TWI841779B - Control device for human-driven vehicle - Google Patents

Abstract

[Topic] A control device for a human-powered vehicle that can appropriately control a component for a human-powered vehicle is provided. [Solution] A human-powered vehicle comprises: a component for a human-powered vehicle; and a plurality of detection units configured to detect information about the vehicle speed of the human-powered vehicle, wherein the information about the vehicle speed is different from each other, the plurality of detection units at least including a first detection unit, and the control device including a control unit configured to control the component according to the output of the first detection unit when the output of the first detection unit is in a first state, and configured to control the component according to the output of a preset detection unit different from the first detection unit among the plurality of detection units when the output of the first detection unit is not in the first state.

Description

Control device for human-driven vehicle

This disclosure relates to a control device for a human-powered vehicle.

For example, the human-powered vehicle disclosed in Patent Document 1 is equipped with a detection unit for detecting information related to the human-powered vehicle.

[Prior technical literature]

[Patent Literature]

[Patent Document 1] Japanese Patent Publication No. 2016-7905

One of the purposes of this disclosure is to provide a control device for a human-powered vehicle that can properly control the components of the human-powered vehicle.

The control device according to the first aspect of the present disclosure is a control device for a human-powered vehicle, the human-powered vehicle having: a component for a human-powered vehicle; and a plurality of detection units configured to detect information about the vehicle speed of the human-powered vehicle, and the information about the vehicle speed is different from each other, the plurality of detection units at least including the first detection unit, the control device including a control unit, the control unit being configured to: control the component according to the output of the first detection unit when the output of the first detection unit is in the first state, and control the component according to the output of a pre-set detection unit different from the first detection unit among the plurality of detection units when the output of the first detection unit is not in the first state.

By using the control device of the first state, if the output of the first detection unit is not in the first state, the component can be controlled according to the output of a preset detection unit different from the first detection unit among the plurality of detection units. Therefore, the component for the human-powered vehicle can be properly controlled.

In the control device of the second aspect according to the first aspect of the present disclosure, the human-powered vehicle includes a crank to which human-powered driving force is input, and the control unit is configured to control the component according to the output of the first detection unit if the human-powered driving force input to the crank is greater than the preset driving force and the output of the first detection unit is in the first state, and is configured to control the component according to the output of a preset detection unit different from the first detection unit among the plurality of detection units if the human-powered driving force input to the crank is greater than the preset driving force and the output of the first detection unit is not in the first state.

By means of the control device of the second embodiment, if the human driving force input to the crank is greater than the preset driving force, and if the output of the first detection unit is not in the first state, the component can be appropriately controlled.

In the control device of the third aspect according to the first or second aspect of the present disclosure, the plurality of detection units further include a second detection unit, the preset detection unit includes the second detection unit, and the control unit is configured to control the component according to the output of the second detection unit if the output of the first detection unit is not the first state and the output of the second detection unit is the second state.

By using the control device of the third embodiment, if the output of the first detection unit is not in the first state and the output of the second detection unit is in the second state, the component can be controlled according to the output of the second detection unit.

In the control device of the fourth aspect according to the third aspect of the present disclosure, the plurality of detection units further include a third detection unit, the preset detection unit includes the third detection unit, and the control unit is configured to control the component according to the output of the third detection unit if the output of the first detection unit is not the first state and the output of the second detection unit is not the second state.

By means of the control device of the fourth aspect, if the output of the first detection unit is not in the first state and the output of the second detection unit is not in the second state, the aforementioned components can be controlled according to the output of the third detection unit.

In the control device of the fifth aspect according to the third aspect of the present disclosure, the plurality of detection units further include a third detection unit and a fourth detection unit, the preset detection unit includes the third detection unit and the fourth detection unit, the control unit is configured to control the component according to the output of the third detection unit if the output of the first detection unit is not the first state, the output of the second detection unit is not the second state, and the third detection unit is in the third state, and the control unit is configured to control the component according to the output of the fourth detection unit if the output of the first detection unit is not the first state, the output of the second detection unit is not the second state, and the third detection unit is not in the third state.

By means of the control device of the fifth aspect, if the output of the first detection unit is not in the first state, and the output of the second detection unit is not in the second state, and the third detection unit is in the third state, the component can be controlled according to the output of the third detection unit. By means of the control device of the fifth aspect, if the output of the first detection unit is not in the first state, and the output of the second detection unit is not in the second state, and the third detection unit is not in the third state, the component can be controlled according to the output of the fourth detection unit.

In the control device of the sixth aspect according to any one of the third to fifth aspects of the present disclosure, the control unit is: configured to control the component according to the output of at least one of the first detection unit and the second detection unit when the output of the first detection unit is the first state and the output of the second detection unit is the second state, configured to control the component according to the output of the second detection unit and not depending on the output of the first detection unit when the output of the first detection unit is not the first state and the output of the second detection unit is the second state, configured to control the component according to the output of the first detection unit and not depending on the output of the second detection unit when the output of the first detection unit is the first state and the output of the second detection unit is not the second state.

By means of the control device of the sixth aspect, if the output of the first detection unit is not in the first state and the output of the second detection unit is in the second state, the component can be controlled according to the output of the second detection unit and not depending on the output of the first detection unit. By means of the control device of the sixth aspect, if the output of the first detection unit is in the first state and the output of the second detection unit is not in the second state, the component can be controlled according to the output of the first detection unit and not depending on the output of the second detection unit.

The control device according to the seventh aspect of the present disclosure is a control device for a human-powered vehicle, wherein the human-powered vehicle comprises: a component for a human-powered vehicle, and a plurality of detection units, wherein the plurality of detection units comprises: a first detection unit configured to detect first information about the human-powered vehicle, and a second detection unit configured to detect second information about the human-powered vehicle, wherein the first information and the second information are related to each other, and the control device comprises a control unit configured to: if the output of the first detection unit is in the first state and the output of the second detection unit is in the second state, , according to at least one output of the aforementioned first detection unit and the aforementioned second detection unit, the aforementioned component is controlled, and if the output of the aforementioned first detection unit is not the aforementioned first state, and the output of the aforementioned second detection unit is the aforementioned second state, the aforementioned component is controlled according to the output of the aforementioned second detection unit, and is not dependent on the output of the aforementioned first detection unit. If the output of the aforementioned first detection unit is the aforementioned first state, and the output of the aforementioned second detection unit is not the aforementioned second state, the aforementioned component is controlled according to the output of the aforementioned first detection unit, and is not dependent on the output of the aforementioned second detection unit.

By means of the control device of the seventh aspect, if the output of the first detection unit is in the first state and the output of the second detection unit is in the second state, the component can be controlled according to at least one output of the first detection unit and the second detection unit. By means of the control device of the seventh aspect, if the output of the first detection unit is not in the first state and the output of the second detection unit is in the second state, the component can be controlled according to the output of the second detection unit and not depending on the output of the first detection unit. By means of the control device of the seventh aspect, if the output of the first detection unit is in the first state and the output of the second detection unit is not in the second state, the component can be controlled according to the output of the first detection unit and not depending on the output of the second detection unit. Therefore, the component for the human-powered vehicle can be appropriately controlled.

In the control device of the eighth aspect according to the seventh aspect of the present disclosure, the control unit is configured to control the component according to at least one of the first parameter related to the first information and the second parameter related to the second information.

By using the control device of the eighth aspect, the component can be controlled according to at least one of the first parameter related to the first information and the second parameter related to the second information.

In the control device of the ninth aspect according to the eighth aspect of the present disclosure, the control unit is configured to estimate the first parameter according to the second parameter calculated according to the second information, and control the component according to the estimated first parameter, if the output of the first detection unit is not the first state and the output of the second detection unit is the second state.

By means of the control device of the ninth aspect, if the output of the first detection unit is not in the first state and the output of the second detection unit is in the second state, the first parameter can be estimated according to the second parameter calculated according to the second information, and the component can be controlled according to the estimated first parameter.

In the control device of the 10th aspect according to the 8th or 9th aspect of the present disclosure, the control unit is configured to estimate the second parameter according to the first parameter calculated according to the first information, and control the component according to the estimated second parameter, if the output of the first detection unit is the first state and the output of the second detection unit is not the second state.

By means of the control device of the tenth aspect, if the output of the first detection unit is in the first state and the output of the second detection unit is not in the second state, the second parameter can be estimated according to the first parameter calculated according to the first information, and the component can be controlled according to the estimated second parameter.

The control device according to the eleventh aspect of the present disclosure is a control device for a human-powered vehicle, the human-powered vehicle comprising: a component for a human-powered vehicle; and a plurality of detection units configured to detect information about the vehicle speed of the human-powered vehicle, wherein the information about the vehicle speed is different from each other, the plurality of detection units comprising a first detection unit and a second detection unit, the control device comprising a control unit, the control unit being configured to: if the output of the first detection unit is the first state and the output of the second detection unit is the second state, When the output of the first detection unit is the second state, the component is controlled according to the output of at least one of the first detection unit and the second detection unit. If the output of the first detection unit is not the first state, the component is controlled in a manner that the component becomes a preset state regardless of the output of the second detection unit. If the output of the second detection unit is not the second state, the component is controlled in a manner that the component becomes the preset state regardless of the output of the first detection unit.

By means of the control device of the 11th aspect, if the output of the first detection unit is not the first state, the component is controlled in a manner that the component becomes a preset state, regardless of the output of the second detection unit; if the output of the second detection unit is not the second state, the component is controlled in a manner that the component becomes the preset state, regardless of the output of the first detection unit. Therefore, the components for human-powered vehicles can be appropriately controlled.

In the control device of the 12th aspect of the 11th aspect of the present disclosure, the first detection unit is configured to detect the third information about the vehicle speed, the second detection unit is configured to detect the fourth information about the vehicle speed, and the third information and the fourth information are related to each other.

By using the control device of the 12th aspect, the components can be controlled according to the 3rd information and the 4th information.

In the control device of the 13th aspect of the 12th aspect of the present disclosure, the control unit is configured to control the component according to at least one of the third information and the fourth information when the output of the first detection unit is the first state and the output of the second detection unit is the second state.

By means of the control device of the 13th aspect, if the output of the first detection unit is in the first state and the output of the second detection unit is in the second state, the component can be controlled according to at least one of the third information and the fourth information.

In the control device of the 14th aspect according to the 12th or 13th aspect of the present disclosure, the control unit is configured to control the component according to both the third information and the fourth information when the output of the first detection unit is the first state and the output of the second detection unit is the second state.

By using the control device of the 14th aspect, if the output of the 1st detection unit is in the 1st state and the output of the 2nd detection unit is in the 2nd state, the aforementioned components can be controlled according to both the 3rd information and the 4th information.

According to the 15th aspect of the present disclosure, a control device for a human-powered vehicle comprises: a component for a human-powered vehicle; and a plurality of detection units configured to detect information about the vehicle speed of the human-powered vehicle, and the information about the vehicle speed is different from each other, the plurality of detection units comprising a first detection unit and a second detection unit, and the control device comprises a control unit, the control unit being: when at least one of the third information about the vehicle speed of the human-powered vehicle output by the first detection unit and the fourth information about the vehicle speed of the human-powered vehicle output by the second detection unit corresponds to the situation that the vehicle speed of the human-powered vehicle is above a preset speed, the control unit controls the component in a manner that the component becomes a preset state.

By means of the control device of the fifteenth aspect, when at least one of the third information on the speed of the human-powered vehicle output by the first detection unit and the fourth information on the speed of the human-powered vehicle output by the second detection unit corresponds to the situation that the speed of the human-powered vehicle is higher than a preset speed, the component can be controlled in such a way that the component becomes a preset state. Therefore, the component for the human-powered vehicle can be appropriately controlled.

In the control device according to the 16th aspect of the 15th aspect of the present disclosure, when one of the third information and the fourth information corresponds to the situation that the speed of the human-driven vehicle is higher than the preset speed, the control unit controls the component in such a way that the component becomes the preset state.

By means of the control device of the 16th aspect, when one of the third information and the fourth information corresponds to a situation where the speed of the human-driven vehicle is higher than a preset speed, the control unit can control the component in such a way that the component becomes a preset state.

In the control device of the 17th aspect of the 16th aspect of the present disclosure, when both the third information and the fourth information correspond to the situation that the speed of the human-driven vehicle is above the preset speed, the control unit controls the component in such a way that the component becomes the preset state.

By means of the control device of the 17th aspect, when both the 3rd information and the 4th information correspond to the situation that the speed of the human-driven vehicle is higher than the preset speed, the component can be controlled in such a way that the component becomes the preset state.

In the control device of the 18th aspect of any one of the 11th to 16th aspects of the present disclosure, the aforementioned component includes an electric actuator, and the aforementioned pre-set state includes a state in which the aforementioned electric actuator does not perform an action.

The electric actuator can be properly controlled by the control device of the 18th aspect.

In the control device of the 15th aspect of any one of the 3rd to 14th aspects of the present disclosure, if the output of the aforementioned second detection unit is not the aforementioned second state, the signal output by the aforementioned second detection unit includes a preset second signal.

By using the control device of the 15th aspect, it is possible to determine whether the output of the second detection unit is in the second state according to whether the signal output by the second detection unit includes a preset signal.

In the control device of the 20th aspect according to any one of the 1st to 19th aspects of the present disclosure, the plurality of detection units include at least one of the following sensors: a vehicle speed sensor configured to detect information corresponding to the rotation speed of the wheel of the human-powered vehicle, a crank rotation sensor configured to detect information corresponding to the rotation speed of the crank of the human-powered vehicle, an acceleration sensor configured to detect information corresponding to the acceleration of the human-powered vehicle, a position information detection sensor configured to detect information corresponding to the position of the human-powered vehicle, and a motor rotation sensor configured to detect information corresponding to the rotation speed of the motor that provides propulsion to the human-powered vehicle.

By means of the control device of the 20th aspect, the components can be appropriately controlled according to the output of at least one of the vehicle speed sensor, crank rotation sensor, acceleration sensor, position information detection sensor, and motor rotation sensor.

In the control device of the 21st aspect of the 4th aspect of the present disclosure, the plurality of detection units include at least one of the following sensors: a vehicle speed sensor configured to detect information corresponding to the rotation speed of the wheel of the human-powered vehicle, a crank rotation sensor configured to detect information corresponding to the rotation speed of the crank of the human-powered vehicle, an acceleration sensor configured to detect information corresponding to the acceleration of the human-powered vehicle, a position information detection sensor configured to detect information corresponding to the position of the human-powered vehicle, and a motor rotation sensor configured to detect information corresponding to the rotation speed of the motor that provides the propulsion force to the human-powered vehicle, and the first detection unit includes the vehicle speed sensor.

By means of the control device of the 21st state, the components can be appropriately controlled according to the output of at least one of the vehicle speed sensor, crank rotation sensor, acceleration sensor, position information detection sensor, and motor rotation sensor. If the vehicle speed sensor is in the 1st state, the components can be controlled according to the output of the vehicle speed sensor.

In the control device of the 22nd aspect of the 21st aspect of the present disclosure, the second detection unit includes one of the crank rotation sensor and the acceleration sensor.

By using the control device of the 22nd state, if the vehicle speed sensor is not in the first state, the component can be controlled according to the output of one of the crank rotation sensor and the acceleration sensor.

In the control device of the 23rd aspect of the 22nd aspect of the present disclosure, the third detection unit includes the other of the crank rotation sensor and the acceleration sensor.

By using the control device of the 23rd aspect, if the vehicle speed sensor is not in the first state and the output of one of the crank rotation sensor and the acceleration sensor is not in the second state, the component can be controlled according to the output of the other of the crank rotation sensor and the acceleration sensor.

In the control device of the 24th aspect of any one of the 1st to 14th and 20th to 23rd aspects of the present disclosure, if the output of the aforementioned first detection unit is not the aforementioned first state, the signal output by the aforementioned first detection unit includes a preset first signal.

By using the control device of the 24th aspect, it is possible to determine whether the output of the first detection unit is in the first state according to whether the signal output by the first detection unit includes a preset first signal.

In the control device of the 25th aspect of the 24th aspect of the present disclosure, the first signal includes a signal occurring in at least one of the following situations: when the first detection unit fails, when the connection between the first detection unit and the control unit is abnormal, when the first detection unit is not a pre-set configuration, and when the connection between the first detection unit and the control unit is not a pre-set configuration.

By means of the control device of the 25th aspect, if the first detection unit fails, if there is an abnormality in the connection between the first detection unit and the control unit, if the first detection unit is not a pre-set configuration, and if the connection between the first detection unit and the control unit is not a pre-set configuration, the components can be appropriately controlled.

In the control device of the 26th aspect according to any one of the 1st to 14th and 20th to 25th aspects of the present disclosure, if the output of the aforementioned first detection unit is not the aforementioned first state, no signal is output by the aforementioned first detection unit.

By using the control device of the 26th embodiment, it is possible to determine whether the output of the first detection unit is in the first state according to whether the first detection unit has not output a signal.

In the control device of the 27th aspect according to any one of the 1st to 14th and 20th to 26th aspects of the present disclosure, the aforementioned component includes a motor that imparts propulsion to the aforementioned human-driven vehicle.

By using the control device of the 27th aspect, the motor can be appropriately controlled according to the output of the detection unit included in the plurality of detection units.

In the control device of the 28th aspect of any one of the 1st to 27th aspects of the present disclosure, the control unit causes the notification unit to notify the preset notification information if the output of the 1st detection unit is not the 1st state.

By using the control device of the 28th aspect, the user can use the notification unit to understand the situation where the output of the first detection unit is not in the first state.

The control device for a human-powered vehicle disclosed herein is a component that can properly control a human-powered vehicle.

10: Human-powered vehicle

12: Crank

12A: Crankshaft

12B: Crank arm

14:Wheels

14A: Rear wheel

14B:Front wheel

16: Car body

18: Frame

20: Pedal

22: Driving mechanism

24: 1st rotating body

26: Second rotating body

28: Connecting components

30: Front fork

32: Vertical tube

34: Handlebars

36:Battery

38:Components

39: Electric actuator

40: Motor

42: Reporting Department

44: Speed changer

46: Testing Department

48: Detection Department 1

50: Second detection department

54: Vehicle speed sensor

56: Crank rotation sensor

58: Acceleration sensor

60: Location information detection sensor

62: Motor rotation sensor

64: Torque sensor

65: Speed shift status sensor

66: 3rd Detection Department

68: 4th Testing Department

70: Control device

72: Control Department

74: Memory Department

76:Drive circuit

FIG1 is a side view of a human-powered vehicle including a control device for a human-powered vehicle according to the first embodiment.

FIG2 is a block diagram showing the electrical structure of a human-powered vehicle including a control device for a human-powered vehicle of the first embodiment.

FIG. 3 is the first part of the flowchart of the processing of the control component executed by the control unit of FIG. 2 .

FIG. 4 is the second part of the flowchart of the processing of the control component executed by the control unit of FIG. 2 .

FIG5 is a flow chart of the processing of the control component executed by the control unit of the second embodiment.

FIG6 is a block diagram showing the electrical structure of a human-powered vehicle including a control device for a human-powered vehicle of the third embodiment.

FIG7 is a flow chart of the processing of the control component executed by the control unit of FIG6.

FIG8 is a flow chart of the processing of the control component executed by the control unit of the fourth embodiment.

FIG9 is a flow chart of the processing of the control component executed by the control unit of the fifth embodiment.

FIG10 is a flowchart of the processing of the control component executed by the control unit of the first variant of the third embodiment.

FIG11 is a flow chart of the processing of the control component executed by the control unit of the second variant of the third embodiment.

FIG. 12 is the first part of a flowchart of the processing of the control component executed by the control unit of the third variant of the third embodiment.

FIG. 13 is the second part of the flowchart of the processing of the control component executed by the control unit of the third variant of the third embodiment.

FIG14 is a flowchart of the processing of the control component executed by the control unit of the modified example of the second embodiment.

FIG15 is a flowchart of the processing of the control component executed by the control unit of the modified example of the fourth embodiment.

FIG16 is a flowchart of the processing of the control component executed by the control unit of the modified example of the fifth embodiment.

<First implementation form>

Referring to FIGS. 1 to 4 , the control device 70 for a human-powered vehicle of the first embodiment is described. The human-powered vehicle 10 is a vehicle that can be driven by at least human-powered driving force H. The human-powered vehicle 10 is not limited to the number of wheels, and also includes, for example, a unicycle and a vehicle with more than three wheels. The human-powered vehicle 10 includes, for example, various types of bicycles such as mountain bikes, road bikes, public bicycles (CITY BIKE), cargo bicycles, and recumbent bicycles, as well as electric bicycles (E-bike). Electric bicycles include electric assisted bicycles that use electric motors to assist the vehicle in propulsion. In the following embodiments, the human-powered vehicle 10 is described as a bicycle.

The human-powered vehicle 10 has a crank 12 to which a human-powered driving force H is input. The human-powered vehicle 10 also has wheels 14 and a body 16. The wheels 14 include a rear wheel 14A and a front wheel 14B. The body 16 includes a frame 18. The crank 12 includes a crankshaft 12A rotatable relative to the frame 18, and crank arms 12B respectively provided at the ends of the crankshaft 12A in the axial direction. Pedals 20 are respectively connected to the crank arms 12B. The rear wheel 14A is driven by the rotation of the crank 12. The rear wheel 14A is supported on the frame 18. The crank 12 and the rear wheel 14A are connected to each other via a driving mechanism 22. The drive mechanism 22 includes a first rotating body 24 connected to the crankshaft 12A. The crankshaft 12A and the first rotating body 24 can be connected to rotate as a whole, or can be connected through a first one-way clutch. The first one-way clutch is configured so that if the crank 12 rotates forward, the first rotating body 24 rotates forward, and if the crank 12 rotates backward, the crank 12 and the first rotating body 24 are allowed to rotate relative to each other. The first rotating body 24 includes: a sprocket, a pulley, or an umbrella gear. The drive mechanism 22 also includes: a second rotating body 26, and a connecting structure 28. The connecting structure 28 transmits the rotational force of the first rotating body 24 to the second rotating body 26. The connecting structure 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 an umbrella gear. A second one-way clutch is preferably provided between the second rotating body 26 and the rear wheel 14A. The second one-way clutch is configured so that if the second rotating body 26 rotates forward, the rear wheel 14A rotates forward, and if the second rotating body 26 rotates backward, the second rotating body 26 and the rear wheel 14A are allowed to rotate relative to each other.

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

The human-powered vehicle 10 includes a battery 36 for the human-powered vehicle. The battery 36 includes one or more battery elements. The battery element includes a rechargeable battery. The battery 36 supplies power to the control device 70. The battery 36 is preferably connected to the control unit 72 of the control device 70 for communication by wire or wireless. 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).

The human-powered vehicle 10 is provided with a component 38 for the human-powered vehicle. Preferably, the component 38 includes an electric actuator 39. Preferably, the component 38 includes a motor 40 for imparting propulsion to the human-powered vehicle 10. When the component 38 includes the motor 40, the electric actuator 39 is the motor 40. The motor 40 includes one or more electric motors. The motor 40 is configured to transmit rotations in a power transmission path of the human-powered driving force H from the pedal 20 to the rear wheel 14A and at least one of the front wheels 14B. The power transmission path of the human-powered driving force H from the pedal 20 to the rear wheel 14A includes the rear wheel 14A. In this embodiment, the motor 40 is configured to be provided on the frame 18 of the human-powered vehicle 10, and transmits the rotation to the first rotating body 24. The drive unit is composed of the motor 40 and the housing provided with the motor 40. The power transmission path between the motor 40 and the crankshaft 12A is preferably provided with a third one-way clutch in such a manner that the motor 40 will not rotate due to the rotational force of the crank 12 if the crankshaft 12A is rotated in the direction in which the human-powered vehicle 10 moves forward. If the motor 40 is provided on at least one of the rear wheel 14A and the front wheel 14B, the motor 40 may also include a wheel hub motor.

Preferably, the human-powered vehicle 10 further includes a notification unit 42. The notification unit 42 includes a display unit. The display unit includes, for example, a display panel. The display unit includes, for example, at least one of a portable electronic device, a display, a smart phone, a tablet computer, and a cycle computer. The notification unit 42 may also include a speaker.

Preferably, the human-powered vehicle 10 includes a transmission 44 configured to change the speed ratio R of the human-powered vehicle 10. The speed ratio R of the human-powered vehicle 10 is the ratio of the rotation speed of the drive wheel relative to the rotation speed N of the crank 12. In the present embodiment, the drive wheel is the rear wheel 14A. The transmission 44 includes at least one of, for example, a front transmission, a rear transmission, and an internal transmission. If the transmission 44 includes an internal transmission, the internal transmission is provided at, for example, the wheel hub of the rear wheel 14A. The transmission 44 includes at least one of an electric transmission configured to be operated by an electric actuator and a cable transmission configured to be operated by a pull cable.

The control device 70 includes a control unit 72. The control unit 72 includes an operation processing device that executes a preset control program. The operation processing device includes, for example, a CPU (Central Processing Unit) or an MPU (Micro Processing Unit). The operation processing device may also be located in multiple places remote from each other. The control unit 72 may also include one or more microcomputers. Preferably, the control device 70 further includes a memory unit 74. The memory unit 74 stores various control programs and information used in various control processes. The memory unit 74 includes, for example, a non-volatile memory and a volatile memory. Non-volatile memory includes 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 at least one of RAM (Random access memory).

The control device 70 is preferably a drive circuit 76 that is separately provided with the motor 40. The drive circuit 76 and the control unit 72 are preferably provided in a housing in which the motor 40 is provided. The drive circuit 76 and the control unit 72 may also be provided on, for example, the same circuit substrate. The drive circuit 76 includes an inverter circuit. The drive circuit 76 controls the power supplied from the battery 36 to the motor 40. The drive circuit 76 is connected to the control unit 72 by wire or wirelessly. The drive circuit 76 drives the motor 40 according to the control signal from the control unit 72.

The human-powered vehicle 10 is provided with a plurality of detection units 46 configured to detect information about the vehicle speed V of the human-powered vehicle 10, and the information about the vehicle speed V is different from each other. The plurality of detection units 46 are connected to the control unit 72 via a wireless communication device or a cable. The plurality of detection units 46 include at least a first detection unit 48. Preferably, the plurality of detection units 46 further include a second detection unit 50. The first detection unit 48 is configured to detect first information about the vehicle speed V. The first information includes a first parameter P1. The second detection unit 50 is configured to detect second information about the vehicle speed V. The second information includes a second parameter P2. Preferably, the first information and the aforementioned second information are related to each other. The first parameter P1 is related to the second parameter P2. The first information can be inferred from the second information.

It is preferred that the plurality of detection units 46 include at least one of a vehicle speed sensor 54, a crank rotation sensor 56, an acceleration sensor 58, a position information detection sensor 60, and a motor rotation sensor 62. It is preferred that the first detection unit 48 include the vehicle speed sensor 54. It is preferred that the second detection unit 50 include one of the crank rotation sensor 56 and the acceleration sensor 58. It is preferred that the second detection unit 50 include the crank rotation sensor 56. In the present embodiment, the first detection unit 48 includes the vehicle speed sensor 54, and the second detection unit 50 includes the crank rotation sensor 56, but the combination of the sensor included in the first detection unit 48 and the sensor included in the second detection unit 50 is not limited thereto. Alternatively, the first detection unit 48 may include a crank rotation sensor 56, and the second detection unit 50 may include a vehicle speed sensor 54. In the human-powered vehicle 10 shown in FIG. 2, there are: a vehicle speed sensor 54, a crank rotation sensor 56, an acceleration sensor 58, a position information detection sensor 60, and a motor rotation sensor 62, but in this embodiment, at least one of the acceleration sensor 58, the position information detection sensor 60, and the motor rotation sensor 62 may be omitted.

The vehicle speed sensor 54 is configured to detect information corresponding to the rotation speed of the wheel 14 of the human-powered vehicle 10. The vehicle speed sensor 54 is configured, for example, to detect a magnet provided on the wheel 14 of the human-powered vehicle 10. The vehicle speed sensor 54 is configured, for example, to output a detection signal a predetermined number of times during one rotation of the wheel 14. The predetermined number of times is, for example, 1. The vehicle speed sensor 54 outputs a signal corresponding to the rotation speed of the wheel 14. The control unit 72 can calculate the vehicle speed V of the human-powered vehicle 10 based on the rotation speed of the wheel 14 and the information about the circumference of the wheel 14. The memory unit 74 stores information about the circumference of the wheel 14. The vehicle speed sensor 54 includes, for example, a magnetic reed constituting a leaf switch, or a Hall element. The speed sensor 54 may be installed on the chain support of the frame 18 of the human-powered vehicle 10 and detect the magnet installed on the rear wheel 14A, or may be installed on the front fork 30 and detect the magnet installed on the front wheel 14B. In the present embodiment, the speed sensor 54 is configured such that if the wheel 14 rotates once, the reed switch detects the magnet once. The speed sensor 54 is not limited to the configuration of detecting the magnet installed on the wheel 14, and may also be configured to include, for example, an optical sensor. The speed sensor 54 is connected to the control unit 72 via a wireless communication device or a cable.

The crank rotation sensor 56 is configured to detect information corresponding to the rotation speed N of the crank 12 of the human-powered vehicle 10. The crank rotation sensor 56 is, for example, provided on the frame 18 or the drive unit of the human-powered vehicle 10. The crank rotation sensor 56 is configured as a magnetic sensor including a signal outputting the corresponding magnetic field strength. An annular magnet whose magnetic field strength changes in a circumferential direction is provided on the crank shaft 12A, a component rotating in conjunction with the crank shaft 12A, or a power transmission path from the crank shaft 12A to the first rotating body 24. The component rotating in conjunction with the crank shaft 12A includes the output shaft of the motor 40. The crank rotation sensor 56 outputs a signal corresponding to the rotation speed N of the crank 12. The magnet may also be provided in a component that rotates integrally with the crankshaft 12A in the power transmission path of the human-powered driving force H from the crankshaft 12A to the first rotating body 24. For example, if there is no first one-way clutch between the crankshaft 12A and the first rotating body 24, the magnet may also be provided in the first rotating body 24. The crank rotation sensor 56 may also include an optical sensor, an acceleration sensor, a rotation sensor, or a torque sensor, etc., to replace the magnetic sensor. The crank rotation sensor 56 is connected to the control unit 72 via a wireless communication device or a cable.

The acceleration sensor 58 is configured to detect information corresponding to the acceleration D of the human-powered vehicle 10. Preferably, the acceleration sensor 58 is configured to detect information corresponding to the acceleration D in the front-rear direction of the human-powered vehicle 10 when the human-powered vehicle 10 is in an upright state with the front wheels 14B and the rear wheels 14A grounded on a horizontal plane. The acceleration sensor 58 is connected to the control unit 72 via a wireless communication device or a cable.

The position information detection sensor 60 is configured to detect information corresponding to the position of the human-powered vehicle 10. The position information detection sensor 60 includes, for example, a GPS (Global Positioning System) receiving unit. The position information detection sensor 60 is connected to the control unit 72 via a wireless communication device or a cable. The position information detection sensor 60 can also be equipped on an electronic device such as a smart phone. The position information detection sensor 60 can detect information corresponding to the position of the human-powered vehicle 10 by the rider carrying the electronic device or installing the electronic device on the vehicle frame.

The motor rotation sensor 62 is configured to detect information about the rotation speed of the motor 40 that provides the propulsion force to the human-powered vehicle 10. The motor rotation sensor 62 is disposed on the motor 40 or around the motor 40. The motor rotation sensor 62 includes, for example, a resolver or an encoder. If a speed reducer is included between the motor 40 and the transmission path of the human-powered driving force H, the motor rotation sensor 62 can also be configured to detect the rotation speed of the rotating body constituting the speed reducer. The motor rotation sensor 62 is connected to the control unit 72 via a wireless communication device or a cable.

Preferably, the human-powered vehicle 10 further includes a torque sensor 64. The torque sensor 64 is configured to output a signal corresponding to the torque supplied to the crank 12 by the human-powered driving force H. If, for example, a first one-way clutch is provided in the power transmission path, the torque sensor 64 is preferably provided on the upstream side closer to the power transmission path than the first one-way clutch. The torque sensor 64 includes: a strain sensor, a magnetic strain sensor, or a pressure sensor, etc. The strain sensor includes a strain gauge. The torque sensor 64 is provided in the power transmission path or in a component included in the power transmission path or in the vicinity of a component included in the power transmission path. The components included in the power transmission path are, for example, the crankshaft 12A, a component that transmits the human driving force H between the crankshaft 12A and the first rotating body 24, the crank arm 12B, or the pedal 20. The torque sensor 64 is connected to the control unit 72 via a wireless communication device or a cable.

Preferably, the human-powered vehicle 10 further includes a speed change state sensor 65. The speed change state sensor 65 outputs information about the speed change state of the transmission 44. The speed change state includes, for example, a speed change stage. The speed change state sensor 65 may be provided in the transmission 44, or in a pull cable, or a speed change operation device. If the transmission 44 is an electric transmission, the speed change state sensor 65 is configured to detect, for example, the movement of an electric actuator of the electric transmission. The electric actuator of the electric transmission includes, for example, an electric motor and a speed reducer. The speed change state sensor 65 is configured to detect the movement of the electric motor or the speed reducer of the electric actuator. If the transmission 44 is a cable transmission, the speed state sensor 65 is configured to detect at least one of the movement of the movable part of the transmission 44, the movement of the pulling wire, and the movement of the speed operating device. The speed state sensor 65 is configured to include, for example, a magnetic sensor, a potentiometer, a rotary encoder, a linear encoder, or an optical sensor. The memory unit 74 stores the information about the speed state output by the speed state sensor 65 and the information about the speed ratio R of the human-powered vehicle 10 in correspondence. The control unit can obtain information about the current speed ratio R of the human-powered vehicle 10 according to the information about the speed state output by the speed state sensor 65 and the information stored in the memory unit 74.

The control unit 72 controls the component 38 according to the output of the multiple detection units 46. If the component 38 is the motor 40, the control unit 72 controls the motor 40 according to the output of the multiple detection units 46.

The control unit 72 controls the motor 40 according to at least one of the vehicle speed V of the human-powered vehicle 10 and the rotation speed N of the crank 12. Preferably, the control unit 72 controls the motor 40 according to the human-powered driving force H. The control unit 72 may also be configured to control the motor 40 in the assist mode and the walking mode. In the walking mode, the control unit 72 is configured to drive the motor 40 if the human-powered driving force H input to the crank 12 is less than a preset driving force HX. The preset driving force HX is, for example, 0 Nm. The walking mode is used, for example, when the user pushes the human-powered vehicle 10. In the walking mode, the control unit 72 is configured to drive the motor 40 if the human-powered driving force H is less than a preset driving force HX. The preset driving force HX is, for example, 0 Nm. In the auxiliary mode, the control unit 72 is configured to control the motor 40 according to the human driving force H, and if the human driving force H is greater than the preset driving force HX, the motor 40 is driven. The human driving force H can also be represented by torque HT or power WH. If the human driving force H is represented by power, the human driving force H is obtained by multiplying the torque detected by the torque sensor 64 and the rotation speed N of the crank 12 detected by the crank rotation sensor 56.

The control unit 72 is configured to control the motor 40, for example, so that the auxiliary force M obtained by the motor 40 becomes a preset auxiliary ratio X for the human power H. The preset auxiliary ratio X is not constant, and may vary according to the human power H, the vehicle speed V, or both the human power H and the vehicle speed V. The human power H and the auxiliary force M may be expressed by torque or by power. If the human power H and the auxiliary force M are expressed by torque, the human power H is recorded as the human torque TH, and the auxiliary force M is recorded as the auxiliary torque TM. If the human power H and the auxiliary assistance M are expressed by power, the human power H is recorded as human power WH, and the auxiliary assistance M is recorded as auxiliary power WM. There is a case where the torque ratio of the auxiliary torque TM relative to the human torque TH of the human-powered vehicle 10 is recorded as the auxiliary ratio AT. There is a case where the ratio of the auxiliary power WM obtained by the motor 40 relative to the human power WH is recorded as the auxiliary ratio AW. The control unit 72 is configured to control the motor 40, for example, by selecting one control state from a plurality of control states in which at least a part of the correspondence between the human power H and the auxiliary ratio X is different from each other. The human power WH is calculated by multiplying the human torque TH by the rotation speed N of the crank 12. If the output of the motor 40 is input to the power path of the human-driven power H through the speed reducer, the output of the speed reducer is set as the auxiliary force M. If there is no speed reducer, the auxiliary power WM is calculated by multiplying the output torque of the motor 40 by the rotation speed of the motor 40. If there is a speed reducer, the auxiliary power WM is calculated by multiplying the output torque of the speed reducer by the output rotation speed of the speed reducer. If there is a speed reducer, the memory unit 74 is configured to store information about the speed reduction ratio of the speed reducer. The control unit 72 can calculate the output rotation speed of the speed reducer according to the rotation speed of the motor 40 and the information about the speed reduction ratio of the speed reducer. The memory unit 74 stores information indicating, for example, the relationship between the control command of the motor 40 and the output torque of the motor 40. The control unit 72 can calculate the output torque of the motor 40 according to the information indicating the relationship between the control command of the motor 40 and the output torque of the motor 40 stored in the memory unit 74. The control unit 72 can calculate the output torque of the reducer according to the output torque of the motor 40 and the information about the reduction ratio of the reducer. The control unit 72 is configured to output the control command to the drive circuit 76 of the motor 40 according to the human torque TH or the human power WH. The control command includes, for example, a torque command value. The plurality of control states may also include a control state in which the motor 40 is not driven.

The control unit 72 controls the motor 40 in such a way that the auxiliary force M becomes less than the upper limit value MX. If the auxiliary force M is represented by torque, the control unit 72 controls the motor 40 in such a way that the auxiliary torque TM becomes less than the upper limit value MTX. It is preferable that the upper limit value MTX is a value in the range of 30Nm to 90Nm. The upper limit value MTX is, for example, 80Nm. The upper limit value MTX is determined, for example, according to the output characteristics of the motor 40. If the auxiliary force M is represented by power, the control unit 72 controls the motor 40 in such a way that the auxiliary power WM becomes less than the upper limit value MWX.

For example, the control unit 72 stops the motor 40 if the vehicle speed V becomes higher than a preset vehicle speed VX. The preset vehicle speed VX is, for example, 45 km/h. The preset vehicle speed VX may be less than 45 km/h, or may be, for example, 25 km/h.

For example, the control unit 72 stops the motor 40 if the rotation speed N of the crank 12 does not reach the preset first rotation speed N1. The preset first rotation speed N1 is, for example, 0 rpm. For example, the control unit 72 may also stop the motor 40 or control the motor 40 in a manner that the auxiliary force M is reduced if the rotation speed N of the crank 12 becomes higher than the preset second rotation speed N2.

The control unit 72 is configured to control the component 38 according to the output of the first detection unit 48 if the output of the first detection unit 48 is in the first state. The control unit 72 is configured to control the component 38 according to the output of a preset detection unit different from the first detection unit 48 among the plurality of detection units 46 if the output of the first detection unit 48 is not in the first state. In this embodiment, the preset detection unit includes the second detection unit 50.

If the output of the first detection unit 48 is in the first state, the control unit 72 determines that the output of the first detection unit 48 input to the control unit 72 is normal. If the output of the first detection unit 48 is not in the first state, the control unit 72 determines that the output of the first detection unit 48 input to the control unit 72 is not normal.

In the first example, if the output of the first detection unit 48 is not in the first state, the signal output by the first detection unit 48 includes a preset first signal. The preset first signal includes an abnormal signal output by the first detection unit 48. The abnormal signal occurs in at least one of the following situations: when the first detection unit 48 fails, when the connection between the first detection unit 48 and the control unit 72 is abnormal, when the first detection unit 48 is not in the preset configuration, and when the connection between the first detection unit 48 and the control unit 72 is not in the preset configuration.

In the second example, if the output of the first detection unit 48 is not in the first state, no signal is outputted from the first detection unit 48. When no signal is outputted from the first detection unit 48, it includes at least one of the following: when the human-powered vehicle 10 is not equipped with the first detection unit 48, when no power is supplied to the first detection unit 48, and when the first detection unit 48 is not connected to the control unit 72. If the control unit 72 is at least one of the first example and the second example, it can also be determined that the output of the first detection unit 48 is not in the first state.

Preferably, the control unit 72 is configured to control the component 38 according to at least one of the first parameter P1 related to the first information and the second parameter P2 related to the second information. The control unit 72 is configured to control the component 38 independently of the output of the first detection unit 48 if the output of the first detection unit 48 is not in the first state. The control unit 72 may also be configured to control the component 38 according to the output of the second detection unit 50 if the output of the first detection unit 48 is not in the first state. For example, when the control unit 72 estimates the first parameter P1 according to the second parameter P2 related to the second information, the output of the first detection unit 48 is used in any one of the first processing of correcting the first parameter P1 according to the output of the first detection unit 48, the second processing of correcting the control command value of the component 38 according to the output of the first detection unit 48, and the third processing that is independent of a series of processing of controlling the component 38 according to the output of the second detection unit 50.

In this embodiment, the first parameter P1 includes the vehicle speed V, and the second parameter P2 includes the rotation speed N of the crank 12. The control unit 72 is configured to estimate the vehicle speed V according to the rotation speed N of the crank 12. The control unit 72 estimates the vehicle speed V by multiplying the rotation speed N of the crank 12 by the gear ratio R of the human-powered vehicle 10 and the circumference of the rear wheel 14A. The gear ratio R of the human-powered vehicle 10 corresponds to the rotation speed ratio of the wheel 14 relative to the rotation speed N of the crank 12 of the human-powered vehicle 10. The memory unit 74 is configured to pre-memorize information about the circumference of the rear wheel 14A.

If the second detection unit 50 includes the acceleration sensor 58, the second parameter P2 includes the acceleration D. The control unit 72 is configured to estimate the vehicle speed V by accumulating the acceleration D after the human-driven vehicle 10 starts to move.

If the second detection unit 50 includes a position information detection sensor 60, the second parameter P2 includes the moving distance of the human-driven vehicle 10. The control unit 72 is configured to estimate the vehicle speed V according to the GPS information obtained by the GPS receiving unit, the map information pre-recorded in the memory unit 74, and the time. If the second detection unit 50 includes a position information detection sensor 60, the control unit 72 preferably includes at least one of a clock and a timing circuit for measuring time.

If the second detection unit 50 includes the motor rotation sensor 62, the second parameter P2 includes the rotation speed of the motor 40. The control unit 72 is configured to estimate the vehicle speed V by multiplying the rotation speed of the motor 40 by the speed ratio of the motor 40 and the circumference of the rear wheel 14A. The speed ratio of the motor 40 corresponds to the rotation speed ratio of the wheel 14 relative to the rotation speed of the motor 40. If the second detection unit 50 includes the motor rotation sensor 62, the memory unit 74 pre-memorizes information about the circumference of the rear wheel 14A.

Preferably, the control unit 72 causes the notification unit 42 to notify the preset notification information if the output of the first detection unit 48 is not in the first state. The preset notification information is configured to notify the user of the error of the first detection unit 48. If the notification unit 42 includes a display unit, for example, the preset notification information includes at least one of text and an image. If the notification unit 42 includes a speaker, for example, the preset notification information includes at least one of a sound and a warning sound. If the output of the first detection unit 48 is not in the first state, the notification unit 42 can continue to notify or notify intermittently until it becomes the first state.

Referring to FIG. 3 and FIG. 4 , the processing of controlling the component 38 according to the state of the output of the first detection unit 48 is explained. 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 . When the flowcharts of FIG. 3 and FIG. 4 are terminated, the control unit 72 repeats the processing after step S11 after a preset cycle until the supply of power stops. The processing of FIG. 3 and FIG. 4 is an example when the component 38 is the motor 40. The control unit 72 performs auxiliary processing such as driving the motor 40 according to the human driving force H in parallel with the processing of the flowchart shown in FIG. 3 and FIG. 4 . The control unit 72 drives the motor 40, for example, if the human driving force H is greater than the preset driving force HX, and stops the motor 40 if the human driving force H becomes less than the preset driving force HX. The processing of the control unit 72 in the flowcharts of Figures 3 and 4 is executed with priority over the auxiliary processing. If the component 38 is the motor 40, the control unit 72 is configured to drive the motor 40 according to the human driving force H when the output of the first detection unit 48 is the first state, if the vehicle speed V calculated according to the output of the first detection unit 48 is not greater than the preset vehicle speed VX, and if the human driving force H is greater than the preset driving force HX. If the component 38 is the motor 40, the control unit 72 is configured to drive the motor 40 according to the human driving force H when the output of the first detection unit 48 is not in the first state, when the vehicle speed V estimated according to the output of the preset detection unit different from the first detection unit 48 among the plurality of detection units 46 is not greater than the preset vehicle speed VX, and when the human driving force H is greater than the preset driving force HX.

In step S11, the control unit 72 determines whether the output of the vehicle speed sensor 54 is in the first state. If the output of the vehicle speed sensor 54 is in the first state, the control unit 72 moves to step S12. In step S12, the control unit 72 calculates the vehicle speed V according to the output of the vehicle speed sensor 54 and moves to step S13.

The control unit 72 determines whether the vehicle speed V is greater than the preset vehicle speed VX in step S13. If the vehicle speed V is greater than the preset vehicle speed VX, the control unit 72 moves to step S14. In step S14, the control unit 72 stops the motor 40 and ends the process. If the motor 40 is being driven, the control unit 72 stops the motor 40 in step S14. If the motor 40 is stopping, the control unit 72 keeps the motor 40 stopped in step S14. If the vehicle speed V is not greater than the preset vehicle speed VX in step S13, the control unit 72 ends the process.

In step S11, if the output of the vehicle speed sensor 54 is not in the first state, the control unit 72 moves to step S15. In step S15, the control unit 72 determines whether the crank 12 rotates in the forward direction. If the crank 12 does not rotate in the forward direction, the control unit 72 ends the processing. The forward direction is equal to the forward direction. If the crank 12 rotates in the forward direction, the control unit 72 moves to step S16.

The control unit 72 determines whether information about the speed change state is obtained in step S16. If the control unit 72 does not obtain information about the speed change stage, it moves to step S17. If, for example, the speed change state sensor 65 is not connected to the control unit 72, the control unit 72 does not obtain information about the speed change stage. Whether the speed change state sensor 65 is connected can be determined according to information pre-stored in the memory unit 74, or according to whether the signal from the speed change state sensor 65 is input to the control unit 72.

The control unit 72 determines whether the rotation amount C of the crank 12 is greater than the preset rotation amount CX in step S17. For example, if the rotation amount C from the start of the rotation of the crank 12 is greater than the preset first rotation amount CX1, the control unit 72 determines that the rotation amount C of the crank 12 is greater than the preset first rotation amount CX1. If the rotation amount C of the crank 12 is not greater than the preset first rotation amount CX1, the control unit 72 ends the processing. If the rotation amount C of the crank 12 is greater than the preset first rotation amount CX1, the control unit 72 moves to step S18. In step S18, the control unit 72 causes the notification unit 42 to notify the error of the vehicle speed sensor 54 and moves to step S19. The preset first rotation amount CX1, if expressed by the rotation angle of the crank 12, is included in the range of, for example, 20 degrees to 720 degrees.

The control unit 72 estimates the vehicle speed V according to the maximum value of the gear ratio R of the human-powered vehicle 10 and the rotation speed N of the crank 12 in step S19, and moves to step S20. The maximum value of the gear ratio R of the human-powered vehicle 10 is pre-stored in the memory unit 74. The control unit 72 estimates the vehicle speed V by multiplying the maximum value of the gear ratio R stored in the memory unit 74, the rotation speed N of the crank 12 detected by the crank rotation sensor 56, and the circumference of the rear wheel 14A.

The control unit 72 determines in step S20 whether the vehicle speed V estimated in step S19 is greater than a preset vehicle speed VX. If the vehicle speed V is greater than the preset vehicle speed VX, the control unit 72 moves to step S21. In step S21, the control unit 72 stops the motor 40 and ends the process. If the motor 40 is being driven, the control unit 72 stops the motor 40 in step S21. If the motor 40 is stopping, the control unit 72 maintains the stop of the motor 40 in step S21. If the vehicle speed V is not greater than the preset vehicle speed VX in step S20, the control unit 72 ends the process.

If the control unit 72 obtains information about the speed change state in step S16, it moves to step S22. In step S22, the control unit 72 determines whether the rotation amount C of the crank 12 is greater than the preset second rotation amount CX2. The control unit 72 can obtain the current speed ratio R according to the information about the speed change stage and the information stored in the memory unit 74. If the rotation amount C of the crank 12 is not greater than the preset second rotation amount CX2, the control unit 72 ends the processing. If the rotation amount C of the crank 12 is greater than the preset second rotation amount CX2, the control unit 72 moves to step S23. The preset second rotation amount CX2 may be the same as or different from the preset first rotation amount CX1. The preset second rotation amount CX2 may be, for example, a separate value corresponding to each gear stage. If the preset second rotation amount CX2 corresponding to each gear stage is different, the memory unit 74 stores information about each gear stage and the preset second rotation amount CX2 in correspondence. In this case, the preset second rotation amount CX2 corresponding to the gear stage where the gear ratio R becomes the largest is preferably equal to the preset first rotation amount CX1. For example, in each gear ratio R, if the human-driven vehicle 10 advances the same distance, if the process moves from step S22 to step S23, the smaller the gear ratio R, the larger the preset second rotation amount CX2 may be established. In step S23, the control unit 72 causes the notification unit 42 to notify the vehicle speed sensor 54 of an error, and moves to step S24.

In step S24, the control unit 72 estimates the vehicle speed V according to the current gear ratio R and the rotation speed N of the crank 12, and moves to step S25. The control unit 72 estimates the vehicle speed V by multiplying the current gear ratio R, the rotation speed N of the crank 12 detected by the crank rotation sensor 56, and the circumference of the rear wheel 14A.

The control unit 72 determines in step S25 whether the vehicle speed V estimated in step S24 is greater than a preset vehicle speed VX. If the vehicle speed V is greater than the preset vehicle speed VX, the control unit 72 moves to step S26. In step S26, the control unit 72 stops the motor 40 and ends the process. If the motor 40 is being driven, the control unit 72 stops the motor 40 in step S26. If the motor 40 is stopping, the control unit 72 keeps the motor 40 stopped in step S26. If the vehicle speed V is not greater than the preset vehicle speed VX in step S25, the control unit 72 ends the process.

The control unit 72 may also be configured to set a flag for prohibiting the driving of the motor 40 in step S14, step S21, and step S26, and to release the flag for prohibiting the driving of the motor 40 if it is no in step S13, step S20, and step S25. The control unit 72 is configured to not drive the motor 40 if the flag for prohibiting the driving of the motor 40 is set. The control unit 72 is configured to drive the motor 40 according to the human driving force H if the flag for prohibiting the driving of the motor 40 is released.

When the crank 12 is stopped or idling, it is difficult to estimate the vehicle speed V according to the output of the crank rotation sensor 56. The control unit 72 controls the motor 40 according to the output of the crank rotation sensor 56 when the human-powered vehicle 10 is driven by the rotation of the crank 12 and the vehicle speed sensor 54 is not in the first state. Therefore, when the vehicle speed V estimated according to the output of the crank rotation sensor 56 and the actual vehicle speed V are less different, the motor 40 can be controlled according to the output of the crank rotation sensor 56.

If the answer is yes in step S15, the control unit 72 can also determine whether the human torque TH is greater than the preset value THX. If the human torque TH is greater than the preset value THX, the control unit 72 moves to step S16. If the human torque TH does not reach the preset value THX, the processing ends. The preset value THX is, for example, a value in the range of 5Nm to 10Nm. At this time, the output of the crank rotation sensor 56 can be estimated in the state where the human torque TH is transmitted to the rear wheel 14A. Therefore, in the state where the vehicle speed V estimated according to the output of the crank rotation sensor 56 and the actual vehicle speed V are less than each other, the motor 40 can be controlled according to the output of the crank rotation sensor 56.

<Second implementation form>

Referring to FIG. 2 and FIG. 5 , the control device 70 of the second embodiment is described. The same symbols as those of the first embodiment are used to mark the components that are common to the first embodiment, and repeated descriptions are omitted.

In this embodiment, the first detection unit 48 includes: any one of the vehicle speed sensor 54, the crank rotation sensor 56, the acceleration sensor 58, the position information detection sensor 60, and the motor rotation sensor 62, and the second detection unit 50 includes: any one of the vehicle speed sensor 54, the crank rotation sensor 56, the acceleration sensor 58, the position information detection sensor 60, and the motor rotation sensor 62 that is different from the first detection unit 48.

The control unit 72 is configured to control the component 38 according to the output of the first detection unit 48 if the output of the first detection unit 48 is in the first state. The control unit 72 is configured to control the component 38 according to the output of a preset detection unit different from the first detection unit 48 among the plurality of detection units 46 if the output of the first detection unit 48 is not in the first state. The preset detection unit includes the second detection unit 50, but the combination of the sensor included in the first detection unit 48 and the sensor included in the second detection unit 50 is not limited thereto. The first detection unit 48 may include a crank rotation sensor 56, and the second detection unit 50 may include a vehicle speed sensor 54. Table 1 shows an example of a combination of a sensor included in the first detection unit 48 and a sensor included in the second detection unit 50.

Referring to FIG. 5 , the processing of controlling the component 38 according to the state of the output of the first detection unit 48 is described. If power is supplied to the control unit 72 , the control unit 72 starts processing and moves to step S32 of the flowchart shown in FIG. 5 . If the flowchart of FIG. 5 ends, the control unit 72 repeats the processing after step S32 after a preset cycle until the supply of power stops.

In step S32, the control unit 72 determines whether the state of the output of the first detection unit 48 is the first state. If the state of the output of the first detection unit 48 is the first state, the control unit 72 moves to step S33. In step S33, the control unit 72 controls the component 38 according to the output of the first detection unit 48. In step S33, the control unit 72 controls the motor 40 according to the output of the first detection unit 48, for example, similarly to steps S13 and S14.

If the output state of the first detection unit 48 is not the first state in step S32, the control unit 72 moves to step S34. In step S34, the control unit 72 causes the notification unit 42 to report the preset notification information, and moves to step S35. For example, the control unit 72 causes the notification unit 42 to report the error of the first detection unit 48. In step S35, the control unit 72 controls the assembly 38 according to the preset output of the detection unit. If the second detection unit 50 is a crank rotation sensor 56, the control unit 72 controls the motor 40 in step S35 according to the output of the crank rotation sensor 56, for example, in the same manner as steps S16, S17, S19 to S21, and S22 to S26 in FIG. 4.

<Third implementation form>

Referring to FIG. 6 and FIG. 7 , the control device 70 of the third embodiment is described. The control device 70 of the third embodiment is the same as the control device 70 of the first and second embodiments, except that the control unit 72 can control the component 38 according to the third detection unit 66 and the fourth detection unit 68. Therefore, the same symbols as the first embodiment are marked for the common structures with the first and second embodiments, and repeated descriptions are omitted.

The multiple detection unit 46 includes a first detection unit 48. The multiple detection unit 46 also includes a second detection unit 50. The multiple detection unit 46 also includes a third detection unit 66. The multiple detection unit 46 also includes a fourth detection unit 68. The third detection unit 66 is configured to detect third information about the vehicle speed V. The third information includes a third parameter P3. The first parameter P1 is related to the third parameter P3. The first information can be estimated from the third information. The fourth detection unit 68 is configured to detect fourth information about the vehicle speed V. The fourth information includes a fourth parameter P4. The first parameter P1 is related to the fourth parameter P4. The first information can be estimated from the fourth information.

The first detection unit 48, the second detection unit 50, the third detection unit 66, and the fourth detection unit 68 include different ones of the vehicle speed sensor 54, the crank rotation sensor 56, the acceleration sensor 58, the position information detection sensor 60, and the motor rotation sensor 62. Preferably, the first detection unit 48 includes the vehicle speed sensor 54. Preferably, the second detection unit 50 includes one of the crank rotation sensor 56 and the acceleration sensor 58. Preferably, the third detection unit 66 includes the other of the crank rotation sensor 56 and the acceleration sensor 58. For example, the first detection unit 48 includes a vehicle speed sensor 54, the second detection unit 50 includes a crank rotation sensor 56, the third detection unit 66 includes an acceleration sensor 58, and the fourth detection unit 68 includes a position information detection sensor 60, but the combination of the sensor included in the first detection unit 48, the sensor included in the second detection unit 50, the sensor included in the third detection unit 66, and the sensor included in the fourth detection unit 68 is not limited thereto. Table 2 shows two examples of the combination of the sensors included in the first detection unit 48, the second detection unit 50, the third detection unit 66, and the fourth detection unit 68. There are many combinations of sensors included in the first detection unit 48, the second detection unit 50, the third detection unit 66, and the fourth detection unit 68, so only two examples of the best combinations are shown in Table 2.

Preferably, the pre-set detection unit includes the second detection unit 50. The control unit 72 is configured to control the component 38 according to the output of the second detection unit 50 if the output of the first detection unit 48 is not in the first state and the output of the second detection unit 50 is in the second state.

Preferably, the pre-set detection unit includes the third detection unit 66. The control unit 72 is configured to control the component 38 according to the output of the third detection unit 66 if the output of the first detection unit 48 is not in the first state and the output of the second detection unit 50 is not in the second state.

If the output of the second detection unit 50 is in the second state, the control unit 72 determines that the output of the second detection unit 50 input to the control unit 72 is normal. If the output of the second detection unit 50 is not in the second state, the control unit 72 determines that the output of the second detection unit 50 input to the control unit 72 is not normal.

In the third example, if the output of the second detection unit 50 is not in the second state, the signal output by the second detection unit 50 includes a preset second signal. The preset second signal includes an abnormal signal of the output of the second detection unit 50. The abnormal signal occurs in at least one of the following situations, for example, when the second detection unit 50 fails, when the connection between the second detection unit 50 and the control unit 72 is abnormal, when the second detection unit 50 is not in the preset configuration, and when the connection between the second detection unit 50 and the control unit 72 is not in the preset configuration.

In the fourth example, if the output of the second detection unit 50 is not in the second state, no signal is outputted from the second detection unit 50. When no signal is outputted from the second detection unit 50, it includes at least one of the following: when the second detection unit 50 is not loaded on the human-powered vehicle 10, when the second detection unit 50 is not supplied with power, and when the second detection unit 50 is not connected to the control unit 72. If the control unit 72 is at least one of the third example and the fourth example, it can also be determined that the output of the second detection unit 50 is not in the second state.

The detection unit preferably pre-set includes: the third detection unit 66 and the fourth detection unit 68. The control unit 72 is configured to control the component 38 according to the output of the third detection unit 66 if the output of the first detection unit 48 is not the first state, the output of the second detection unit 50 is not the second state, and the third detection unit 66 is in the third state. The control unit 72 is configured to control the component 38 according to the output of the fourth detection unit 68 if the output of the first detection unit 48 is not the first state, the output of the second detection unit 50 is not the second state, and the third detection unit 66 is not in the third state.

If the output of the third detection unit 66 is in the third state, the control unit 72 determines that the output of the third detection unit 66 input to the control unit 72 is normal. If the output of the third detection unit 66 is not in the third state, the control unit 72 determines that the output of the third detection unit 66 input to the control unit 72 is not normal.

In the fifth example, if the output of the third detection unit 66 is not in the third state, the signal output by the third detection unit 66 includes a preset third signal. The preset third signal includes an abnormal signal of the output of the third detection unit 66. The abnormal signal occurs in at least one of the following situations, for example, when the third detection unit 66 fails, when the connection between the third detection unit 66 and the control unit 72 is abnormal, when the third detection unit 66 is not in the preset configuration, and when the connection between the third detection unit 66 and the control unit 72 is not in the preset configuration.

In the sixth example, if the output of the third detection unit 66 is not in the third state, no signal is outputted from the third detection unit 66. The third detection unit 66 does not output a signal when the third detection unit 66 is not loaded on the human-powered vehicle 10, when the third detection unit 66 is not supplied with power, and when the third detection unit 66 is not connected to the control unit 72. If the control unit 72 is at least one of the fifth and sixth examples, it can also be determined that the output of the third detection unit 66 is not in the third state.

Preferably, the control unit 72 is configured to estimate the first parameter P1 according to the second parameter P2 calculated based on the second information if the output of the first detection unit 48 is not in the first state and the output of the second detection unit 50 is in the second state, and to control the component 38 according to the estimated first parameter P1.

Preferably, the control unit 72 is configured to control the component 38 according to the output of at least one of the first detection unit 48 and the second detection unit 50 when the output of the first detection unit 48 is in the first state and the output of the second detection unit 50 is in the second state. Preferably, the control unit 72 is configured to control the component 38 according to the output of the second detection unit 50 and not depending on the output of the first detection unit 48 when the output of the first detection unit 48 is not in the first state and the output of the second detection unit 50 is in the second state. Preferably, the control unit 72 is configured to control the component 38 according to the output of the first detection unit 48 and not depending on the output of the second detection unit 50 when the output of the first detection unit 48 is in the first state and the output of the second detection unit 50 is not in the second state.

Preferably, the control unit 72 causes the notification unit 42 to notify the preset first notification information if the output of the first detection unit 48 is not the first state. The preset first notification information includes the same information as the preset notification information. Preferably, the control unit 72 causes the notification unit 42 to notify the preset second notification information if the output of the second detection unit 50 is not the second state. Preferably, the control unit 72 causes the notification unit 42 to notify the preset third notification information if the output of the third detection unit 66 is not the third state. The preset first notification information is configured to notify the user of an error of the first detection unit 48. The preset second notification information is configured to notify the user of an error in at least one of the first detection unit 48 and the second detection unit 50. The preset second notification information is preferably configured to notify the user of an error in the first detection unit 48 and the second detection unit 50. The preset third notification information is configured to notify the user of an error in at least one of the first detection unit 48, the second detection unit 50, and the third detection unit 66. The preset third notification information is preferably configured to notify the user of an error in the first detection unit 48, the second detection unit 50, and the third detection unit 66. If the notification unit 42 includes a display unit, the preset first notification information, the preset second notification information, and the preset third notification information include, for example, at least one of text and an image. If the notification unit 42 includes a speaker, the preset first notification information, the preset second notification information, and the preset third notification information include, for example, at least one of a sound and a warning sound. Preferably, the notification unit 42 continues to notify until the output of the first detection unit 48 is in the first state if it is not in the first state. The notification unit 42 may continue to notify or notify intermittently until, for example, the output of the first detection unit 48 becomes the first state and the output of the second detection unit becomes the second state. The notification unit 42 may also continue to notify or notify intermittently until, for example, the output of the first detection unit 48 becomes the first state, the output of the second detection unit becomes the second state, and the output of the third detection unit becomes the third state.

Referring to FIG. 7 , the processing of controlling the component 38 according to the state of the output of the first detection unit 48 is described. If power is supplied to the control unit 72 , the control unit 72 starts processing and moves to step S42 of the flowchart shown in FIG. 7 . If the flowchart of FIG. 7 ends, the control unit 72 repeats the processing after step S42 after a preset cycle until the supply of power stops.

In step S42, the control unit 72 determines whether the state of the output of the first detection unit 48 is the first state. If the state of the output of the first detection unit 48 is the first state, the control unit 72 moves to step S43. In step S43, the control unit 72 controls the component 38 according to the output of the first detection unit 48. In step S43, the control unit 72 controls the motor 40 according to the output of the first detection unit 48, for example, similarly to steps S13 and S14.

In step S42, if the state of the output of the first detection unit 48 is not the first state, the control unit 72 moves to step S44. In step S44, the control unit 72 determines whether the state of the output of the second detection unit 50 is the second state. If the state of the output of the second detection unit 50 is the second state, the control unit 72 moves to step S45. In step S45, the control unit 72 causes the notification unit 42 to notify the preset first notification information, and moves to step S46. In step S46, the control unit 72 controls the component 38 according to the output of the second detection unit 50. If the second detection unit 50 is a crank rotation sensor 56, the control unit 72 controls the motor 40 in step S46 according to the output of the crank rotation sensor 56, for example, in the same manner as steps S16, S17, S19 to S21, and S22 to S26 in FIG. 4.

In step S44, if the state of the output of the second detection unit 50 is not the second state, the control unit 72 moves to step S47. In step S47, the control unit 72 determines whether the state of the output of the third detection unit 66 is the third state. If the state of the output of the third detection unit 66 is the third state, the control unit 72 moves to step S48. In step S48, the control unit 72 causes the notification unit 42 to notify the preset second notification information, and moves to step S49. In step S49, the control unit 72 controls the component 38 according to the output of the third detection unit 66. If the third detection unit 66 includes the acceleration sensor 58, the control unit 72 uses the vehicle speed V estimated by the output of the acceleration sensor 58 in step S49 to control the motor 40 in the same manner as steps S13 and S14 in FIG. 3 .

In step S47, if the output state of the third detection unit 66 is not the third state, the control unit 72 moves to step S50. In step S50, the control unit 72 causes the notification unit 42 to notify the preset third notification information and moves to step S51. In step S51, the control unit 72 controls the component 38 according to the output of the fourth detection unit 68. If the fourth detection unit 68 includes the position information detection sensor 60, the control unit 72 uses the vehicle speed V estimated by the output of the position information detection sensor 60 in step S51 to control the motor 40 in the same manner as steps S13 and S14 of FIG. 3.

<Fourth Implementation Form>

The control device 70 of the fourth embodiment is described with reference to FIG. 2 and FIG. 8. The control device 70 of the fourth embodiment is the same as the control device 70 of the first embodiment except that the control unit 72 controls the component 38 to a preset state according to the output state of the first detection unit 48 and the second detection unit 50. Therefore, the same symbols as the first embodiment are marked for the common structure with the first embodiment, and repeated description is omitted.

In this embodiment, the human-powered vehicle 10 has a component 38 for the human-powered vehicle, and a plurality of detection units 46 configured to detect information about the vehicle speed V of the human-powered vehicle 10, and the information about the vehicle speed V is different from each other. The plurality of detection units 46 include a first detection unit 48 and a second detection unit 50.

The control device 70 includes a control unit 72. If the output of the first detection unit 48 is in the first state, and if the output of the second detection unit 50 is in the second state, the control unit 72 controls the component 38 according to at least one output of the first detection unit 48 and the second detection unit 50. If the output of the first detection unit 48 is not in the first state, the control unit 72 controls the component 38 in a manner that the component 38 becomes a preset state, regardless of the output of the second detection unit 50. If the output of the second detection unit 50 is not in the second state, the control unit 72 controls the component 38 in a manner that the component 38 becomes a preset state, regardless of the output of the first detection unit 48.

Preferably, the first detection unit 48 is configured to detect the third information about the vehicle speed V, and the second detection unit 50 is configured to detect the fourth information about the vehicle speed V, and the third information and the fourth information are related to each other. In this embodiment, the combination of the first detection unit 48 and the second detection unit 50 can be applied to the combination of Table 1 of the second embodiment, for example.

Preferably, the control unit 72 is configured to control the component 38 according to both the third information and the fourth information when the output of the first detection unit 48 is in the first state and the output of the second detection unit 50 is in the second state. Preferably, the control unit 72 controls the component 38 that has been previously established in correspondence with the third information and controls the component 38 that has been previously established in correspondence with the fourth information when the output of the first detection unit 48 is in the first state and the output of the second detection unit 50 is in the second state. For example, if one of the first detection unit 48 and the second detection unit 50 includes the vehicle speed sensor 54, and the other of the first detection unit 48 and the second detection unit 50 includes the crank rotation sensor 56, the control unit 72 controls the component 38 according to the vehicle speed V corresponding to the output of the vehicle speed sensor 54, and controls the component 38 according to the rotation speed N of the crank 12 corresponding to the output of the crank rotation sensor 56 when the output of the first detection unit 48 is in the first state and the output of the second detection unit 50 is in the second state. Preferably, when the output of the first detection unit 48 is in the first state and the output of the second detection unit 50 is in the second state, the control unit 72 does not use the value of the fourth information inferred from the third information, or the value of the third information inferred from the fourth information, to control the component 38.

In this embodiment, it is preferred that the component 38 includes an electric actuator 39. The preset state includes a state where the electric actuator 39 does not move. If the electric actuator 39 is a motor 40, it is preferred that the preset state includes a state where the motor 40 stops. If the electric actuator 39 is a motor 40, the preset state may also include a state where the auxiliary force M caused by the motor 40 is suppressed.

Referring to FIG8 , a process is described for controlling the component 38 according to the state of the output of the plurality of detection units 46. The control unit 72 starts the process and moves to step S81 of the flowchart shown in FIG8 if power is supplied to the control unit 72. The control unit 72 repeats the process from step S81 after a preset period until the supply of power stops if the flowchart of FIG8 ends.

The control unit 72 determines whether the output of the first detection unit 48 is in the first state in step S81. If the output of the first detection unit 48 is in the first state, the control unit 72 moves to step S82. The control unit 72 determines whether the output of the second detection unit 50 is in the second state in step S82. If the output of the second detection unit 50 is in the second state, the control unit 72 moves to step S83. In step S83, the control unit 72 controls the component 38 according to the output of the first detection unit 48 and the second detection unit 50, and ends the processing.

The control unit 72 moves to step S84 in step S81 if the output of the first detection unit 48 is not in the first state. The control unit 72 moves to step S84 in step S82 if the output of the second detection unit 50 is not in the second state. The control unit 72 may also interchange the processing contents of step S81 and step S82. The control unit 72 moves to step S84 in step S81 and step S82 if the output of the first detection unit 48 is not in the first state and if the output of the second detection unit 50 is not in the second state.

In step S84, the control unit 72 notifies the notification unit 42 of the preset notification information and moves to step S85. In step S85, the control unit 72 controls the component 38 in such a way that the component 38 becomes the preset state and ends the processing.

<Fifth Implementation Form>

The control device 70 of the fifth embodiment is described with reference to FIG. 2 and FIG. 9. The control device 70 of the fourth embodiment is the same as the control device 70 of the first embodiment except that the control unit 72 controls the component 38 to a preset state according to the third information and the fourth information. Therefore, the same symbols as the first embodiment are used for the common configuration with the first embodiment, and repeated description is omitted.

In this embodiment, the human-powered vehicle 10 has: a component 38 for the human-powered vehicle, and a plurality of detection units 46 configured to detect information about the vehicle speed V of the human-powered vehicle 10, and the information about the vehicle speed V is different from each other. The plurality of detection units 46 include a first detection unit 48 and a second detection unit 50.

The control device 70 includes a control unit 72. The control unit 72 controls the module 38 so that the module 38 becomes a preset state when at least one of the third information about the vehicle speed V of the human-powered vehicle 10 output by the first detection unit 48 and the fourth information about the vehicle speed V of the human-powered vehicle 10 output by the second detection unit 50 corresponds to the situation that the vehicle speed V of the human-powered vehicle 10 is higher than the preset speed VX. In the present embodiment, the combination of the first detection unit 48 and the second detection unit 50 can be applied to the combination of Table 1 of the second embodiment, for example. For example: if the first detection unit 48 is a vehicle speed sensor 54 and the second detection unit 50 is a crank rotation sensor 56, the third information is the vehicle speed V calculated according to the output of the vehicle speed sensor 54, and the fourth information is the vehicle speed V estimated according to the output of the crank rotation sensor 56.

Preferably, when one of the third information and the fourth information corresponds to a situation where the vehicle speed V of the human-powered vehicle 10 is higher than a preset speed VX, the control unit 72 controls the component 38 in a manner that the component 38 becomes a preset state. Regarding the control unit 72, when one of the third information and the fourth information corresponds to a situation where the vehicle speed V of the human-powered vehicle 10 is higher than a preset speed VX, the control unit 72 controls the component 38 in a manner that the component 38 becomes a preset state, so that, for example, even if the first detection unit 48 is not in the first state, or if the second detection unit 50 is not in the second state, it is possible to suppress the component 38 from becoming a preset state when the vehicle speed V is higher than the preset speed VX.

In this embodiment, it is preferred that the component 38 includes an electric actuator 39. The preset state includes a state where the electric actuator 39 does not move. If the electric actuator 39 is a motor 40, the preset state includes a state where the motor 40 stops. If the electric actuator 39 is a motor 40, the preset state includes a state where the auxiliary force M caused by the motor 40 is suppressed.

Preferably, when at least one of the third information and the fourth information corresponds to a situation where the vehicle speed V of the human-powered vehicle 10 is greater than a preset speed VX, the control unit 72 causes the notification unit 42 to notify the preset notification information. The preset notification information is configured to notify the user of a state where at least one of the third information and the fourth information corresponds to a situation where the vehicle speed V of the human-powered vehicle 10 is greater than a preset speed VX. If the notification unit 42 includes a display unit, for example, the preset notification information includes at least one of text and an image. If the notification unit 42 includes a speaker, for example, the preset notification information includes at least one of a sound and a warning sound. If the output of the first detection unit 48 is not the first state, the notification unit 42 may continue to notify or notify intermittently until it reaches the first state.

Referring to FIG. 9, the processing of the control unit 38 according to the state of the output of the multiple detection unit 46 is explained. Regarding the control unit 72, if the control unit 72 is supplied with power, the processing starts and moves to step S91 of the flowchart shown in FIG. 9. If the flowchart of FIG. 9 ends, the control unit 72 repeats the processing from step S91 after a preset cycle until the supply of power stops.

In step S91, the control unit 72 determines whether the third information corresponds to a situation where the vehicle speed V is greater than a preset speed VX. If the third information does not correspond to a situation where the vehicle speed V is greater than a preset speed VX, the control unit 72 moves to step S92. In step S92, the control unit 72 determines whether the fourth information corresponds to a situation where the vehicle speed V is greater than a preset speed VX. If the fourth information does not correspond to a situation where the vehicle speed V is greater than a preset speed VX, the control unit 72 ends the processing.

In step S91, if the vehicle speed V corresponding to the third information is higher than the preset speed VX, the control unit 72 moves to step S93. In step S92, if the vehicle speed V corresponding to the fourth information is higher than the preset speed VX, the control unit 72 moves to step S93. The control unit 72 can also interchange the processing contents of step S91 and step S92. The control unit 72 moves to step S93 if the vehicle speed V corresponding to the third information is higher than the preset speed VX and if the vehicle speed V corresponding to the fourth information is higher than the preset speed VX in step S91 and step S92.

In step S93, the control unit 72 causes the notification unit 42 to notify the preset notification information and moves to step S94. In step S94, the control unit 72 controls the component 38 in such a way that the component 38 becomes a preset state and ends the processing.

<Variation example>

The description of the implementation form is an example of the form that the control device for a human-powered vehicle according to the present disclosure can take, and is not intended to limit its form. The control device for a human-powered vehicle according to the present disclosure can take a form such as a variation of the implementation form shown below, and a form in which at least two variations that do not contradict each other are combined. In the following variations, for the parts that are in common with the form of the implementation form, the same symbols as the implementation form are marked and their descriptions are omitted.

‧In an embodiment including the first embodiment or a variation of the first embodiment, step S16 and steps S22 to S26 may be omitted from the flowcharts of FIG. 3 and FIG. 4. At this time, if the answer is yes in step S15, move to step S17.

‧In an embodiment including the first embodiment or a variation of the first embodiment, steps S16 to S21 may be omitted from the flowcharts of FIG. 3 and FIG. 4. At this time, if the answer is yes in step S15, the process moves to step S22. In this variation, the human-powered vehicle 10 includes a speed change state sensor 65 for detecting the speed change ratio R of the human-powered vehicle 10, and the control unit 72 estimates the vehicle speed V using the current speed change ratio R obtained according to the output of the speed change state sensor 65.

‧In an embodiment including the third embodiment or a variation of the third embodiment, the plurality of detection units 46 may include more than five detection units 46. At this time, if the first detection unit 48, the second detection unit 50, the third detection unit 66, and the fourth detection unit 68 cannot be used in the control state of the component 38, the component 38 is controlled according to the output of the detection unit 46 other than the first detection unit 48, the second detection unit 50, the third detection unit 66, and the fourth detection unit 68 among the plurality of detection units 46. If the output of the fourth detection unit 68 is the fourth state, the control unit 72 determines that the output of the fourth detection unit 68 input to the control unit 72 is normal. If the output of the fourth detection unit 68 is not the fourth state, the control unit 72 determines that the output of the fourth detection unit 68 input to the control unit 72 is not normal.

In the seventh example, if the output of the fourth detector 68 is not in the fourth state, the signal output by the fourth detector 68 includes the preset fourth signal. The preset fourth signal includes an abnormal signal output by the fourth detector 68. The abnormal signal occurs in at least one of the following situations, for example, when the fourth detector 68 fails, when the connection between the fourth detector 68 and the control unit 72 is abnormal, when the fourth detector 68 is not in the preset configuration, and when the connection between the fourth detector 68 and the control unit 72 is not in the preset configuration.

In the eighth example, if the output of the fourth detection unit 68 is not in the fourth state, no signal is outputted from the fourth detection unit 68. The fourth detection unit 68 not outputting a signal includes at least one of the following: when the human-powered vehicle 10 is not equipped with the fourth detection unit, when the fourth detection unit is not supplied with power, and when the fourth detection unit 68 is not connected to the control unit 72. If the control unit 72 is at least one of the seventh and eighth examples, it can also be determined that the output of the fourth detection unit 68 is not in the fourth state. If the output of the first detection unit 48 is not in the first state, the output of the second detection unit 50 is not in the second state, the third detection unit 66 is not in the third state, and the fourth detection unit 68 is not in the fourth state, the control unit 72 is configured to control the component 38 according to the output of the detection unit 46 other than the first detection unit 48, the second detection unit 50, the third detection unit 66, and the fourth detection unit 68.

‧In an embodiment including the third embodiment or a variation of the third embodiment, steps S47, S50, and S51 may be omitted from the flowchart of FIG. 7 to form a flowchart of FIG. 8. In FIG. 8, the control unit 72 moves to step S48 if the answer is no in step S44. In this variation, the fourth detection unit 68 may be omitted from the plurality of detection units 46.

‧In an embodiment including the second embodiment, the third embodiment, a variation of the second embodiment, or a variation of the third embodiment, if all of the plurality of detection units 46 are in a state where they cannot be used to control the component 38, the control unit 72 may stop the control of the component 38, or may control to stop the component 38. If all of the plurality of detection units 46 are in a state where they cannot be used to control the component 38, and if the component 38 includes the motor 40, the control unit 72 may stop the motor 40. The state where the first detection unit 48 cannot be used to control the component 38 corresponds to a situation where it is not the first state. The state where the second detection unit 50 cannot be used to control the component 38 corresponds to a situation where it is not the second state. The state where the third detection unit 66 cannot be used to control the component 38 corresponds to a situation where it is not the third state. The state in which the 4th detection unit 68 cannot be used in the control of the component 38 corresponds to the situation that it is not the 4th state. For example, change step S49 of Figure 8 to step S60 of Figure 11. In Figure 11, the control unit 72 moves to step S60 after executing the processing of step S48. The control unit 72 stops the motor 40 in step S60 and ends the processing. The control unit 72 stops the motor 40 in step S60 and ends the processing. If the motor 40 is being driven, the control unit 72 stops the motor 40 in step S60. If the motor 40 has already stopped, the control unit 72 keeps the motor 40 stopped in step S60.

‧In the embodiment including the first embodiment or the first variant, if the output of the vehicle speed sensor 54 is not in the first state and the output of the crank rotation sensor 56 is in the second state, the control unit 72 may also stop the control of the component 38, or may control to stop the component 38. For example, if it is yes in step S15, the control unit 72 may also determine whether the output of the crank rotation sensor 56 is in the second state. If the output of the crank rotation sensor 56 is in the second state, the control unit 72 may also move to step S16, step S17, or step S18.

‧In the embodiments including the second embodiment, the third embodiment, the variation of the second embodiment, or the variation of the third embodiment, the control unit 72 may be configured to estimate the second parameter P2 according to the first parameter P1 calculated according to the first information, and control the component 38 according to the estimated second parameter P2, when the output of the first detection unit 48 is the first state and the output of the second detection unit 50 is not the second state. For example, if the first detection unit 48 is the vehicle speed sensor 54 and the second detection unit 50 is the crank rotation sensor 56, when the output of the first detection unit 48 is the first state and the output of the second detection unit 50 is not the second state, the component 38 is controlled according to the rotation speed N of the crank 12 estimated from the vehicle speed V calculated according to the output of the vehicle speed sensor 54. The control unit 72 estimates the rotation speed N of the crank 12 by dividing the vehicle speed V by the gear ratio R and the circumference of the rear wheel 14A, for example.

‧In the embodiments including the first embodiment, the second embodiment, the third embodiment, the fourth embodiment, the fifth embodiment, the first embodiment, the second embodiment, the third embodiment, the fourth embodiment, or the fifth embodiment, the component 38 may include components other than the motor 40. For example, the component 38 is changed to the motor 40 or includes at least one of the alarm unit 42, the transmission 44, the electric brake device, the electric adjustable seatpost, the electric suspension, and the light. In this variant, if the fourth embodiment, the fifth embodiment, the variant of the fourth embodiment, or the variant of the fifth embodiment is included, the pre-set state may also be a state in which the frequency of driving the component 38 is suppressed. For example, if the component 38 includes the transmission 44, the pre-set state includes a state in which the frequency of changing the speed ratio R by the transmission 44 is suppressed.

‧In the embodiments including the second embodiment, the third embodiment, the variation of the second embodiment, or the variation of the third embodiment, at least one of the first detection unit 48 and the second detection unit 50 may be a sensor that does not detect information about the vehicle speed V. In this case, the first information detected by the first detection unit 48 and the second information detected by the second detection unit 50 are correlated with each other, so that the component 38 can be appropriately controlled. For example, the first detection unit 48 includes a tilt sensor that detects the pitch angle of the vehicle body 16 of the human-powered vehicle 10, and the second detection unit 50 includes a position information detection sensor 60. The control unit 72 is configured to estimate the pitch angle of the vehicle body 16 of the human-powered vehicle 10 using the road slope information included in the map information pre-stored in the memory unit 74 from the position information received from the GPS receiving unit. The control unit 72 is configured to control the module 38 according to at least one output of the first detection unit 48 and the second detection unit 50 when the output of the first detection unit 48 is in the first state and the output of the second detection unit 50 is in the second state. The control unit 72 is configured to control the module 38 according to the output of the second detection unit 50 and not depending on the output of the first detection unit 48 when the output of the first detection unit 48 is not in the first state and the output of the second detection unit 50 is in the second state. The control unit 72 is configured to control the component 38 according to the output of the first detection unit 48 and not depending on the output of the second detection unit 50 if the output of the first detection unit 48 is in the first state and the output of the second detection unit 50 is not in the second state.

‧In an embodiment including the third embodiment or a variation of the third embodiment, the control unit 72 may be configured to perform different processing when information about the speed shift stage is obtained and when information about the speed shift stage is not obtained. For example, if the control unit 72 determines no in step S42 of FIG. 7 , the control unit 72 moves to step S61 of FIG. 13 . In step S61, the control unit 72 determines whether information about the speed shift stage is obtained. If the control unit 72 obtains information about the speed shift stage, the control unit 72 moves to step S44. After step S44, the control unit 72 performs the same processing as FIG. 7 . If the control unit 72 does not obtain information about the speed shift stage, the control unit 72 moves to step S62 of FIG. 13 . In step S62, the control unit 72 determines whether the output of the third detection unit 66 is the third state. If the output of the third detection unit 66 is in the third state, the control unit 72 moves to step S63. In step S63, the control unit 72 causes the notification unit 42 to notify the preset first notification information, and moves to step S64. In step S64, the control unit 72 controls the component 38 according to the output of the third detection unit 66. In step S62, if the output of the third detection unit 66 is not in the third state, the control unit 72 moves to step S65. In step S65, the control unit 72 determines whether the state of the output of the second detection unit 50 is in the second state. If the state of the output of the second detection unit 50 is in the second state, the control unit 72 moves to step S66. In step S66, the control unit 72 causes the notification unit 42 to notify the third notification information set in advance, and moves to step S67. In step S67, the control unit 72 controls the component 38 according to the output of the second detection unit 50, and ends the processing. In step S65, if the output of the second detection unit 50 is not the second state, the control unit 72 moves to step S68. In step S68, the control unit 72 causes the notification unit 42 to notify the second information set in advance, and moves to step S69. In step S69, the control unit 72 controls the component 38 according to the output of the fourth detection unit 68, and ends the processing. In this modification, for example, if the information about the speed change stage can be obtained, the detection unit 46 that is more suitable for estimating the first parameter P1 and the detection unit 46 that is more suitable for estimating the first parameter P1 if the information about the speed change stage cannot be obtained are different. In each case where the information about the speed change stage can be obtained and cannot be obtained, the detection unit 46 that is more suitable for estimating the first parameter P1 can be preferentially used to control the component 38.

‧The control unit 72 may also be configured to control the assembly 38 according to the output of the first detection unit 48 when the human power H input to the crank 12 is greater than the preset drive force HX and the output of the first detection unit 48 is in the first state. The control unit 72 may also be configured to control the assembly 38 according to the output of the preset detection unit different from the first detection unit 48 among the plurality of detection units 46 when the human power H input to the crank 12 is greater than the preset drive force HX and the output of the first detection unit 48 is not in the first state. For example, the process of step S71 of FIG. 14 is added to the process of FIG. 5. In the flowchart of FIG. 14, the control unit 72 starts the process and moves to step S71 when power is supplied to the control unit 72. If the flowchart of FIG. 14 ends, the control unit 72 repeats the processing after step S71 after a preset period until the supply of electricity stops. In step S71, the control unit 72 determines whether the human driving force H input to the crank 12 is greater than the preset driving force HX. If the human driving force H input to the crank 12 is greater than the preset driving force HX, the control unit 72 moves to step S32. If the human driving force H input to the crank 12 is not greater than the preset driving force HX, the processing ends.

‧In an embodiment including the fourth embodiment or a variation of the fourth embodiment, the control unit 72 may be configured to control at least one component 38 according to the third information and the fourth information when the output of the first detection unit 48 is in the first state and the output of the second detection unit 50 is in the second state. For example, regarding the control unit 72, for example, the control unit 72 executes the processing of the flowchart of FIG. 15 instead of the processing of the flowchart of FIG. 8. The flowchart of FIG. 15 is the flowchart of FIG. 8, and the processing of step S83 has been changed to the processing of step S86. In step S82, if the output of the second detection unit 50 is in the second state, the control unit 72 moves to step S86. In step S86, the control unit 72 controls the component 38 according to the output of the first detection unit 48 and ends the processing. In such a variation, the second detection unit 50 may not be used for controlling the component 38.

‧In an embodiment including the fifth embodiment or a variation of the fifth embodiment, when both the third information and the fourth information correspond to a situation where the vehicle speed V of the human-driven vehicle 10 is greater than a preset speed VX, the control unit 72 controls the component 38 in such a way that the component 38 becomes a preset state. For example, the control unit 72 executes the processing of the flowchart of Figure 16 instead of the processing of the flowchart of Figure 9. The processing of controlling the component 38 according to the state of the output of the plurality of detection units 46 is explained with reference to Figure 16. The control unit 72, if power is supplied to the control unit 72, starts processing and moves to step S95 of the flowchart shown in Figure 16. When the flowchart of Figure 16 ends, the control unit 72 repeats the processing from step S95 after a preset period until the supply of power stops. In step S95, the control unit 72 determines whether the third information corresponds to a situation where the vehicle speed V is higher than a preset speed VX. If the third information does not correspond to a situation where the vehicle speed V is higher than a preset speed VX, the control unit 72 terminates the processing. If the third information corresponds to a situation where the vehicle speed V is higher than a preset speed VX, the control unit 72 moves to step S96. In step S96, the control unit 72 determines whether the fourth information corresponds to a situation where the vehicle speed V is higher than a preset speed VX. If the fourth information does not correspond to a situation where the vehicle speed V is higher than a preset speed VX, the control unit 72 terminates the processing. If the fourth information corresponds to a situation where the vehicle speed V is higher than a preset speed VX, the control unit 72 moves to step S97. In step S97, the control unit 72 causes the notification unit 42 to report the preset notification information and moves to step S98. In step S98, the control unit 72 controls the component 38 so that the component 38 becomes a preset state, and the processing ends.

‧An embodiment including the fourth embodiment or a variation of the fourth embodiment may be combined with an embodiment including the fifth embodiment or a variation of the fifth embodiment. For example, the control unit 72 may independently execute the processing of the flowchart of FIG. 8 or FIG. 15 and the processing of the flowchart of FIG. 9 or FIG. 16. For example, if the control unit 72 controls the component 38 in the processing of the flowchart of FIG. 8 or FIG. 15 so that the component 38 becomes a preset state, the control unit 72 controls the component 38 in the processing of the flowchart of FIG. 9 or FIG. 16 so that the component 38 becomes a preset state. For example, if the control unit 72 controls the component 38 in a manner such that the component 38 becomes a preset state in the processing of the flowchart of FIG. 9 or FIG. 16, the component 38 is controlled in a manner such that the component 38 becomes a preset state regardless of the processing of the flowchart of FIG. 8 or FIG. 15.

‧In the embodiments including the fourth embodiment, the fifth embodiment, the modification of the first embodiment, the modification of the second embodiment, the modification of the third embodiment, the modification of the fourth embodiment, or the modification of the fifth embodiment, the notification unit 42 may be omitted. In the modification, for example, step S18 of FIG. 4, step S23 of FIG. 4, step S34 of FIG. 5, step S45 of FIG. 7, step S48 of FIG. 7, step S50 of FIG. 7, step S84 of FIG. 8, step S93 of FIG. 9, step S45 of FIG. 10, step S48 of FIG. 10, step S50 of FIG. 11 may be omitted. Step S45, step S48 of Figure 11, step S45 of Figure 12, step S48 of Figure 12, step S50 of Figure 12, step S63 of Figure 13, step S66 of Figure 13, and step S68 of Figure 13, step S34 of Figure 14, step S84 of Figure 15, and step S97 of Figure 16.

The expression "at least 1" used in this specification means "more than 1" of the desired options. For example, the expression "at least 1" used in this specification means "only 1 option" or "both of the 2 options" when the number of options is 2. For another example, the expression "at least 1" used in this specification means "only 1 option" or "any combination of 2 or more options" when the number of options is 3 or more.

10: Human-powered vehicle

36:Battery

38: Components

39: Electric actuator

40: Motor

42: Reporting Department

46: Inspection Department

48: Detection Unit 1

50: Second detection unit

64: Torque sensor

65: Speed Shift Status Sensor

66: 3rd Detection Department

68: 4th Detection Department

70: Control device

72: Control Department

74: Memory

Claims (27)

A control device for a human-powered vehicle, the human-powered vehicle comprising: a component for the human-powered vehicle; and a plurality of detection units configured to detect information about the vehicle speed of the human-powered vehicle, wherein the information about the vehicle speed is different from each other, the plurality of detection units at least including a first detection unit, the control device comprising a control unit, the control unit being configured to: control the component according to the output of the first detection unit when the output of the first detection unit is in a first state, and to control the component according to the output of the first detection unit when the output of the first detection unit is not in the first state , controlling the aforementioned component according to the output of a preset detection unit among the aforementioned multiple detection units that is different from the aforementioned first detection unit; the aforementioned multiple detection units are connected to the aforementioned control unit through a wireless communication device or a cable, the aforementioned multiple detection units further include a second detection unit, the aforementioned preset detection unit includes the aforementioned second detection unit, and the aforementioned control unit is configured to control the aforementioned component according to the output of the aforementioned second detection unit if the output of the aforementioned first detection unit is not the aforementioned first state and the output of the aforementioned second detection unit is the second state. The control device as described in claim 1, wherein the human-powered vehicle includes a crank to which human-powered driving force is input, and the control unit is configured to control the component according to the output of the first detection unit if the human-powered driving force input to the crank is greater than the preset driving force and the output of the first detection unit is in the first state, and is configured to control the component according to the output of a preset detection unit different from the first detection unit among the plurality of detection units if the human-powered driving force input to the crank is greater than the preset driving force and the output of the first detection unit is not in the first state. A control device as described in claim 1 or 2, wherein the plurality of detection units further include a third detection unit, the pre-set detection unit includes the third detection unit, and the control unit is configured to control the component according to the output of the third detection unit if the output of the first detection unit is not the first state and the output of the second detection unit is not the second state. A control device as described in claim 1 or 2, wherein the plurality of detection units further include a third detection unit and a fourth detection unit, the pre-set detection unit includes the third detection unit and the fourth detection unit, the control unit is configured to control the component according to the output of the third detection unit if the output of the first detection unit is not the first state, the output of the second detection unit is not the second state, and the third detection unit is in the third state, and the control unit is configured to control the component according to the output of the fourth detection unit if the output of the first detection unit is not the first state, the output of the second detection unit is not the second state, and the third detection unit is not in the third state. A control device as described in claim 1 or 2, wherein the control unit is configured to: control the component according to the output of at least one of the first detection unit and the second detection unit when the output of the first detection unit is the first state and the output of the second detection unit is the second state, control the component according to the output of the second detection unit and independently of the output of the first detection unit when the output of the first detection unit is not the first state and the output of the second detection unit is the second state, and control the component according to the output of the first detection unit and independently of the output of the second detection unit when the output of the first detection unit is the first state and the output of the second detection unit is not the second state. A control device for a human-powered vehicle, wherein the human-powered vehicle comprises: a component for the human-powered vehicle, and a plurality of detection units, wherein the plurality of detection units comprises: a first detection unit configured to detect first information about the human-powered vehicle, and a second detection unit configured to detect second information about the human-powered vehicle, wherein the first information and the second information are related to each other, and the control device comprises a control unit configured to: if the output of the first detection unit is in a first state and the output of the second detection unit is in a second state, perform a control operation according to at least one of the first detection unit and the second detection unit; output, controlling the aforementioned component, If the output of the aforementioned first detection unit is not the aforementioned first state, and the output of the aforementioned second detection unit is the aforementioned second state, the aforementioned component is controlled according to the output of the aforementioned second detection unit, and is not dependent on the output of the aforementioned first detection unit, and is configured such that if the output of the aforementioned first detection unit is the aforementioned first state, and the output of the aforementioned second detection unit is not the aforementioned second state, the aforementioned component is controlled according to the output of the aforementioned first detection unit, and is not dependent on the output of the aforementioned second detection unit, and the aforementioned plurality of detection units are connected to the aforementioned control unit via a wireless communication device or a cable. A control device as described in claim 6, wherein the control unit is configured to control the component according to at least one of a first parameter related to the first information and a second parameter related to the second information. The control device as described in claim 7, wherein the control unit is configured to estimate the first parameter according to the second parameter calculated based on the second information if the output of the first detection unit is not the first state and the output of the second detection unit is the second state, and control the component according to the estimated first parameter. A control device as described in claim 7 or 8, wherein the control unit is configured to estimate the second parameter according to the first parameter calculated based on the first information, and control the component according to the estimated second parameter, if the output of the first detection unit is the first state and the output of the second detection unit is not the second state. A control device for a human-powered vehicle, the human-powered vehicle comprising: a component for the human-powered vehicle; and a plurality of detection units configured to detect information about the vehicle speed of the human-powered vehicle, wherein the information about the vehicle speed is different from each other, the plurality of detection units comprising a first detection unit and a second detection unit, the control device comprising a control unit, the control unit being: if the output of the first detection unit is a first state and the output of the second detection unit is a second state, the control unit is configured to detect information about the vehicle speed of the human-powered vehicle according to the output of the first detection unit and the second detection unit. The output of at least one of the detection units is used to control the aforementioned component. If the output of the aforementioned first detection unit is not the aforementioned first state, the aforementioned component is controlled in a manner that the aforementioned component becomes a preset state without depending on the output of the aforementioned second detection unit. If the output of the aforementioned second detection unit is not the aforementioned second state, the aforementioned component is controlled in a manner that the aforementioned component becomes the aforementioned preset state without depending on the output of the aforementioned first detection unit. The aforementioned plurality of detection units are connected to the aforementioned control unit via a wireless communication device or a cable. A control device as described in claim 10, wherein the first detection unit is configured to detect the third information about the vehicle speed, the second detection unit is configured to detect the fourth information about the vehicle speed, and the third information and the fourth information are related to each other. The control device as described in claim 11, wherein the control unit is configured to control the component according to at least one of the third information and the fourth information when the output of the first detection unit is the first state and the output of the second detection unit is the second state. A control device as described in claim 11 or 12, wherein the control unit is configured to control the component according to both the third information and the fourth information when the output of the first detection unit is the first state and the output of the second detection unit is the second state. A control device for a human-powered vehicle, The human-powered vehicle comprises: a component for the human-powered vehicle; and a plurality of detection units configured to detect information about the vehicle speed of the human-powered vehicle, and the information about the vehicle speed is different from each other, the plurality of detection units comprising a first detection unit and a second detection unit, the control device comprising a control unit, the control unit being: when at least one of the third information about the vehicle speed of the human-powered vehicle output by the first detection unit and the fourth information about the vehicle speed of the human-powered vehicle output by the second detection unit corresponds to a situation where the vehicle speed of the human-powered vehicle is above a preset speed, the component is controlled in such a manner that the component becomes a preset state, the plurality of detection units being connected to the control unit via a wireless communication device or a cable. The control device as described in claim 14, wherein when one of the third information and the fourth information corresponds to a situation where the speed of the human-driven vehicle is above a preset speed, the control unit controls the component in such a way that the component becomes the preset state. The control device as described in claim 15, wherein when both the third information and the fourth information correspond to the situation that the speed of the human-driven vehicle is above a preset speed, the control unit controls the component in such a way that the component becomes the preset state. A control device as described in any one of claims 10 to 12 and claims 14 to 16, wherein the aforementioned component includes an electric actuator, and the aforementioned pre-set state includes a state in which the aforementioned electric actuator does not perform an action. A control device as described in any one of claim items 1, 2, claim items 6 to 8, and claim items 10 to 12, wherein, if the output of the aforementioned second detection unit is not the aforementioned second state, the signal output by the aforementioned second detection unit includes a preset second signal. A control device as described in any one of claims 1, 2, claims 6 to 8, claims 10 to 12, and claims 14 to 16, wherein the plurality of detection units include at least one of the following sensors: a vehicle speed sensor configured to detect information corresponding to the rotational speed of the wheel of the human-powered vehicle, a crank rotation sensor configured to detect information corresponding to the rotational speed of the crank of the human-powered vehicle, an acceleration sensor configured to detect information corresponding to the acceleration of the human-powered vehicle, a position information detection sensor configured to detect information corresponding to the position of the human-powered vehicle, and a motor rotation sensor configured to detect information corresponding to the rotational speed of a motor that provides propulsion to the human-powered vehicle. The control device as described in claim 3, wherein the plurality of detection units include at least one of the following sensors: a vehicle speed sensor configured to detect information corresponding to the rotation speed of the wheel of the human-powered vehicle, a crank rotation sensor configured to detect information corresponding to the rotation speed of the crank of the human-powered vehicle, an acceleration sensor configured to detect information corresponding to the acceleration of the human-powered vehicle, a position information detection sensor configured to detect information corresponding to the position of the human-powered vehicle, and a motor rotation sensor configured to detect information corresponding to the rotation speed of the motor that provides the propulsion force to the human-powered vehicle, and the first detection unit includes the vehicle speed sensor. A control device as described in claim 20, wherein the second detection unit includes one of the crank rotation sensor and the acceleration sensor. A control device as described in claim 21, wherein the third detection unit includes the crank rotation sensor and the other of the acceleration sensors. A control device as described in any one of claim items 1, 2, claim items 6 to 8, and claim items 10 to 12, wherein, if the output of the aforementioned first detection unit is not the aforementioned first state, the signal output by the aforementioned first detection unit includes a preset first signal. The control device as described in claim 23, wherein the first signal includes a signal occurring in at least one of the following situations: when the first detection unit fails, when there is an abnormality in the connection between the first detection unit and the control unit, when the first detection unit is not configured as preset, and when the connection between the first detection unit and the control unit is not configured as preset. A control device as described in any one of claim items 1, 2, claim items 6 to 8, and claim items 10 to 12, wherein if the output of the aforementioned first detection unit is not the aforementioned first state, no signal is output by the aforementioned first detection unit. A control device as described in any one of claim items 1, 2, claim items 6 to 8, and claim items 10 to 12, wherein the control unit causes the notification unit to notify the preset notification information if the output of the first detection unit is not the first state. A control device as described in any one of claims 1, 2, 6 to 8, 10 to 12, and 14 to 16, wherein the aforementioned component includes a motor that imparts propulsion to the aforementioned human-driven vehicle.