JP7593732B2 - Control device for human-powered vehicles - Google Patents

Description

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

For example, the control device for a human-powered vehicle disclosed in Patent Document 1 changes the amount of regenerative control depending on the regenerative state per use.

Patent No. 5479291

The object of the present invention is to provide a control device for a human-powered vehicle that can optimally control the regenerative state.

A control device for a human-powered vehicle according to a first aspect of the present invention includes a control unit that controls a motor attached to the human-powered vehicle, and the control unit controls the regenerative state of the motor in accordance with changes in parameters related to at least one of physical information of a passenger riding in the human-powered vehicle, the driving state of the human-powered vehicle, the driving environment of the human-powered vehicle, and the driving state of the human-powered vehicle.
According to the control device for a human-powered vehicle of the first aspect described above, the regenerative state can be suitably controlled in accordance with the progress of parameters relating to at least one of the physical information of the passenger riding in the human-powered vehicle, the driving state of the human-powered vehicle, the driving environment of the human-powered vehicle, and the driving state of the human-powered vehicle.

In the control device for a human-powered vehicle of a second aspect according to the first aspect, the control unit controls the regenerative state of the motor in accordance with a transition of the parameter over a predetermined period of time.
According to the control device for a human-powered vehicle of the second aspect, the regenerative state can be suitably controlled in accordance with the transition of the parameter over a predetermined period of time.

In the control device for a human-powered vehicle of a third aspect according to the first or second aspect, the regenerative state includes at least one of a regenerative amount and a regenerative rate.
According to the control device for a human-powered vehicle of the third aspect, the regeneration amount and the regeneration rate can be controlled in accordance with the transition of the parameter.

In a control device for a human-powered vehicle of a fourth aspect according to the first or second aspect, the control unit records the parameters at predetermined intervals, and controls the regenerative state of the motor in accordance with changes in the recorded values.
According to the control device for a human-powered vehicle of the fourth aspect, the parameters are recorded at predetermined intervals, so that the calculation load can be reduced.

In a control device for a human-powered vehicle of a fifth aspect according to the fourth aspect, the parameter relates to a human-powered driving force, and the control unit controls the regenerative state of the motor to increase at least one of the regeneration amount and the regeneration rate when the recorded value changes so that an average value of the human-powered driving force within a specified time period increases.
According to the control device for a human-powered vehicle of the fifth aspect described above, when the recorded values change so that the average value of the human-powered driving force within a specified period of time increases, at least one of the regeneration amount and the regeneration rate can be increased, thereby increasing the amount of power generation.

In a control device for a human-powered vehicle of a sixth aspect according to the fourth aspect, the parameter relates to a human-powered driving force, and the control unit controls the regenerative state of the motor to reduce at least one of the regeneration amount and the regeneration rate when the recorded value changes so that an average value of the human-powered driving force within a specified time period decreases.
According to the control device for a human-powered vehicle of the sixth aspect described above, when the recorded values change so that the average value of the human-powered driving force within a specified period of time decreases, at least one of the regeneration amount and the regeneration rate can be reduced, thereby reducing the burden on the passengers.

In the control device for a human-powered vehicle of a seventh aspect according to the fourth aspect, the parameter relates to a human-powered driving force, and the control unit controls the regenerative state of the motor to increase at least one of the regeneration amount and the regeneration rate when the recorded value changes so that the peak value of the human-powered driving force within a specified time period increases.
According to the control device for a human-powered vehicle of the seventh aspect described above, when the recorded values change so that the peak value of the human-powered driving force within a specified period of time increases, at least one of the regeneration amount and the regeneration rate can be increased, thereby increasing the amount of power generation.

In the control device for a human-powered vehicle of an eighth aspect according to the fourth aspect, the parameter relates to a human-powered driving force, and the control unit controls the regenerative state of the motor to reduce at least one of the regeneration amount and the regeneration rate when the recorded value transitions so that the peak value of the human-powered driving force within a predetermined time period decreases.
According to the control device for a human-powered vehicle of the above-mentioned eighth aspect, when the recorded values change so that the peak value of the human-powered driving force within a specified period of time decreases, at least one of the regeneration amount and the regeneration rate can be reduced, thereby reducing the burden on the passengers.

In the control device for a human-powered vehicle of a ninth aspect according to the fourth aspect, when the average value of the recorded values within a predetermined time period falls and then rises, or when the average value of the recorded values within the predetermined time period rises and then falls, the control unit controls the regenerative state of the motor according to the difference between a start value and an end value of the recorded values within the predetermined time period.
According to the control device for a human-powered vehicle of the ninth aspect, when the recorded value within a predetermined time period rises and falls, the regenerative state can be suitably controlled according to the difference between the start value and the end value of the recorded value.

In the control device for a human-powered vehicle of a tenth aspect according to the fourth aspect, the control unit controls the regenerative state of the motor so as to reduce at least one of the regeneration amount and the regeneration rate when the start value of the recorded values within a specified time is higher than the end value of the recorded values within the specified time.
According to the control device for a human-powered vehicle of the tenth aspect, when the start value of the recorded values within a specified period of time is higher than the end value, at least one of the regeneration amount and the regeneration rate can be reduced, thereby reducing the burden on the passengers.

In the control device for a human-powered vehicle of an eleventh aspect in accordance with the fourth aspect, the control unit controls the regenerative state of the motor so as to increase at least one of the regeneration amount and the regeneration rate when the start value of the recorded values within a specified time is higher than the end value of the recorded values within the specified time.
According to the control device for a human-powered vehicle of the eleventh aspect, when the start value of the recorded values within a specified period of time is higher than the end value, at least one of the regeneration amount and the regeneration rate can be increased, thereby increasing the amount of power generation.

In the control device for a human-powered vehicle of a twelfth aspect according to the fourth aspect, the control unit controls the regenerative state of the motor to reduce at least one of the regeneration amount and the regeneration rate when the start value of the recorded values within a specified time is lower than the end value of the recorded values within the specified time.
According to the control device for a human-powered vehicle of the twelfth aspect, when the start value of the recorded values within a specified period of time is lower than the end value, at least one of the regeneration amount and the regeneration rate can be reduced, thereby reducing the burden on the passengers.

In the control device for a human-powered vehicle of a thirteenth aspect according to the fourth aspect, when the start value of the recorded values within a specified time period is lower than the end value of the recorded values within the specified time period, the control unit controls the regenerative state of the motor so as to increase at least one of the regeneration amount and the regeneration rate.
According to the control device for a human-powered vehicle of the thirteenth aspect, when the start value of the recorded values within a specified period of time is lower than the end value, at least one of the regeneration amount and the regeneration rate can be increased, thereby increasing the amount of power generation.

In the control device for a human-powered vehicle of a fourteenth aspect according to the fourth aspect, when a difference between a start value and an end value of the recorded value within a specified time period is within a specified difference, the control unit controls the regenerative state of the motor so as not to change at least one of the regeneration amount and the regeneration rate.
According to the control device for a human-powered vehicle of the fourteenth aspect, when the difference between the start value and the end value of the recorded values within a specified time period is within a specified difference, the regenerative state of the motor is controlled so as not to change at least one of the regeneration amount and the regeneration rate, so that the passengers are less likely to feel uncomfortable.

In the control device for a human-powered vehicle of a fifteenth aspect in accordance with the fourth aspect, the control unit controls the regenerative state of the motor so as to change at least one of the regeneration amount and the regeneration rate by a first change amount when both the start point value and the end point value of the recorded values within a specified time are equal to or greater than a threshold value, and to change at least one of the regeneration amount and the regeneration rate by a second change amount different from the first change amount when both the start point value and the end point value of the recorded values within the specified time are less than the threshold value.
According to the control device for a human-powered vehicle of the fifteenth aspect, it is possible to control the regenerative state of the motor in an appropriate manner in both cases where the start value and the end value of the recorded values within a specified time are both above a threshold value and where the start value and the end value of the recorded values within a specified time are both below a threshold value.

In the control device for a human-powered vehicle of a sixteenth aspect according to any one of the first to fifteenth aspects, a driving state of the human-powered vehicle includes at least one of torque, cadence, and power.
According to the control device for a human-powered vehicle of the sixteenth aspect, the regenerative state can be suitably controlled in accordance with changes in torque, cadence, and power.

In a control device for a human-powered vehicle of a seventeenth aspect according to any one of the first, second, and fourth aspects, the driving state of the human-powered vehicle includes a power, and the control unit adjusts a regeneration rate relative to the power.
According to the control device for a human-powered vehicle of the seventeenth aspect, the regeneration rate can be suitably adjusted according to the power rate.

In the control device for a human-powered vehicle of an eighteenth aspect according to any one of the first to seventeenth aspects, the control unit controls a regenerative state of the motor in response to a change in the parameter every 1.5 seconds or less.
According to the control device for a human-powered vehicle of the eighteenth aspect, the regenerative state of the motor can be suitably controlled in accordance with the transition of parameters every 1.5 seconds or less.

A control device for a human-powered vehicle according to a nineteenth aspect of the present invention includes a control unit that controls a motor attached to the human-powered vehicle, and the control unit controls the regeneration rate relative to the power of pedaling by the rider in accordance with parameters related to at least one of physical information of the rider riding in the human-powered vehicle, the driving state of the human-powered vehicle, the running environment of the human-powered vehicle, and the running state of the human-powered vehicle.
According to the control device for a human-powered vehicle of the nineteenth aspect, the regeneration rate can be suitably controlled in accordance with parameters related to at least one of physical information of a passenger riding in the human-powered vehicle, the driving state of the human-powered vehicle, the running environment of the human-powered vehicle, and the running state of the human-powered vehicle. Therefore, the regeneration state can be suitably controlled.

The control device for a human-powered vehicle disclosed herein can effectively control the regenerative state.

1 is a side view of a human-powered vehicle including a control device for a human-powered vehicle according to an embodiment; FIG. 2 is a block diagram showing the electrical configuration of the control device for a human-powered vehicle according to the embodiment; 3 is a flowchart of a process for controlling a regenerative state in a first example executed by the control unit in FIG. 2 . 10 is a flowchart of a process for controlling a regenerative state in a second example executed by the control unit in FIG. 2 . 10 is a flowchart of a process for controlling a regenerative state in a third example executed by the control unit in FIG. 2 . 10 is a flowchart of a process for controlling a regenerative state in a fourth example executed by the control unit in FIG. 2 . 13 is a flowchart of a process for controlling a regenerative state in a fifth example executed by the control unit in FIG. 2 . 10 is a flowchart of a process for controlling a regenerative state in another example of the fifth embodiment, which is executed by the control unit in FIG. 2 . 13 is a flowchart of a process for controlling a regenerative state in a sixth example executed by the control unit in FIG. 2 . 13 is a flowchart of a process for controlling a regenerative state in another example of the sixth embodiment, which is executed by the control unit in FIG. 2 . 13 is a flowchart of a process for controlling a regenerative state in a seventh example executed by the control unit in FIG. 2 . 13 is a flowchart of a process for controlling a regenerative state in another example of the seventh example, which is executed by the control unit in FIG. 2 . 11 is a flowchart of a process for controlling a regenerative state executed by a control unit of a first modified example. 10 is a flowchart of a process for controlling a regenerative state executed by a control unit according to a second modified example.

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

The control device 50 for a human-powered vehicle according to the embodiment will be described with reference to Figs. 1 to 12. Hereinafter, the control device 50 for a human-powered vehicle will be simply referred to as the control device 50. The control device 50 is provided in the human-powered vehicle 10. The human-powered vehicle 10 is a vehicle that can be driven by at least a human-powered driving force H. The number of wheels of the human-powered vehicle 10 is not limited, and includes vehicles with one wheel and three or more wheels. The human-powered vehicle 10 includes various types of bicycles, such as mountain bikes, road bikes, city bikes, cargo bikes, and recumbents. The bicycle includes an electric bicycle (E-bike) in which the driving force is provided by an electric motor. The electric bicycle includes an electrically assisted bicycle in which the propulsion of the vehicle is assisted by an electric motor. The electric bicycle includes an electrically assisted bicycle in which the propulsion is assisted by an electric motor. In the following embodiment, the human-powered vehicle 10 will be described as a bicycle with two wheels.

The human-powered vehicle 10 has a wheel 12, a crank 14, and a body 16. The body 16 includes a frame 18 and a seat post 20. A human-powered driving force H is input to the crank 14. The crank 14 includes a crank shaft 14A that can rotate with respect to the frame 18, and crank arms 14B that are provided at the axial ends of the crank shaft 14A. A pair of pedals 22 is individually connected to each crank arm 14B. The wheel 12 includes a driven wheel 12A and a driving wheel 12B. The driving wheel 12B is driven by the rotation of the crank 14. The driving wheel 12B is supported by the frame 18. The crank 14 and the driving wheel 12B are connected by a driving mechanism 24. The driving mechanism 24 includes a first rotating body 26 that is coupled to the crank shaft 14A. The crankshaft 14A and the first rotating body 26 may be connected to rotate together, or may be connected via a first one-way clutch. The first one-way clutch is configured to rotate the first rotating body 26 forward when the crank 14 rotates forward, and to prevent the first rotating body 26 from rotating backward when the crank 14 rotates backward. The first rotating body 26 includes a sprocket, a pulley, or a bevel gear. The drive mechanism 24 further includes a second rotating body 28 and a connecting member 30. The connecting member 30 transmits the rotational force of the first rotating body 26 to the second rotating body 28. The connecting member 30 includes, for example, a chain, a belt, or a shaft.

The second rotating body 28 is connected to the driving wheel 12B. The second rotating body 28 includes a sprocket, a pulley, or a bevel gear. A second one-way clutch is preferably provided between the second rotating body 28 and the driving wheel 12B. The second one-way clutch is configured to rotate the driving wheel 12B forward when the second rotating body 28 rotates forward, and to prevent the driving wheel 12B from rotating backward when the second rotating body 28 rotates backward. The human-powered vehicle 10 may include a transmission 46 used to change the gear ratio B of the rotational speed of the driving wheel 12B relative to the rotational speed of the crankshaft 14A. The transmission 46 includes at least one of, for example, a front derailleur, a rear derailleur, and an internal gearbox. The transmission 46 may include only a front derailleur, only a rear derailleur, only an internal gearbox, or any combination of a front derailleur, a rear derailleur, and an internal gearbox. In this embodiment, at least one of the first rotating body 26 and the second rotating body 28 includes multiple sprockets. Only the first rotating body 26, only the second rotating body 28, or both the first rotating body 26 and the second rotating body 28 may include multiple sprockets. In this embodiment, the first rotating body 26 includes one sprocket, and the second rotating body 28 includes multiple sprockets. The derailleur includes a front derailleur when the first rotating body 26 includes multiple front sprockets, and includes a rear derailleur when the second rotating body 28 includes multiple front sprockets. When the transmission 46 includes an internal transmission, the internal transmission is provided, for example, in the hub of the drive wheel 12B.

The human-powered vehicle 10 includes a front wheel and a rear wheel. The front wheel is attached to the frame 18 via a front fork 32. A handle portion 34 is attached to the front fork 32. The handle portion 34 includes a stem 36 and a handlebar 38. The handlebar 38 is connected to the front fork 32 via the stem 36. In the following embodiment, the rear wheel is described as the driving wheel 12B, but the front wheel may be the driving wheel 12B.

The human-powered vehicle 10 further includes a battery 40. The battery 40 includes one or more battery cells. The battery cell includes a rechargeable battery. The battery 40 is provided in the human-powered vehicle 10 and supplies power to other electrical components electrically connected to the battery 40, such as the control device 50. The battery 40 is connected to the control device 50 so as to be able to communicate with each other by wire or wirelessly. The battery 40 can communicate with the control device 50 by, for example, power line communication (PLC). The battery 40 may be attached to the outside of the frame 18, or at least a portion of the battery 40 may be housed inside the frame 18.

The human-powered vehicle 10 includes a motor 42 configured to assist the propulsion of the human-powered vehicle 10. The human-powered vehicle 10 further includes a drive circuit 44. The drive circuit 44 includes an inverter circuit. The motor 42 is preferably provided in the same housing as the drive circuit 44. The drive circuit 44 controls the power supplied from the battery 40 to the motor 42. The drive circuit 44 is connected to the control device 50 so as to be able to communicate with each other by wire or wirelessly. The drive circuit 44 can communicate with the control unit 52 of the control device 50, for example, by serial communication. The drive circuit 44 may be included in the control device 50. The drive circuit 44 drives the motor 42 in response to a control signal from the control unit 52.

The motor 42 includes an electric motor. The motor 42 is provided in the power transmission path of the human-powered driving force H from the pedal 22 to the rear wheel, or to transmit rotation to the front wheel. The motor 42 is provided in the frame 18, rear wheel, or front wheel of the human-powered vehicle 10. In this embodiment, the motor 42 is coupled to the power transmission path from the crankshaft 14A to the first rotor 26. It is preferable that a one-way clutch is provided in the power transmission path between the motor 42 and the crankshaft 14A so that the motor 42 is not rotated by the rotational force of the crank 14 when the crankshaft 14A is rotated in the direction in which the human-powered vehicle 10 moves forward. The housing in which the motor 42 and the drive circuit 44 are provided may be provided with a configuration other than the motor 42 and the drive circuit 44, and may be provided with, for example, a reducer that reduces the rotation of the motor 42 and outputs it.

The control device 50 includes a control unit 52 that controls the motor 42 attached to the human-powered vehicle 10. The control unit 52 includes an arithmetic processing device that executes a predetermined control program. The arithmetic processing device includes, for example, a CPU (Central Processing Unit) or an MPU (Micro Processing Unit). The control unit 52 may include one or more microcomputers. The control unit 52 may include multiple arithmetic processing devices that are arranged separately at multiple locations. The control device 50 further includes a memory unit 54. The memory unit 54 stores various control programs and information used for various control processes. The memory unit 54 includes, for example, a non-volatile memory and a volatile memory. The control unit 52 and the memory unit 54 are provided, for example, in a housing in which the motor 42 is provided.

The control device 50 preferably further includes a crank rotation sensor 56, a vehicle speed sensor 58, and a torque sensor 60. The crank rotation sensor 56, the vehicle speed sensor 58, and the torque sensor 60 may be provided inside or outside the housing in which the motor 42 is provided. At least one of the crank rotation sensor 56, the vehicle speed sensor 58, and the torque sensor 60 does not have to be included in the control device 50.

The crank rotation sensor 56 is used to detect the rotation speed N of the crank 14 of the human-powered vehicle 10. The crank rotation sensor 56 is attached to, for example, the frame 18 of the human-powered vehicle 10 or a housing in which the motor 42 is provided. The crank rotation sensor 56 includes a magnetic sensor that outputs a signal according to the strength of a magnetic field. An annular magnet whose magnetic field strength changes in the circumferential direction is provided in the power transmission path between the crankshaft 14A or the crankshaft 14A and the first rotating body 26. The crank rotation sensor 56 is connected to the control unit 52 so as to be able to communicate with the control unit 52 by wire or wirelessly. The crank rotation sensor 56 outputs a signal according to the rotation speed N of the crank 14 to the control unit 52. The crank rotation sensor 56 may be provided on a member that rotates together with the crankshaft 14A in the power transmission path of the human-powered driving force H from the crankshaft 14A to the first rotating body 26. For example, the crank rotation sensor 56 may be provided on the first rotor 26 when no first one-way clutch is provided between the crankshaft 14A and the first rotor 26. The crank rotation sensor 56 may be used to detect the traveling speed V of the human-powered vehicle 10. In this case, the control unit 52 calculates the rotation speed of the drive wheels 12B according to the rotation speed N of the crank 14 detected by the crank rotation sensor 56 and the gear ratio B to detect the traveling speed V of the human-powered vehicle 10. Information regarding the gear ratio B is pre-stored in the memory unit 54.

When the human-powered vehicle 10 is provided with a transmission 46 for changing the gear ratio B, the control unit 52 may calculate the gear ratio B according to the traveling speed V of the human-powered vehicle 10 and the rotation speed N of the crank 14. In this case, information on the circumference of the driving wheel 12B, the diameter of the driving wheel 12B, or the radius of the driving wheel 12B is pre-stored in the memory unit 54. The control device 50 may include a gear change sensor. The gear change sensor is provided, for example, in the transmission 46. The gear change sensor detects the current gear change stage of the transmission 46. The gear change sensor is electrically connected to the control unit 52. The relationship between the gear change stage and the gear change ratio B is pre-stored in the memory unit 54. The control unit 52 can detect the current gear change ratio B from the detection result of the gear change sensor. The control unit 52 can calculate the rotation speed N of the crank 14 by dividing the rotation speed of the driving wheel 12B by the gear change ratio B. In this case, the vehicle speed sensor 58 and the gear shift sensor may be used as the crank rotation sensor 56. The gear shift sensor may be provided in the gear shift operation unit instead of the transmission 46, or may be provided in the gear shift wire.

The vehicle speed sensor 58 is used to detect the rotation speed of the wheel 12. The vehicle speed sensor 58 is electrically connected to the control unit 52 by wire or wirelessly. The vehicle speed sensor 58 is connected to the control unit 52 by wire or wirelessly so as to be able to communicate with the control unit 52. The vehicle speed sensor 58 outputs a signal according to the rotation speed of the wheel 12 to the control unit 52. The control unit 52 calculates the running speed V of the human-powered vehicle 10 based on the rotation speed of the wheel 12. The control unit 52 stops the motor 42 when the running speed V becomes equal to or greater than a predetermined value. The predetermined value is, for example, 25 km/h or 45 km/h. The vehicle speed sensor 58 includes, for example, a magnetic reed constituting a reed switch, or a Hall element. The vehicle speed sensor 58 may be configured to be attached to a chain stay of the frame 18 and detect a magnet attached to the rear wheel, or may be configured to be provided in the front fork 32 and detect a magnet attached to the front wheel. In another example, the vehicle speed sensor 58 includes a GPS (Global Positioning System) receiver. The control unit 52 may detect the traveling speed V of the human-powered vehicle 10 based on the GPS information acquired by the GPS receiving unit, the map information pre-recorded in the storage unit 54, and time. The control unit 52 preferably includes a timer for measuring time.

The torque sensor 60 is used to detect the torque TH of the manual driving force H. The torque sensor 60 is provided, for example, in a housing in which the motor 42 is provided. The torque sensor 60 detects the torque TH of the manual driving force H input to the crank 14. For example, when a first one-way clutch is provided in the power transmission path, the torque sensor 60 is provided upstream of the first one-way clutch. The torque sensor 60 includes a strain sensor or a magnetostrictive sensor. The strain sensor includes a strain gauge. When the torque sensor 60 includes a strain sensor, the strain sensor is preferably provided on the outer periphery of a rotating body included in the power transmission path. The torque sensor 60 may include a wireless or wired communication unit. The communication unit of the torque sensor 60 is configured to be able to communicate with the control unit 52.

The control unit 52 controls the motor 42, for example, so that the motor driving force relative to the human-powered driving force H is a predetermined assist ratio A. The control unit 52 may control the motor 42, for example, so that the output torque TM of the motor driving force by the motor 42 relative to the torque TH of the human-powered driving force H of the human-powered vehicle 10 is a predetermined assist ratio A. The control unit 52 controls the motor 42 in one operation mode selected from a plurality of operation modes having different assist ratios A of the motor driving force relative to the human-powered driving force H. The torque ratio AT of the output torque TM of the motor 42 relative to the torque TH of the human-powered driving force H of the human-powered vehicle 10 may be referred to as the assist ratio A. The control unit 52 may control the motor 42, for example, so that the power WX (watts) of the motor 42 relative to the power WH (watts) of the human-powered driving force H is a predetermined assist ratio A. The ratio AW of the power WX of the motor driving force relative to the power WH of the human-powered driving force H of the human-powered vehicle 10 may be referred to as the assist ratio A. The power WH of the manual driving force H is calculated by multiplying the manual driving force H by the rotation speed N of the crank 14. When the output of the motor 42 is input to the power path of the manual driving force H via a reducer, the output of the reducer is used as the motor driving force. The control unit 52 outputs a control command to the drive circuit 44 of the motor 42 according to the power WH or torque TH of the manual driving force H. The control command includes, for example, a torque command value.

The control unit 52 controls the motor 42 so that the upper limit value of the motor driving force is equal to or less than a predetermined value. The control unit 52 controls the motor 42 in one operating mode selected from a plurality of operating modes with different upper limits, for example. The motor driving force includes the output torque TM of the motor 42. The motor driving force may include the power WX of the motor 42. In this case, the control unit 52 controls the motor 42 so that the power WX of the motor 42 is equal to or less than a predetermined value WX1. In one example, the predetermined value WX1 is 500 watts. In another example, the predetermined value WX1 is 300 watts. The control unit 52 may control the motor 42 so that the torque ratio AT is equal to or less than a predetermined torque ratio AT1. In one example, the predetermined torque ratio AT1 is 300%. In one example, the predetermined torque ratio AT1 is 200%.

In each of the multiple operating modes, at least one of the assist ratio A and the upper limit value of the motor driving force may be different. In each of the multiple operating modes, only the assist ratio A, only the upper limit value, or both the assist ratio A and the upper limit value may be different. In this case, the control unit 52 controls the motor 42 so that the motor driving force is equal to or less than the assist ratio A specified in the operating mode of the selected motor 42 and equal to or less than a predetermined value.

The multiple operation modes include, for example, a maximum operation mode in which the assist ratio A is the maximum, a minimum operation mode in which the assist ratio A is the minimum, and an intermediate operation mode in which the assist ratio A is smaller than the maximum operation mode and larger than the minimum operation mode. The multiple operation modes may include, for example, a maximum operation mode in which the predetermined value is the maximum, a minimum operation mode in which the predetermined value is the minimum, and an intermediate operation mode in which the predetermined value is smaller than the maximum operation mode and larger than the minimum operation mode. The multiple operation modes may include multiple intermediate operation modes with different assist ratios A, or may not include an intermediate operation mode. When changing the operation mode from one of the multiple operation modes to another one, the control unit 52 preferably changes at least one of the assist ratio A and the upper limit value specified for each operation mode so that they are gradually increased or gradually decreased.

The control unit 52 includes a regeneration mode that places the motor 42 in a regenerative state. The human-powered vehicle 10 is configured to be able to change at least one of the regeneration amount and the regeneration rate in the regeneration mode. The control unit 52 charges the battery 40 with the power generated by the regeneration of the motor 42. The control device 50 may include an operation unit that allows the passenger to select the regeneration mode. The control unit 52 may switch to the regeneration mode when a condition for switching to the regeneration mode is met. The condition for switching to the regeneration mode includes, for example, that the remaining charge of the battery 40 is equal to or less than a predetermined amount.

For example, in the regeneration mode, the control unit 52 changes the ratio between the time of the assist state in which the motor 42 assists the propulsion of the human-powered vehicle 10 and the time of the motor 42 in the regeneration state, thereby changing the amount of regeneration and the regeneration rate for the torque TH or power WH. For example, the control unit 52 increases the amount of regeneration and the regeneration rate by lengthening the ratio of the time of the motor 42 in the regeneration state to the time of the assist state. For example, in the regeneration mode, the control unit 52 switches between the assist state and the regeneration state of the motor 42 according to the torque TH or power WH of the human-powered driving force H, and changes the amount of regeneration and the regeneration rate by changing the torque TH or power WH that switches between the assist state and the regeneration state of the motor 42. For example, when the torque TH or power WH becomes equal to or less than a first value, the control unit 52 switches from the assist state to the regeneration state of the motor 42, and increases the first value, thereby increasing the amount of regeneration and the regeneration rate. A value equal to or less than zero can also be selected as the first value.

The regeneration amount may be the amount of power generated per a given amount of rotation of the wheel 12, or the amount of power generated per first hour. The regeneration rate may be the ratio of the period during which power is generated to the period during which the wheel 12 rotates a given amount, or the ratio of the time during which power is generated to the first hour.

In the regenerative state, the control unit 52 may supply power to electrical components other than the motor 42 instead of or in addition to charging the battery 40. The electrical components include, for example, lamps or a braking device.

The control unit 52 controls the regenerative state of the motor 42 according to the progress of a parameter P related to at least one of the physical information of the passenger aboard the human-powered vehicle 10, the driving state of the human-powered vehicle 10, the driving environment of the human-powered vehicle 10, and the driving state of the human-powered vehicle 10.

The change in parameter P includes at least one of a change in the peak value of parameter P, a change in the average value of parameter P, a change in the differential value of parameter P, and a change in the integral value of parameter P.

The parameter P relating to the physical information of the occupant includes at least one of a heart rate, a body temperature, an amount of sweat, a breathing frequency, and a body weight. When the control unit 52 controls the regenerative state of the motor 42 according to a transition of the parameter P relating to the physical information of the occupant, it is preferable that the control device 50 includes a first detection unit 62 that detects the physical information of the occupant.

When the parameter P related to the physical information of the occupant includes a heart rate, the first detection unit 62 includes, for example, a heart rate sensor. The heart rate sensor is provided, for example, on the handlebar 38 of the human-powered vehicle 10, and detects the heart rate of the occupant. The heart rate sensor may be configured to be wearable on the body of the occupant, and may transmit the detection result to the control unit 52.

When the parameter P relating to the physical information of the occupant includes a body temperature, the first detection unit 62 includes, for example, a temperature sensor. The temperature sensor is provided, for example, on the handlebar 38 of the human-powered vehicle 10, and detects the body temperature of the occupant. The temperature sensor may be configured to be wearable on the body of the occupant, and may transmit the detection result to the control unit 52.

When the parameter P relating to the passenger's physical information includes the amount of sweating, the first detection unit 62 includes, for example, a moisture sensor. The moisture sensor is provided, for example, on the handlebar 38 of the human-powered vehicle 10, and detects the amount of moisture in the passenger's hands. The moisture sensor may be configured to be wearable on the passenger's body and transmit the detection results to the control unit 52.

When the parameter P relating to the physical information of the occupant includes a breathing frequency, the first detection unit 62 includes, for example, an exhalation sensor. The exhalation sensor is provided, for example, on the face of the occupant of the human-powered vehicle 10 to detect the exhalation of the occupant.

When the parameter P relating to the physical information of the rider includes weight, the first detection unit 62 includes, for example, a load sensor. The load sensor detects, for example, the weight of the rider. The load sensor is provided, for example, in at least one of the seat post 20, the saddle, the crank 14, the crank arm 14B, and the pedal 22. When the load sensors are provided in multiple locations, the control unit 52 can use the sum of the loads detected by each load sensor as the weight of the rider.

The driving state of the human-powered vehicle 10 includes at least one of torque TH, cadence C, and power WH. When the control unit 52 controls the regenerative state of the motor 42 according to the transition of the parameter P related to the driving state of the human-powered vehicle 10, it is preferable that the control device 50 includes a second detection unit 64 that detects the driving state of the human-powered vehicle 10.

When the parameter P related to the driving state of the human-powered vehicle 10 includes a torque TH, the second detection unit 64 includes, for example, a torque sensor. The torque sensor of the second detection unit 64 is configured similarly to the torque sensor 60. The torque sensor of the second detection unit 64 may be provided separately from the torque sensor 60, or the torque sensor 60 may be used as the torque sensor of the second detection unit 64.

When the parameter P relating to the driving state of the human-powered vehicle 10 includes a cadence C, the second detection unit 64 includes, for example, a crank rotation sensor. The crank rotation sensor of the second detection unit 64 is configured similarly to the crank rotation sensor 56. The crank rotation sensor of the second detection unit 64 may be provided separately from the crank rotation sensor 56, or the crank rotation sensor 56 may be used as the crank rotation sensor of the second detection unit 64. The cadence C corresponds to the rotation speed N of the crank 14.

When the parameter P relating to the driving state of the human-powered vehicle 10 includes the power WH, the second detection unit 64 includes, for example, a crank rotation sensor and a torque sensor. The crank rotation sensor of the second detection unit 64 is configured similarly to the crank rotation sensor 56, and the torque sensor of the second detection unit 64 is configured similarly to the torque sensor 60. The second detection unit 64 may output each of the torque TH and the cadence C to the control unit 52, or may output the power WH of the human-powered driving force H multiplied by the torque TH and the cadence C to the control unit 52.

The parameters P related to the driving environment of the human-powered vehicle 10 include at least one of the parameters P related to weather, temperature, time of day, road surface gradient of the road, and running resistance. When the control unit 52 controls the regenerative state of the motor 42 according to the progress of the parameters P related to the driving environment of the human-powered vehicle 10, it is preferable that the control device 50 includes a third detection unit 66 that detects the driving environment of the human-powered vehicle 10.

The third detection unit 66 includes, for example, a thermometer when the parameter P related to the driving environment of the human-powered vehicle 10 includes air temperature.

When the parameter P related to the driving environment of the human-powered vehicle 10 includes a parameter P related to weather, the third detection unit 66 preferably includes a wireless communication device. The wireless communication device is configured to be able to communicate with the Internet, for example, and acquires weather information from the Internet. The parameter P related to weather includes, for example, at least one of illuminance and humidity. The parameter P related to weather may be a value that is set according to the weather. For example, the value that is set according to the weather is set to 3 for rain, 2 for cloudy, and 1 for sunny. The third detection unit 66 may output the parameter P related to weather. The control unit 52 may set the parameter P according to the output of the third detection unit 66.

When the parameter P related to the driving environment of the human-powered vehicle 10 includes a parameter P related to time, it is preferable that the third detection unit 66 includes a clock. The parameter P related to time may be a value that is set for each time of day. The value that is set according to the time is, for example, 3 at night and 1 during the day. The third detection unit 66 may output the parameter P related to time. The control unit 52 may set the parameter P according to the output of the third detection unit 66.

When the parameter P related to the driving environment of the human-powered vehicle 10 includes the road surface gradient of the road, the third detection unit 66 includes, for example, an inclination sensor. The inclination sensor includes, for example, a gyro sensor. The inclination sensor detects, for example, the pitch angle of the human-powered vehicle 10.

The running state of the human-powered vehicle 10 includes at least one of the running speed V of the human-powered vehicle 10 and the attitude of the human-powered vehicle 10. When the control unit 52 controls the regenerative state of the motor 42 according to the progress of the parameter P related to the running state of the human-powered vehicle 10, it is preferable that the control device 50 includes a fourth detection unit 68 that detects the running state of the human-powered vehicle 10.

When the parameter P related to the traveling state of the human-powered vehicle 10 includes the traveling speed V, the fourth detection unit 68 includes, for example, a vehicle speed sensor. The vehicle speed sensor of the fourth detection unit 68 is configured similarly to the vehicle speed sensor 58. The vehicle speed sensor of the fourth detection unit 68 may be provided separately from the vehicle speed sensor 58, or the vehicle speed sensor 58 may be used as the vehicle speed sensor of the fourth detection unit 68.

When the parameter P related to the running state of the human-powered vehicle 10 includes the attitude of the human-powered vehicle 10, the fourth detection unit 68 includes, for example, an inclination sensor. The inclination sensor includes, for example, a gyro sensor. The inclination sensor detects, for example, the pitch angle of the human-powered vehicle 10.

The control unit 52 may use the value detected by the first detection unit 62, the second detection unit 64, the third detection unit 66, or the fourth detection unit 68 as the parameter P, or may use a value obtained by performing arithmetic processing on the value detected by the first detection unit 62, the second detection unit 64, the third detection unit 66, or the fourth detection unit 68 as the parameter P. The arithmetic processing includes at least one of differential processing, integral processing, arithmetic processing using two or more parameters P, and arithmetic processing using a parameter other than the parameter P.

The control unit 52 controls the regeneration state of the motor 42 according to the change in the parameter P over a predetermined period of time. The predetermined period can be, for example, 1 hour, 30 minutes, 15 minutes, or 10 minutes. By setting the predetermined period to 10 minutes or more, the regeneration state can be controlled according to the change in the parameter P over a relatively long period of time. The predetermined period can also be, for example, 5 minutes, 3 minutes, 1 minute, or 30 seconds. By setting the predetermined period to 5 minutes or less, the regeneration state can be controlled according to the change in the parameter P over a relatively short period of time. Since the control unit 52 controls the regeneration state according to the change in the parameter P over 30 seconds or more, frequent changes in the regeneration state due to momentary changes in the parameter P can be suppressed.

It is preferable that the control unit 52 controls the regenerative state of the motor 42 in response to the transition of the parameter P every 1.5 seconds or less. In this case, it is preferable that the sampling period of the first detection unit 62, the second detection unit 64, the third detection unit 66, or the fourth detection unit 68 is 1.5 seconds or less. The sampling period of the first detection unit 62, the second detection unit 64, the third detection unit 66, or the fourth detection unit 68 may be 1.5 seconds or more. The control unit 52 may control the regenerative state of the motor 42 in response to the transition of the parameter P every 1 second or less, 0.5 seconds or less, 0.1 seconds or less, or 0.01 seconds or less. The control unit 52 may control the regenerative state of the motor 42 in response to the transition of the parameter P detected every sampling period of the first detection unit 62, the second detection unit 64, or the fourth detection unit 68. The control unit 52 preferably controls the regenerative state of the motor 42 according to the transition of the parameter P at or below the sampling period of the first detection unit 62, the second detection unit 64, the third detection unit 66, or the fourth detection unit 68. The sampling period of the first detection unit 62, the second detection unit 64, the third detection unit 66, or the fourth detection unit 68 may be a period according to the rotation phase of the crank 14. For example, the first detection unit 62, the second detection unit 64, the third detection unit 66, or the fourth detection unit 68 performs sampling when the crank arm 14B is in a predetermined phase. The predetermined phase is, for example, an intermediate phase between the top dead center and the bottom dead center.

It is preferable that the control unit 52 records the parameter P at a predetermined interval and controls the regenerative state of the motor 42 according to the change in the recorded value R. In this case, the recorded value R recorded in the memory unit 54 is a discrete value. Specifically, the control unit 52 records the parameter P detected by the first detection unit 62, the second detection unit 64, the third detection unit 66, or the fourth detection unit 68 as the recorded value R in the memory unit 54. It is preferable that the predetermined interval is the sampling period of the first detection unit 62, the second detection unit 64, or the fourth detection unit 68. The predetermined interval may be longer than the sampling period of the first detection unit 62, the second detection unit 64, or the fourth detection unit 68. When the sampling period of the first detection unit 62, the second detection unit 64, the third detection unit 66, or the fourth detection unit 68 corresponds to the rotation phase of the crank 14, the control unit 52 may extract a detection value from the detection values of the first detection unit 62, the second detection unit 64, the third detection unit 66, or the fourth detection unit 68 when the rotation phase of the crank 14 is within a predetermined range including a predetermined phase, and store the detection value in the memory unit 54 as a recorded value R.

It is preferable that the regeneration state includes at least one of the regeneration amount and the regeneration rate.

The control unit 52 controls the regenerative state of the motor 42 according to the transition of the parameter P, for example, as in the following first to seventh examples. The control unit 52 may execute two or more of the first to seventh examples. The parameter P in the first to seventh examples may relate to at least one of the physical information of the passenger riding in the human-powered vehicle 10, the driving environment of the human-powered vehicle 10, and the driving state of the human-powered vehicle 10. The parameter P in the first to seventh examples may relate to at least one of the torque TH, the cadence C, and the power WH.

In the first example, the parameter P is related to the manual driving force H, and the control unit 52 controls the regeneration state of the motor 42 to increase at least one of the regeneration amount and the regeneration rate when the recorded value R changes so that the average value AH of the manual driving force H within the specified time T increases. The average value AH of the manual driving force H includes, for example, the average value of the power WH. The control unit 52 calculates the average value AH of the recorded values R of the manual driving force H by dividing the total value of the recorded values R of the manual driving force H recorded within the specified time T by the number of recorded values R included in the specified time T. It is preferable that the number of recorded values R included in the specified time T is greater than 2. For example, when the second average value AH12 from the second time to the third time is greater than the first average value AH11 from the first time to the second time, the control unit 52 determines that the recorded value R has changed so that the average value AH of the manual driving force H within the specified time T increases. The time from the first time to the second time is the predetermined time T, and the time from the second time to the third time is the predetermined time T. The average value AH may be a moving average value within the predetermined time T. When the average value AH is a moving average value within the predetermined time T, for example, when the second moving average value AH22 from the sixth time to the seventh time between the fourth time and the fifth time is greater than the first moving average value AH21 from the fourth time to the fifth time, the control unit 52 determines that the recorded value R has changed so that the average value AH of the manual driving force H within the predetermined time T increases. The time from the fourth time to the fifth time is the predetermined time T, and the time from the sixth time to the seventh time is the predetermined time T. When the control unit 52 controls the regenerative state of the motor 42 using a plurality of average values AH that are successive in time, the predetermined period corresponds to the sum of the predetermined times T for calculating a plurality of average values AH that are successive in time. For example, if the average value AH is an average value within a predetermined time T, and the regenerative state of the motor 42 is controlled using the first average value AH11 and the second average value AH12 described above, the predetermined period corresponds to the time from the first time to the third time. For example, if the average value AH is a moving average value within a predetermined time T, and the regenerative state of the motor 42 is controlled using the first moving average value AH21 and the second moving average value AH22 described above, the predetermined period corresponds to the time from the fourth time to the seventh time.

The control unit 52 may use three or more average values AH to determine whether the recorded value R has changed so that the average value AH increases. When the control unit 52 uses three or more average values AH to determine whether the recorded value R has changed so that the average value AH increases, if the average value AH including the newest recorded value R is greater than the average value AH including the oldest recorded value R among the average values AH used for the determination, the control unit 52 may determine that the recorded value R has changed so that the average value AH increases. When the control unit 52 uses three or more average values AH to determine whether the recorded value R has changed so that the average value AH increases, if the average value AH used for the determination is always greater than the previous average value AH, the control unit 52 may determine that the recorded value R has changed so that the average value AH increases. When the control unit 52 uses three or more average values AH to determine whether the recorded value R has changed so that the average value AH increases, if the number of average values HA greater than the previous average value AH is greater than the number of average values HA equal to or less than the previous average value AH, the control unit 52 may determine that the recorded value R has changed so that the average value AH increases. When the control unit 52 uses three or more average values AH to determine whether the recorded value R has changed so that the average value AH increases, the control unit 52 may change at least one of the amount of regeneration and the regeneration rate according to the change in each average value AH. For example, the amount of increase in at least one of the amount of regeneration and the regeneration rate is made different between a case where the average value AH including the newest recorded value R is greater than the average value AH including the oldest recorded value R among the average values AH used for the determination, and the average value AH used for the determination includes an average value HA smaller than the previous average value AH, and a case where the average value AH including the newest recorded value R is greater than the average value AH including the oldest recorded value R among the average values AH used for the determination, and the average value AH used for the determination does not include an average value HA smaller than the previous average value AH.

When the average value AH increases, the control unit 52 may control the regenerative state of the motor 42 so as to increase at least one of the regeneration amount and the regeneration rate by a predetermined amount. In this case, the control unit 52 may determine that the average value AH has increased when the average value AH increases by a first predetermined value DAH1 or more from the average value AH determined in the previous calculation cycle.

The control unit 52 may control the regenerative state of the motor 42 according to first information that associates the magnitude of the average value AH when the average value AH increases with at least one of the regeneration amount and the regeneration rate. The first information is stored, for example, in the memory unit 54. The first information includes, for example, at least one of a table, a map, and a relational expression that associates the magnitude of the average value AH with at least one of the regeneration amount and the regeneration rate. When the first information is used, the control unit 52 may determine that the average value AH has increased when the average value AH has increased by at least a first predetermined value DAH1 from the average value AH determined in the previous calculation cycle.

The control unit 52 may control the regenerative state of the motor 42 according to second information that associates the amount of increase in the average value AH with at least one of the amount of regeneration and the regeneration rate. The second information is stored, for example, in the memory unit 54. The second information includes, for example, at least one of a table, a map, and a relational expression that associates the amount of increase in the average value AH with at least one of the amount of regeneration and the regeneration rate.

The process of controlling the regenerative state of the motor 42 in the first example will be described with reference to FIG. 3. When power is supplied to the control unit 52, the control unit 52 starts the process and proceeds to step S11 of the flowchart shown in FIG. 3. When the flowchart in FIG. 3 ends, the control unit 52 repeats the process from step S11 after a predetermined period until the supply of power is stopped.

In step S11, the control unit 52 determines whether the average value AH of the manual driving force H within the specified time T has increased. If the average value AH of the manual driving force H within the specified time T has not increased, the control unit 52 ends the process. If the average value AH of the manual driving force H within the specified time T has increased, the control unit 52 proceeds to step S12. In step S12, the control unit 52 increases at least one of the regeneration amount and the regeneration rate, and ends the process.

In the second example, the parameter P is related to the manual driving force H, and the control unit 52 controls the regeneration state of the motor 42 to reduce at least one of the regeneration amount and the regeneration rate when the recorded value R changes so that the average value AH of the manual driving force H within the specified time T decreases. For example, when the second moving average value AH22 from the second time to the third time is smaller than the first average value AH11 from the first time to the second time, the control unit 52 determines that the recorded value R has changed so that the average value AH of the manual driving force H within the specified time T decreases. When the average value AH is a moving average value within the specified time T, for example, when the second moving average value AH22 from the sixth time to the seventh time is smaller than the first moving average value AH21 from the fourth time to the fifth time, the control unit 52 determines that the recorded value R has changed so that the average value AH of the manual driving force H within the specified time T decreases.

The control unit 52 may use three or more average values AH to determine whether the recorded value R has changed so that the average value AH decreases. When the control unit 52 uses three or more average values AH to determine whether the recorded value R has changed so that the average value AH decreases, if the average value AH including the newest recorded value R is smaller than the average value AH including the oldest recorded value R among the average values AH used for the determination, the control unit 52 may determine that the recorded value R has changed so that the average value AH decreases. When the control unit 52 uses three or more average values AH to determine whether the recorded value R has changed so that the average value AH decreases, if the average value AH used for the determination is always smaller than the previous average value AH, the control unit 52 may determine that the recorded value R has changed so that the average value AH decreases. When the control unit 52 determines whether the recorded value R has changed so that the average value AH decreases using three or more average values AH, the control unit 52 may determine that the recorded value R has changed so that the average value AH decreases if the number of average values HA smaller than the previous average value AH is greater than the number of average values HA equal to or greater than the previous average value AH. When the control unit 52 determines whether the recorded value R has changed so that the average value AH decreases using three or more average values AH, the control unit 52 may change the amount of change in at least one of the regeneration amount and the regeneration rate in accordance with the change in each average value AH. For example, the amount of decrease in at least one of the regeneration amount and the regeneration rate is made different between a case where the average value AH including the newest recorded value R is smaller than the average value AH including the oldest recorded value R among the average values AH used for the judgment, and the average value AH used for the judgment includes an average value HA larger than the previous average value AH, and a case where the average value AH including the newest recorded value R is smaller than the average value AH including the oldest recorded value R among the average values AH used for the judgment, and the average value AH used for the judgment does not include an average value HA larger than the previous average value AH.

When the average value AH has decreased, the control unit 52 may control the regenerative state of the motor 42 so as to reduce at least one of the regeneration amount and the regeneration rate by a predetermined amount. In this case, the control unit 52 may determine that the average value AH has decreased when the average value AH has decreased by a second predetermined value DAH2 or more from the average value AH determined in the previous calculation cycle.

The control unit 52 may control the regenerative state of the motor 42 according to third information that associates the magnitude of the average value AH when the average value AH has decreased with at least one of the regeneration amount and the regeneration rate. The third information is stored, for example, in the memory unit 54. The third information includes, for example, at least one of a table, a map, and a relational expression that associates the magnitude of the average value AH with at least one of the regeneration amount and the regeneration rate. When the third information is used, the control unit 52 may determine that the average value AH has decreased when the average value AH has decreased by at least a second predetermined value DAH2 from the average value AH determined in the previous calculation cycle.

The control unit 52 may control the regenerative state of the motor 42 according to fourth information that associates the amount of decrease in the average value AH with at least one of the regeneration amount and the regeneration rate. The fourth information is stored, for example, in the storage unit 54. The fourth information includes, for example, at least one of a table, a map, and a relational expression that associates the amount of decrease in the average value AH with at least one of the regeneration amount and the regeneration rate.

The process of controlling the regenerative state of the motor 42 in the second example will be described with reference to FIG. 4. When power is supplied to the control unit 52, the control unit 52 starts the process and proceeds to step S21 of the flowchart shown in FIG. 4. When the flowchart in FIG. 4 ends, the control unit 52 repeats the process from step S21 after a predetermined period until the supply of power is stopped.

In step S21, the control unit 52 determines whether the average value AH of the manual driving force H within the specified time T has decreased. If the average value AH of the manual driving force H within the specified time T has not decreased, the control unit 52 ends the process. If the average value AH of the manual driving force H within the specified time T has decreased, the control unit 52 proceeds to step S22. In step S22, the control unit 52 reduces at least one of the regeneration amount and the regeneration rate, and ends the process.

In the third example, the parameter P relates to the manual driving force H, and when the recorded value R changes so that the peak value PH of the manual driving force H within the specified time T increases, the control unit 52 controls the regenerative state of the motor 42 to increase at least one of the regeneration amount and the regeneration rate. The peak value PH of the manual driving force H includes, for example, the peak value of the power WH. The control unit 52 selects the largest value of the recorded values R of the manual driving force H recorded within the specified time T as the peak value PH.

When the peak value PH increases, the control unit 52 may control the regenerative state of the motor 42 so as to increase at least one of the regeneration amount and the regeneration rate by a predetermined amount. In this case, the control unit 52 may determine that the peak value PH has increased when the peak value PH is greater than the peak value PH determined in the previous calculation cycle by a third predetermined value DPH1 or more.

The control unit 52 may use three or more peak values PH to determine whether the recorded value R has changed so that the peak value PH increases. When the control unit 52 uses three or more peak values PH to determine whether the recorded value R has changed so that the peak value PH increases, if the newest peak value PH is greater than the oldest peak value PH among the peak values PH used for the determination, the control unit 52 may determine that the recorded value R has changed so that the peak value PH increases. When the control unit 52 uses three or more peak values PH to determine whether the recorded value R has changed so that the peak value PH increases, if the peak value PH used for the determination is always greater than the previous peak value PH, the control unit 52 may determine that the recorded value R has changed so that the peak value PH increases. When determining whether or not the recorded value R has changed so that the peak value PH increases using three or more peak values PH, the control unit 52 may determine that the recorded value R has changed so that the peak value PH increases if the number of peak values PH greater than the previous peak value PH is greater than the number of peak values PH equal to or less than the previous peak value PH. When determining whether or not the recorded value R has changed so that the peak value PH increases using three or more peak values PH, the control unit 52 may change the amount of change in at least one of the regeneration amount and the regeneration rate in accordance with the change in each peak value PH. For example, the amount of regeneration and the amount of reduction in the regeneration rate are made different between a case where the most recent peak value PH is greater than the oldest peak value PH among the peak values PH used for the judgment, and the peak values PH used for the judgment include a peak value PH smaller than the previous peak value PH, and a case where the most recent peak value PH is greater than the oldest peak value PH among the peak values PH used for the judgment, and the peak values PH used for the judgment do not include a peak value PH smaller than the previous peak value PH.

The control unit 52 may control the regenerative state of the motor 42 according to fifth information that associates the magnitude of the peak value PH when the peak value PH increases with at least one of the regeneration amount and the regeneration rate. The fifth information is stored, for example, in the memory unit 54. The fifth information includes, for example, at least one of a table, a map, and a relational expression that associates the magnitude of the peak value PH with at least one of the regeneration amount and the regeneration rate. When using the fifth information, the control unit 52 may determine that the peak value PH has increased when the peak value PH is greater than the peak value PH determined in the previous calculation cycle by a third predetermined value DPH1 or more.

The control unit 52 may control the regenerative state of the motor 42 according to sixth information that associates the amount of increase in the peak value PH with at least one of the amount of regeneration and the regeneration rate. The sixth information is stored, for example, in the memory unit 54. The sixth information includes, for example, at least one of a table, a map, and a relational expression that associates the amount of increase in the peak value PH with at least one of the amount of regeneration and the regeneration rate.

The process of controlling the regenerative state of the motor 42 in the third example will be described with reference to FIG. 5. When power is supplied to the control unit 52, the control unit 52 starts the process and proceeds to step S31 of the flowchart shown in FIG. 5. When the flowchart in FIG. 5 ends, the control unit 52 repeats the process from step S31 after a predetermined period until the supply of power is stopped.

In step S31, the control unit 52 determines whether the peak value PH of the manual driving force H within the specified time T has increased. If the peak value PH of the manual driving force H within the specified time T has not increased, the control unit 52 ends the process. If the peak value PH of the manual driving force H within the specified time T has increased, the control unit 52 proceeds to step S32. In step S32, the control unit 52 increases at least one of the regeneration amount and the regeneration rate, and ends the process.

In the fourth example, the parameter P relates to the manual driving force H, and the control unit 52 controls the regenerative state of the motor 42 to reduce at least one of the regeneration amount and the regeneration rate when the recorded value R transitions such that the peak value PH of the manual driving force H within the specified time T decreases. The peak value PH of the manual driving force H includes, for example, the peak value of the power WH. The control unit 52 selects the largest value of the recorded values R of the manual driving force H recorded within the specified time T as the peak value PH.

When the peak value PH has decreased, the control unit 52 may control the regenerative state of the motor 42 so as to reduce at least one of the regeneration amount and the regeneration rate by a predetermined amount. In this case, the control unit 52 may determine that the peak value PH has decreased when the peak value PH is smaller than the peak value PH determined in the previous calculation cycle by a fourth predetermined value DPH2 or more.

The control unit 52 may use three or more peak values PH to determine whether the recorded value R has changed so that the peak value PH decreases. When using three or more peak values PH to determine whether the recorded value R has changed so that the peak value PH decreases, if the newest peak value PH is smaller than the oldest peak value PH among the peak values PH used for the determination, the control unit 52 may determine that the recorded value R has changed so that the peak value PH decreases. When using three or more peak values PH to determine whether the recorded value R has changed so that the peak value PH decreases, if the peak value PH used for the determination is always smaller than the previous peak value PH, the control unit 52 may determine that the recorded value R has changed so that the peak value PH decreases. When determining whether or not the recorded value R has changed so that the peak value PH decreases using three or more peak values PH, the control unit 52 may determine that the recorded value R has changed so that the peak value PH decreases if the number of peak values PH smaller than the previous peak value PH is greater than the number of peak values PH equal to or greater than the previous peak value PH. When determining whether or not the recorded value R has changed so that the peak value PH decreases using three or more peak values PH, the control unit 52 may change the amount of change in at least one of the regeneration amount and the regeneration rate in accordance with the change in each peak value PH. For example, the amount of regeneration and the amount of reduction in the regeneration rate are made different between a case where the most recent peak value PH is smaller than the oldest peak value PH among the peak values PH used for the judgment, and the peak values PH used for the judgment include a peak value PH greater than the previous peak value PH, and a case where the most recent peak value PH is smaller than the oldest peak value PH among the peak values PH used for the judgment, and the peak values PH used for the judgment do not include a peak value PH greater than the previous peak value PH.

The control unit 52 may control the regenerative state of the motor 42 according to seventh information that associates the magnitude of the peak value PH when the peak value PH has decreased with at least one of the regeneration amount and the regeneration rate. The seventh information is stored, for example, in the memory unit 54. The seventh information includes, for example, at least one of a table, a map, and a relational expression that associates the magnitude of the peak value PH with at least one of the regeneration amount and the regeneration rate. When using the seventh information, the control unit 52 may determine that the peak value PH has decreased when the peak value PH is smaller than the peak value PH determined in the previous calculation cycle by a fourth predetermined value DPH2 or more.

The control unit 52 may control the regenerative state of the motor 42 according to eighth information that associates the amount of increase in the peak value PH with at least one of the amount of regeneration and the regeneration rate. The eighth information is stored, for example, in the memory unit 54. The eighth information includes, for example, at least one of a table, a map, and a relational expression that associates the amount of increase in the peak value PH with at least one of the amount of regeneration and the regeneration rate.

The process of controlling the regenerative state of the motor 42 in the fourth example will be described with reference to FIG. 6. When power is supplied to the control unit 52, the control unit 52 starts the process and proceeds to step S41 of the flowchart shown in FIG. 6. When the flowchart in FIG. 6 ends, the control unit 52 repeats the process from step S41 after a predetermined period until the supply of power is stopped.

In step S41, the control unit 52 determines whether the peak value PH of the manual driving force H within the specified time T has decreased. If the peak value PH of the manual driving force H within the specified time T has not decreased, the control unit 52 ends the process. If the peak value PH of the manual driving force H within the specified time T has decreased, the control unit 52 proceeds to step S42. In step S42, the control unit 52 reduces at least one of the regeneration amount and the regeneration rate, and ends the process.

In the fifth example, if the average value AR of the recorded values R within a specified time T falls and then rises, or if the average value AR of the recorded values R within the specified time T rises and then falls, the control unit 52 controls the regenerative state of the motor 42 according to the difference DR between the start value R1 and the end value R2 of the recorded values R within the specified time T. The parameter P in the fifth example is preferably related to the manual driving force H. In this case, the average value AR of the recorded values R is preferably the average value AH of the manual driving force H.

In one example, when the average value AR of the recorded values R within a predetermined time T falls and then rises, the control unit 52 controls the regenerative state of the motor 42 in accordance with the difference DR between the start value R1 and the end value R2 of the recorded values R within the predetermined time T. In another example, when the average value AR of the recorded values R rises and then falls within the predetermined time T, the control unit 52 controls the regenerative state of the motor 42 in accordance with the difference DR between the start value R1 and the end value R2 of the recorded values R within the predetermined time T. In the fifth example, the control unit 52 may execute both the example and the alternative example of the fifth example.

The control unit 52 may control the regenerative state of the motor 42 according to ninth information that associates the difference DR with at least one of the regeneration amount and the regeneration rate. The ninth information is stored, for example, in the memory unit 54. The ninth information includes, for example, at least one of a table, a map, and a relational expression that associates the difference DR with at least one of the regeneration amount and the regeneration rate.

The control unit 52 may change at least one of the regeneration amount and the regeneration rate depending on whether the difference DR is positive or negative. For example, the control unit 52 reduces at least one of the regeneration amount and the regeneration rate when the difference DR is positive or negative, and increases at least one of the regeneration amount and the regeneration rate when the difference DR is positive or negative. The control unit 52 may increase at least one of the regeneration amount and the regeneration rate as the absolute value of the difference DR increases, and may decrease at least one of the regeneration amount and the regeneration rate as the absolute value of the difference DR decreases. The control unit 52 may increase at least one of the regeneration amount and the regeneration rate as the end point value R2 is higher than the start point value R1 and the absolute value of the difference DR increases, and may decrease at least one of the regeneration amount and the regeneration rate as the end point value R2 is higher than the start point value R1 and the absolute value of the difference DR increases. The control unit 52 may decrease at least one of the regeneration amount and the regeneration rate the more the end point value R2 is lower than the start point value R1 and the greater the absolute value of the difference DR, and may increase at least one of the regeneration amount and the regeneration rate the more the end point value R2 is lower than the start point value R1 and the greater the absolute value of the difference DR.

The process of controlling the regenerative state of the motor 42 in the fifth example will be described with reference to FIG. 7. When power is supplied to the control unit 52, the control unit 52 starts the process and proceeds to step S51 in the flowchart shown in FIG. 7. When the flowchart in FIG. 7 ends, the control unit 52 repeats the process from step S51 after a predetermined period until the supply of power is stopped.

In step S51, the control unit 52 determines whether the average value AR of the recorded values R within the specified time T has risen after falling. If the average value AR of the recorded values R within the specified time T has not risen after falling, the control unit 52 ends the process. If the average value AR of the recorded values R within the specified time T has risen after falling, the control unit 52 proceeds to step S52. In step S52, the control unit 52 controls the regenerative state of the motor 42 according to the difference DR, and ends the process.

Referring to FIG. 8, a process for controlling the regenerative state of the motor 42 in another example of the fifth example will be described. When power is supplied to the control unit 52, the control unit 52 starts the process and proceeds to step S61 of the flowchart shown in FIG. 8. When the flowchart in FIG. 8 ends, the control unit 52 repeats the process from step S61 after a predetermined period until the supply of power is stopped.

In step S61, the control unit 52 determines whether the average value AR of the recorded values R within the specified time T has increased and then decreased. If the average value AR of the recorded values R within the specified time T has not increased and then decreased, the control unit 52 ends the process. If the average value AR of the recorded values R within the specified time T has increased and then decreased, the control unit 52 proceeds to step S62. In step S62, the control unit 52 controls the regenerative state of the motor 42 according to the difference DR, and ends the process.

In a sixth example, the control unit 52 controls the regenerative state of the motor 42 to change at least one of the regeneration amount and the regeneration rate when the start value R1 of the recorded value R within the predetermined time T is higher than the end value R2 of the recorded value R within the predetermined time T. The parameter P in the sixth example is preferably related to the manual driving force H. In this case, the recorded value R is preferably the manual driving force H.

In one example of the sixth example, when the start value R1 of the recorded value R within the specified time T is higher than the end value R2 of the recorded value R within the specified time T, the control unit 52 controls the regeneration state of the motor 42 to reduce at least one of the regeneration amount and the regeneration rate.

The control unit 52 may control the regeneration state of the motor 42 to reduce at least one of the regeneration amount and the regeneration rate by a predetermined amount when the start point value R1 of the recorded value R within the predetermined time T is higher than the end point value R2 of the recorded value R within the predetermined time T. In this case, the control unit 52 may determine that the start point value R1 of the recorded value R within the predetermined time T has become higher than the end point value R2 of the recorded value R within the predetermined time T when the start point value R1 is greater than the end point value R2 by a fifth predetermined value DRX or more.

The control unit 52 may control the regenerative state of the motor 42 according to tenth information that associates the difference DR between the start point value R1 and the end point value R2 within the predetermined time T with at least one of the regeneration amount and the regeneration rate. The tenth information is stored, for example, in the memory unit 54. The tenth information includes, for example, at least one of a table, a map, and a relational expression that associates the difference DR between the start point value R1 and the end point value R2 within the predetermined time T with at least one of the regeneration amount and the regeneration rate.

The process of controlling the regenerative state of the motor 42 in the sixth example will be described with reference to FIG. 9. When power is supplied to the control unit 52, the control unit 52 starts the process and proceeds to step S71 in the flowchart shown in FIG. 9. When the flowchart in FIG. 9 ends, the control unit 52 repeats the process from step S71 after a predetermined period until the supply of power is stopped.

In step S71, the control unit 52 determines whether the start point value R1 is higher than the end point value R2. If the start point value R1 is not higher than the end point value R2, the control unit 52 ends the process. If the start point value R1 is higher than the end point value R2, the control unit 52 proceeds to step S72. In step S72, the control unit 52 reduces at least one of the regeneration amount and the regeneration rate, and ends the process.

In another example of the sixth example, when the start value R1 of the recorded value R within a specified time T is higher than the end value R2 of the recorded value R within the specified time T, the control unit 52 controls the regenerative state of the motor 42 to increase at least one of the regeneration amount and the regeneration rate.

The control unit 52 may control the regenerative state of the motor 42 to increase at least one of the regeneration amount and the regeneration rate by a predetermined amount when the start point value R1 of the recorded value R within the predetermined time T is higher than the end point value R2 of the recorded value R within the predetermined time T. In this case, the control unit 52 may determine that the start point value R1 of the recorded value R within the predetermined time T has become higher than the end point value R2 of the recorded value R within the predetermined time T when the start point value R1 is greater than the end point value R2 by a fifth predetermined value DRX or more.

The control unit 52 may control the regenerative state of the motor 42 according to eleventh information that associates the difference DR between the start point value R1 and the end point value R2 within the predetermined time T with at least one of the regeneration amount and the regeneration rate. The eleventh information is stored, for example, in the memory unit 54. The eleventh information includes, for example, at least one of a table, a map, and a relational expression that associates the difference DR between the start point value R1 and the end point value R2 within the predetermined time T with at least one of the regeneration amount and the regeneration rate.

Referring to FIG. 10, a process for controlling the regenerative state of the motor 42 in another example of the sixth example will be described. When power is supplied to the control unit 52, the control unit 52 starts the process and proceeds to step S81 of the flowchart shown in FIG. 10. When the flowchart in FIG. 10 ends, the control unit 52 repeats the process from step S81 after a predetermined period until the supply of power is stopped.

In step S81, the control unit 52 determines whether the start point value R1 is higher than the end point value R2. If the start point value R1 is not higher than the end point value R2, the control unit 52 ends the process. If the start point value R1 is higher than the end point value R2, the control unit 52 proceeds to step S82. In step S82, the control unit 52 increases at least one of the regeneration amount and the regeneration rate, and ends the process.

In the seventh example, when the start value R1 of the recorded value R within the predetermined time T is lower than the end value R2 of the recorded value R within the predetermined time T, the control unit 52 controls the regenerative state of the motor 42 to change at least one of the regeneration amount and the regeneration rate. The parameter P in the seventh example is preferably related to the manual driving force H. In this case, the recorded value R is preferably the manual driving force H.

In one example of the seventh example, when the start value R1 of the recorded value R within the specified time T is lower than the end value R2 of the recorded value R within the specified time T, the control unit 52 controls the regenerative state of the motor 42 to increase at least one of the regeneration amount and the regeneration rate.

The control unit 52 may control the regenerative state of the motor 42 to increase at least one of the regeneration amount and the regeneration rate by a predetermined amount when the start point value R1 of the recorded value R within the predetermined time T is lower than the end point value R2 of the recorded value R within the predetermined time T. In this case, the control unit 52 may determine that the start point value R1 of the recorded value R within the predetermined time T has become lower than the end point value R2 of the recorded value R within the predetermined time T when the start point value R1 is smaller than the end point value R2 by a sixth predetermined value DRY or more.

The control unit 52 may control the regenerative state of the motor 42 according to 12th information that associates the difference DR between the start point value R1 and the end point value R2 within the specified time T with at least one of the regeneration amount and the regeneration rate. The 12th information is stored in the memory unit 54, for example. The 12th information includes at least one of a table, a map, and a relational expression that associates the difference DR between the start point value R1 and the end point value R2 within the specified time T with at least one of the regeneration amount and the regeneration rate.

The process of controlling the regenerative state of the motor 42 in the seventh example will be described with reference to FIG. 11. When power is supplied to the control unit 52, the control unit 52 starts the process and proceeds to step S91 in the flowchart shown in FIG. 11. When the flowchart in FIG. 11 ends, the control unit 52 repeats the process from step S91 after a predetermined period until the supply of power is stopped.

In step S91, the control unit 52 determines whether the start point value R1 is lower than the end point value R2. If the start point value R1 is not lower than the end point value R2, the control unit 52 ends the process. If the start point value R1 is lower than the end point value R2, the control unit 52 proceeds to step S92. In step S92, the control unit 52 increases at least one of the regeneration amount and the regeneration rate, and ends the process.

In another example of the seventh example, when the start value R1 of the recorded value R within a specified time T is lower than the end value R2 of the recorded value R within the specified time T, the control unit 52 controls the regenerative state of the motor 42 to reduce at least one of the regeneration amount and the regeneration rate.

The control unit 52 may control the regeneration state of the motor 42 to reduce at least one of the regeneration amount and the regeneration rate by a predetermined amount when the start point value R1 of the recorded value R within the predetermined time T is lower than the end point value R2 of the recorded value R within the predetermined time T. In this case, the control unit 52 may determine that the start point value R1 of the recorded value R within the predetermined time T has become lower than the end point value R2 of the recorded value R within the predetermined time T when the start point value R1 is smaller than the end point value R2 by at least a sixth predetermined value DRY.

The control unit 52 may control the regenerative state of the motor 42 according to thirteenth information that associates the difference DR between the start point value R1 and the end point value R2 within the predetermined time T with at least one of the regeneration amount and the regeneration rate. The thirteenth information is stored, for example, in the memory unit 54. The thirteenth information includes, for example, at least one of a table, a map, and a relational expression that associates the difference DR between the start point value R1 and the end point value R2 within the predetermined time T with at least one of the regeneration amount and the regeneration rate.

Referring to FIG. 12, a process for controlling the regenerative state of the motor 42 in another example of the seventh example will be described. When power is supplied to the control unit 52, the control unit 52 starts the process and proceeds to step S101 of the flowchart shown in FIG. 12. When the flowchart in FIG. 12 ends, the control unit 52 repeats the process from step S101 after a predetermined period until the supply of power is stopped.

In step S101, the control unit 52 determines whether the start point value R1 is lower than the end point value R2. If the start point value R1 is not lower than the end point value R2, the control unit 52 ends the process. If the start point value R1 is lower than the end point value R2, the control unit 52 proceeds to step S102. In step S102, the control unit 52 reduces at least one of the regeneration amount and the regeneration rate, and ends the process.

For example, when parameter P changes in a manner that corresponds to an increase in the fatigue or mental burden of the passenger, control unit 52 can reduce at least one of the regeneration amount and the regeneration rate, thereby reducing the burden on the passenger. When parameter P changes in a manner that corresponds to an increase in the fatigue or mental burden of the passenger, control unit 52 can increase the amount of power supplied to battery 40 by increasing at least one of the regeneration amount and the regeneration rate.

For example, if the heart rate, body temperature, amount of sweating, and breathing frequency increase, it is possible that the occupant is fatigued or has a large mental burden. Therefore, if the heart rate, body temperature, amount of sweating, or breathing frequency increase, it is possible to reduce the load on the occupant by reducing at least one of the regeneration amount and the regeneration rate. Also, if the weight decreases, it is possible that the occupant is fatigued or has a large mental burden. Therefore, if the weight decreases, it is possible to reduce the load on the occupant by reducing at least one of the regeneration amount and the regeneration rate.

For example, if the torque TH, cadence C, and power WH change so as to decrease, it is possible that the rider is fatigued or has a large mental burden. Therefore, if the torque TH, cadence C, or power WH change so as to decrease, at least one of the regeneration amount and the regeneration rate can be reduced, thereby reducing the rider's burden.

For example, when the temperature, the road surface gradient of the road, and the running resistance change to increase, the passenger's fatigue or mental burden is considered to be large. Therefore, when the temperature, the road surface gradient of the road, or the running resistance change to increase, at least one of the regeneration amount and the regeneration rate can be reduced to reduce the passenger's load. Also, when the weather changes from sunny to cloudy, or from cloudy to rain, the passenger's fatigue or mental burden is considered to be large. Therefore, when the illuminance changes to decrease, at least one of the regeneration amount and the regeneration rate can be reduced to reduce the passenger's load. Also, when the humidity changes to increase, at least one of the regeneration amount and the regeneration rate can be reduced to reduce the passenger's load. Also, the weather-related parameter P is set to a value that is larger as the passenger's fatigue or mental burden is considered to be large, and when the weather-related parameter P changes to increase, at least one of the regeneration amount and the regeneration rate can be reduced to reduce the passenger's load. Also, when the time changes from daytime to nighttime, the passenger's fatigue or mental burden is considered to be large. For this reason, the time-related parameter P is set to a larger value as the passenger's fatigue or mental burden is considered to be greater, and as the time-related parameter P increases, at least one of the regeneration amount and regeneration rate is reduced, thereby reducing the passenger's burden.

For example, if the pitch angle of the human-powered vehicle 10 changes to an upward trend, it is possible that the passenger is fatigued or mentally burdened. For this reason, if the pitch angle of the human-powered vehicle 10 changes to an upward trend, it is possible to reduce the passenger's burden by reducing at least one of the regeneration amount and the regeneration rate. Also, if the traveling speed V changes to a downward trend, it is possible that the passenger is fatigued or mentally burdened. For this reason, if the traveling speed V changes to a downward trend, it is possible to reduce the passenger's burden by reducing at least one of the regeneration amount and the regeneration rate.

The control unit 52 controls the regenerative state of the motor 42 in response to the change in the parameter P over a predetermined period. Because the predetermined period can be made relatively long, the regenerative state can be controlled in a more suitable manner depending on the fatigue or mental stress of the passenger, for example, compared to when the regenerative state is controlled in response to the change in the parameter P over one cycle.

(Modification)
The explanations of the embodiments are examples of possible forms of a control device for a human-powered vehicle according to the present invention, and are not intended to limit the forms. A control device for a human-powered vehicle according to the present invention can take the form of, for example, a modified version of the embodiment shown below, or a combination of at least two mutually compatible modified versions. In the following modified versions, parts that are common to the embodiment will be given the same reference numerals as in the embodiment, and descriptions thereof will be omitted.

- The motor 42 may not assist in propelling the human-powered vehicle 10.

The control unit 52 may adjust the regeneration rate relative to the power WH. In this case, it is preferable that the driving state of the human-powered vehicle 10 includes the power WH. For example, a switching device that switches the power transmission state may be provided between the power transmission path of the human-powered vehicle 10 and the motor 42, and the control unit 52 may change at least one of the regeneration amount and the regeneration rate by controlling the switching device. In this case, the regeneration rate relative to the power WH of pedaling by the rider can be changed by changing the ratio of the rotational torque of the crankshaft 14A that the switching device transmits to the motor 42.

The control unit 52 may control the regeneration state of the motor 42 so as not to change at least one of the regeneration amount and the regeneration rate when the difference DR between the start point value R1 and the end point value R2 of the recorded value R within the predetermined time T is within a predetermined difference DR1. In this case, it is preferable that the control unit 52 changes at least one of the regeneration amount and the regeneration rate when the difference DR between the start point value R1 and the end point value R2 of the recorded value R within the predetermined time T is greater than the predetermined difference DR1. For example, when the difference DR between the start point value R1 and the end point value R2 of the recorded value R within the predetermined time T is greater than the predetermined difference DR1, the control unit 52 increases or decreases at least one of the regeneration amount and the regeneration rate in accordance with the difference DR.
A process for controlling the regenerative state of the motor 42 in the first modified example will be described with reference to Fig. 13. When power is supplied to the control unit 52, the control unit 52 starts the process and proceeds to step S111 of the flowchart shown in Fig. 13. When the flowchart in Fig. 13 ends, the control unit 52 repeats the process from step S111 after a predetermined period until the supply of power is stopped.
In step S111, the control unit 52 determines whether the difference DR between the start point value R1 and the end point value R2 of the recorded value R within the predetermined time T is within a predetermined difference DR1. If the difference DR between the start point value R1 and the end point value R2 of the recorded value R within the predetermined time T is within the predetermined difference DR1, the control unit 52 proceeds to step S112. In step S112, the control unit 52 controls the regenerative state of the motor 42 so as not to change at least one of the regeneration amount and the regeneration rate, and ends the process. In step S111, if the difference DR between the start point value R1 and the end point value R2 of the recorded value R within the predetermined time T is not within the predetermined difference DR1, the control unit 52 proceeds to step S113. In step S113, the control unit 52 controls the regenerative state of the motor 42 so as to change at least one of the regeneration amount and the regeneration rate, and ends the process.

The control unit 52 may control the regenerative state of the motor 42 so as to change at least one of the regeneration amount and the regeneration rate by a first change amount when both the start point value R1 and the end point value R2 of the recorded value R within the predetermined time T are equal to or greater than the threshold value RX, and to change at least one of the regeneration amount and the regeneration rate by a second change amount different from the first change amount when both the start point value R1 and the end point value R2 of the recorded value R within the predetermined time T are less than the threshold value RX. In this case, it is preferable that the control unit 52 controls the regenerative state of the motor 42 so as to change at least one of the regeneration amount and the regeneration rate by the second change amount when at least one of the start point value R1 and the end point value R2 of the recorded value R within the predetermined time T is less than the threshold value RX.
A process for controlling the regenerative state of the motor 42 in the second modified example will be described with reference to Fig. 14. When power is supplied to the control unit 52, the control unit 52 starts the process and proceeds to step S121 of the flowchart shown in Fig. 14. When the flowchart in Fig. 14 ends, the control unit 52 repeats the process from step S121 after a predetermined period until the supply of power is stopped.
In step S121, the control unit 52 judges whether the start point value R1 of the recorded value R within the predetermined time T is equal to or greater than the threshold value RX. If the start point value R1 of the recorded value R within the predetermined time T is equal to or greater than the threshold value RX, the control unit 52 proceeds to step S122. In step S122, the control unit 52 judges whether the end point value R2 of the recorded value R within the predetermined time T is equal to or greater than the threshold value RX. If the end point value R2 of the recorded value R within the predetermined time T is equal to or greater than the threshold value RX, the control unit 52 proceeds to step S123. In step S123, the control unit 52 controls the regeneration state of the motor 42 so that at least one of the regeneration amount and the regeneration rate is changed by a first change amount, and ends the process. If the start point value R1 of the recorded value R within the predetermined time T is not equal to or greater than the threshold value RX, the control unit 52 proceeds to step S124. If the end point value R2 of the recorded value R within the predetermined time T is not equal to or greater than the threshold value RX in step S122, the control unit 52 proceeds to step S124. In step S124 , the control unit 52 controls the regenerative state of the motor 42 so as to change at least one of the regeneration amount and the regeneration rate by a second change amount, and ends the process.

In the above second modified example, when both the start value R1 and the end value R2 of the recorded value R within a specified time T are less than the threshold value RX, the control unit 52 may control the regenerative state of the motor 42 so as to change at least one of the regeneration amount and the regeneration rate by a first change amount, and when only one of them is less than the threshold value RX, the control unit 52 may control the regenerative state of the motor 42 so as to change at least one of the regeneration amount and the regeneration rate by a second change amount.

- The control unit 52 may control the regenerative state of the motor 42 in response to the transition of the parameter P over a predetermined period, and may also control the regenerative state of the motor 42 in response to the transition of the parameter P over a period shorter than the predetermined period. In this case, it is preferable for the control unit 52 to make the amount of change in the regenerative amount and the regenerative rate changed in response to the transition of the parameter P over a period shorter than the predetermined period smaller than the amount of change in the regenerative amount and the regenerative rate changed in response to the transition of the parameter P over a period shorter than the predetermined period. For example, when the parameter P transitions to increase over the predetermined period, the control unit 52 reduces the regenerative amount and the regenerative rate by a first amount of change, and when the parameter P transitions to decrease over a period shorter than the predetermined period, the control unit 52 reduces the regenerative amount and the regenerative rate by a second amount of change, the second amount of change being smaller than the first amount of change. For example, if the parameter P changes so as to decrease over a predetermined period of time, the control unit 52 increases the regeneration amount and the regeneration rate by a third change amount, and if the parameter P changes so as to increase over a period of time shorter than the predetermined period of time, the control unit 52 decreases the regeneration amount and the regeneration rate by a fourth change amount, the fourth change amount being smaller than the third change amount.

The control device 50 includes a control unit 52 that controls the motor 42 attached to the human-powered vehicle 10, and the control unit 52 may control the regeneration rate relative to the power WH of pedaling by the rider according to a parameter P related to at least one of the physical information of the rider riding in the human-powered vehicle 10, the driving state of the human-powered vehicle 10, the driving environment of the human-powered vehicle 10, and the driving state of the human-powered vehicle 10. In this case, the regeneration rate may be controlled regardless of the progress of the parameter P. For example, the regeneration rate when the parameter P is equal to or greater than the seventh predetermined value PX is made different from the regeneration rate when the parameter P is less than the seventh predetermined value PX. The control unit 52 may control the amount of regeneration according to a parameter P related to at least one of the physical information of the rider riding in the human-powered vehicle 10, the driving state of the human-powered vehicle 10, the driving environment of the human-powered vehicle 10, and the driving state of the human-powered vehicle 10.

- The control unit 52 of the third modified example may change the regenerative state differently between when the human-powered driving force H is equal to or greater than the predetermined driving force HX and when the human-powered driving force H is less than the predetermined driving force HX, and may change the predetermined driving force HX according to the physical information of the passenger aboard the human-powered vehicle 10, the driving state of the human-powered vehicle 10, the driving environment of the human-powered vehicle 10, and the progress of a parameter P related to the driving state of the human-powered vehicle 10. In this case, the predetermined driving force HX when the parameter P progresses to increase may be smaller than the predetermined driving force HX when the parameter P progresses to decrease, and the predetermined driving force HX when the parameter P progresses to increase may be larger than the predetermined driving force HX when the parameter P progresses to decrease.

- The control unit 52 of the third modified example may cause the change in the regeneration state with respect to the transition of the parameter P to differ between when the human-powered driving force H is equal to or greater than the predetermined driving force HX and when the human-powered driving force H is less than the predetermined driving force HX, and may change the predetermined driving force HX according to the physical information of the passenger riding in the human-powered vehicle 10, the driving state of the human-powered vehicle 10, the running environment of the human-powered vehicle 10, and the transition of the parameter P related to the running state of the human-powered vehicle 10. For example, a first ratio of the change in at least one of the regeneration amount and the regeneration rate with respect to the change in the parameter P when the human-powered driving force H is equal to or greater than the predetermined driving force HX is set to be greater than a second ratio of the change in at least one of the regeneration amount and the regeneration rate with respect to the change in the parameter P when the human-powered driving force H is less than the predetermined driving force HX. The first ratio may be smaller than the second ratio. One of the first ratio and the second ratio may be zero.

- The control unit 52 of the third modified example and its modified examples may change the regeneration state differently when the human-powered driving force H is equal to or greater than a predetermined driving force HX and when the human-powered driving force H is less than the predetermined driving force HX, and the predetermined driving force HX may be changed according to the progress of a parameter P related to the heart rate of the passenger riding in the human-powered vehicle 10. For example, the regeneration amount and regeneration rate in the regeneration state when the passenger's heart rate is equal to or greater than the predetermined heart rate may be smaller or larger than the regeneration amount and regeneration rate in the regeneration state when the passenger's heart rate is less than the predetermined heart rate. The predetermined heart rate is, for example, 160 (bpm; beats per minute).

- In the control unit 52 of the third modified example and its modified examples, when the predetermined driving force HX is changed according to the transition of the parameter P related to the driving environment of the human-powered vehicle 10, the driving environment may include at least one of the weather, temperature, air pressure, time, and road surface condition. When the driving environment includes the weather, the predetermined driving force HX is increased when the parameter P related to the weather transitions from sunny to a value corresponding to rain, and the predetermined driving force HX is decreased when the parameter P related to the weather transitions from rain to a value corresponding to sunny. When the driving environment includes the temperature, the parameter P related to the driving environment includes the temperature, and when the temperature transitions so that the temperature increases, the predetermined driving force HX is increased, and when the air pressure transitions so that the temperature decreases, the predetermined driving force HX is decreased. When the driving environment includes the air pressure, the parameter P related to the driving environment includes the air pressure, and when the air pressure transitions so that the air pressure decreases, the predetermined driving force HX is increased, and when the air pressure transitions so that the air pressure increases, the predetermined driving force HX is decreased. When the driving environment includes time, if the parameter P related to the time transitions from nighttime to a value corresponding to daytime, the predetermined driving force HX is decreased, and when the parameter P related to the time transitions from daytime to a value corresponding to nighttime, the predetermined driving force HX is increased. When the driving environment includes road surface conditions, if the parameter P related to the road surface conditions transitions from a state in which the road surface resistance is low to a state in which it is high, the predetermined driving force HX is increased, and when the parameter P related to the road surface conditions transitions from a state in which the road resistance is high to a value corresponding to a state in which it is low, the predetermined driving force HX is decreased.

10...human-powered vehicle, 42...motor, 50...control device for human-powered vehicle, 52...control unit.

Claims (14)

A control unit that controls a motor attached to the human-powered vehicle,
The control unit is
controlling a regenerative state of the motor in response to a change in a parameter related to at least one of physical information of a passenger riding in the human-powered vehicle, a driving state of the human-powered vehicle, a traveling environment of the human-powered vehicle, and a traveling state of the human-powered vehicle;
recording the parameters at a predetermined interval, and controlling the regenerative state of the motor in accordance with a transition of the recorded values;
The parameter is related to a human-powered driving force,
The control unit controls the regenerative state of the motor to increase at least one of the regeneration amount and the regeneration rate when the recorded value changes so that the average value of the human-powered driving force within a specified period of time increases. A control unit that controls a motor attached to the human-powered vehicle,
The control unit is
controlling a regenerative state of the motor in response to a change in a parameter related to at least one of physical information of a passenger riding in the human-powered vehicle, a driving state of the human-powered vehicle, a traveling environment of the human-powered vehicle, and a traveling state of the human-powered vehicle;
recording the parameters at a predetermined interval, and controlling the regenerative state of the motor in accordance with a transition of the recorded values;
The parameter is related to a human-powered driving force,
The control unit controls the regenerative state of the motor to reduce at least one of the regeneration amount and the regeneration rate when the recorded value changes so that the average value of the human-powered driving force within a specified time period decreases. A control unit that controls a motor attached to the human-powered vehicle,
The control unit is
controlling a regenerative state of the motor in response to a change in a parameter related to at least one of physical information of a passenger riding in the human-powered vehicle, a driving state of the human-powered vehicle, a traveling environment of the human-powered vehicle, and a traveling state of the human-powered vehicle;
recording the parameters at a predetermined interval, and controlling the regenerative state of the motor in accordance with a transition of the recorded values;
The parameter is related to a human-powered driving force,
The control unit controls the regenerative state of the motor to increase at least one of the regeneration amount and the regeneration rate when the recorded value changes so that the peak value of the human-powered driving force within a specified time period increases. A control unit that controls a motor attached to the human-powered vehicle,
The control unit is
controlling a regenerative state of the motor in response to a change in a parameter related to at least one of physical information of a passenger riding in the human-powered vehicle, a driving state of the human-powered vehicle, a traveling environment of the human-powered vehicle, and a traveling state of the human-powered vehicle;
recording the parameters at a predetermined interval, and controlling the regenerative state of the motor in accordance with a transition of the recorded values;
The parameter is related to a human-powered driving force,
The control unit controls the regenerative state of the motor to reduce at least one of the regeneration amount and the regeneration rate when the recorded value transitions so that the peak value of the human-powered driving force within a specified time period decreases. A control unit that controls a motor attached to the human-powered vehicle,
The control unit is
controlling a regenerative state of the motor in response to a change in a parameter related to at least one of physical information of a passenger riding in the human-powered vehicle, a driving state of the human-powered vehicle, a traveling environment of the human-powered vehicle, and a traveling state of the human-powered vehicle;
recording the parameters at a predetermined interval, and controlling the regenerative state of the motor in accordance with a transition of the recorded values;
when the average value of the recorded values within a predetermined time period falls and then rises, or when the average value of the recorded values within the predetermined time period rises and then falls, the control unit controls the regenerative state of the motor according to a difference between a start point value and an end point value of the recorded values within the predetermined time period;
A control device for a human-powered vehicle, wherein the parameter relates to human-powered driving force. A control unit that controls a motor attached to the human-powered vehicle,
The control unit is
controlling a regenerative state of the motor in response to a change in a parameter related to at least one of physical information of a passenger riding in the human-powered vehicle, a driving state of the human-powered vehicle, a traveling environment of the human-powered vehicle, and a traveling state of the human-powered vehicle;
recording the parameters at a predetermined interval, and controlling the regenerative state of the motor in accordance with a transition of the recorded values;
When a start value of the recorded values within a predetermined time period is higher than an end value of the recorded values within the predetermined time period, the regeneration state of the motor is controlled to reduce at least one of a regeneration amount and a regeneration rate;
A control device for a human-powered vehicle, wherein the parameter relates to human-powered driving force. A control unit that controls a motor attached to the human-powered vehicle,
The control unit is
controlling a regenerative state of the motor in response to a change in a parameter related to at least one of physical information of a passenger riding in the human-powered vehicle, a driving state of the human-powered vehicle, a traveling environment of the human-powered vehicle, and a traveling state of the human-powered vehicle;
recording the parameters at a predetermined interval, and controlling the regenerative state of the motor in accordance with the transition of the recorded parameters;
The parameters include at least one of a heart rate, a body temperature, an amount of sweat, a road surface gradient of a road, and a running resistance;
The control unit controls the regenerative state of the motor to reduce at least one of the regeneration amount and the regeneration rate when a start value of the parameter recorded within a specified time period is lower than an end value of the parameter recorded within the specified time period. A control unit that controls a motor attached to the human-powered vehicle,
The control unit is
controlling a regenerative state of the motor in response to a change in a parameter related to at least one of physical information of a passenger riding in the human-powered vehicle, a driving state of the human-powered vehicle, a traveling environment of the human-powered vehicle, and a traveling state of the human-powered vehicle;
recording the parameters at a predetermined interval, and controlling the regenerative state of the motor in accordance with a transition of the recorded values;
when both the start point value and the end point value of the recorded value within a predetermined time are equal to or greater than a threshold value, at least one of a regeneration amount and a regeneration rate is changed by a first change amount, and when both the start point value and the end point value of the recorded value within the predetermined time are less than the threshold value, at least one of a regeneration amount and a regeneration rate is changed by a second change amount different from the first change amount,
A control device for a human-powered vehicle, wherein the parameter relates to human-powered driving force. The control device for a human-powered vehicle according to any one of claims 1 to 8, wherein the control unit controls the regenerative state of the motor according to the change in the parameter over a predetermined period of time. The control device for a human-powered vehicle according to claim 9, wherein the predetermined period is 30 seconds or more. The control device for a human-powered vehicle according to claim 10, wherein the predetermined period is 10 minutes or more. The control device for a human-powered vehicle according to any one of claims 1 to 11, wherein the driving state of the human-powered vehicle includes at least one of torque, cadence, and power. The control device for a human-powered vehicle according to claim 1 , wherein the control unit controls the regenerative state of the motor in response to a change in the parameter every 1.5 seconds or less. The control unit controls the regeneration rate relative to the power of pedaling by the rider in accordance with at least one parameter related to physical information of the rider riding in the human-powered vehicle, the driving state of the human-powered vehicle, the driving environment of the human-powered vehicle, and the driving state of the human-powered vehicle. The control device for a human-powered vehicle according to any one of claims 1 to 13.