Human-powered vehicle control device

A human-powered vehicle control device is configured to reduce electric power needed to drive a motor. The human-powered vehicle control device includes an electronic controller and a memory. The electronic controller is configured to control a motor that assists in propulsion of a human-powered vehicle in accordance with human driving force and a memory. The electronic controller drives the motor in a case where the human driving force is greater than or equal to a first value. The memory electronic changeably store the first value.

CROSS-REFERENCE TO RELATED APPLICATIONS

This application claims priority to Japanese Patent Application No. 2017-220183, filed on Nov. 15, 2017. The entire disclosure of Japanese Patent Application No. 2017-220183 is hereby incorporated herein by reference.

BACKGROUND

Field of the Invention

The present disclosure generally relates to a human-powered vehicle control device.

Background Information

A known human-powered vehicle control device controls a motor assisting propulsion of a human-powered vehicle. In the prior art, in a case where the charge level of a battery mounted on the human-powered vehicle is less than or equal to a predetermined value, the human-powered vehicle control device automatically controls the motor so that output of the motor is less than human driving force. Patent document 1 discloses one example of a prior art human-powered vehicle control device.

SUMMARY

It is desirable that electric power needed to drive a motor be reduced. One object of the present disclosure is to provide a human-powered vehicle control device that reduces electric power needed to drive a motor.

A human-powered vehicle control device according to a first aspect of the present disclosure includes an electronic controller and a memory accessibly coupled to the electronic controller. The electronic controller is configured to control a motor that assists in propulsion of a human-powered vehicle in accordance with human driving force and a memory. The electronic controller is configured to drive the motor upon determining the human driving force is greater than or equal to a first value that is stored in the memory. The memory is configured to changeably store the first value. In accordance with the first aspect, the first value is changeable. In a case where the first value is set to be a value greater than typical values, electric power needed to drive the motor is reduced. Additionally, the motor is controlled in accordance with human driving force of the rider of the human-powered vehicle.

A human-powered vehicle control device according to a second aspect of the present disclosure includes an electronic controller configured to control a motor that assists in propulsion of a human-powered vehicle in accordance with a human driving force input to the human-powered vehicle. The electronic controller includes multiple control modes and is configured to control the motor in one of the control modes selected by operation of an operating portion. The multiple control modes include a first control mode in which the motor is driven upon determining the human driving force is greater than or equal to a first value and a second control mode in which the motor is driven upon determining the human driving force is greater than or equal to a second value differing from the first value. In accordance with the second aspect, in a case where the motor is controlled in one of the first control mode and the second control mode, electric power needed to drive the motor is reduced as compared to a case where the motor is controlled in the other one of the first control mode and the second control mode. Additionally, the control mode is selected by operation of the operating portion. Thus, the control mode can be selected in accordance with a request of the rider of the human-powered vehicle.

In accordance with a third aspect of the present disclosure, the human-powered vehicle control device according to the second aspect is configured so that the first value is greater than the second value. In accordance with the third aspect, in a case where the motor is controlled in the first control mode, electric power needed to drive the motor is reduced as compared to a case where the motor is controlled in the second control mode.

In accordance with a fourth aspect of the present disclosure, the human-powered vehicle control device according to the second or third aspect further includes a memory. The memory is configured to changeably store the first value. In accordance with the fourth aspect, the first value is changeable in the first control mode. In a case where the first value is set to a value greater than typical values, electric power needed to drive the motor is reduced. Additionally, in the first control mode, the motor can be controlled in accordance with a request of the rider of the human-powered vehicle.

In accordance with a fifth aspect of the present disclosure, the human-powered vehicle control device according to the first or fourth aspect is configured so that the memory is configured so that the first value is changeably stored in the memory in accordance with an input signal input to the electronic controller from an external device. In accordance with the fifth aspect, the first value is changeable using the external device.

In accordance with a sixth aspect of the present disclosure, the human-powered vehicle control device according to the fifth aspect is configured so that the external device allows an input of numeral information. The memory stores numeral information received from the external device as the first value. In accordance with the sixth aspect, the external device is used to input numeral information. This reduces the amount of data stored in the memory.

In accordance with a seventh aspect of the present disclosure, the human-powered vehicle control device according to the fifth aspect is configured so that the memory stores multiple pieces of numeral information to be selected by the external device. The memory stores one of the multiple pieces of the numeral information selected by the external device as the first value. In accordance with the seventh aspect, even in a case where numeral information cannot be input, the first value is changeable using the external device.

In accordance with an eighth aspect of the present disclosure, the human-powered vehicle control device according to any one of the first to seventh aspects is configured so that the first value is 50 W. In accordance with the eighth aspect, the electric power needed to drive the motor is reduced.

In accordance with a ninth aspect of the present disclosure, the human-powered vehicle control device according to any one of the first to eighth aspects is configured so that the human driving force is power calculated based on a rotational torque applied to a crank of the human-powered vehicle and a rotational speed of the crank. In accordance with the ninth aspect, an appropriate value is used as the human driving force, which is referred to for driving the motor. Thus, the motor is appropriately controlled.

In accordance with a tenth aspect of the present disclosure, the human-powered vehicle control device according to any one of the first to seventh aspects is configured so that the first value is 10 Nm. In accordance with the tenth aspect, the electric power needed to drive the motor is reduced.

In accordance with an eleventh aspect of the present disclosure, the human-powered vehicle control device according to any one of the first to seventh aspects or tenth aspect is configured so that the human driving force is a rotational torque applied to a crank of the human-powered vehicle. In accordance with the eleventh aspect, an appropriate value is used as the human driving force, which is referred to for driving the motor. Thus, the motor is appropriately controlled.

A human-powered vehicle control device according to a twelfth aspect of the present disclosure includes an electronic controller controlling a motor that assists in propulsion of a human-powered vehicle in accordance with human driving force and a memory accessibly coupled to the electronic controller. The electronic controller is configured to drive the motor so that an output of the motor is less than or equal to a third value that is stored in the memory. The memory is configured to changeably store the third value. In accordance with the twelfth aspect, the third value is changeable. In a case where the third value is set to a value that is less than typical values, electric power needed to drive the motor is reduced. Additionally, the motor is controlled in accordance with human driving force of the rider of the human-powered vehicle.

In accordance with a thirteenth aspect of the present disclosure, the human-powered vehicle control device according to the twelfth aspect is configured so that the output of the motor is either power or a rotational torque of the motor. In accordance with the thirteenth aspect, an appropriate value is used as the output of the motor, which is referred to for driving the motor. Thus, the motor is appropriately controlled.

In accordance with a fourteenth aspect of the present disclosure, the human-powered vehicle control device according to the twelfth or thirteenth aspect is configured so that the memory is configured so that the third value is changeably stored in the memory in accordance with an input signal input to the electronic controller from an external device. In accordance with the fourteenth aspect, the third value is changeable using the external device.

In accordance with a fifteenth aspect of the present disclosure, the human-powered vehicle control device according to the fourteenth aspect is configured so that the external device allows an input of numeral information. The memory stores numeral information received from the external device as the third value. In accordance with the fifteenth aspect, the external device is used to input numeral information. This reduces the amount of data stored in the memory.

In accordance with a sixteenth aspect of the present disclosure, the human-powered vehicle control device according to the fourteenth aspect is configured so that the memory store multiple pieces of numeral information to be selected by the external device. The memory stores one of the multiple pieces of the numeral information selected by the external device as the third value. In accordance with the sixteenth aspect, even in a case where numeral information cannot be input, the third value is changeable using the external device.

A human-powered vehicle control device according to a seventeenth aspect of the present disclosure includes an electronic controller configured to control a motor that assists in propulsion of a human-powered vehicle in accordance with a human driving force. The controller is configured to drive the motor in a case where the human driving force is greater than or equal to 50 W or greater than or equal to 10 Nm. In accordance with the seventeenth aspect, the electric power needed to drive the motor is reduced.

The human-powered vehicle control device according to the present disclosure reduces electric power needed to drive the motor.

DETAILED DESCRIPTION OF EMBODIMENTS

First Embodiment

A human-powered vehicle10including a human-powered vehicle control device40will now be described with reference toFIG. 1. The human-powered vehicle control device40is provided on the human-powered vehicle10. The human-powered vehicle10is a vehicle that is driven by at least human driving force. The human-powered vehicle10includes, for example, a bicycle. The number of wheels on the human-powered vehicle10is not limited. The human-powered vehicle10includes, for example, a unicycle and a vehicle having three or more wheels. The bicycle includes, for example, a mountain bike, a road bike, a city bike, a cargo bike, and a recumbent bike. In the embodiments described below, the human-powered vehicle10refers to the bicycle.

The human-powered vehicle10includes a frame12, a crank14, and a drive wheel22. A human driving force HP is input to the crank14. The crank14includes a crankshaft15rotatably supported by the frame12and a pair of crank arms18respectively provided on the two opposite ends of the crankshaft16. Each crank arm18is coupled to a pedal20. The drive wheel22is supported by the frame12. The crank14and the drive wheel22are coupled by a drive mechanism24. The human-powered vehicle10further includes a front wheel22A and a rear wheel22B. In the embodiments described below, the rear wheel22B refers to the drive wheel22. However, the front wheel22A can be the drive wheel22.

The drive mechanism24includes a first rotary body26coupled to the crankshaft16. The crankshaft16and the first rotary body26can be coupled via a first one-way clutch. The first one-way clutch is configured to allow forward rotation of the first rotary body26in a case where the crank14rotates forward and prohibit rearward rotation of the first rotary body26in a case where the crank14rotates rearward. The first rotary body26includes a front sprocket26A, a pulley, or a bevel gear. The drive mechanism24further includes a coupling member28and a second rotary body30. The coupling member28transmits rotational force of the first rotary body26to the second rotary body30. The coupling member28includes, for example, a chain28A, a belt, or a shaft.

The second rotary body30is coupled to the rear wheel22B. The second rotary body30includes a rear sprocket30A, a pulley, or a bevel gear. It is preferred that a second one-way clutch be provided between the second rotary body30and the rear wheel22B. The second one-way clutch is configured to allow forward rotation of the rear wheel22B in a case where the second rotary body30rotates forward and prohibit rearward rotation of the rear wheel22B in a case where the second rotary body30rotates rearward.

The human-powered vehicle10further includes a drive unit32. The drive unit32operates so that propulsion of the human-powered vehicle10is assisted. The drive unit32operates, for example, in accordance with the human driving force HP applied to the crank14. The drive unit32includes a motor32A. The motor32A includes an electric motor. The drive unit32is driven by electric power supplied from a battery BT mounted on the human-powered vehicle10.

The battery BT includes one or more battery cells. Each battery cell includes a rechargeable battery. The battery BT supplies electric power to other electric parts electrically connected to the battery BT, for example, the motor32A and the human-powered vehicle control device40. The battery BT can be attached to the exterior of the frame12or can be at least partially accommodated in the frame12.

As shown inFIG. 2, the human-powered vehicle control device40includes an electronic controller42and a memory (memory device)44. The electronic controller42will hereafter be referred to simply as the controller42. The controller42controls the motor32A assisting propulsion of the human-powered vehicle10in accordance with the human driving force HP. The controller42includes an arithmetic processing unit executing predetermined control programs. The arithmetic processing unit includes, for example, a central processing unit (CPU) or a micro processing unit (MPU) that includes one or more processors. The controller42can include one or more microcomputers. The controller42can be formed of one or more semiconductor chips that are mounted on a printed circuit board. The term “electronic controller” or “controller” as used herein refers to hardware that executes a software program. The memory44stores information used in various control programs and various arithmetic processes. The memory44is any computer storage device or any computer readable medium with the sole exception of a transitory, propagating signal. The memory44includes, for example, nonvolatile memory or volatile memory. In one example, the human-powered vehicle control device40is provided on a housing32B of the drive unit32accommodating the motor32A (refer toFIG. 1).

The controller42is operatively coupled to the motor32A, and is configured to drives the motor32A in a case where the human driving force HP is greater than or equal to a first value V1. The controller42is configured to have multiple control modes and control the motor32A in accordance with the control mode selected by operation of an operating portion34. The operating portion34is provided, for example, on a handlebar36of the human-powered vehicle10(refer toFIG. 1). The operating portion34is configured to communicate with the controller42. The operating portion34is connected to perform wired or wireless communication with the controller42. The operating portion34is configured to communicate with the controller42, for example, through power line communication (PLC). In a case where the operating portion34is operated, the operating portion34transmits an output signal to the controller42. The operating portion34includes, for example, a push switch, a lever-type switch, or a touchscreen. It is preferred that the human-powered vehicle10include a display48. The display48is provided, for example, on the handlebar36of the human-powered vehicle10. The display48is configured to show information related to the control mode selected by operation of the operating portion34.

The multiple control modes include a first control mode MA1in which the motor32A is driven in a case where the human driving force HP is greater than or equal to the first value V1and a second control mode MA2in which the motor32A is driven in a case where the human driving force HP is greater than or equal to a second value V2differing from the first value V1. The first value V1is greater than the second value V2. The memory44stores information related to the first control mode MA1and the second control mode MA2. The controller42drives the motor32A in accordance with any one of first to third examples described below. In the present embodiment, the controller42drives the motor32A in accordance with the first example.

In the first example, the human driving force HP is power WR calculated based on a rotational torque RT applied to the crank14and a rotational speed RS of the crank14. The power WR is the product of the rotational torque RT and the rotational speed RS. Preferably, the first value V1is in a range of 30 W or greater and 200 W or less. More preferably, the first value V1is included in a range of 50 W or greater and 200 W or less. In one example, the first value V1is 50 W. More preferably, the first value V1is included in a range of 100 W or greater and 200 W or less. Preferably, the second value V2is included in a range of 1 W or greater and 30 W or less. In one example, the second value V2is 1 W. In the first example, the controller42drives the motor32A in the first control mode MA1in a case where the human driving force HP is greater than or equal to 50 W and drives the motor32A in the second control mode MA2in a case where the human driving force HP is greater than or equal to 1 W.

In the second example, the human driving force HP is the rotational torque RT applied to the crank14. Preferably, the first value V1is included in a range of 5 Nm or greater and 50 Nm or less. More preferably, the first value V1is in a range of 10 Nm or greater and 50 Nm or less. In one example, the first value V1is 10 Nm. More preferably, the first value V1is included in a range of 20 Nm or greater and 50 Nm or less. Preferably, the second value V2is included in 1 Nm or greater and 5 Nm or less. In one example, the second value V2is 3 Nm. In the second example, the controller42drives the motor32A in the first control mode MA1in a case where the human driving force HP is greater than or equal to 10 Nm and drives the motor32A in the second control mode MA2in a case where the human driving force HP is greater than or equal to 3 Nm.

In the third example, the human driving force HP is the power WR and the rotational torque RT. The first value V1is substantially the same as the first value V1referred to in the first example and the second example. The second value V2is substantially the same as the second value V2referred to in the first example and the second example. The controller42drives the motor32A in the first control mode MA1in a case where the human driving force HP is greater than or equal to 50 W or greater than or equal to 10 Nm and drives the motor32A and drives the motor32A in the second control mode MA2in a case where the human driving force HP is greater than or equal to 1 W or greater than or equal to 3 Nm. The controller42can drives the motor32A in the first control mode MA1in a case where the human driving force HP is greater than or equal to 50 W and greater than or equal to 10 Nm and can drive the motor32A in the second control mode MA2in a case where the human driving force HP is greater than or equal to 1 W and greater than or equal to 3 Nm.

The memory44changeably stores the first value V1. The memory44is configured so that the first value V1is changeable in accordance with an input signal input to the controller42from an external device50. The external device50allows an input of numeral information. The memory44stores numeral information received from the external device50as the first value V1. In one example, in a case where the external device50and the controller42are set to a mode for changing the first value V1and numeral information is input to the external device50, the memory44stores the input numeral information as the first value V1.

The external device50includes a mobile information device such as a personal computer, a tablet-type computer, a cycle computer, and a smartphone. The human-powered vehicle control device40includes an interface portion46. The interface portion46includes at least one of a wired communicator configured to be connected to an electric cable connected to the external device50and a wireless communicator configured to perform wireless communication with the external device50. The interface portion46can include only the wired communicator, the wireless communicator, or both of the wired communicator and the wireless communicator. The controller42is electrically connected to the interface portion46and changes information stored in the memory44in accordance with an input signal received via the interface portion46from the external device50. Changing information stored in the memory44allows for change in the output aspect of the motor32A in relation to the human driving force HP even in a case where the controller42executes the same control mode.

The controller42drives the motor32A so that output of the motor32A is less than or equal to a third value V3. In the description hereafter, the output of the motor32A is referred to as a motor output MO. In one example, the controller42drives the motor32A in the first control mode MA1so that the motor output MO is less than or equal to the third value V3and drives the motor32A in the second control mode MA2so that the motor output MO is less than or equal to a fourth value V4. The third value V3and the fourth value V4specify upper limit values of the motor output MO in the respective control modes MA1and MA2. The third value V3and the fourth value V4are greater than the first value V1and the second value V2. The motor output MO is the power WR or the rotational torque RT. The controller42drives the motor32A in accordance with any one of fourth to sixth examples described below. In the present embodiment, the controller42drives the motor32A in accordance with the fourth example.

In the fourth example, the motor output MO is the power WR. Preferably, the third value V3is included in a range of 100 W or greater and 500 W or less. In one example, the third value V3is 250 W. Preferably, the fourth value V4is included in a range of 100 W or greater and 500 W or less. In one example, the fourth value V4is 250 W. In the first example, the controller42drives the motor32A in the first control mode MA1so that the motor output MO is less than or equal to 250 W and drives the motor32A in the second control mode MA2so that the motor output MO is less than or equal to 250 W.

In the fifth example, the motor output MO is the rotational torque RT. Preferably, the third value V3is included in a range of 30 Nm or greater and 100 Nm or less. In one example, the third value V3is 70 Nm. Preferably, the fourth value V4is included in a range of 30 Nm or greater and 100 Nm or less. In one example, the fourth value V4is 70 Nm. In the second example, the controller42drives the motor32A in the first control mode MA1so that the motor output MO is less than or equal to 70 Nm and drives the motor32A in the second control mode MA2so that the motor output MO is less than or equal to 70 Nm.

In the sixth example, the motor output MO is the power WR and the rotational torque RT. The third value V3is substantially the same as the third value V3referred to in the first example and the second example. The fourth value V4is substantially the same as the fourth value V4referred to in the first example and the second example. In the third example, the controller42drives the motor32A in the first control mode MA1so that the motor output MO is less than or equal to 250 W or less than or equal to 70 Nm and drives the motor32A in the second control mode MA2so that the motor output MO is less than or equal to 250 W or less than or equal to 70 Nm. The controller42can drive the motor32A in the first control mode MA1so that the motor output MO is less than or equal to 250 W and less than or equal to 70 Nm and drive the motor32A in the second control mode MA2so that the motor output MO is less than or equal to 250 W and less than or equal to 70 Nm.

The memory44changeably stores the third value V3. The memory44is configured so that the third value V3is changeable in accordance with an input signal input to the controller42from the external device50. The external device50allows an input of numeral information. The memory44stores numeral information received from the external device50as the third value V3. In one example, in a case where the external device50and the controller42are set to a mode for changing the third value V3and numeral information is input to the external device50, the memory44stores the input numeral information as the third value V3.

The human-powered vehicle10further includes a detection device38. The detection device38detects the human driving force HP. The detection device38outputs a signal corresponding to the human driving force HP. The detection device38includes a first detector38A detecting the rotational torque RT applied to the crank14and a second detector38B detecting the rotational speed RS of the crank14. The first detector38A includes, for example, a torque sensor detecting the rotational torque RT applied to the crankshaft16. The first detector38A is provided in a transmission path of the human driving force HP extending from the pedals20to the drive wheel22. It is preferred that the first detector38A be provided in the transmission path of the human driving force HP extending from the pedals20to the first rotary body26. In one example, the first detector38A is provided at the pedals20, the crank arms18, the crankshaft16, the first rotary body26, or a coupling member coupling the crankshaft16and the first rotary body26.

The torque sensor can be realized, for example, using a strain sensor, an optical sensor, or a pressure sensor. The strain sensor includes at least one of a strain gauge, a magnetostriction sensor, and a piezoelectric sensor. The strain sensor can include only the strain gauge, the magnetostriction sensor, the piezoelectric sensor, or any combination of the strain sensor, the magnetostriction sensor, and the piezoelectric sensor. Any sensor outputting a signal corresponding to the rotational torque RT about the crankshaft16can be used as the torque sensor. In the present embodiment, the torque sensor is provided on or around the coupling member coupling the crankshaft16and the first rotary body26. In a case where the torque sensor rotates together with the crank14, the detection device38includes a wireless communicator. The wireless communicator transmits a signal detected by the torque sensor to the controller42through wireless communication. The first detector38A can be provided, for example, on the frame12, the coupling member28, the second rotary body30, or a hub of the drive wheel22.

The second detector38B includes a magnetic sensor outputting a signal corresponding to the strength of a magnetic field. The magnetic sensor is provided on the frame12or the housing32B of the drive unit32. An annular magnet, the magnetic field strength of which changes in the circumferential direction, is provided on the crankshaft16, a member rotating in accordance with rotation of the crankshaft16, or a member rotating integrally with the crankshaft16in the transmission path of the human driving force HP between the crankshaft16and the first rotary body26. Use of a magnetic sensor outputting a signal corresponding to the strength of a magnetic field allows the second detector38B to detect the rotational speed RS of the crank14.

The controller42obtains a signal indicating the rotational torque RT from the first detector38A and a signal indicating the rotational speed RS from the second detector38B. The controller42calculates the power WR based on the obtained signals indicating the rotational torque RT and the rotational speed RS.

One example of the first control mode MA1and the second control mode MA2will now be described with reference toFIG. 3. The solid line shown inFIG. 3shows the relationship between the human driving force HP and the motor output MO in the first control mode MA1. The double-dashed line shown inFIG. 3shows the relationship between the human driving force HP and the motor output MO in the second control mode MA2.

In a case where the operating portion34is operated to select the first control mode MA1, the controller42controls the motor32A in the first control mode MA1. In the first control mode MA1, the controller42, for example, starts to drive the motor32A in a case where the human driving force HP is greater than or equal to the first value V1, and drives the motor32A so that the motor output MO increases in proportion to increases in the human driving force HP. In the first control mode MA1, the controller42controls the motor32A, for example, so that the ratio of the motor output MO to the human driving force HP is equal to a first ratio until the human driving force HP reaches a first human driving force VR1that is greater than the first value V1.

In the first control mode MA1, for example, in a case where the human driving force HP reaches the first human driving force VR1, the controller42drives the motor32A so that the motor output MO is equal to the third value V3. In the first control mode MA1, in a case where the human driving force HP is greater than or equal to the first human driving force VR1, the controller42controls the motor32A so that the motor output MO maintains the third value V3. As described above, in the first control mode MA1, in a case where the human driving force HP is greater than or equal to the first value V1, the controller42controls the motor32A in accordance with the human driving force HP.

In the first control mode MA1, in a case where the human driving force HP is changed from greater than or equal to the first value V1to less than the first value V1, the controller42stops the driving of the motor32A. In a case where the motor32A is controlled in the first control mode MA1, the human-powered vehicle control device40reduces electric power needed to drive the motor32A. The controller42can be configured to stop the driving of the motor32A in the first control mode MA1in a case where the human driving force HP is changed from greater than or equal to the first value V1to a value that is less than the first value V1by a predetermined value Vt. This limits frequent repetitions of the driving and stopping of the motor32A in a case where the human driving force HP is in the proximity of the first value V1. Preferably, the predetermined value Vt is, for example, in a range of 1 W or greater and 5 W or less or a range of 1 Nm or greater and 5 Nm or less.

In a case where the operating portion34is operated to select the second control mode MA2, the controller42controls the motor32A in the second control mode MA2. In the second control mode MA2, the controller42, for example, starts to drive the motor32A in a case where the human driving force HP is greater than or equal to the second value V2, and drives the motor32A so that the motor output MO increases in proportion to increases in the human driving force HP. In the second control mode MA2, the controller42controls the motor32A, for example, so that the ratio of the motor output MO to the human driving force HP is equal to a second ratio until the human driving force HP reaches a second human driving force VR2that is greater than the second value V2. The second ratio is less than the first ratio.

In the second control mode MA2, for example, in a case where the human driving force HP reaches the second human driving force VR2, which is greater than the first human driving force VR1, the controller42drives the motor32A so that the motor output MO is equal to the fourth value V4. In the present embodiment, the fourth value V4is greater than the third value V3. In the second control mode MA2, in a case where the human driving force HP is greater than or equal to the second human driving force VR2, the controller42controls the motor32A so that the motor output MO maintains the fourth value V4. As described above, in the second control mode MA2, in a case where the human driving force HP is greater than or equal to the second value V2, the controller42controls the motor32A in accordance with the human driving force HP. In the second control mode MA2, in a case where the human driving force HP is changed from greater than or equal to the second value V2to less than the second value V2, the controller42stops the driving of the motor32A. The controller42can be configured to stop the driving of the motor32A in the second control mode MA2in a case where the human driving force HP is changed from greater than or equal to the second value V2to a value that is less than the second value V2by the predetermined value Vt.

Second Embodiment

One example of the control modes MA1and MA2executed by a second embodiment of the human-powered vehicle control device40will now be described with reference toFIG. 4. The human-powered vehicle control device40of the second embodiment is the same as the human-powered vehicle control device40of the first embodiment except in the control operation of the second control mode MA2. Thus, the same reference characters are given to those elements that are the same as the corresponding elements of the first embodiment. Such elements will not be described in detail. The solid line shown inFIG. 4shows the relationship between the human driving force HP and the motor output MO in the first control mode MA1. The double-dashed line shown inFIG. 4shows the relationship between the human driving force HP and the motor output MO in the second control mode MA2.

In a case where the operating portion34is operated to select the second control mode MA2, the controller42controls the motor32A in the second control mode MA2. In the second control mode MA2, the controller42, for example, starts to drive the motor32A in a case where the human driving force HP is greater than or equal to the second value V2, and drives the motor32A so that the motor output MO increases in proportion to increases in the human driving force HP. In the second control mode MA2, the controller42controls the motor32A, for example, so that the ratio of the motor output MO to the human driving force HP is equal to the first ratio until the human driving force HP reaches a fifth human driving force VR5that is greater than the second value V2.

In the second control mode MA2, the controller42drives the motor32A so that the motor output MO is less than or equal to the third value V3. In the second control mode MA2, for example, in a case where the human driving force HP reaches the fifth human driving force VR5, the controller42drives the motor32A so that the motor output MO is equal to the third value V3. In the second control mode MA2, in a case where the human driving force HP is greater than or equal to the fifth human driving force VR5, the controller42controls the motor32A so that the motor output MO maintains the third value V3. In a case where the motor32A is controlled in the second control mode MA2, the motor32A is driven so that the motor output MO is less than or equal to the third value V3. Thus, the human-powered vehicle control device40reduces electric power needed to drive the motor32A.

Third Embodiment

One example of the control modes MA1and MA2executed by a third embodiment of the human-powered vehicle control device40will now be described with reference toFIG. 5. The human-powered vehicle control device40of the third embodiment is the same as the human-powered vehicle control device40of the first embodiment except in the control operation of the second control mode MA2. Thus, the same reference characters are given to those elements that are the same as the corresponding elements of the first embodiment. Such elements will not be described in detail. The solid line shown inFIG. 5shows the relationship between the human driving force HP and the motor output MO in the first control mode MA1. The double-dashed line shown inFIG. 5shows the relationship between the human driving force HP and the motor output MO in the second control mode MA2.

In a case where the operating portion34is operated to select the second control mode MA2, the controller42controls the motor32A in the second control mode MA2. In the second control mode MA2, the controller42drives the motor32A in a case where the human driving force HP is greater than or equal to the first value V1. In the second control mode MA2, the controller42, for example, starts to drive the motor32A in a case where the human driving force HP is greater than or equal to the first value V1, and drives the motor32A so that the motor output MO increases in proportion to increases in the human driving force HP. In the second control mode MA2, the controller42controls the motor32A, for example, so that the ratio of the motor output MO to the human driving force HP is equal to the first ratio until the human driving force HP reaches a third human driving force VR3that is greater than the second value V2.

In the second control mode MA2, for example, in a case where the human driving force HP reaches the third human driving force VR3, which is greater than the first human driving force VR1, the controller42controls the motor32A so that the motor output MO is equal to the fourth value V4. In the second control mode MA2, in a case where the human driving force HP is greater than or equal to the third human driving force VR3, the controller42controls the motor32A so that the motor output MO maintains the fourth value V4. As described above, in the second control mode MA2, in a case where the human driving force HP is greater than or equal to the first value V1, the controller42controls the motor32A in accordance with the human driving force HP. In the second control mode MA2, in a case where the human driving force HP is less than the first value V1, the controller42stops the driving of the motor32A. The controller42can be configured to stop the driving of the motor32A in the second control mode MA2in a case where the human driving force HP is changed from greater than or equal to the first value V1to a value that is less than the first value V1by the predetermined value Vt. In a case where the motor32A is controlled in the second control mode MA2, the motor32A starts to be driven upon determining the human driving force HP is greater than or equal to the first value V1. Thus, the human-powered vehicle control device40reduces electric power needed to drive the motor32A.

Fourth Embodiment

One example of the control modes MA1and MA2executed by a fourth embodiment of the human-powered vehicle control device40will now be described with reference toFIG. 6. The human-powered vehicle control device40of the fourth embodiment is the same as the human-powered vehicle control device40of the first embodiment except in the control operation of the first control mode MA1. Thus, the same reference characters are given to those elements that are the same as the corresponding elements of the first embodiment. Such elements will not be described in detail. The solid line shown inFIG. 6shows the relationship between the human driving force HP and the motor output MO in the first control mode MA1. The double-dashed line shown inFIG. 6shows the relationship between the human driving force HP and the motor output MO in the second control mode MA2.

In a case where the operating portion34is operated to select the first control mode MA1, the controller42controls the motor32A in the first control mode MA1. In the first control mode MA1, the controller42, for example, starts to drive the motor32A in a case where the human driving force HP is greater than or equal to the first value V1, and drives the motor32A so that the motor output MO increases in proportion to increases in the human driving force HP. In the first control mode MA1, the controller42controls the motor32A, for example, so that the ratio of the motor output MO to the human driving force HP is equal to the second ratio until the human driving force HP reaches a fourth human driving force VR4that is greater than the first value V1.

In the first control mode MA1, for example, in a case where the human driving force HP reaches the fourth human driving force VR4, which is greater than the first human driving force VR1, the controller42drives the motor32A so that the motor output MO is equal to the third value V3. In the first control mode MA1, in a case where the human driving force HP is greater than or equal to the fourth human driving force VR4, the controller42controls the motor32A so that the motor output MO maintains the third value V3. In a case where the motor32A is controlled in the first control mode MA1, the human-powered vehicle control device40reduces electric power needed to drive the motor32A.

Modified Examples

The description related to the above embodiments exemplifies, without any intention to limit, applicable forms of a human-powered vehicle control device of the present disclosure. The human-powered vehicle control device of the present disclosure is applicable to, for example, modified examples of the embodiments described above and combinations of two or more of the modified examples that do not contradict each other. In the modified examples described below, the same reference characters are given to those elements that are the same as the corresponding elements of the embodiments. Such elements will not be described in detail.

In each embodiment and its modified examples, the memory44stores multiple pieces of numeral information. The external device50is configured to select one of the pieces of numeral information. The memory44stores the numeral information selected by the external device50as the first value V1. In one example, in a case where the external device50and the controller42are set to a mode for changing the first value V1and the external device50selects one of the pieces of numeral information, the memory44stores the selected piece of numeral information as the first value V1.

In each embodiment and its modified examples, the memory44stores multiple pieces of numeral information. The external device50is configured to select one of the pieces of numeral information. The memory44stores the numeral information selected by the external device50as the third value V3. In one example, in a case where the external device50and the controller42are set to a mode for changing the third value V3and the external device50selects one of the pieces of numeral information, the memory44stores the selected piece of numeral information as the third value V3.

In each embodiment and its modified examples, the memory44can be configured to changeably store the second value V2. In this case, the memory44is configured so that the second value V2is changeable in accordance with an input signal input to the controller42from the external device50. The memory44stores numeral information received from the external device50as the second value V2. In one example, in a case where the external device50and the controller42are set to a mode for changing the second value V2and numeral information is input to the external device50, the memory44stores the input numeral information as the second value V2. In this example, the memory44can be configured to store multiple pieces of numeral information, and the external device50can be configured to select one of the pieces of numeral information.

In each embodiment and its modified examples, the memory44can be configured to changeably store the fourth value V4. In this case, the memory44is configured so that the fourth value V4is changeable in accordance with an input signal input to the controller42from the external device50. The memory44stores numeral information received from the external device50as the fourth value V4. In one example, in a case where the external device50and the controller42are set to a mode for changing the fourth value V4and numeral information is input to the external device50, the memory44stores the input numeral information as the fourth value V4. In this example, the memory44can be configured to store multiple pieces of numeral information, and the external device50can be configured to select one of the pieces of numeral information.

In each embodiment and its modified examples, the memory44can be configured to changeably store only at least one of the first value V1, the second value V2, the third value V3, and the fourth value V4. The memory44can be configured to changeably store only the first value V1, only the second value V2, only the third value V3, only the fourth value V4, or any combination of the first value V1, the second value V2, the third value V3, and the fourth value V4.

In each embodiment and its modified examples, the memory44can be configured so that at least one of the first value V1and the third value V3is changeable in accordance with an input signal input to the controller42from the operating portion34. The memory44can be configured so that only the first value V1, only the third value V3, or both the first value V1and the third value V3. In this case, the external device50is not necessary, and the interface portion46can be omitted.

In each embodiment and its modified examples, the first value V1can be less than the second value V2. In each embodiment and its modified examples, the third value V3can be greater than the fourth value V4.

In each embodiment and its modified examples, in the first control mode MA1, the controller42can be configured to start to drive the motor32A in a case where the human driving force HP is greater than or equal to the first value V1, and drive the motor32A so that the motor output MO increases in proportion to increases in the human driving force HP in a convex curve shape or a concave curve shape. In each embodiment and its modified examples, in the second control mode MA2, the controller42can be configured to start to drive the motor32A in a case where the human driving force HP is greater than or equal to the second value V2, and drive the motor32A so that the motor output MO increases in proportion to increases in the human driving force HP in a convex curve shape or a concave curve shape.

In each embodiment and its modified examples, one of the first control mode MA1and the second control mode MA2can be omitted. In this case, the operating portion34can be omitted from the human-powered vehicle10.

In each embodiment and its modified examples, the multiple control modes can include a third control mode MA3in addition to the first control mode MA1and the second control mode MA2. In the third control mode MA3, the controller42, for example, drives the motor32A in a case where the human driving force HP is greater than or equal to a fifth value V5and drives the motor32A so that the motor output MO is less than or equal to a sixth value V6. The fifth value V5is in the same range as the first value V1or the second value V2. The sixth value V6is in the same range as the third value V3or the fourth value V4. In the third control mode MA3, the controller42controls the motor32A, for example, so that the ratio of the motor output MO to the human driving force HP is equal to a third ratio until the motor output MO reaches the sixth value V6. The third ratio can be equal to the first ratio or the second ratio or can differ from the first ratio and the second ratio. The memory44changeably stores at least one of the fifth value V5and the sixth value V6. The memory44changeably stores only the fifth value V5, only the sixth value V6, or both the fifth value V5and the sixth value V6. The fifth value V5and the sixth value V6are changed in the same manner as the first value V1.

In each embodiment and its modified examples, the controller42drives the motor32A in accordance with the first example and the fourth example. However, other than the combination of the first example and the fourth example, the motor32A can be driven in accordance with any one of the first example, the second example, and the third example and any one of the fourth example, the fifth example, and the sixth example.