is and the farther from the threshold value, the larger the following amount is. For example, immediately after a person starts pushing or supporting the electric bicycle 1, or when going up a hill, the speed of the electric bicycle 1 is smaller than the threshold value, so the speed of the electric bicycle 1 is set to follow the increase in the speed of the electric bicycle 1. Then, the control unit 43 controls the electric motor 41 to apply the second auxiliary driving force to the vehicle body 10. Here, the following amount indicates the degree of change (control amount) in the output of the electric motor 41 that changes along with the change in the speed of the electric bicycle 1. The output of the electric motor 41 is changed by controlling the output current of the electric motor 41. Further, the amount of follow-up is a general term for the first amount of follow-up and the second amount of follow-up. When the control unit 43 controls the electric motor 41 with the first follow-up amount, the amount of variation in the second auxiliary driving force applied to the vehicle body 10 becomes large.

Further, when the speed of the electric bicycle 1 exceeds the threshold value, the control unit 43 applies the second auxiliary driving force with a second follow-up amount that is smaller than the first follow-up amount along the target speed that is above the threshold value. The electric motor 41 is controlled accordingly. The speed at which a person pushes or supports the electric bicycle 1 is not constant, but changes like a sine wave. In other words, since the speed of the electric bicycle 1 changes in a constant cycle, the control unit 43 sets the amount of follow-up to the change in the speed of the electric bicycle 1 to the second amount of follow-up, so that the electric bicycle The motor 41 is controlled. Here, the second tracking amount hardly follows a sinusoidal change in the walking speed of the person compared to the first tracking amount, but follows the average walking speed or target speed of the person. When a person pushes or supports the electric bicycle 1 while walking, the control unit 43 does not make the following amount large. This is because if the following amount is large, the amount of following will be excessive near the target speed, and if a person pushes or supports the electric bicycle 1, the electric bicycle 1 will be pulled by the change in the person's walking speed, so the control This is because it is considered that the output current of the electric motor 21 is returned so that the section 43 applies the second auxiliary driving force to the vehicle body 10 according to the target speed. Therefore, when controlling the electric motor 41 with the second follow-up amount, the control unit 43 pushes the electric motor 41 more gently or slightly than the first follow-up amount so that the second follow-up amount does not become excessive near the target speed. It follows the change in speed of the electric bicycle 1 that is being walked or supported. For example, the second follow-up amount is within a range of ±20% based on the target output current of the electric motor 41 that is controlled at the target speed. In other words, the second follow-up amount is within a range of ±20% with respect to the target output current of the electric motor 41. In other words, when controlling the electric motor 41 with the second follow-up amount, even if the speed at which the electric bicycle 1 is pushed or supported changes, the control section 43 controls the output current of the electric motor 41 to gradually increase with respect to the change in speed. control. The target speed and target output current are examples of target values.

Furthermore, when executing the second mode, the control unit 43 causes the electric motor 41 to generate the second auxiliary driving force so that the traveling speed of the electric bicycle 1 does not exceed a predetermined upper limit. The second auxiliary driving force in the second mode is, for example, such that the speed of the electric bicycle 1 is less than 6 km/h. In this embodiment, when executing the second mode, the upper limit of the speed of the electric bicycle 1 is 6 km/h, but it may be 3 to 4 km/h, and more preferably 3.3 to 3.9 km/h. may be used, but there are no particular limitations.

For example, if the speed of the electric bicycle 1 is within the range of 3 to 4 km/h, the control unit 43 controls the electric motor 41 with the second follow-up amount. In this case, the threshold value is 3 km/h. In addition, it is not limited to these numerical values.

The control device 42 supplies electric power supplied from the battery 50 to the electric motor 41, the headlight 60, and the like.

The control device 42 is realized by, for example, a microcomputer (microcontroller) or the like, and includes a nonvolatile memory in which a program is stored, a volatile memory that is a temporary storage area for executing the program, an input/output port, and an input/output port for executing the program. It consists of a processor, etc. Note that the control device 42 may be realized by a dedicated electronic circuit.

In this embodiment, the control device 42 is housed inside the casing of the motor drive unit 40, but the present invention is not limited thereto. The control device 42 may be provided separately from the motor drive unit 40.

[Battery 50]
The battery 50 is a storage battery that stores power for driving the electric motor 41. The battery 50 is, for example, a secondary battery, but may also be a capacitor or the like. Battery 50 is electrically connected to electric motor 41. Specifically, the battery 50 supplies electric power to the electric motor 41.

[Headlight 60]
The headlight 60 is a lighting device that emits light in the direction of travel of the electric bicycle 1 using electric power supplied from the battery 50. The headlight 60 is turned on or off by receiving an operation by a person via the operation unit 21 . The headlight 60 can be turned on or off by a light switch on the operating section 21.

[Transmission 70]
The transmission 70 is configured with a known transmission mechanism such as a planetary gear or a multi-stage gear, which has a plurality of drive force transmission paths with different gear ratios. The transmission 70 can be shifted to, for example, a low gear, a middle gear, a top gear, or the like by switching the driving force transmission path.

<Operation>
Here, a control process for the electric bicycle 1 will be described assuming that the manual switch 22 is turned on in advance.

As shown in FIG. 4, the motor rotation sensor 32 first detects the number of rotations of the electric motor 41 per unit time when the second mode is executed (S11), and detects the number of rotations of the electric motor 41 indicating the detected number of rotations of the electric motor 41. The rotation speed information is output to the control device 42.

Upon acquiring the motor rotation speed information, the control unit 43 of the control device 42 calculates the speed of the electric bicycle 1 from the motor rotation speed indicated by the motor rotation speed information (S12).

Furthermore, the vehicle speed sensor 34 detects the speed of the electric bicycle 1 when executing the second mode (S13), and outputs speed information indicating the detected speed of the electric bicycle 1 to the control device 42.

Upon acquiring the speed information from the vehicle speed sensor 34, the control unit 43 of the control device 42 corrects the speed of the electric bicycle 1 when executing the second mode (S14).

Note that steps S13 and S14 may not be performed and may be omitted.

When executing the second mode, the control unit 43 determines whether the calculated speed of the electric bicycle 1 is equal to or greater than a threshold value (S15).

As shown in FIGS. 4 and 5, when the speed of the electric bicycle 1 is less than the threshold (No in S15), the control unit 43 follows the speed of the electric bicycle 1 as the speed of the electric bicycle 1 approaches the threshold. The electric motor 41 is controlled to increase the second auxiliary driving force by the first follow-up amount (S16). Then, the control unit 43 ends the process and repeats the same process. FIG. 5 is a diagram showing the relationship between the speed of the electric bicycle 1 and time and the relationship between the output current of the electric motor 41 and time according to the first embodiment.

When the speed of the electric bicycle 1 is equal to or higher than the threshold value (Yes in S15), the control unit 43 applies the second auxiliary driving force at a second follow-up amount that is smaller than the first follow-up amount along the target speed that is equal to or higher than the threshold value. The electric motor 41 is controlled to add (S17). Specifically, when the speed of the electric bicycle 1 becomes equal to or higher than the threshold value, the electric motor 41 is controlled with a second follow-up amount that is smaller than the first follow-up amount. As a result, as shown in FIG. 5, the gap between the walking speed of the person shown by the solid line and the speed of the electric bicycle 1 shown by the dashed-dotted line becomes smaller than that shown in FIG. 6, which will be described later. In other words, the electric bicycle 1 moves at a speed matching the walking speed of the person. Then, the control unit 43 ends the process and repeats the same process.

<Comparative example>
FIG. 6 is a diagram showing the relationship between the speed of the electric bicycle and time and the relationship between the output current of the electric motor and time in a comparative example.

As shown in Figure 6, when the output current of the electric motor is controlled to follow the walking speed of a person, a gap occurs between the walking speed of the person shown by the solid line and the speed of the electric bicycle shown by the dashed-dotted line. It ends up. For this reason, when pushing the electric bicycle 1 while walking, the control unit cannot sufficiently control the output current of the electric motor (indicated by a broken line) so that the speed of the electric bicycle corresponds to the change in the walking speed of the person. .

Therefore, in the electric bicycle of the comparative example, a person may feel uncomfortable when pushing the electric bicycle while walking due to the discrepancy between the speed of the electric bicycle 1 and the walking speed of the person.

[Effect]
Next, the effects of the electric bicycle control device and the electric bicycle 1 in this embodiment will be explained.

As described above, the electric bicycle control device according to the present embodiment adds the second auxiliary driving force from the electric motor 41 to the electric motor 41 and the pushing force to the vehicle body 10 to push the electric bicycle while walking or The electric bicycle 1 is equipped with a control unit 43 that executes a second mode in which the electric bicycle 1 is self-propelled by adding two auxiliary driving forces, and a first sensor that outputs information regarding the speed of the electric bicycle 1 when executing the second mode. In the electric bicycle control device used, when the second mode is executed, if the speed of the electric bicycle 1 based on the information regarding the speed of the electric bicycle 1 is equal to or higher than a threshold value, the control unit 43 sets a target speed that is equal to or higher than the threshold value. The electric motor 41 is controlled to apply the second auxiliary driving force with a second follow-up amount that is smaller than the first follow-up amount along.

For example, in a conventional electric bicycle, when a person pushes the electric bicycle around, the electric bicycle is controlled to move at a constant speed. However, since a person's walking speed changes like a sine wave, a person may feel uncomfortable when pushing an electric bicycle while walking due to a discrepancy between the speed of the electric bicycle and the person's walking speed.

However, according to the present embodiment, for example, when the speed of the electric bicycle 1 is smaller than the threshold value, the second auxiliary driving force is increased by the first follow-up amount, so that the burden on the person can be suppressed. Furthermore, when the speed of the electric bicycle 1 is equal to or higher than the threshold value, the second auxiliary driving force is added with the second follow-up amount, so it is possible to suppress the discrepancy between the walking speed of the person and the speed of the electric bicycle 1. .

Therefore, the electric bicycle 1 allows a person to comfortably push or support the electric bicycle 1 while walking. As a result, the person can concentrate on pushing or supporting the electric bicycle 1 while walking.

Furthermore, the electric bicycle 1 according to the present embodiment includes an electric bicycle control device.

This electric bicycle 1 also has the same effects as described above.

Furthermore, in the electric bicycle control device according to the present embodiment, the first sensor is a Hall IC sensor that detects the number of rotations per unit time of the electric motor 41 and outputs rotation number information. The rotation speed information is included in the information regarding the speed of the electric bicycle 1.

According to this, it is possible to detect the number of revolutions per unit time of the electric motor 41 substantially from the start of pushing or supported walking, so the speed of the electric bicycle 1 can be calculated with high accuracy. Therefore, the second auxiliary driving force can be applied to the electric bicycle 1 immediately after starting pushing or supporting walking, which suppresses an increase in the burden when a person pushes or supports the electric bicycle 1. be able to.

Furthermore, the electric bicycle control device according to the present embodiment further includes a second sensor that detects and outputs the speed of the electric bicycle 1 when the second mode is executed. Then, when executing the second mode, the control unit 43 corrects the speed of the electric bicycle 1 detected by the motor rotation sensor 32 based on the speed of the electric bicycle detected by the second sensor.

According to this, by correcting the speed of the electric bicycle 1 detected by the motor rotation sensor 32 based on the speed detected by the second sensor, the speed of the electric bicycle 1 can be calculated with higher accuracy.

Further, in the electric bicycle control device according to the present embodiment, the second follow-up amount is within a range of ±20% with respect to the target value.

According to this, even if the speed when pushing or supporting the electric bicycle 1 changes, the control unit 43 controls the electric motor 41 to apply the second auxiliary driving force with the second follow-up amount. Can be done.

Further, in the electric bicycle control device according to the present embodiment, when the speed of the vehicle body 10 is less than the threshold value, the controller 43 controls the first The electric motor 41 is controlled to increase the second auxiliary driving force by the following amount.

According to this, when the speed of the electric bicycle 1 approaches the target speed, the following amount is reduced from the first following amount to the second following amount, thereby reducing the difference between the walking speed of the person and the speed of the electric bicycle 1. can be suppressed. Therefore, the electric bicycle 1 allows a person to push or support the electric bicycle 1 while walking more comfortably.

(Modification 1 of Embodiment 1)
This modification differs from the first embodiment in that the amount of variation in the output of the electric motor 41 is gradually reduced as the speed of the electric bicycle 1 approaches the target speed. The other configurations in this modification are the same as those in Embodiment 1, and the same configurations are given the same reference numerals and detailed explanations regarding the configurations will be omitted.

FIG. 7 is a diagram showing the relationship between the speed and time of the electric bicycle 1 according to the first modification of the first embodiment, and the relationship between the output current of the electric motor and time.

As shown in FIG. 7, the change in the output current of the electric motor 41 per predetermined time becomes smaller as it approaches the target speed. Range A and range B shown in FIG. 7 both indicate changes in the output current of the electric motor 41 over the same predetermined time. The predetermined time is, for example, about 0.1 second. The vehicle speed of the electric bicycle 1 in range B is closer to the target speed than the vehicle speed of electric bicycle 1 in range A. Furthermore, the amount of variation in the output current of the electric motor 41 in range B is smaller than the amount of variation in the output current of the electric motor 41 in range A. In this way, the amount of variation in the output current of the electric motor 41 is gradually reduced as the speed of the electric bicycle 1 approaches the target speed.

Here, processing for controlling the output current of the electric motor 41 will be explained. FIG. 8A is a flowchart showing a case where the electric bicycle 1 according to the first modification of the first embodiment operates in the second mode.

In FIG. 8A, the electric bicycle 1 performs processes from steps S11 to S14.

The control unit 43 determines whether the speed of the electric bicycle 1 has reached the target speed when executing the second mode (S21).

If the speed of the electric bicycle 1 has not reached the target speed (No in S21), the control unit 43 determines whether the speed of the electric bicycle 1 is approaching the target speed when executing the second mode (S22). . For example, when the electric bicycle 1 starts pushing while the electric bicycle 1 is stopped or substantially stopped (for example, at a speed of 1 km per hour or less) and the speed of the electric bicycle 1 approaches the target speed, the process in step S22 is performed. will be held.

If the speed of the electric bicycle 1 is approaching the target speed (Yes in S22), the control unit 43 gradually reduces the amount of fluctuation while increasing the output current of the electric motor 41 when executing the second mode ( S23). Gradually reducing the amount of variation means reducing it stepwise and steplessly. Then, the control unit 43 ends the process and repeats the same process.

If the speed of the electric bicycle 1 is moving away from the target speed (No in S22), the control unit 43 determines whether the speed of the electric bicycle 1 is moving away from the target speed (S24). If the speed of the electric bicycle 1 is moving away from the target speed (Yes in S24), the control unit 43 gradually increases the amount of fluctuation while increasing the output current of the electric motor 41 when executing the second mode ( S25). Gradually increasing the amount of variation means increasing it stepwise and steplessly. Then, the control unit 43 ends the process and repeats the same process.

If the speed of the electric bicycle 1 is not far from the target speed (No in S24), the electric bicycle 11 is traveling at a constant speed when executing the second mode. In this case, the control unit 43 maintains the output current of the electric motor 41 (S26). Then, the control unit 43 ends the process and repeats the same process.

FIG. 8B is a flowchart showing a case where the speed of the electric bicycle has reached the target speed in FIG. 8A.

As shown in FIGS. 8A and 8B, when the speed of the electric bicycle 1 has reached the target speed (Yes in S21), the control unit 43 causes the speed of the electric bicycle 1 to reach the target speed when executing the second mode. It is determined whether the vehicle is approaching (S122).

As shown in FIG. 8B, when the speed of the electric bicycle 1 is approaching the target speed (Yes in S122), the control unit 43 gradually reduces the amount of fluctuation while weakening the output current of the electric motor 41 (S123). ). Then, the control unit 43 ends the process and repeats the same process.

If the speed of the electric bicycle 1 is not approaching the target speed (No in S122), the control unit 43 determines whether the speed of the electric bicycle 1 is moving away from the target speed (S124).

If the speed of the electric bicycle 1 is moving away from the target speed (Yes in S124), the control unit 43 gradually increases the amount of variation while weakening the output current of the electric motor 41 (S125). Then, the control unit 43 ends the process and repeats the same process.

If the speed of the electric bicycle 1 is not moving away from the target speed (No in S124), that is, if the speed of the electric bicycle 1 is constant, the control unit 43 maintains the output current of the electric motor 41 (S126), and The control unit 43 ends the process and repeats the same process.

Note that, in step S21, when the speed of the electric bicycle 1 has reached the target speed, the control unit 43 may simply set the amount of variation in the output current of the electric motor 41 to the minimum value. The minimum value is, for example, the amount of variation is substantially 0 or the amount of variation is 0. The control unit 43 may then return the process to step S11.

As described above, the electric bicycle 1 according to the present modification can be pushed around by adding the second auxiliary driving force from the electric motor 41 to the electric motor 41 and the pushing force to the electric bicycle 1, or the electric bicycle 1 can be pushed around by adding the second auxiliary driving force to the electric motor 41 and the pushing force to the electric bicycle 1. It also includes a control unit 43 that executes a second mode in which the vehicle is self-propelled by applying force. Then, when the speed of the electric bicycle 1 approaches the target speed during execution of the second mode, the control unit 43 gradually reduces the amount of variation in the output current of the electric motor 41.

According to this modification, for example, when the speed of the electric bicycle 1 approaches the target speed, the control unit 43 gradually reduces the amount of variation in the output current of the electric motor 41, so that the walking speed of the person and the speed of the electric bicycle 11 are reduced. The discrepancy between the two is suppressed.

Therefore, the electric bicycle 1 allows a person to comfortably push or support the electric bicycle 1 while walking. As a result, the person can concentrate on pushing or supporting the electric bicycle 1 while walking.

(Modification 2 of Embodiment 1)
In this modification, as the speed of the electric bicycle 1 increases toward the target speed, the amount of fluctuation in the output current of the electric motor 41 is made smaller, and as the speed of the electric bicycle 1 decreases toward the target speed, the output of the electric motor 41 decreases. This embodiment differs from the first embodiment in that the amount of variation in is reduced. The other configurations in this modification are the same as those in Embodiment 1, and the same configurations are given the same reference numerals and detailed explanations regarding the configurations will be omitted.

Here, processing for controlling the output current of the electric motor 41 will be described. Descriptions of the same processes as in FIG. 9A will be omitted as appropriate. FIG. 9A is a flowchart showing a case where the electric bicycle 1 according to the second modification of the first embodiment operates in the second mode.

In FIG. 9A, the electric bicycle 1 performs processes from steps S11 to S14.

The control unit 43 determines whether the speed of the electric bicycle 1 has reached the target speed when executing the second mode (S31).

If the speed of the electric bicycle 1 has not reached the target speed (No in S31), the control unit 43 determines whether the speed of the electric bicycle 1 is increasing toward the target speed when executing the second mode ( S32). If the speed of the electric bicycle 1 is increasing toward the target speed (Yes in S32), the control unit 43 increases the output current of the electric motor 41 while increasing the amount of fluctuation in the electric bicycle 1 is made smaller than the time when the user started pushing and walking (S33). Then, the control unit 43 ends the process and repeats the same process.

If the speed of the electric bicycle 1 is not increasing toward the target speed (No in S32), the control unit 43 determines whether the speed of the electric bicycle 1 is decreasing from the target speed (S34). If the speed of the electric bicycle 1 is decreasing from the target speed (Yes in S34), the control unit 43 increases the amount of fluctuation while increasing the output current of the electric motor 41 when executing the second mode (S35). ). Then, the control unit 43 ends the process and repeats the same process.

If the speed of the electric bicycle 1 is not far from the target speed (No in S34), the electric bicycle 1 is traveling at a constant speed when executing the second mode. In this case, the control unit 43 maintains the output current of the electric motor 41 (S36). Then, the control unit 43 ends the process and repeats the same process.

FIG. 9B is a flowchart showing a case where the speed of the electric bicycle has reached the target speed in FIG. 9A.

As shown in FIGS. 9A and 9B, if the speed of the electric bicycle 1 has reached the target speed (Yes in S31), the control unit 43 causes the speed of the electric bicycle 1 to reach the target speed when executing the second mode. It is determined whether the vehicle is descending in the opposite direction (S132).

As shown in FIG. 9B, when the speed of the electric bicycle 1 is decreasing toward the target speed (Yes in S132), the control unit 43 reduces the amount of fluctuation while weakening the output current of the electric motor 41 (S133). ). Then, the control unit 43 ends the process and repeats the same process.

If the speed of the electric bicycle 1 is not decreasing toward the target speed (No in S132), the control unit 43 determines whether the speed of the electric bicycle 1 is increasing from the target speed (S134).

If the speed of the electric bicycle 1 is increasing from the target speed (Yes in S134), the control unit 43 increases the amount of variation while weakening the output current of the electric motor 41 (S135). Then, the control unit 43 ends the process and repeats the same process.

If the speed of the electric bicycle 1 has not increased from the target speed (No in S134), that is, if the speed of the electric bicycle 1 is constant, the control unit 43 maintains the output current of the electric motor 41 (S136) and , the control unit 43 ends the process and repeats the same process.

Note that, in step S31, when the speed of the electric bicycle 1 has reached the target speed, the control unit 43 may simply set the amount of variation in the output current of the electric motor 41 to the minimum value. The minimum value is, for example, the amount of variation is substantially 0 or the amount of variation is 0. The control unit 43 may then return the process to step S11.

As described above, the electric bicycle 1 according to the present modification can be pushed around by adding the second auxiliary driving force by the electric motor 41 to the electric motor 41 and the pushing force to the electric bicycle 1, or the second auxiliary driving force It also includes a control unit 43 that executes a second mode in which the vehicle is self-propelled by applying force. Then, when the second mode is executed, the control unit 43 decreases the amount of variation in the output current of the electric motor 41 as the speed of the electric bicycle 1 increases toward the target speed, so that the speed of the electric bicycle 1 increases toward the target speed. As it descends, the amount of variation in the output current of the electric motor 41 is made smaller.

This modification also provides the same effects as the above-mentioned modification.

(Embodiment 2)
<Configuration>
The configuration of an electric bicycle control device and an electric bicycle according to the present embodiment will be explained.

The second embodiment differs from the first embodiment in that the electric bicycle uses a vehicle speed sensor 34 to detect the speed of the electric bicycle. Other configurations in this embodiment are the same as those in Embodiment 1 unless otherwise specified, and the same configurations are denoted by the same reference numerals and detailed explanations regarding the configurations will be omitted.

In this embodiment, the control unit 43 acquires information regarding the speed of the electric bicycle from the vehicle speed sensor 34 when executing the second mode. The information regarding the speed of the electric bicycle includes motor rotation speed information indicating the rotation speed of the electric motor 41 from which the speed of the electric bicycle can be calculated, as well as speed information indicating the actual speed of the electric bicycle.

<Operation>
Here, a control process for the electric bicycle will be described with reference to FIG. 10, assuming that the manual switch 22 is turned on in advance.

FIG. 10 is a flowchart showing a case where the electric bicycle according to the second embodiment operates in the second mode.

Processes similar to those in FIG. 4 of Embodiment 1 are designated by the same reference numerals and description thereof will be omitted as appropriate.

The vehicle speed sensor 34 detects the speed of the electric bicycle when the second mode is executed. The vehicle speed sensor 34 outputs speed information indicating the detected speed of the electric bicycle to the control device 42.

Upon acquiring the speed information from the vehicle speed sensor 34, the control unit 43 of the control device 42 detects the speed of the electric bicycle (S13), and outputs speed information indicating the detected speed of the electric bicycle to the control device 42. Then, the processes from steps S15 to S17 are performed as appropriate. Then, the control unit 43 ends the process and repeats the same process.

[Effect]
Next, the effects of the electric bicycle control device and the electric bicycle in this embodiment will be explained.

As described above, in the electric bicycle control device according to the present embodiment, the first sensor is the vehicle speed sensor 34 that detects the speed of the electric bicycle and outputs speed information. The speed information is included in information regarding the speed of the electric bicycle.

According to this, the speed of the electric bicycle can be detected with high accuracy.

Further, in this embodiment, the same effects as in Embodiment 1 are achieved.

(Other variations, etc.)
The present disclosure has been described above based on Embodiments 1 and 2 and Modifications 1 and 2 of Embodiment 1. , 2nd grade, etc.

For example, in Embodiments 1 and 2 and Modifications 1 and 2 of Embodiment 1 described above, an example is shown in which a manual switch is provided as an example of an input unit that receives an instruction to start push walking mode or self-propelled mode. However, it is not limited to this. For example, instead of a manual switch, a grip sensor provided on the grip of the handle may be provided. When the grip sensor detects a forward pushing force, the control unit may execute the pushing mode or the self-propelling mode. If the grip sensor does not detect a forward pushing force, the control unit may stop the pushing mode or the self-propelled mode.

Further, in the second embodiment described above, when executing the second mode, the control unit controls the speed of the vehicle body detected by the vehicle speed sensor based on the speed of the vehicle body calculated from the number of revolutions of the crank detected by the crank rotation sensor. may be corrected.

Further, the control method by the electric bicycle control device according to the first and second embodiments and the first and second modifications of the first embodiment is realized by a program using a computer, and such a program is stored in a storage device. may be stored in

Further, each processing unit included in the electric bicycle control device and electric bicycle according to the first and second embodiments and the first and second modifications of the first embodiment is typically realized as an LSI, which is an integrated circuit. Ru. These may be integrated into one chip individually, or may be integrated into one chip including some or all of them.

Further, circuit integration is not limited to LSI, and may be realized using a dedicated circuit or a general-purpose processor. An FPGA (Field Programmable Gate Array) that can be programmed after the LSI is manufactured, or a reconfigurable processor that can reconfigure the connections and settings of circuit cells inside the LSI may be used.

Note that in each of the first and second embodiments and the first and second modifications of the first embodiment, each component is configured with dedicated hardware, or a software program suitable for each component is executed. It may be realized by Each component may be realized by a program execution unit such as a CPU or a processor reading and executing a software program recorded on a recording medium such as a hard disk or a semiconductor memory.

In addition, all the numbers used above are exemplified to specifically explain the present disclosure, and Embodiments 1 and 2 of the present disclosure and Modifications 1 and 2 of Embodiment 1 are exemplified. Not limited to numbers.

Furthermore, the division of functional blocks in the block diagram is just an example; multiple functional blocks can be realized as one functional block, one functional block can be divided into multiple functional blocks, or some functions can be moved to other functional blocks. You can. Further, functions of a plurality of functional blocks having similar functions may be processed in parallel or in a time-sharing manner by a single piece of hardware or software.

Further, the order in which the steps in the flowchart are executed is for illustrative purposes to specifically explain the present disclosure, and may be in an order other than the above. Further, some of the above steps may be executed simultaneously (in parallel) with other steps.

In addition, embodiments 1 and 2 and embodiments obtained by making various modifications to Embodiment 1 and Modifications 1 and 2 of Embodiment 1 that those skilled in the art can think of, and embodiments 1 and 2 without departing from the spirit of the present disclosure. Also included in the present disclosure are forms realized by arbitrarily combining the components and functions in Modifications 1 and 2 of Embodiment 1.

1 Electric bicycle 10 Vehicle body 34 Vehicle speed sensor (second sensor)
41 Electric motor 43 Control section

Claims (9)

electric motor and
A control unit that executes a mode in which the vehicle is pushed by adding an auxiliary driving force from the electric motor to the pushing force on the vehicle body, or a mode in which the vehicle is driven by itself by adding the auxiliary driving force;
An electric bicycle control device used for an electric bicycle, comprising a first sensor that outputs information regarding the speed of the vehicle body when the mode is executed,
When executing the mode, if the speed of the vehicle body based on the information regarding the speed of the vehicle body becomes equal to or higher than a threshold value, the control unit determines that the following amount is smaller than a first tracking amount that follows a change in the speed of the vehicle body. The control device for an electric bicycle controls the electric motor so as to apply the auxiliary driving force at a second follow-up amount in accordance with a target value that is greater than or equal to the threshold value. The first sensor is a Hall IC sensor that detects the number of rotations per unit time of the electric motor and outputs rotation number information,
The electric bicycle control device according to claim 1, wherein the rotation speed information is included in information regarding the speed of the vehicle body. The first sensor is a speed sensor that detects the speed of the vehicle body and outputs speed information,
The electric bicycle control device according to claim 1, wherein the speed information is included in information regarding the speed of the vehicle body. further comprising a second sensor that detects and outputs the speed of the vehicle body when the mode is executed;
The electric bicycle according to claim 1 or 2, wherein the control unit corrects the speed of the vehicle body detected by the first sensor based on the speed of the vehicle body detected by the second sensor when the mode is executed. control device. The control device for an electric bicycle according to any one of claims 1 to 4, wherein the second follow-up amount is within a range of ±20% with respect to the target value. The control unit is configured to increase the auxiliary driving force by the first tracking amount that follows the speed of the vehicle body as the speed of the vehicle body approaches the threshold value when the speed of the vehicle body is less than the threshold value. The electric bicycle control device according to any one of claims 1 to 5, which controls the electric motor. electric motor and
a control unit that executes a mode in which the vehicle is pushed by adding an auxiliary driving force from the electric motor to the pushing force on the vehicle body, or a mode in which the vehicle is driven by itself by adding the auxiliary driving force;
The control unit reduces the amount of variation in the output of the electric motor when the speed of the vehicle body increases and approaches the target speed and decreases and approaches the target speed when the mode is executed. electric motor and
A control unit that executes a mode in which the vehicle is pushed by adding an auxiliary driving force from the electric motor to the pushing force on the vehicle body, or a mode in which the vehicle is driven by itself by adding the auxiliary driving force,
The control unit includes:
When the mode is executed, the amount of variation in the output of the electric motor is reduced as the speed of the vehicle body increases toward a target speed,
A control device for an electric bicycle, wherein the amount of variation in the output of the electric motor is reduced as the speed of the vehicle body decreases toward the target speed. An electric bicycle comprising the electric bicycle control device according to any one of claims 1 to 8.

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