CROSS-REFERENCE TO RELATED APPLICATIONS

This application claims priority to Japanese Patent Application No. 2018-054913, filed on Mar. 22, 2018. The entire disclosure of Japanese Patent Application No. 2018-054913 is hereby incorporated herein by reference.

BACKGROUND

Technical Field

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

Background Information

For example, Japanese Laid-Open Patent Publication No. 10-59260 {patent document 1) discloses a human-powered vehicle control device that controls a motor in accordance with an output of a detector.

SUMMARY

One object of the present disclosure is to provide a human-powered vehicle control device that appropriately controls a motor.

A human-powered vehicle control device according to a first aspect of the present disclosure comprises an electronic controller that controls a motor, which assists in propulsion of a human-powered vehicle, in accordance with human driving force input to the human-powered vehicle. The electronic controller is configured to change a response speed of the motor with respect to a change in the human driving force in accordance with a parameter. The parameter includes at least one of a travel resistance of the human-powered vehicle, a torque of the human driving force, a transmission ratio of the human-powered vehicle, a wheel size of the human-powered vehicle, an air resistance coefficient, a value related to a front surface projection area of a rider of the human-powered vehicle, a wind velocity, a rolling resistance coefficient, a value related to a weight of a carried load of the human-powered vehicle, and an acceleration of the human-power vehicle.

With the human-powered vehicle control device according to the first aspect, the response speed of the motor is changed with respect to a change in human driving force in accordance with the parameter, which affects the travel load. Thus, the motor is appropriately controlled.

In accordance with a second aspect of the present disclosure, the human-powered vehicle control device according to the first aspect is configured so that the electronic controller is configured to set the response speed for a case where the human driving force is increasing and a value of the parameter is greater than or equal to a first predetermined value to be higher than the response speed for a case where the human driving force is increasing and the value of the parameter is less than the first predetermined value.

With the human-powered vehicle control device according to the second aspect, in a case where human driving force is increasing and a value of the parameter is greater than or equal to the first predetermined value, the output of the motor is increased more promptly than in a case where the value of the parameter is less than the first predetermined value. Thus, in a case where the travel load is large, increases in the load on the rider are limited.

In accordance with a third aspect of the present disclosure, the human-powered vehicle control device according to the first or second aspect is configured so that the electronic controller is configured to set the response speed for a case where the human driving force is increasing to be higher as a value of the parameter increases.

With the human-powered vehicle control device according to the third aspect, the response speed for a case where human driving force is increasing is set to be higher as the value of the parameter increases. Thus, as the travel load increases, the output of the motor is promptly increased.

In accordance with a fourth aspect of the present disclosure, the human-powered vehicle control device according to any one of the first to third aspects is configured so that the electronic controller is configured to set the response speed for a case where the human driving force is decreasing and a value of the parameter is greater than or equal to a second predetermined value to be lower than the response speed for a case where the human driving force is decreasing and the value of the parameter is less than the second predetermined value.

With the human-powered vehicle control device according to the fourth aspect, in a case where human driving force is decreasing and a value of the parameter is greater than or equal to the second predetermined value, decreases in the output of the motor are slowed more promptly than in a case where the value of the parameter is less than the second predetermined value. Thus, in a case where the travel load is large, increases in the load on the rider are limited.

In accordance with a fifth aspect of the present disclosure, the human-powered vehicle control device according to the fourth aspect is configured so that the electronic controller is configured to set the response speed for a case where the human driving force is decreasing to be lower as the value of the parameter increases.

With the human-powered vehicle control device according to the fifth aspect, the response speed for a case where human driving force is decreasing is set to be lower as the value of the parameter increases. Thus, as the travel load increases, decreases in the output of the motor are limited.

In accordance with a sixth aspect of the present disclosure, the human-powered vehicle control device according to any one of the first to fifth aspects is configured so that the electronic controller is configured to set the response speed for a case where the human driving force is increasing to be higher than the response speed for a case where the human driving force is decreasing.

With the human-powered vehicle control device according to the sixth aspect, in a case where human driving force is increasing, the output of the motor is promptly increased. In a case where human driving force is decreasing, decreases in the output of the motor are limited.

In accordance with a seventh aspect of the present disclosure, the human-powered vehicle control device according to any one of the first to sixth aspects is configured so that the electronic controller is configured to set the response speed for a predetermined period differently from the response speed for after the predetermined period elapses.

With the human-powered vehicle control device according to the seventh aspect, the response speed for until the predetermined time elapses and the response speed for after the predetermined time elapses are each set to an appropriate response speed.

In accordance with an eighth aspect of the present disclosure, the human-powered vehicle control device according to the seventh aspect is configured so that the electronic controller is configured to set the response speed for a case where the human driving force increases after the predetermined period elapses to be higher than the response speed for a case where the human driving force increases during the predetermined period.

With the human-powered vehicle control device according to the eighth aspect, in a case where human driving force increases after the predetermined period elapses, the output of the motor is increased more promptly than in a case where human driving force increases before the predetermined period elapses.

In accordance with a ninth aspect of the present disclosure, the human-powered vehicle control device according to the seventh or eighth aspect is configured so that the predetermined period is a period from when the motor starts to be driven until a first time elapses.

With the human-powered vehicle control device according to the ninth aspect, the response speed for a period from when the motor starts to be driven until the first time elapses and the response speed for after the first time elapses from the motor starts to be driven are each set to an appropriate response speed.

In accordance with a tenth aspect of the present disclosure, the human-powered vehicle control device according to the seventh or eighth aspect is configured so that the human-powered vehicle includes a crank to which the human driving force is input. The predetermined period is a period from when the motor starts to be driven until a rotation amount of the crank reaches a predetermined amount.

With the human-powered vehicle control device according to the tenth aspect, the response speed for a period from when the motor starts to be driven until the rotation amount of the crank reaches the predetermined amount and the response speed for after the rotation amount of the crank reaches the predetermined amount are each set to an appropriate response speed.

In accordance with an eleventh aspect of the present disclosure, the human-powered vehicle control device according to any one of the first to tenth aspect is configured so that the electronic controller includes a filter that performs a filtering process on a control command to the motor. The electronic controller is configured to change the response speed by varying a time constant included in the filter.

With the human-powered vehicle control device according to the eleventh aspect, the response speed is appropriately changed by varying the time constant included in the filter.

A human-powered vehicle control device according to a twelfth aspect of the present disclosure comprises an electronic controller that controls a motor assisting in propulsion of a human-powered vehicle. The electronic controller is configured to start driving the motor in accordance with operation of an operation portion and alter a changing speed of an output of the motor in accordance with a parameter. The parameter includes at least one of a travel resistance of the human-powered vehicle, a transmission ratio of the human-powered vehicle, a wheel size of the human-powered vehicle, an air resistance coefficient, a wind velocity, a rolling resistance coefficient, and a value related to a weight of a carried load of the human-powered vehicle.

With the human-powered vehicle control device according to the twelfth aspect, in a case where the motor starts to be driven in accordance with operation of the operation portion, the changing speed of the output of the motor is altered in accordance with the parameter, which affects the travel load.

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 electronic controller is configured to increase the changing speed as a value of the parameter increases.

With the human-powered vehicle control device according to the thirteenth aspect, as the travel load increases, the output of the motor is promptly increased.

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 electronic controller includes a filter that performs a filtering process on a control command to the motor. The electronic controller is configured to alter the changing speed by varying a time constant included in the filter.

With the human-powered vehicle control device according to the fourteenth aspect, the response speed is appropriately changed by varying the time constant included in the filter.

In accordance with a fifteenth aspect of the present disclosure, the human-powered vehicle control device according to any one of the first to fourteenth aspects is configured so that the travel resistance includes at least one of an air resistance, a rolling resistance of a wheel of the human-powered vehicle, a gradient resistance of a traveling road of the human-powered vehicle, and an acceleration resistance of the human-powered vehicle.

With the human-powered vehicle control device according to the fifteenth aspect, the motor is controlled in accordance with the travel resistance including at least one of an air resistance, a rolling resistance of a wheel of the human-powered vehicle, a gradient resistance of a traveling road of the human-powered vehicle, and an acceleration resistance of the human-powered vehicle.

In accordance with a sixteenth aspect of the present disclosure, the human-powered vehicle control device according to any one of the first to fifteenth aspects further comprises a detector that detects the parameter.

With the human-powered vehicle control device according to the sixteenth aspect, the parameter is appropriately detected by the detector.

The human-powered vehicle control device of the present disclosure appropriately controls the motor.

