WO2019187854A1 - Control device and vehicle - Google Patents

Control device and vehicle Download PDF

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Publication number
WO2019187854A1
WO2019187854A1 PCT/JP2019/006820 JP2019006820W WO2019187854A1 WO 2019187854 A1 WO2019187854 A1 WO 2019187854A1 JP 2019006820 W JP2019006820 W JP 2019006820W WO 2019187854 A1 WO2019187854 A1 WO 2019187854A1
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WO
WIPO (PCT)
Prior art keywords
electric bicycle
driving force
control device
sensor
vehicle
Prior art date
Application number
PCT/JP2019/006820
Other languages
French (fr)
Japanese (ja)
Inventor
一輝 橋本
仁 吉澤
嵩 内田
Original Assignee
パナソニックＩｐマネジメント株式会社
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
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Application filed by パナソニックＩｐマネジメント株式会社 filed Critical パナソニックＩｐマネジメント株式会社
Priority to JP2020510449A priority Critical patent/JPWO2019187854A1/en
Publication of WO2019187854A1 publication Critical patent/WO2019187854A1/en

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    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60L—PROPULSION OF ELECTRICALLY-PROPELLED VEHICLES; SUPPLYING ELECTRIC POWER FOR AUXILIARY EQUIPMENT OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRODYNAMIC BRAKE SYSTEMS FOR VEHICLES IN GENERAL; MAGNETIC SUSPENSION OR LEVITATION FOR VEHICLES; MONITORING OPERATING VARIABLES OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRIC SAFETY DEVICES FOR ELECTRICALLY-PROPELLED VEHICLES
    • B60L15/00—Methods, circuits, or devices for controlling the traction-motor speed of electrically-propelled vehicles
    • B60L15/20—Methods, circuits, or devices for controlling the traction-motor speed of electrically-propelled vehicles for control of the vehicle or its driving motor to achieve a desired performance, e.g. speed, torque, programmed variation of speed
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
    • B62M—RIDER PROPULSION OF WHEELED VEHICLES OR SLEDGES; POWERED PROPULSION OF SLEDGES OR SINGLE-TRACK CYCLES; TRANSMISSIONS SPECIALLY ADAPTED FOR SUCH VEHICLES
    • B62M6/00—Rider propulsion of wheeled vehicles with additional source of power, e.g. combustion engine or electric motor
    • B62M6/40—Rider propelled cycles with auxiliary electric motor
    • B62M6/45—Control or actuating devices therefor
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
    • B62M—RIDER PROPULSION OF WHEELED VEHICLES OR SLEDGES; POWERED PROPULSION OF SLEDGES OR SINGLE-TRACK CYCLES; TRANSMISSIONS SPECIALLY ADAPTED FOR SUCH VEHICLES
    • B62M6/00—Rider propulsion of wheeled vehicles with additional source of power, e.g. combustion engine or electric motor
    • B62M6/40—Rider propelled cycles with auxiliary electric motor
    • B62M6/45—Control or actuating devices therefor
    • B62M6/50—Control or actuating devices therefor characterised by detectors or sensors, or arrangement thereof
    • Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
    • Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
    • Y02T—CLIMATE CHANGE MITIGATION TECHNOLOGIES RELATED TO TRANSPORTATION
    • Y02T10/00—Road transport of goods or passengers
    • Y02T10/60—Other road transportation technologies with climate change mitigation effect
    • Y02T10/72—Electric energy management in electromobility

Definitions

  • the present disclosure relates to a control device and a vehicle equipped with the control device.
  • a power-assisted bicycle including a control device that controls an auxiliary driving force of an electric motor is disclosed (for example, see Patent Document 1).
  • an object of the present disclosure is to provide a control device and a vehicle that can appropriately control the driving force of an electric motor in accordance with an object existing around the vehicle.
  • a control device that controls a driving force of an electric motor mounted on a vehicle, and detects a target existing around the vehicle. And a drive control unit that weakens the driving force of the electric motor when a value related to the object detected by the detection device is equal to or less than a threshold value.
  • a vehicle includes a control device.
  • control device and the vehicle according to the present disclosure it is possible to appropriately control the driving force of the electric motor according to the object existing around the vehicle.
  • FIG. 1 is a side view of an electric bicycle according to an embodiment.
  • FIG. 2 is a block diagram illustrating a configuration of the electric bicycle according to the embodiment.
  • FIG. 3 is a diagram showing the relationship between the running speed of the electric bicycle and the threshold value.
  • FIG. 4 is a flowchart showing an operation of weakening the auxiliary driving force of the electric motor while the electric bicycle according to the embodiment is running.
  • FIG. 5 is a block diagram illustrating a configuration of an electric bicycle according to a modification.
  • FIG. 1 is a side view showing an electric bicycle 1 according to the first embodiment.
  • front is the traveling direction of the electric bicycle 1 and “rear” is the opposite direction.
  • handle 14 side is “front” with respect to the saddle 15 of the electric bicycle 1.
  • the “left / right direction” is a direction orthogonal to the front / rear direction.
  • a normal auxiliary driving force is applied to the user's pedaling force when there are no objects around, and a normal assistance is provided when there are objects around the object.
  • An auxiliary driving force that is weaker than the driving force is applied.
  • electric bicycle 1 is explained as an example of a vehicle in the present embodiment, the vehicle is not limited to an electric bicycle and may be a vehicle such as an automobile or a train.
  • the auxiliary driving force is an example of the driving force and is also called assist force.
  • the object is, for example, an obstacle such as a person or a facility installed on the road.
  • the electric bicycle 1 has an assist mode and a push-walk mode.
  • the assist mode assists the forward movement of the vehicle body 10 based on the pedaling force of the user on the pedal 17.
  • the push-walk mode when the user pushes the electric bicycle 1 and walks, the forward movement of the vehicle body 10 is assisted based on the force of the user pushing the vehicle body 10 forward.
  • the assist mode and the push-walk mode are executed exclusively.
  • the electric bicycle 1 includes a vehicle body 10, an electric motor 21, a control device 30 attached to the vehicle body 10, and a battery 50.
  • the vehicle body 10 includes a frame 11, a front wheel 12, a rear wheel 13, a handle 14, a saddle 15, a crank 16, a pedal 17, and a chain 19.
  • the frame 11 includes a head pipe 111, a main frame 112, a standing pipe 113, a fork 114, and a chain stay 115.
  • the head pipe 111 supports the fork 114 and the handle 14 that support the front wheel 12 so as to be rotatable about the axis of the head pipe 111. By turning the handle 14 left and right, the direction of the front wheel 12 supported by the fork 114 can be rotated left and right.
  • the main frame 112 is a part connecting the head pipe 111 and the standing pipe 113.
  • a crank 16 and a control device 30 are attached to the lower end portion of the main frame 112.
  • the electric bicycle 1 according to the present embodiment is a so-called center unit type electric bicycle 1 in which a crank 16 and a control device 30 are integrated.
  • the standing pipe 113 supports the saddle 15 in a detachable manner.
  • the battery 50 is detachably attached to the standing pipe 113.
  • the fork 114 rotatably supports the front wheel 12.
  • the chain stay 115 rotatably supports the rear wheel 13.
  • the handle 14 is provided with a pair of grips 141 and a brake lever 142 on the left and right.
  • the pair of brake levers 142 are operating levers of a brake device (not shown) attached to each of the front wheel 12 and the rear wheel 13.
  • a brake device (not shown) attached to each of the front wheel 12 and the rear wheel 13.
  • the brake device attached to the front wheel 12 is driven, and a mechanical braking force is applied to the front wheel 12.
  • the brake device attached to the rear wheel 13 is driven, and a mechanical braking force is applied to the rear wheel 13.
  • the brake lever 142 may be provided with a brake sensor.
  • the brake sensor detects an operation on the brake lever 142.
  • the saddle 15 is a portion where the user sits when the user gets in an appropriate posture.
  • the crank 16 has a crankshaft 161 and a pair of crank arms 162.
  • One crank arm 162 is provided on each side of the main frame 112, and is fixed to both ends of a crankshaft 161 extending in the left-right direction.
  • One end of the crank arm 162 is fixed to the crankshaft 161, and the pedal 17 is rotatably fixed to the other end.
  • the crank arm 162 rotates about the crankshaft 161, and a human driving force due to the rotation is transmitted to the rear wheel 13 via the driving sprocket and the chain 19.
  • Human power driving force is synonymous with pedaling force.
  • the electric motor 21 is housed and unitized together with the control device 30 in the housing of the resin or metal motor drive unit 20.
  • the electric motor 21 is driven by receiving electric power from the battery 50 based on control by the control device 30.
  • the rotational torque of the electric motor 21 is transmitted to the drive sprocket, and the drive sprocket rotates.
  • the rotational torque means auxiliary driving force.
  • the electric motor 21 can perform a regenerative operation of generating regenerative electric power to charge the battery 50 when not driven without outputting a motor output, and can operate as a regenerative brake.
  • the electric motor 21 in the present embodiment is a motor serving as an auxiliary driving force.
  • the electric motor 21 adds an auxiliary driving force to the human driving force based on the depression force applied to the pedal 17 during execution of the first mode. Further, the electric motor 21 adds an auxiliary driving force different from the auxiliary driving force in the assist mode to the force of pushing and walking on the electric bicycle 1 during the push-walking mode.
  • FIG. 2 is a block diagram showing a configuration of the electric bicycle 1 according to the first embodiment.
  • the control device 30 is a device that controls the auxiliary driving force of the electric motor 21 mounted on the electric bicycle 1.
  • the control device 30 controls the output of the electric motor 21 for applying an appropriate auxiliary driving force.
  • the output of the electric motor 21 becomes an auxiliary driving force.
  • the control device 30 is housed inside the housing of the motor drive unit 20, but is not limited thereto.
  • the control device 30 may be provided separately from the motor drive unit 20.
  • the electric motor 21 and the battery 50 are connected to the control device 30.
  • the control device 30 receives an operation signal or the like for each switch that accepts an operation such as turning on / off the electric bicycle.
  • the control device 30 supplies power supplied from the battery 50 to the electric motor 21 and the headlamp.
  • the control device 30 is implemented by, for example, a microcomputer (microcontroller) or the like, and executes a nonvolatile memory in which a program is stored, a volatile memory that is a temporary storage area for executing the program, an input / output port, and a program It is composed of a processor and so on.
  • the control device 30 may be realized by a dedicated electronic circuit.
  • the control device 30 includes a distance sensor 31, a speed sensor 32 or an acceleration sensor, a processing unit 33, and a drive control unit 34.
  • the distance sensor 31 is a sensor that detects a distance from the electric bicycle 1, that is, a distance from the distance sensor 31 to the target in an object around the electric bicycle 1.
  • the distance sensor 31 outputs distance information indicating the distance from the distance sensor 31 to the object to the processing unit 33.
  • the distance sensor 31 includes a light receiving element and a light projecting element.
  • the distance sensor 31 may calculate the distance from the distance sensor 31 to the object by using a light receiving element and a light projecting element by a triangulation method, a time of flight (TOF) method, or the like.
  • the distance sensor 31 is not limited to such an optical type, and may be an ultrasonic type.
  • the distance sensor 31 includes a transmitter and a receiver. The transmitter detects the presence / absence of the target and the distance from the distance sensor 31 to the target by transmitting the ultrasonic wave toward the target and receiving the reflected wave of the target by the receiver.
  • the distance sensor 31 may be a camera, for example.
  • the distance sensor 31 may detect an object existing on the traveling direction side of the electric bicycle 1.
  • the traveling direction side includes not only the traveling direction in which the electric bicycle 1 travels directly but also the vicinity region on the side surface side of the electric bicycle 1. For example, an object within a range of several meters or several tens of centimeters from the electric bicycle 1 may be detected. That is, the distance sensor 31 detects an object existing on the traveling direction side of the electric bicycle 1, but for example, even if the periphery of the electric bicycle 1 is excluded except for a portion on the opposite side to the traveling direction of the electric bicycle 1. Good.
  • the speed sensor 32 is a sensor that detects the traveling speed of the electric bicycle 1.
  • the speed sensor 32 detects the traveling speed of the electric bicycle 1 from the number of rotations of the front wheels 12 or the rear wheels 13, for example.
  • the speed sensor 32 outputs speed information indicating the detected traveling speed to the processing unit 33.
  • the speed sensor 32 is not limited to this, and may be a torque sensor that detects a manpower driving force generated by the rotation of the crankshaft 161 based on the manpower driving force applied to the pedal 17.
  • the traveling speed of the electric bicycle 1 may be calculated based on the rotation speed of the crank 16 detected by a crank rotation sensor that detects the rotation speed of the crankshaft 161 and the size of the rear wheel 13.
  • the speed sensor 32 is disposed in the vicinity of the crankshaft 161.
  • the description will be made mainly using the traveling speed detected by the speed sensor 32, but an acceleration sensor may be used instead of the speed sensor 32. For this reason, even if not specified, it may be read as an acceleration sensor instead of the speed sensor 32, or may be read as acceleration instead of the running speed.
  • the crank rotation sensor can detect the number of rotations of the crank 16 per unit time.
  • the crank rotation sensor can be realized by including a gear-shaped rotating body, and a photodetector having a light emitting portion and a light receiving portion arranged so as to sandwich the teeth of the rotating body.
  • the torque sensor when a pedal force is applied to the pedal 17 and a human driving force is generated, the torque sensor generates distortion in the magnetostriction generation unit. In the magnetostriction generating portion, a portion where the magnetic permeability increases and a portion where the magnetic permeability decreases occur.
  • the torque sensor detects the manpower driving force by detecting the inductance difference between the coils.
  • the processing unit 33 determines whether the distance from the vehicle to the object is equal to or less than a threshold based on the distance information indicating the distance detected by the distance sensor 31. That is, the processing unit 33 determines whether or not the distance from the distance sensor 31 included in the distance information to the target is equal to or less than a threshold value.
  • the processing unit 33 determines that the distance is equal to or less than the threshold based on the distance between the object closest to the electric bicycle 1 and the distance sensor 31. Judge whether there is.
  • the distance detected by the distance sensor 31 is an example of a value related to the object.
  • the distance from the distance sensor 31 to the object When the distance from the distance sensor 31 to the object is equal to or less than the threshold value, it means that the distance from the electric bicycle 1 to the object is short. Therefore, when the electric bicycle 1 is running, The risk of collision with the object is considered high. On the other hand, when the distance from the distance sensor 31 to the object is larger than the threshold value, it means that the distance from the electric bicycle 1 to the object is far, so even when the electric bicycle 1 is running, It is considered that the risk of collision between the electric bicycle 1 and the object is low.
  • the processing unit 33 when the distance from the distance sensor 31 to the object is equal to or less than the threshold value, the processing unit 33 outputs a control command to the drive control unit 34 so as to control the auxiliary driving force of the electric motor 21. Specifically, the processing unit 33, when the target object is present within the threshold value indicating the distance from the distance sensor 31, than when the target object is not present within the threshold value indicating the distance from the distance sensor 31. A control command that weakens the auxiliary driving force of the electric motor 21 is output to the drive control unit 34.
  • the processing unit 33 calculates a threshold value based on the traveling speed detected by the speed sensor 32 or the acceleration detected by the acceleration sensor.
  • the threshold value changes according to the traveling speed of the electric bicycle 1. Specifically, the threshold value increases as the traveling speed of the electric bicycle 1 increases. This is because the higher the traveling speed of the electric bicycle 1, the higher the risk that the electric bicycle 1 will collide with the object even if the object is located at a distance from the electric bicycle 1.
  • the threshold is illustrated using FIG.
  • FIG. 3 is a diagram showing the relationship between the running speed of the electric bicycle 1 and the threshold value.
  • FIG. 3 illustrates the linear function D1 and the curved functions D2 and D3, these are merely examples, and the present invention is not limited thereto.
  • the threshold value increases as the traveling speed increases.
  • the processing unit 33 calculates the threshold value as the first threshold t1, and the traveling speed of the electric bicycle 1 is If the second speed s2 is faster than the first speed s1, the second threshold value t2 is calculated to be larger than the first threshold value t1.
  • the processing unit 33 calculates a threshold value corresponding to the traveling speed using the non-decreasing function of FIG.
  • the function of FIG. 3 may be a non-decreasing function that increases stepwise.
  • the processing unit 33 may determine the magnitude of the auxiliary driving force generated by the electric motor 21 based on the depression force applied to the pedal 17 and the traveling speed of the electric bicycle 1.
  • the pedaling force on the pedal 17 is obtained from a detection result by a pedaling force sensor or the like.
  • the auxiliary driving force in the assist mode varies depending on the traveling speed, but is, for example, twice or less the pedaling force applied to the pedal 17.
  • the processing unit 33 drives the electric motor 21 to generate an auxiliary driving force that is not more than twice the pedaling force applied to the pedal 17.
  • the processing unit 33 does not cause the electric motor 21 to generate an auxiliary driving force when the speed is 24 km / h or more.
  • the processing unit 33 drives the electric motor 21 to generate an auxiliary driving force determined according to the speed.
  • the drive control unit 34 controls the auxiliary driving force that the electric motor 21 imparts to the pedaling force on the pedal 17.
  • the drive control unit 34 weakens the auxiliary driving force of the electric motor 21 when the distance from the object detected by the distance sensor 31 to the electric bicycle 1 is equal to or less than the threshold value.
  • the drive control unit 34 is configured to operate the electric motor when the distance from the object to the electric bicycle 1 is less than the threshold than the auxiliary driving force of the electric motor 21 when the distance from the object to the electric bicycle 1 is larger than the threshold.
  • the auxiliary driving force of the motor 21 is reduced.
  • the drive control unit 34 may control the braking force so that the regenerative brake works on the electric motor 21 when the auxiliary driving force of the electric motor 21 is weakened, for example. Specifically, the drive control unit 34 performs output control of the electric motor 21 based on the measurement result of the distance sensor 31. For example, when the brake sensor detects an operation on the brake lever 142, the drive control unit 34 may control the electric motor 21 to cause the electric motor 21 to perform a regeneration operation. As a result, the electric motor 21 generates regenerative power when the motor does not output, and the battery 50 is charged by the regenerative power.
  • the processing unit 33 calculates the acceleration of the electric bicycle 1 based on the rotation speed information, and calculates the speed of the electric bicycle 1 relative to the horizontal plane based on the calculated acceleration and the like.
  • the battery 50 is a storage battery that stores electric power for driving the electric motor 21.
  • the battery 50 is, for example, a secondary battery, but may be a capacitor or the like.
  • the battery 50 is electrically connected to the electric motor 21. Specifically, the battery 50 supplies power to the electric motor 21 and charges regenerative power from the electric motor 21.
  • FIG. 4 is a flowchart showing an operation of weakening the auxiliary driving force of the electric motor 21 during travel of the electric bicycle 1 according to the first embodiment.
  • the distance sensor 31 detects an object existing around the electric bicycle 1, the distance sensor 31 generates distance information indicating the distance from the electric bicycle 1, that is, the distance sensor 31 to the object. Further, the speed sensor 32 generates speed information indicating the traveling speed of the electric bicycle 1.
  • the control device 30 acquires distance information from the distance sensor 31 and acquires speed information from the speed sensor 32 (S1).
  • the processing unit 33 of the control device 30 calculates a threshold value based on the traveling speed indicated in the speed information (S2). For example, the processing unit 33 calculates a threshold value from the traveling speed of the electric bicycle 1 using any function of the graph shown in FIG.
  • the processing unit 33 determines whether or not the distance from the distance sensor 31 to the object is equal to or less than a threshold value (S3).
  • control device 30 returns to step S1 and performs the same processing.
  • the processing unit 33 outputs a control command to the drive control unit 34.
  • the drive control unit 34 weakens the auxiliary driving force of the electric motor 21 based on the control command (S4). That is, the assist force applied to the electric bicycle 1 is weakened, and an increase in the traveling speed of the electric bicycle 1 is suppressed. And the control apparatus 30 complete
  • the threshold value is calculated in step S2, but the control device 30 may not calculate. That is, as the threshold value, a preset value may be used. In this case, the process of step S2 may be omitted.
  • the control device 30 controls the auxiliary driving force of the electric motor 21 mounted on the electric bicycle 1.
  • the control device 30 detects a target that exists around the electric bicycle 1 and drive control that weakens the auxiliary driving force of the electric motor 21 when a value related to the target detected by the detection device is equal to or less than a threshold value. Part 34.
  • the drive control unit 34 weakens the auxiliary driving force of the electric motor 21 when this value is equal to or less than the threshold value. To control. That is, when an object is present around the electric bicycle 1, the drive control unit 34 performs control so as to weaken the auxiliary driving force of the electric motor 21.
  • control device 30 can appropriately control the auxiliary driving force of the electric motor 21 according to the objects existing around the electric bicycle 1. As a result, when there is an object near the electric bicycle 1, it is difficult for the object and the electric bicycle 1 to come into contact with each other, and the safety of the electric bicycle 1 equipped with the control device 30 is improved.
  • the electric bicycle 1 includes a control device 30.
  • This electric bicycle 1 has the same effect.
  • the detection device is a distance sensor 31 that detects a distance from an object existing around the electric bicycle 1 to the electric bicycle 1 as a value.
  • the drive control part 34 weakens the drive force of the electric motor 21, when the distance from the target object which the distance sensor 31 detected to the electric bicycle 1 is below a threshold value.
  • the drive control unit 34 weakens the driving force of the electric motor 21. For this reason, the control device 30 can appropriately control the auxiliary driving force of the electric motor 21.
  • the control device 30 further includes a speed sensor 32 that detects the traveling speed of the electric bicycle 1 or an acceleration sensor that detects the acceleration of the electric bicycle 1 and the traveling speed detected by the speed sensor 32. Or a processing unit 33 that calculates a threshold based on the acceleration detected by the acceleration sensor.
  • the electric motor 21 can more appropriately apply the auxiliary driving force.
  • the distance sensor 31 detects an object present on the traveling direction side of the electric bicycle 1.
  • the distance sensor 31 detects the distance from the distance sensor 31 to the object existing in the traveling direction of the electric bicycle 1, the auxiliary driving force of the electric motor 21 can be more appropriately controlled. .
  • a driving force is not limited to the auxiliary driving force of the said embodiment.
  • the detection device may be arranged at any place on the vehicle. That is, when the vehicle is an electric bicycle, the detection device may be arranged on the traveling direction side, the central portion, the opposite side of the traveling direction, or the like of the electric bicycle.
  • the detection device may be an acceleration sensor, a brake sensor, a torque sensor, or the like.
  • the acceleration sensor is a sensor that detects the acceleration of the electric bicycle. According to the acceleration sensor, when an object is detected around the electric bicycle and the acceleration is increased, if the acceleration is equal to or higher than the first threshold value, the processing unit may weaken the auxiliary driving force. A control command may be output to the drive control unit.
  • the acceleration of the electric bicycle is an example of a value related to the object.
  • the brake sensor is a sensor that detects an operation on the brake lever, and may output the number of brakes per predetermined period to the processing unit. According to the brake sensor, if an object is detected around the electric bicycle and the number of times of braking is equal to or greater than the second threshold, the processing unit sends a control command to the drive control unit so as to weaken the auxiliary driving force. May be output.
  • the number of times of braking is an example of a value related to an object.
  • the torque sensor detects the human driving force generated by the rotation of the crankshaft based on the human driving force applied to the pedal. According to the torque sensor, when an object is detected around the electric bicycle and the rotational speed of the torque is not less than the third threshold value, the processing unit controls the drive control unit to weaken the auxiliary driving force. A command may be output.
  • the rotational speed of the torque is an example of a value related to the object.
  • control device when an object exists around the detection device, when the traveling speed of the electric bicycle is the first speed, the auxiliary driving force of the electric motor in the first period.
  • the traveling speed of the electric bicycle is a second speed that is slower than the first speed
  • the auxiliary driving force of the electric motor is weakened in the second period longer than the first period.
  • FIG. 5 is a block diagram showing a configuration of the electric bicycle 1 according to the modification.
  • each processing unit included in the control device according to the above embodiment is typically realized as an LSI which is an integrated circuit. These may be individually made into one chip, or may be made into one chip so as to include a part or all of them.
  • circuits are not limited to LSI, and may be realized by a dedicated circuit or a general-purpose processor.
  • An FPGA Field Programmable Gate Array
  • reconfigurable processor that can reconfigure the connection and setting of circuit cells inside the LSI may be used.
  • each component may be configured by dedicated hardware or may be realized by executing a software program suitable for each component.
  • Each component may be realized by a program execution unit such as a CPU or a processor reading and executing a software program recorded on a recording medium such as a hard disk or a semiconductor memory.
  • division of functional blocks in the block diagram is an example, and a plurality of functional blocks can be realized as one functional block, a single functional block can be divided into a plurality of functions, or some functions can be transferred to other functional blocks. May be.
  • functions of a plurality of functional blocks having similar functions may be processed in parallel or time-division by a single hardware or software.
  • this embodiment includes a form obtained by making various modifications conceived by those skilled in the art to the embodiment, and a form realized by arbitrarily combining the components and functions in the embodiment without departing from the gist of the present disclosure. Included in the disclosure.

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  • Engineering & Computer Science (AREA)
  • Chemical & Material Sciences (AREA)
  • Combustion & Propulsion (AREA)
  • Transportation (AREA)
  • Mechanical Engineering (AREA)
  • Power Engineering (AREA)
  • Electric Propulsion And Braking For Vehicles (AREA)

Abstract

This control device (30) controls the auxiliary driving force of an electric motor (21) mounted on an electric bicycle (1). The control device (30) is provided with a distance sensor (31) which detects an object in the periphery of the electric bicycle (1), and a drive control unit (34) which weakens the auxiliary driving force of the electric motor (21) in the case that a value relating to the object detected by the distance sensor (31) is less than or equal to a threshold value.

Description

制御装置及び乗り物Control device and vehicle
　本開示は、制御装置及び制御装置を搭載した乗り物に関する。 The present disclosure relates to a control device and a vehicle equipped with the control device.
　電動アシスト自転車であって、ペダルに付与される踏力に対応するトルクを検出するためのトルク検出ユニットと、クランクの回転数を検出する回転数検出ユニットと、補助駆動力を発生させる電動モータと、電動モータの補助駆動力を制御する制御装置と、を備える電動アシスト自転車が開示されている（例えば、特許文献１を参照）。 A power-assisted bicycle, a torque detection unit for detecting torque corresponding to the pedaling force applied to the pedal, a rotation speed detection unit for detecting the rotation speed of the crank, an electric motor for generating auxiliary driving force, An electric assist bicycle including a control device that controls an auxiliary driving force of an electric motor is disclosed (for example, see Patent Document 1).
特開２０１７－１５４５６４号公報JP 2017-154564 A
　乗り物が道路を走行する際に、乗り物の周囲に存在する対象物等に応じて乗り物に付与される駆動力を適切にしたいという要望がある。 When a vehicle travels on a road, there is a demand for an appropriate driving force applied to the vehicle according to the objects existing around the vehicle.
　そこで、本開示は、乗り物の周囲に存在する対象物に応じて、電動モータの駆動力を適切に制御することができる制御装置及び乗り物を提供することを目的とする。 Therefore, an object of the present disclosure is to provide a control device and a vehicle that can appropriately control the driving force of an electric motor in accordance with an object existing around the vehicle.
　上記目的を達成するため、本開示の一態様に係る制御装置は、乗り物に搭載された電動モータの駆動力を制御する制御装置であって、前記乗り物の周囲に存在する対象物を検出する検出装置と、前記検出装置が検出した前記対象物に関する値が閾値以下である場合に、前記電動モータの駆動力を弱める駆動制御部とを備える。 In order to achieve the above object, a control device according to one aspect of the present disclosure is a control device that controls a driving force of an electric motor mounted on a vehicle, and detects a target existing around the vehicle. And a drive control unit that weakens the driving force of the electric motor when a value related to the object detected by the detection device is equal to or less than a threshold value.
　また、本開示の一態様に係る乗り物は、制御装置を備える。 Also, a vehicle according to one aspect of the present disclosure includes a control device.
　本開示に係る制御装置及び乗り物によれば、乗り物の周囲に存在する対象物に応じて、電動モータの駆動力を適切に制御することができる。 According to the control device and the vehicle according to the present disclosure, it is possible to appropriately control the driving force of the electric motor according to the object existing around the vehicle.
図１は、実施の形態に係る電動自転車の側面図である。FIG. 1 is a side view of an electric bicycle according to an embodiment. 図２は、実施の形態に係る電動自転車の構成を示すブロック図である。FIG. 2 is a block diagram illustrating a configuration of the electric bicycle according to the embodiment. 図３は、電動自転車の走行速度と閾値との関係を示す図である。FIG. 3 is a diagram showing the relationship between the running speed of the electric bicycle and the threshold value. 図４は、実施の形態に係る電動自転車の走行中に電動モータの補助駆動力を弱める動作を示すフローチャートである。FIG. 4 is a flowchart showing an operation of weakening the auxiliary driving force of the electric motor while the electric bicycle according to the embodiment is running. 図５は、変形例に係る電動自転車の構成を示すブロック図である。FIG. 5 is a block diagram illustrating a configuration of an electric bicycle according to a modification.
　以下では、本開示の実施の形態について、図面を用いて詳細に説明する。なお、以下に説明する実施の形態は、いずれも本開示の一具体例を示すものである。したがって、以下の実施の形態で示される数値、形状、材料、構成要素、構成要素の配置及び接続形態、ステップ、ステップの順序などは、一例であり、本開示を限定する趣旨ではない。よって、以下の実施の形態における構成要素のうち、本開示の最上位概念を示す独立請求項に記載されていない構成要素については、任意の構成要素として説明される。 Hereinafter, embodiments of the present disclosure will be described in detail with reference to the drawings. Note that each of the embodiments described below shows a specific example of the present disclosure. Therefore, numerical values, shapes, materials, components, arrangement and connection forms of components, steps, order of steps, and the like shown in the following embodiments are merely examples, and are not intended to limit the present disclosure. Therefore, among the constituent elements in the following embodiments, constituent elements that are not described in the independent claims indicating the highest concept of the present disclosure are described as arbitrary constituent elements.
　また、各図は、模式図であり、必ずしも厳密に図示されたものではない。したがって、例えば、各図において縮尺などは必ずしも一致しない。また、各図において、実質的に同一の構成については同一の符号を付しており、重複する説明は省略又は簡略化する。 Each figure is a schematic diagram and is not necessarily shown strictly. Therefore, for example, the scales and the like do not necessarily match in each drawing. Moreover, in each figure, the same code | symbol is attached | subjected about the substantially same structure, The overlapping description is abbreviate | omitted or simplified.
　（実施の形態）
　［構成］
　まず、本実施の形態に係る制御装置及び乗り物の構成について説明する。 (Embodiment)
[Constitution]
First, the configuration of the control device and the vehicle according to the present embodiment will be described.
　図１は、実施の形態１に係る電動自転車１を示す側面図である。 FIG. 1 is a side view showing an electric bicycle 1 according to the first embodiment.
　以下の説明において、「前方」とは、電動自転車１の走行時の進行方向であり、「後方」とはその反対方向である。具体的には、電動自転車１のサドル１５に対してハンドル１４側が「前方」である。「左右方向」は、前後方向に対して直交する方向である。 In the following description, “front” is the traveling direction of the electric bicycle 1 and “rear” is the opposite direction. Specifically, the handle 14 side is “front” with respect to the saddle 15 of the electric bicycle 1. The “left / right direction” is a direction orthogonal to the front / rear direction.
　図１に示すように、電動自転車１では、周囲に対象物が存在していない場合に通常の補助駆動力をユーザの踏力に付与し、周囲に対象物が存在している場合に通常の補助駆動力よりも弱い補助駆動力を付与する。以下、本実施の形態では、乗り物の一例として電動自転車１について説明するが、乗り物は、電動自転車に限定されず、自動車、電車等の車両であってもよい。また、補助駆動力は、駆動力の一例であり、アシスト力ともいう。対象物は、例えば、人、道路に設置されている設備等の障害物等である。 As shown in FIG. 1, in the electric bicycle 1, a normal auxiliary driving force is applied to the user's pedaling force when there are no objects around, and a normal assistance is provided when there are objects around the object. An auxiliary driving force that is weaker than the driving force is applied. Hereinafter, although electric bicycle 1 is explained as an example of a vehicle in the present embodiment, the vehicle is not limited to an electric bicycle and may be a vehicle such as an automobile or a train. The auxiliary driving force is an example of the driving force and is also called assist force. The object is, for example, an obstacle such as a person or a facility installed on the road.
　電動自転車１は、アシストモードと、押し歩きモードとを有する。アシストモードは、ペダル１７へのユーザの踏力に基づく車体１０の前進を補助する。押し歩きモードは、ユーザが電動自転車１を押して歩くときに、ユーザによる車体１０を前へ押す力に基づいて、車体１０の前進が補助される。アシストモードと押し歩きモードとは、排他的に実行される。 The electric bicycle 1 has an assist mode and a push-walk mode. The assist mode assists the forward movement of the vehicle body 10 based on the pedaling force of the user on the pedal 17. In the push-walk mode, when the user pushes the electric bicycle 1 and walks, the forward movement of the vehicle body 10 is assisted based on the force of the user pushing the vehicle body 10 forward. The assist mode and the push-walk mode are executed exclusively.
　電動自転車１は、車体１０と、電動モータ２１と、車体１０に取り付けられた制御装置３０と、バッテリー５０とを備える。 The electric bicycle 1 includes a vehicle body 10, an electric motor 21, a control device 30 attached to the vehicle body 10, and a battery 50.
　車体１０は、フレーム１１と、前輪１２と、後輪１３と、ハンドル１４と、サドル１５と、クランク１６と、ペダル１７と、チェーン１９とを備える。 The vehicle body 10 includes a frame 11, a front wheel 12, a rear wheel 13, a handle 14, a saddle 15, a crank 16, a pedal 17, and a chain 19.
　フレーム１１は、ヘッドパイプ１１１と、メインフレーム１１２と、立パイプ１１３と、フォーク１１４と、チェーンステー１１５とを備える。ヘッドパイプ１１１は、前輪１２を支持するフォーク１１４及びハンドル１４を、ヘッドパイプ１１１の軸を中心に回転自在に支持する。ハンドル１４を左右に回すことで、フォーク１１４に支持された前輪１２の向きを左右に回転させることができる。 The frame 11 includes a head pipe 111, a main frame 112, a standing pipe 113, a fork 114, and a chain stay 115. The head pipe 111 supports the fork 114 and the handle 14 that support the front wheel 12 so as to be rotatable about the axis of the head pipe 111. By turning the handle 14 left and right, the direction of the front wheel 12 supported by the fork 114 can be rotated left and right.
　メインフレーム１１２は、ヘッドパイプ１１１と立パイプ１１３とを連結する部分である。メインフレーム１１２の下端部には、クランク１６及び制御装置３０が取り付けられている。本実施の形態に係る電動自転車１は、クランク１６と制御装置３０とが一体化された、いわゆるセンターユニット方式の電動自転車１である。 The main frame 112 is a part connecting the head pipe 111 and the standing pipe 113. A crank 16 and a control device 30 are attached to the lower end portion of the main frame 112. The electric bicycle 1 according to the present embodiment is a so-called center unit type electric bicycle 1 in which a crank 16 and a control device 30 are integrated.
　立パイプ１１３は、サドル１５を着脱可能に支持する。本実施の形態では、立パイプ１１３に、バッテリー５０が着脱可能に取り付けられている。 The standing pipe 113 supports the saddle 15 in a detachable manner. In the present embodiment, the battery 50 is detachably attached to the standing pipe 113.
　フォーク１１４は、前輪１２を回転自在に支持する。チェーンステー１１５は、後輪１３を回転自在に支持する。 The fork 114 rotatably supports the front wheel 12. The chain stay 115 rotatably supports the rear wheel 13.
　ハンドル１４には、一対のグリップ１４１及びブレーキレバー１４２が左右に設けられている。 The handle 14 is provided with a pair of grips 141 and a brake lever 142 on the left and right.
　一対のブレーキレバー１４２は、前輪１２及び後輪１３の各々に取り付けられた、図示しないブレーキ装置の動作レバーである。一方のブレーキレバー１４２を操作することで、前輪１２に取り付けられたブレーキ装置が駆動され、前輪１２に対して機械的な制動力を与える。他方のブレーキレバー１４２を操作することで、後輪１３に取り付けられたブレーキ装置が駆動され、後輪１３に対して機械的な制動力を与える。 The pair of brake levers 142 are operating levers of a brake device (not shown) attached to each of the front wheel 12 and the rear wheel 13. By operating one brake lever 142, the brake device attached to the front wheel 12 is driven, and a mechanical braking force is applied to the front wheel 12. By operating the other brake lever 142, the brake device attached to the rear wheel 13 is driven, and a mechanical braking force is applied to the rear wheel 13.
　ブレーキレバー１４２には、ブレーキセンサが設けられていてもよい。この場合、ブレーキセンサは、ブレーキレバー１４２に対する操作を検出する。 The brake lever 142 may be provided with a brake sensor. In this case, the brake sensor detects an operation on the brake lever 142.
　サドル１５は、ユーザが適切な姿勢で乗車した場合に、ユーザが座る部分である。 The saddle 15 is a portion where the user sits when the user gets in an appropriate posture.
　クランク１６は、クランク軸１６１と、一対のクランクアーム１６２とを有する。クランクアーム１６２は、メインフレーム１１２の両側に１つずつ設けられており、左右方向に延びるクランク軸１６１の両端に固定されている。クランクアーム１６２の一方端がクランク軸１６１に固定され、他方端にはペダル１７が回転自在に固定されている。ペダル１７に踏力が加えられた場合、クランクアーム１６２がクランク軸１６１を中心に回転し、当該回転による人力駆動力が駆動スプロケット及びチェーン１９を介して後輪１３に伝達される。第１モードで動作する場合には、踏力に基づく人力駆動力と、当該人力駆動力に付加された電動モータ２１による補助駆動力とが後輪１３に伝達される。人力駆動力は、踏力と同義である。 The crank 16 has a crankshaft 161 and a pair of crank arms 162. One crank arm 162 is provided on each side of the main frame 112, and is fixed to both ends of a crankshaft 161 extending in the left-right direction. One end of the crank arm 162 is fixed to the crankshaft 161, and the pedal 17 is rotatably fixed to the other end. When a pedaling force is applied to the pedal 17, the crank arm 162 rotates about the crankshaft 161, and a human driving force due to the rotation is transmitted to the rear wheel 13 via the driving sprocket and the chain 19. When operating in the first mode, the manpower driving force based on the treading force and the auxiliary driving force by the electric motor 21 added to the manpower driving force are transmitted to the rear wheel 13. Human power driving force is synonymous with pedaling force.
　本実施の形態では、電動モータ２１は、制御装置３０とともに、樹脂製又は金属製のモータ駆動ユニット２０の筐体に収納されてユニット化されている。 In the present embodiment, the electric motor 21 is housed and unitized together with the control device 30 in the housing of the resin or metal motor drive unit 20.
　電動モータ２１は、制御装置３０による制御に基づいて、バッテリー５０からの電力を受けて駆動する。電動モータ２１の回転トルクは駆動スプロケットに伝達されて、駆動スプロケットが回転する。こうして、後輪１３は回転する。回転トルクは、補助駆動力を意味する。また、電動モータ２１は、モータ出力を出さない非駆動時に回生電力を発生させてバッテリー５０を充電する回生動作を行うことができ、回生ブレーキとして作動することができる。 The electric motor 21 is driven by receiving electric power from the battery 50 based on control by the control device 30. The rotational torque of the electric motor 21 is transmitted to the drive sprocket, and the drive sprocket rotates. Thus, the rear wheel 13 rotates. The rotational torque means auxiliary driving force. Further, the electric motor 21 can perform a regenerative operation of generating regenerative electric power to charge the battery 50 when not driven without outputting a motor output, and can operate as a regenerative brake.
　本実施の形態における電動モータ２１は、補助駆動力となるモータである。電動モータ２１は、第１モードを実行中に、ペダル１７への踏力に基づく人力駆動力に、補助駆動力を付加する。また、電動モータ２１は、押し歩きモードを実行中に、電動自転車１に対する押して歩く力に、アシストモードでの補助駆動力と異なる補助駆動力を付加する。 The electric motor 21 in the present embodiment is a motor serving as an auxiliary driving force. The electric motor 21 adds an auxiliary driving force to the human driving force based on the depression force applied to the pedal 17 during execution of the first mode. Further, the electric motor 21 adds an auxiliary driving force different from the auxiliary driving force in the assist mode to the force of pushing and walking on the electric bicycle 1 during the push-walking mode.
　図２は、実施の形態１に係る電動自転車１の構成を示すブロック図である。 FIG. 2 is a block diagram showing a configuration of the electric bicycle 1 according to the first embodiment.
　図２に示すように、制御装置３０は、電動自転車１に搭載された電動モータ２１の補助駆動力を制御する装置である。言い換えれば、制御装置３０は、適切な補助駆動力を付与するための電動モータ２１の出力を制御する。電動モータ２１の出力は、補助駆動力となる。本実施の形態では、制御装置３０は、モータ駆動ユニット２０の筐体の内部に収納されているが、これに限らない。制御装置３０は、モータ駆動ユニット２０とは別体で設けられていてもよい。 As shown in FIG. 2, the control device 30 is a device that controls the auxiliary driving force of the electric motor 21 mounted on the electric bicycle 1. In other words, the control device 30 controls the output of the electric motor 21 for applying an appropriate auxiliary driving force. The output of the electric motor 21 becomes an auxiliary driving force. In the present embodiment, the control device 30 is housed inside the housing of the motor drive unit 20, but is not limited thereto. The control device 30 may be provided separately from the motor drive unit 20.
　制御装置３０には、電動モータ２１、及びバッテリー５０が接続されている。制御装置３０には、電動自転車の電源をオン、オフ等の操作を受付ける各スイッチに対する操作信号等が入力される。制御装置３０は、バッテリー５０から供給される電力を、電動モータ２１及び前照灯に供給する。 The electric motor 21 and the battery 50 are connected to the control device 30. The control device 30 receives an operation signal or the like for each switch that accepts an operation such as turning on / off the electric bicycle. The control device 30 supplies power supplied from the battery 50 to the electric motor 21 and the headlamp.
　制御装置３０は、例えば、マイコン（マイクロコントローラ）などで実現され、プログラムが格納された不揮発性メモリ、プログラムを実行するための一時的な記憶領域である揮発性メモリ、入出力ポート、プログラムを実行するプロセッサなどで構成されている。あるいは、制御装置３０は、専用の電子回路で実現されてもよい。 The control device 30 is implemented by, for example, a microcomputer (microcontroller) or the like, and executes a nonvolatile memory in which a program is stored, a volatile memory that is a temporary storage area for executing the program, an input / output port, and a program It is composed of a processor and so on. Alternatively, the control device 30 may be realized by a dedicated electronic circuit.
　制御装置３０は、距離センサ３１と、速度センサ３２又は加速度センサと、処理部３３と、駆動制御部３４とを有する。 The control device 30 includes a distance sensor 31, a speed sensor 32 or an acceleration sensor, a processing unit 33, and a drive control unit 34.
　距離センサ３１は、電動自転車１の周囲に存在する対象物において、電動自転車１から、つまり距離センサ３１から対象物までの距離を検出するセンサである。距離センサ３１は、対象物を検出すると、距離センサ３１から対象物までの距離を示す距離情報を処理部３３に出力する。例えば、距離センサ３１は受光素子と投光素子とを備える。距離センサ３１は、受光素子及び投光素子を用いて、三角測量方式、タイムオブフライト（ＴＯＦ：Ｔｉｍｅ　Ｏｆ　Ｆｌｉｇｈｔ）方式等によって距離センサ３１から対象物までの距離を算出してもよい。また、距離センサ３１は、このような光学式に限定されず、超音波式であってもよい。例えば、距離センサ３１は、送波器と受波器とを有する。送波器は、超音波を対象物に向け発信し、対象物によるその反射波を受波器で受信することにより、対象物の有無、距離センサ３１から対象物までの距離を検出する。なお、距離センサ３１は、例えば、カメラ等であってもよい。 The distance sensor 31 is a sensor that detects a distance from the electric bicycle 1, that is, a distance from the distance sensor 31 to the target in an object around the electric bicycle 1. When the distance sensor 31 detects the object, the distance sensor 31 outputs distance information indicating the distance from the distance sensor 31 to the object to the processing unit 33. For example, the distance sensor 31 includes a light receiving element and a light projecting element. The distance sensor 31 may calculate the distance from the distance sensor 31 to the object by using a light receiving element and a light projecting element by a triangulation method, a time of flight (TOF) method, or the like. The distance sensor 31 is not limited to such an optical type, and may be an ultrasonic type. For example, the distance sensor 31 includes a transmitter and a receiver. The transmitter detects the presence / absence of the target and the distance from the distance sensor 31 to the target by transmitting the ultrasonic wave toward the target and receiving the reflected wave of the target by the receiver. The distance sensor 31 may be a camera, for example.
　また、距離センサ３１は、電動自転車１の進行方向側に存在する対象物を検出してもよい。進行方向側は、電動自転車１が直接進む進行方向だけではなく、電動自転車１の側面側の近傍領域をも含む。例えば、電動自転車１から数メートル又は数十センチの範囲内にある対象物を検出してもよい。つまり、距離センサ３１は、電動自転車１の進行方向側に存在する対象物を検出するが、例えば、電動自転車１の進行方向と反対側の部分を除いた電動自転車１の周囲を検出してもよい。 Further, the distance sensor 31 may detect an object existing on the traveling direction side of the electric bicycle 1. The traveling direction side includes not only the traveling direction in which the electric bicycle 1 travels directly but also the vicinity region on the side surface side of the electric bicycle 1. For example, an object within a range of several meters or several tens of centimeters from the electric bicycle 1 may be detected. That is, the distance sensor 31 detects an object existing on the traveling direction side of the electric bicycle 1, but for example, even if the periphery of the electric bicycle 1 is excluded except for a portion on the opposite side to the traveling direction of the electric bicycle 1. Good.
　速度センサ３２は、電動自転車１の走行速度を検出するセンサである。速度センサ３２は、例えば、前輪１２又は後輪１３の回転数から、電動自転車１の走行速度を検出する。速度センサ３２は、検出した走行速度を示す速度情報を、処理部３３に出力する。 The speed sensor 32 is a sensor that detects the traveling speed of the electric bicycle 1. The speed sensor 32 detects the traveling speed of the electric bicycle 1 from the number of rotations of the front wheels 12 or the rear wheels 13, for example. The speed sensor 32 outputs speed information indicating the detected traveling speed to the processing unit 33.
　また、速度センサ３２は、これに限定されず、ペダル１７への人力駆動力に基づいてクランク軸１６１が回転することにより発生する人力駆動力を検出するトルクセンサであってもよい。電動自転車１の走行速度は、クランク軸１６１の回転数を検出するクランク回転センサによって検出されたクランク１６の回転数と、後輪１３の大きさとに基づいて算出してもよい。この場合、速度センサ３２は、クランク軸１６１の近傍に配置されている。 Further, the speed sensor 32 is not limited to this, and may be a torque sensor that detects a manpower driving force generated by the rotation of the crankshaft 161 based on the manpower driving force applied to the pedal 17. The traveling speed of the electric bicycle 1 may be calculated based on the rotation speed of the crank 16 detected by a crank rotation sensor that detects the rotation speed of the crankshaft 161 and the size of the rear wheel 13. In this case, the speed sensor 32 is disposed in the vicinity of the crankshaft 161.
　なお、本実施の形態では、主に速度センサ３２が検出した走行速度を用いて説明するが、速度センサ３２の代わりに加速度センサであってもよい。このため、特に指定していない場合でも、速度センサ３２の代わりに加速度センサと読み替えてもよく、走行速度の代わりに加速度と読み替えてもよい。 In this embodiment, the description will be made mainly using the traveling speed detected by the speed sensor 32, but an acceleration sensor may be used instead of the speed sensor 32. For this reason, even if not specified, it may be read as an acceleration sensor instead of the speed sensor 32, or may be read as acceleration instead of the running speed.
　クランク回転センサは、クランク１６の単位時間当たりの回転数を検出することができる。クランク回転センサは、歯車状の回転体と、回転体の歯を挟むように配置された光出射部と受光部とを有する光検出器とを有することで実現され得る。トルクセンサは、例えば、ペダル１７に踏力が加えられて人力駆動力が発生した場合に、磁歪発生部に歪みが発生する。磁歪発生部には、透磁率が増加する部位と減少する部位とが発生する。トルクセンサは、このコイルのインダクタンス差を検出することで、人力駆動力を検出する。 The crank rotation sensor can detect the number of rotations of the crank 16 per unit time. The crank rotation sensor can be realized by including a gear-shaped rotating body, and a photodetector having a light emitting portion and a light receiving portion arranged so as to sandwich the teeth of the rotating body. For example, when a pedal force is applied to the pedal 17 and a human driving force is generated, the torque sensor generates distortion in the magnetostriction generation unit. In the magnetostriction generating portion, a portion where the magnetic permeability increases and a portion where the magnetic permeability decreases occur. The torque sensor detects the manpower driving force by detecting the inductance difference between the coils.
　処理部３３は、距離センサ３１が検出した距離を示す距離情報に基づいて、乗り物から対象物までの距離が閾値以下であるか否かを判断する。つまり、処理部３３は、距離情報に含まれる距離センサ３１から対象物までの距離が閾値以下であるか否かを判断する。なお、ここでは、対象物を１つとしているが、対象物が複数ある場合、電動自転車１に最も近い対象物と距離センサ３１との距離に基づいて、処理部３３は、距離が閾値以下であるか否かを判断する。距離センサ３１が検出した距離は、対象物に関する値の一例である。 The processing unit 33 determines whether the distance from the vehicle to the object is equal to or less than a threshold based on the distance information indicating the distance detected by the distance sensor 31. That is, the processing unit 33 determines whether or not the distance from the distance sensor 31 included in the distance information to the target is equal to or less than a threshold value. Here, although there is one object, when there are a plurality of objects, the processing unit 33 determines that the distance is equal to or less than the threshold based on the distance between the object closest to the electric bicycle 1 and the distance sensor 31. Judge whether there is. The distance detected by the distance sensor 31 is an example of a value related to the object.
　距離センサ３１から対象物までの距離が閾値以下である場合は、電動自転車１から対象物までの距離が近いことを意味しているため、電動自転車１が走行中である場合、電動自転車１と対象物とが衝突する危険性が高いと考えられる。一方で、距離センサ３１から対象物までの距離が閾値よりも大きい場合は、電動自転車１から対象物までの距離が遠いことを意味しているため、電動自転車１が走行中である場合でも、電動自転車１と対象物とが衝突する危険性が低いと考えられる。 When the distance from the distance sensor 31 to the object is equal to or less than the threshold value, it means that the distance from the electric bicycle 1 to the object is short. Therefore, when the electric bicycle 1 is running, The risk of collision with the object is considered high. On the other hand, when the distance from the distance sensor 31 to the object is larger than the threshold value, it means that the distance from the electric bicycle 1 to the object is far, so even when the electric bicycle 1 is running, It is considered that the risk of collision between the electric bicycle 1 and the object is low.
　このことから、距離センサ３１から対象物までの距離が閾値以下である場合、処理部３３は、電動モータ２１の補助駆動力を制御するように、駆動制御部３４に制御コマンドを出力する。具体的には、処理部３３は、距離センサ３１から距離を示す閾値以内に対象物が存在している場合は、距離センサ３１から距離を示す閾値以内に対象物が存在していない場合よりも電動モータ２１の補助駆動力を弱める制御コマンドを駆動制御部３４に出力する。 From this, when the distance from the distance sensor 31 to the object is equal to or less than the threshold value, the processing unit 33 outputs a control command to the drive control unit 34 so as to control the auxiliary driving force of the electric motor 21. Specifically, the processing unit 33, when the target object is present within the threshold value indicating the distance from the distance sensor 31, than when the target object is not present within the threshold value indicating the distance from the distance sensor 31. A control command that weakens the auxiliary driving force of the electric motor 21 is output to the drive control unit 34.
　また、処理部３３は、速度センサ３２が検出した走行速度、又は、加速度センサが検出した加速度に基づいて、閾値を算出する。閾値は、電動自転車１の走行速度に応じて変化する。具体的には、電動自転車１の走行速度が大きくなればなるほど、閾値が大きくなる。これは、電動自転車１の走行速度が速くなればなるほど、電動自転車１から離れた距離に対象物があっても、電動自転車１が対象物に衝突する危険性が高まる。 Further, the processing unit 33 calculates a threshold value based on the traveling speed detected by the speed sensor 32 or the acceleration detected by the acceleration sensor. The threshold value changes according to the traveling speed of the electric bicycle 1. Specifically, the threshold value increases as the traveling speed of the electric bicycle 1 increases. This is because the higher the traveling speed of the electric bicycle 1, the higher the risk that the electric bicycle 1 will collide with the object even if the object is located at a distance from the electric bicycle 1.
　閾値について、図３を用いて例示する。 The threshold is illustrated using FIG.
　図３は、電動自転車１の走行速度と閾値との関係を示す図である。図３では、直線状の関数Ｄ１、及び曲線状の関数Ｄ２、Ｄ３を例示しているが、これらは一例であり、これには限定されない。関数Ｄ１、Ｄ２、Ｄ３は、いずれも走行速度の増加とともに、閾値が増加する。 FIG. 3 is a diagram showing the relationship between the running speed of the electric bicycle 1 and the threshold value. Although FIG. 3 illustrates the linear function D1 and the curved functions D2 and D3, these are merely examples, and the present invention is not limited thereto. In the functions D1, D2, and D3, the threshold value increases as the traveling speed increases.
　図３で示すように、例えば、関数Ｄ１では、処理部３３は、電動自転車１の走行速度が第１速度ｓ１であれば、閾値が第１閾値ｔ１と算出され、電動自転車１の走行速度が第１速度ｓ１よりも速い第２速度ｓ２であれば、閾値が第１閾値ｔ１よりも大きい第２閾値ｔ２と算出する。処理部３３は、図３の非減少関数を用いて、走行速度に応じた閾値を算出する。図３の関数は、階段状に増加する非減少関数であってもよい。 As shown in FIG. 3, for example, in the function D1, if the traveling speed of the electric bicycle 1 is the first speed s1, the processing unit 33 calculates the threshold value as the first threshold t1, and the traveling speed of the electric bicycle 1 is If the second speed s2 is faster than the first speed s1, the second threshold value t2 is calculated to be larger than the first threshold value t1. The processing unit 33 calculates a threshold value corresponding to the traveling speed using the non-decreasing function of FIG. The function of FIG. 3 may be a non-decreasing function that increases stepwise.
　なお、処理部３３は、アシストモードを実行する場合、ペダル１７への踏力と電動自転車１の走行速度とに基づいて、電動モータ２１が生成する補助駆動力の大きさを決定してもよい。ペダル１７への踏力は、踏力センサ等による検出結果から得られる。 Note that, when executing the assist mode, the processing unit 33 may determine the magnitude of the auxiliary driving force generated by the electric motor 21 based on the depression force applied to the pedal 17 and the traveling speed of the electric bicycle 1. The pedaling force on the pedal 17 is obtained from a detection result by a pedaling force sensor or the like.
　アシストモードにおける補助駆動力は、走行速度に応じて異なるが、例えば、ペダル１７への踏力の２倍以下の大きさである。例えば、処理部３３は、電動自転車１の走行速度が時速１０ｋｍ未満の場合に、電動モータ２１を駆動することで、ペダル１７への踏力の２倍以下の補助駆動力を発生させる。処理部３３は、速度が時速２４ｋｍ以上の場合は、電動モータ２１に補助駆動力を発生させない。処理部３３は、速度が時速１０ｋｍ以上２４ｋｍ未満の場合には、電動モータ２１を駆動することで、速度に応じて定められた補助駆動力を発生させる。 The auxiliary driving force in the assist mode varies depending on the traveling speed, but is, for example, twice or less the pedaling force applied to the pedal 17. For example, when the traveling speed of the electric bicycle 1 is less than 10 km / h, the processing unit 33 drives the electric motor 21 to generate an auxiliary driving force that is not more than twice the pedaling force applied to the pedal 17. The processing unit 33 does not cause the electric motor 21 to generate an auxiliary driving force when the speed is 24 km / h or more. When the speed is 10 km / h or more and less than 24 km / h, the processing unit 33 drives the electric motor 21 to generate an auxiliary driving force determined according to the speed.
　駆動制御部３４は、電動モータ２１がペダル１７への踏力に付与する補助駆動力を制御する。駆動制御部３４は、距離センサ３１が検出した対象物から電動自転車１までの距離が閾値以下である場合に、電動モータ２１の補助駆動力を弱める。駆動制御部３４は、対象物から電動自転車１までの距離が閾値よりも大きい場合における、電動モータ２１の補助駆動力よりも、対象物から電動自転車１までの距離が閾値以下の場合における、電動モータ２１の補助駆動力の方を小さくする。 The drive control unit 34 controls the auxiliary driving force that the electric motor 21 imparts to the pedaling force on the pedal 17. The drive control unit 34 weakens the auxiliary driving force of the electric motor 21 when the distance from the object detected by the distance sensor 31 to the electric bicycle 1 is equal to or less than the threshold value. The drive control unit 34 is configured to operate the electric motor when the distance from the object to the electric bicycle 1 is less than the threshold than the auxiliary driving force of the electric motor 21 when the distance from the object to the electric bicycle 1 is larger than the threshold. The auxiliary driving force of the motor 21 is reduced.
　なお、駆動制御部３４は、例えば、電動モータ２１の補助駆動力を弱める場合に、電動モータ２１に回生ブレーキが働くようにブレーキ力を制御してもよい。具体的には、駆動制御部３４は、距離センサ３１の測定結果に基づいて、電動モータ２１の出力制御を行う。なお、駆動制御部３４は、例えばブレーキセンサがブレーキレバー１４２に対する操作を検出すると、電動モータ２１を制御して、電動モータ２１に回生動作を行わせてもよい。これにより、電動モータ２１は、モータ出力しない非駆動時には回生電力を発生させるので、当該回生電力によってバッテリー５０が充電される。 The drive control unit 34 may control the braking force so that the regenerative brake works on the electric motor 21 when the auxiliary driving force of the electric motor 21 is weakened, for example. Specifically, the drive control unit 34 performs output control of the electric motor 21 based on the measurement result of the distance sensor 31. For example, when the brake sensor detects an operation on the brake lever 142, the drive control unit 34 may control the electric motor 21 to cause the electric motor 21 to perform a regeneration operation. As a result, the electric motor 21 generates regenerative power when the motor does not output, and the battery 50 is charged by the regenerative power.
　また、処理部３３は、回転数情報に基づいて、電動自転車１の加速度を算出し、算出した加速度等に基づいて、水平面に対する電動自転車１の速度を算出する。 Further, the processing unit 33 calculates the acceleration of the electric bicycle 1 based on the rotation speed information, and calculates the speed of the electric bicycle 1 relative to the horizontal plane based on the calculated acceleration and the like.
　バッテリー５０は、電動モータ２１の駆動用の電力を貯める蓄電池である。バッテリー５０は、例えば、二次電池であるが、キャパシタなどであってもよい。バッテリー５０は、電動モータ２１に電気的に接続されている。具体的には、バッテリー５０は電動モータ２１に対して電力を供給するとともに、電動モータ２１からの回生電力を充電する。 The battery 50 is a storage battery that stores electric power for driving the electric motor 21. The battery 50 is, for example, a secondary battery, but may be a capacitor or the like. The battery 50 is electrically connected to the electric motor 21. Specifically, the battery 50 supplies power to the electric motor 21 and charges regenerative power from the electric motor 21.
　［動作］
　図４は、実施の形態１に係る電動自転車１の走行中に電動モータ２１の補助駆動力を弱める動作を示すフローチャートである。 [Operation]
FIG. 4 is a flowchart showing an operation of weakening the auxiliary driving force of the electric motor 21 during travel of the electric bicycle 1 according to the first embodiment.
　ここでは、ユーザが電動自転車１で、道路を走行している場合を想定している。 Here, it is assumed that the user is running on the road with the electric bicycle 1.
　まず、距離センサ３１は、電動自転車１の周囲に存在する対象物を検出すると、電動自転車１つまり距離センサ３１から対象物までの距離を示す距離情報を生成する。また、速度センサ３２は、電動自転車１の走行速度を示す速度情報を生成する。制御装置３０は、距離センサ３１から距離情報を取得し、速度センサ３２から速度情報を取得する（Ｓ１）。 First, when the distance sensor 31 detects an object existing around the electric bicycle 1, the distance sensor 31 generates distance information indicating the distance from the electric bicycle 1, that is, the distance sensor 31 to the object. Further, the speed sensor 32 generates speed information indicating the traveling speed of the electric bicycle 1. The control device 30 acquires distance information from the distance sensor 31 and acquires speed information from the speed sensor 32 (S1).
　次に、制御装置３０の処理部３３は、速度情報に示される走行速度に基づいて、閾値を算出する（Ｓ２）。例えば、処理部３３は、図３で示すグラフのいずれかの関数を用いて、電動自転車１の走行速度から、閾値を算出する。 Next, the processing unit 33 of the control device 30 calculates a threshold value based on the traveling speed indicated in the speed information (S2). For example, the processing unit 33 calculates a threshold value from the traveling speed of the electric bicycle 1 using any function of the graph shown in FIG.
　次に、処理部３３は、距離センサ３１から対象物までの距離が閾値以下であるか否かを判断する（Ｓ３）。 Next, the processing unit 33 determines whether or not the distance from the distance sensor 31 to the object is equal to or less than a threshold value (S3).
　次に、距離センサ３１から対象物までの距離が閾値よりも大きい場合、制御装置３０は、ステップＳ１に戻り同様の処理を行う。 Next, when the distance from the distance sensor 31 to the object is larger than the threshold value, the control device 30 returns to step S1 and performs the same processing.
　一方、距離センサ３１から対象物までの距離が閾値以下である場合（Ｓ３でＹＥＳ）、処理部３３は、駆動制御部３４に制御コマンドを出力する。駆動制御部３４は、制御コマンドに基づいて、電動モータ２１の補助駆動力を弱める（Ｓ４）。つまり、電動自転車１に付与されるアシスト力が弱まり、電動自転車１の走行速度の増加が抑制される。そして、制御装置３０は、この処理を終了する。 On the other hand, when the distance from the distance sensor 31 to the object is equal to or smaller than the threshold value (YES in S3), the processing unit 33 outputs a control command to the drive control unit 34. The drive control unit 34 weakens the auxiliary driving force of the electric motor 21 based on the control command (S4). That is, the assist force applied to the electric bicycle 1 is weakened, and an increase in the traveling speed of the electric bicycle 1 is suppressed. And the control apparatus 30 complete | finishes this process.
　なお、本実施の形態では、ステップＳ２で閾値を算出しているが、制御装置３０が算出をしなくてもよい。つまり、閾値は、予め設定している値を用いてもよい。この場合、ステップＳ２の処理は省略してもよい。 In the present embodiment, the threshold value is calculated in step S2, but the control device 30 may not calculate. That is, as the threshold value, a preset value may be used. In this case, the process of step S2 may be omitted.
　［作用効果］
　次に、本実施の形態における制御装置３０及び電動自転車１の作用効果について説明する。 [Function and effect]
Next, functions and effects of the control device 30 and the electric bicycle 1 in the present embodiment will be described.
　上述したように、本実施の形態に係る制御装置３０は、電動自転車１に搭載された電動モータ２１の補助駆動力を制御する。制御装置３０は、電動自転車１の周囲に存在する対象物を検出する検出装置と、検出装置が検出した対象物に関する値が閾値以下である場合に、電動モータ２１の補助駆動力を弱める駆動制御部３４とを備える。 As described above, the control device 30 according to the present embodiment controls the auxiliary driving force of the electric motor 21 mounted on the electric bicycle 1. The control device 30 detects a target that exists around the electric bicycle 1 and drive control that weakens the auxiliary driving force of the electric motor 21 when a value related to the target detected by the detection device is equal to or less than a threshold value. Part 34.
　これによれば、検出装置が検出装置と対象物との関係から検出した値に基づいて、この値が閾値以下である場合に、駆動制御部３４は、電動モータ２１の補助駆動力を弱めるように制御する。つまり、電動自転車１の周囲に対象物が存在すると、駆動制御部３４は、電動モータ２１の補助駆動力を弱めるように制御する。 According to this, based on the value detected by the detection device from the relationship between the detection device and the object, the drive control unit 34 weakens the auxiliary driving force of the electric motor 21 when this value is equal to or less than the threshold value. To control. That is, when an object is present around the electric bicycle 1, the drive control unit 34 performs control so as to weaken the auxiliary driving force of the electric motor 21.
　したがって、制御装置３０では、電動自転車１の周囲に存在する対象物に応じて、電動モータ２１の補助駆動力を適切に制御することができる。これにより、電動自転車１の近くに対象物が存在する場合に、対象物と電動自転車１とが接触するといったことも生じ難くなり、制御装置３０を搭載した電動自転車１の安全性が向上する。 Therefore, the control device 30 can appropriately control the auxiliary driving force of the electric motor 21 according to the objects existing around the electric bicycle 1. As a result, when there is an object near the electric bicycle 1, it is difficult for the object and the electric bicycle 1 to come into contact with each other, and the safety of the electric bicycle 1 equipped with the control device 30 is improved.
　また、本実施の形態に係る電動自転車１は、制御装置３０を備える。 Moreover, the electric bicycle 1 according to the present embodiment includes a control device 30.
　この電動自転車１においても同様の作用効果を奏する。 This electric bicycle 1 has the same effect.
　また、本実施の形態に係る制御装置３０において、検出装置は、電動自転車１の周囲に存在する対象物から電動自転車１までの距離を値として検出する距離センサ３１である。そして、駆動制御部３４は、距離センサ３１が検出した対象物から電動自転車１までの距離が閾値以下である場合に、電動モータ２１の駆動力を弱める。 Further, in the control device 30 according to the present embodiment, the detection device is a distance sensor 31 that detects a distance from an object existing around the electric bicycle 1 to the electric bicycle 1 as a value. And the drive control part 34 weakens the drive force of the electric motor 21, when the distance from the target object which the distance sensor 31 detected to the electric bicycle 1 is below a threshold value.
　これによれば、電動自転車１の周囲、つまり、電動自転車１から所定距離内（閾値以下）に対象物が存在する場合に、駆動制御部３４は、電動モータ２１の駆動力を弱める。このため、この制御装置３０は、電動モータ２１の補助駆動力を適切に制御することができる。 According to this, when there is an object around the electric bicycle 1, that is, within a predetermined distance from the electric bicycle 1 (below the threshold), the drive control unit 34 weakens the driving force of the electric motor 21. For this reason, the control device 30 can appropriately control the auxiliary driving force of the electric motor 21.
　また、本実施の形態に係る制御装置３０は、さらに、電動自転車１の走行速度を検出する速度センサ３２、又は、電動自転車１の加速度を検出する加速度センサと、速度センサ３２が検出した走行速度、又は、加速度センサが検出した加速度に基づいて、閾値を算出する処理部３３とを備える。 The control device 30 according to the present embodiment further includes a speed sensor 32 that detects the traveling speed of the electric bicycle 1 or an acceleration sensor that detects the acceleration of the electric bicycle 1 and the traveling speed detected by the speed sensor 32. Or a processing unit 33 that calculates a threshold based on the acceleration detected by the acceleration sensor.
　これによれば、電動自転車１の走行速度又は加速度に基づいて閾値を算出するため、電動モータ２１が補助駆動力をより適切に付与することができる。 According to this, since the threshold value is calculated based on the traveling speed or acceleration of the electric bicycle 1, the electric motor 21 can more appropriately apply the auxiliary driving force.
　また、本実施の形態に係る制御装置３０において、距離センサ３１は、電動自転車１の進行方向側に存在する対象物を検出する。 Further, in the control device 30 according to the present embodiment, the distance sensor 31 detects an object present on the traveling direction side of the electric bicycle 1.
　この構成によれば、距離センサ３１は、距離センサ３１から電動自転車１の進行方向に存在する対象物までの距離を検出するため、電動モータ２１の補助駆動力をより適切に制御することができる。 According to this configuration, since the distance sensor 31 detects the distance from the distance sensor 31 to the object existing in the traveling direction of the electric bicycle 1, the auxiliary driving force of the electric motor 21 can be more appropriately controlled. .
　（その他変形例等）
　以上、本開示について、実施の形態に基づいて説明したが、本開示は、上記制御装置及び乗り物に限定されるものではない。 (Other variations)
Although the present disclosure has been described based on the embodiments, the present disclosure is not limited to the control device and the vehicle.
　例えば、上記実施の形態に係る制御装置が自動車等の車両に搭載される場合、制御装置が電動モータの駆動力を制御する。このため、駆動力は、上記実施の形態の補助駆動力に限定されない。 For example, when the control device according to the above embodiment is mounted on a vehicle such as an automobile, the control device controls the driving force of the electric motor. For this reason, a driving force is not limited to the auxiliary driving force of the said embodiment.
　また、上記実施の形態に係る制御装置において、検出装置は、乗り物のどの場所に配置されてもよい。つまり、検出装置は、乗り物が電動自転車である場合、電動自転車の進行方向側、中央部分、進行方向と反対側等に配置してもよい。 Further, in the control device according to the above-described embodiment, the detection device may be arranged at any place on the vehicle. That is, when the vehicle is an electric bicycle, the detection device may be arranged on the traveling direction side, the central portion, the opposite side of the traveling direction, or the like of the electric bicycle.
　また、上記実施の形態に係る制御装置において、検出装置は、加速度センサ、ブレーキセンサ、トルクセンサ等であってもよい。具体的には、加速度センサは、電動自転車の加速度を検出するセンサである。加速度センサによれば、電動自転車の周囲に対象物が検出され、かつ、加速度が上昇している場合に、加速度が第１の閾値以上であれば、処理部は、補助駆動力を弱めるように、駆動制御部に制御コマンドを出力してもよい。電動自転車の加速度は、対象物に関する値の一例である。 In the control device according to the above embodiment, the detection device may be an acceleration sensor, a brake sensor, a torque sensor, or the like. Specifically, the acceleration sensor is a sensor that detects the acceleration of the electric bicycle. According to the acceleration sensor, when an object is detected around the electric bicycle and the acceleration is increased, if the acceleration is equal to or higher than the first threshold value, the processing unit may weaken the auxiliary driving force. A control command may be output to the drive control unit. The acceleration of the electric bicycle is an example of a value related to the object.
　また、ブレーキセンサは、ブレーキレバーに対する操作を検出するセンサであり、所定期間あたりのブレーキの回数等を処理部に出力してもよい。ブレーキセンサによれば、電動自転車の周囲に対象物が検出され、かつ、ブレーキの回数が第２の閾値以上であれば、処理部は、補助駆動力を弱めるように、駆動制御部に制御コマンドを出力してもよい。ブレーキの回数は、対象物に関する値の一例である。 The brake sensor is a sensor that detects an operation on the brake lever, and may output the number of brakes per predetermined period to the processing unit. According to the brake sensor, if an object is detected around the electric bicycle and the number of times of braking is equal to or greater than the second threshold, the processing unit sends a control command to the drive control unit so as to weaken the auxiliary driving force. May be output. The number of times of braking is an example of a value related to an object.
　さらに、トルクセンサは、ペダルへの人力駆動力に基づいてクランク軸が回転することにより発生する人力駆動力を検出する。トルクセンサによれば、電動自転車の周囲に対象物が検出され、かつ、トルクの回転数が第３の閾値以上であれば、処理部は、補助駆動力を弱めるように、駆動制御部に制御コマンドを出力してもよい。トルクの回転数は、対象物に関する値の一例である。 Furthermore, the torque sensor detects the human driving force generated by the rotation of the crankshaft based on the human driving force applied to the pedal. According to the torque sensor, when an object is detected around the electric bicycle and the rotational speed of the torque is not less than the third threshold value, the processing unit controls the drive control unit to weaken the auxiliary driving force. A command may be output. The rotational speed of the torque is an example of a value related to the object.
　また、上記実施の形態に係る制御装置は、検出装置の周囲に対象物が存在している場合において、電動自転車の走行速度が第１速度のとき、電動モータの補助駆動力を第１期間で弱め、電動自転車の走行速度が第１速度よりも遅い第２速度のとき、電動モータの補助駆動力を第１期間よりも長い第２期間で弱める。 Further, the control device according to the above embodiment, when an object exists around the detection device, when the traveling speed of the electric bicycle is the first speed, the auxiliary driving force of the electric motor in the first period. When the traveling speed of the electric bicycle is a second speed that is slower than the first speed, the auxiliary driving force of the electric motor is weakened in the second period longer than the first period.
　また、上記実施の形態に係る制御装置において、速度センサの代わりに図５の加速度センサ１３２を用いてもよい。図５は、変形例に係る電動自転車１の構成を示すブロック図である。 Further, in the control device according to the above embodiment, the acceleration sensor 132 of FIG. 5 may be used instead of the speed sensor. FIG. 5 is a block diagram showing a configuration of the electric bicycle 1 according to the modification.
　また、上記実施の形態に係る制御装置に含まれる各処理部は、典型的に集積回路であるＬＳＩとして実現される。これらは個別に１チップ化されてもよいし、一部又は全てを含むように１チップ化されてもよい。 Further, each processing unit included in the control device according to the above embodiment is typically realized as an LSI which is an integrated circuit. These may be individually made into one chip, or may be made into one chip so as to include a part or all of them.
　また、集積回路化はＬＳＩに限るものではなく、専用回路又は汎用プロセッサで実現してもよい。ＬＳＩ製造後にプログラムすることが可能なＦＰＧＡ（Ｆｉｅｌｄ　Ｐｒｏｇｒａｍｍａｂｌｅ　Ｇａｔｅ　Ａｒｒａｙ）、又はＬＳＩ内部の回路セルの接続や設定を再構成可能なリコンフィギュラブル・プロセッサを利用してもよい。 Further, the integration of circuits is not limited to LSI, and may be realized by a dedicated circuit or a general-purpose processor. An FPGA (Field Programmable Gate Array) that can be programmed after manufacturing the LSI or a reconfigurable processor that can reconfigure the connection and setting of circuit cells inside the LSI may be used.
　なお、上記各実施の形態において、各構成要素は、専用のハードウェアで構成されるか、各構成要素に適したソフトウェアプログラムを実行することによって実現されてもよい。各構成要素は、ＣＰＵ又はプロセッサなどのプログラム実行部が、ハードディスク又は半導体メモリなどの記録媒体に記録されたソフトウェアプログラムを読み出して実行することによって実現されてもよい。 In each of the above embodiments, each component may be configured by dedicated hardware or may be realized by executing a software program suitable for each component. Each component may be realized by a program execution unit such as a CPU or a processor reading and executing a software program recorded on a recording medium such as a hard disk or a semiconductor memory.
　また、上記で用いた数字は、全て本開示を具体的に説明するために例示するものであり、本開示の実施の形態は例示された数字に制限されない。 Further, all the numbers used above are illustrated for specifically explaining the present disclosure, and embodiments of the present disclosure are not limited to the illustrated numbers.
　また、ブロック図における機能ブロックの分割は一例であり、複数の機能ブロックを一つの機能ブロックとして実現したり、一つの機能ブロックを複数に分割したり、一部の機能を他の機能ブロックに移してもよい。また、類似する機能を有する複数の機能ブロックの機能を単一のハードウェア又はソフトウェアが並列又は時分割に処理してもよい。 In addition, division of functional blocks in the block diagram is an example, and a plurality of functional blocks can be realized as one functional block, a single functional block can be divided into a plurality of functions, or some functions can be transferred to other functional blocks. May be. In addition, functions of a plurality of functional blocks having similar functions may be processed in parallel or time-division by a single hardware or software.
　また、フローチャートにおける各ステップが実行される順序は、本開示を具体的に説明するために例示するためであり、上記以外の順序であってもよい。また、上記ステップの一部が、他のステップと同時（並列）に実行されてもよい。 In addition, the order in which the steps in the flowchart are executed is for illustration in order to specifically describe the present disclosure, and may be in an order other than the above. Also, some of the above steps may be executed simultaneously (in parallel) with other steps.
　その他、実施の形態に対して当業者が思いつく各種変形を施して得られる形態、本開示の趣旨を逸脱しない範囲で実施の形態における構成要素及び機能を任意に組み合わせることで実現される形態も本開示に含まれる。 In addition, this embodiment includes a form obtained by making various modifications conceived by those skilled in the art to the embodiment, and a form realized by arbitrarily combining the components and functions in the embodiment without departing from the gist of the present disclosure. Included in the disclosure.
１　電動自転車（乗り物）
２１　電動モータ
３０　制御装置
３１　距離センサ（検出装置）
３２　速度センサ
３３　処理部
３４　駆動制御部
１３２　加速度センサ（検出装置） 1 Electric bicycle (vehicle)
21 Electric motor 30 Control device 31 Distance sensor (detection device)
32 Speed sensor 33 Processing unit 34 Drive control unit 132 Acceleration sensor (detection device)

Claims (5)

  1. 　乗り物に搭載された電動モータの駆動力を制御する制御装置であって、
    　前記乗り物の周囲に存在する対象物を検出する検出装置と、
    　前記検出装置が検出した前記対象物に関する値が閾値以下である場合に、前記電動モータの駆動力を弱める駆動制御部とを備える
    　制御装置。     A control device for controlling the driving force of an electric motor mounted on a vehicle,
    A detection device for detecting an object present around the vehicle;
    A control device comprising: a drive control unit that weakens the driving force of the electric motor when a value related to the object detected by the detection device is equal to or less than a threshold value.
  2. 　前記検出装置は、前記乗り物の周囲に存在する対象物から前記乗り物までの距離を前記値として検出する距離センサであり、
    　前記駆動制御部は、前記距離センサが検出した前記対象物から前記乗り物までの距離が閾値以下である場合に、前記電動モータの駆動力を弱める
    　請求項１に記載の制御装置。     The detection device is a distance sensor that detects a distance from an object present around the vehicle to the vehicle as the value,
    The control device according to claim 1, wherein the drive control unit weakens the driving force of the electric motor when a distance from the object to the vehicle detected by the distance sensor is equal to or less than a threshold value.
  3. 　さらに、前記乗り物の走行速度を検出する速度センサ、又は、前記乗り物の加速度を検出する加速度センサと、
    　前記速度センサが検出した前記走行速度、又は、前記加速度センサが検出した前記加速度に基づいて、前記閾値を算出する処理部とを備える
    　請求項１又は２に記載の制御装置。     Furthermore, a speed sensor that detects the traveling speed of the vehicle, or an acceleration sensor that detects acceleration of the vehicle;
    The control device according to claim 1, further comprising: a processing unit that calculates the threshold based on the traveling speed detected by the speed sensor or the acceleration detected by the acceleration sensor.
  4. 　前記検出装置は、前記乗り物の進行方向側に存在する対象物を検出する
    　請求項１～３のいずれか１項に記載の制御装置。     The control device according to any one of claims 1 to 3, wherein the detection device detects an object existing on a traveling direction side of the vehicle.
  5. 　請求項１～４のいずれか１項に記載の制御装置を備える
    　乗り物。     A vehicle comprising the control device according to any one of claims 1 to 4.
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